Open Access
GNSS Shadow Matching: The Challenges Ahead
Paul D. Groves,Lei Wang,Mounir Adjrad,Claire Ellul +3 more
- pp 2421-2443
TLDR
In this paper, the authors present a comprehensive review of shadow matching's error sources and propose a program of research and development to take the technology from proof of concept to a robust, reliable and accurate urban positioning product.Abstract:
GNSS shadow matching is a new technique that uses 3D mapping to improve positioning accuracy in dense urban areas from tens of meters to within five meters, potentially less. This paper presents the first comprehensive review of shadow matching’s error sources and proposes a program of research and development to take the technology from proof of concept to a robust, reliable and accurate urban positioning product. A summary of the state of the art is also included. Error sources in shadow matching may be divided into six categories: initialization, modelling, propagation, environmental complexity, observation, and algorithm approximations. Performance is also affected by the environmental geometry and it is sometimes necessary to handle solution ambiguity. For each error source, the cause and how it impacts the position solution is explained. Examples are presented, where available, and improvements to the shadow-matching algorithms to mitigate each error are proposed. Methods of accommodating quality control within shadow matching are then proposed, including uncertainty determination, ambiguity detection, and outlier detection. This is followed by a discussion of how shadow matching could be integrated with conventional ranging-based GNSS and other navigation and positioning technologies. This includes a brief review of methods to enhance ranging-based GNSS using 3D mapping. Finally, the practical engineering challenges of shadow matching are assessed, including the system architecture, efficient GNSS signal prediction and the acquisition of 3D mapping data.read more
Citations
More filters
Journal ArticleDOI
Analysis and modeling GPS NLOS effect in highly urbanized area
TL;DR: An algorithm to detect NLOS signals from the pseudorange measurements by using a 3D building model, ray-tracing simulation, and known receiver position is developed and an innovative NLOS model using two variables, the elevation angle and the distance between the receiver and building that reflect the NLOS is proposed.
Journal ArticleDOI
Likelihood-based GNSS positioning using LOS/NLOS predictions from 3D mapping and pseudoranges
Paul D. Groves,Mounir Adjrad +1 more
TL;DR: A likelihood-based 3D-mapping-aided GNSS ranging algorithm is demonstrated that enables signals predicted to be non-line-of-sight (NLOS) to contribute to the position solution without explicitly computing the additional path delay due to NLOS reception, which is computationally expensive.
Journal ArticleDOI
Enhancing Least Squares GNSS Positioning with 3D Mapping without Accurate Prior Knowledge
Mounir Adjrad,Paul D. Groves +1 more
TL;DR: 3D mapping is used to aid conventional ranging-based GNSS positioning in urban areas and predicts Non-Line-Of-Sight (NLOS) reception over a large search area to improve horizontal and vertical accuracy.
Journal ArticleDOI
Intelligent Urban Positioning: Integration of Shadow Matching with 3D-Mapping-Aided GNSS Ranging
Mounir Adjrad,Paul D. Groves +1 more
TL;DR: This paper demonstrates the first integration of GNSS shadow matching with 3D-mapping-aided GNSS ranging, performed in the position domain, whereby separate ranging and shadow matching position solutions are computed, then combined using direction-dependent weighting.
Journal ArticleDOI
Fisheye-Based Method for GPS Localization Improvement in Unknown Semi-Obstructed Areas.
TL;DR: Generated 3D models reaching metric accuracy and improvement of horizontal GPS positioning accuracy by more than 50%, and the proposed NLOS detection outperforms CN0-based methods (Carrier-to-receiver Noise density).
References
More filters
Journal ArticleDOI
An algorithm for tracking multiple targets
TL;DR: An algorithm for tracking multiple targets in a cluttered environment is developed, capable of initiating tracks, accounting for false or missing reports, and processing sets of dependent reports.
Journal ArticleDOI
OpenStreetMap: User-Generated Street Maps
Muki Haklay,Patrick Weber +1 more
TL;DR: The OpenStreetMap project is a knowledge collective that provides user-generated street maps that follow the peer production model that created Wikipedia; its aim is to create a set of map data that's free to use, editable, and licensed under new copyright schemes.
Book
Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems
TL;DR: In this paper, the authors present a single-source reference for navigation systems engineering, providing both an introduction to overall systems operation and an in-depth treatment of architecture, design, and component integration.
Book ChapterDOI
CityGML: Interoperable Access to 3D City Models
TL;DR: CityGML is a multi-purpose and multi-scale representation for the storage of and interoperable access to 3D city models in SDIs, based on the standard GML3 of the Open Geospatial Consortium and covers the geometrical, topological, and semantic aspects of 3Dcity models.
Journal ArticleDOI
Principles of GNSS, inertial, and multisensnr integrated navigation systems, 2nd edition [Book review]
TL;DR: This second edition of Dr. Grove's book is an excellent reference (with numerous nuggets of wisdom) that should be readily handy on the shelf of every practicing navigation engineer and will also serve students as a great textbook.