Height Aiding, C/N 0 Weighting and Consistency Checking for GNSS NLOS and Multipath Mitigation in Urban Areas
Paul D. Groves,Ziyi Jiang +1 more
TLDR
Three different techniques for mitigating the impact of non-line-of-sight (NLOS) reception and multipath interference on position accuracy without using additional hardware are investigated, testing them using data collected at multiple sites in central London.Abstract:
Multiple global navigation satellite system (GNSS) constellations can dramatically improve the signal availability in dense urban environments. However, accuracy remains a challenge because buildings block, reflect and diffract the signals. This paper investigates three different techniques for mitigating the impact of non-line-of-sight (NLOS) reception and multipath interference on position accuracy without using additional hardware, testing them using data collected at multiple sites in central London. Aiding the position solution using a terrain height database was found to have the biggest impact, improving the horizontal accuracy by 35% and the vertical accuracy by a factor of 4. An 8% improvement in horizontal accuracy was also obtained from weighting the GNSS measurements in the position solution according to the carrier-power-to-noise-density ratio (C/N0). Consistency checking using a conventional sequential elimination technique was found to degrade horizontal positioning performance by 60% because it often eliminated the wrong measurements in cases when multiple signals were affected by NLOS reception or strong multipath interference. A new consistency checking method that compares subsets of measurements performed better, but was still equally likely to improve or degrade the accuracy. This was partly because removing a poor measurement can result in adverse signal geometry, degrading the position accuracy. Based on this, several ways of improving the reliability of consistency checking are proposed.read more
Citations
More filters
Proceedings ArticleDOI
Sensor integration of 3D map aided GNSS and smartphone PDR in urban canyon with dense foliage
TL;DR: This research proposes to integrate a 3D map aided GNSS (3D-GNSS) with a smartphone-based pedestrian dead reckoning (PDR) to provide localization service in urban area with dense foliage.
Journal ArticleDOI
Integrity monitoring of Graph‐SLAM using GPS and fish‐eye camera
TL;DR: A Simultaneous Localization and Mapping (SLAM)-based Integrity Monitoring (IM) algorithm using GPS and fish-eye camera to compute the protection levels while accounting for multiple faults in GPS and vision, and develops a superpixel-based piecewise random sample consensus.
Journal ArticleDOI
Altimeter + INS/Giant LEO Constellation Dual-Satellite Integrated Navigation and Positioning Algorithm Based on Similar Ellipsoid Model and UKF
TL;DR: In this paper, the authors proposed an altimeter + inertial navigation system (INS) + giant low earth orbit dual-satellite (LEO2) switching integrated navigation algorithm based on a similar ellipsoid model and unscented Kalman filter (UKF).
Journal ArticleDOI
Terminal location method with NLOS exclusion based on unsupervised learning in 5G‐LEO satellite communication systems
TL;DR: In this article, the terminal location method in 5G-low Earth Orbit (5G-LEO) satellite communication systems is investigated to overcome the dependence on the external Global Navigation Satellite System.
Journal ArticleDOI
A Refined SNR Based Stochastic Model to Reduce Site-Dependent Effects
TL;DR: A refined SNR based stochastic model is proposed, in which the links between carrier phase precision and SNR observation have been reasonably established, and could have the highest integer ambiguity resolution success rate and the lowest noise level in the data processing time series with obvious obstruction beside the site.
References
More filters
Journal Article
Global Positioning System : Theory and Applications I
TL;DR: Differential GPS and Integrity Monitoring differential GPS Pseudolites Wide Area Differential GPS Wide Area Augmentation System Receiver Autonomous Integrity Monitoring Integrated Navigation Systems Integration of GPS and Loran-C GPS and Inertial Integration Receiver Aut autonomous Integrity Monitoring Availability for GPS Augmented with Barometric Altimeter Aiding and Clock Coasting
Book
Global positioning system : theory and applications
TL;DR: Differential GPS and Integrity Monitoring Differential GPS Pseudolites Wide Area differential GPS Wide Area Augmentation System Receiver Autonomous Integrity Monitoring Integrated Navigation Systems Integration of GPS and Loran-C GPS and Inertial Integration Receiver Autonomic Integrity Monitoring Availability for GPS Augmented with Barometric Altimeter Aiding and Clock Coasting GPS and Global Navigation Satellite System (GLONASS) GPS Navigation Applications Land Vehicle Navigation and Tracking Marine Applications Applications of the GPS to Air Traffic Control GPS Applications in General Aviation Aircraft Automatic Approach and Landing of Aircraft Using Integrity Beacons Spacecraft Attitude
Journal ArticleDOI
MLESAC: A New Robust Estimator with Application to Estimating Image Geometry
TL;DR: A new robust estimator MLESAC is presented which is a generalization of the RANSAC estimator which adopts the same sampling strategy as RANSac to generate putative solutions, but chooses the solution that maximizes the likelihood rather than just the number of inliers.
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
Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition
TL;DR: The second edition of the Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems as discussed by the authors offers a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching.