Proceedings ArticleDOI
Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas
Marcus Obst,Sven Bauer,Pierre Reisdorf,Gerd Wanielik +3 more
- pp 184-190
TLDR
A lightweight multipath detection algorithm which is based on dynamically built 3D environmental maps is proposed which is applied to a combined GPS and GLONASS system in combination with a loosely coupled integration of odometry measurements from the vehicle.Abstract:
Reliable knowledge of the ego position for vehicles is a crucial requirement for many automotive applications. In order to solve this problem for satellite-based localization in dense urban areas, multipath situations need to be handled carefully. This paper proposes a lightweight multipath detection algorithm which is based on dynamically built 3D environmental maps. The algorithm is evaluated with simulated and real-world data. Furthermore, it is applied to a combined GPS and GLONASS system in combination with a loosely coupled integration of odometry measurements from the vehicle.read more
Citations
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Journal ArticleDOI
3D building model-based pedestrian positioning method using GPS/GLONASS/QZSS and its reliability calculation
TL;DR: A rectified positioning method using a basic three-dimensional city building model and ray-tracing simulation to mitigate the signal reflection effects is developed and successfully defines a positioning accuracy based on the distribution of the candidates and their pseudorange similarity.
Journal ArticleDOI
GPS Error Correction With Pseudorange Evaluation Using Three-Dimensional Maps
TL;DR: The proposed approach to estimate a pedestrian position by the aid of a 3-D map and a ray-tracing method successfully estimates the reflection and direct paths so that the estimate appears very close to the groundtruth, whereas the result of a commercial GPS receiver is far from the ground truth.
Journal ArticleDOI
GNSS/Onboard Inertial Sensor Integration With the Aid of 3-D Building Map for Lane-Level Vehicle Self-Localization in Urban Canyon
TL;DR: This paper proposes to employ an innovative GNSS positioning technique with the aid of a 3-D building map in the integration of the Global Navigation Satellite System (GNSS) and onboard inertial sensor integration in a Kalman filter framework.
Journal ArticleDOI
Tightly Coupled GNSS/INS Integration via Factor Graph and Aided by Fish-Eye Camera
TL;DR: This paper proposes to apply a fish-eye camera to capture the sky view image to further classify the NLOS and line-of-sight (LOS) measurements, and shows that the proposed method could effectively mitigate the effects of GNSS outliers, and an improved accuracy was obtained, when compared with the conventional GNSS/INS integration.
Journal ArticleDOI
NLOS Correction/Exclusion for GNSS Measurement Using RAIM and City Building Models.
TL;DR: A new positioning method using 3D building models and the receiver autonomous integrity monitoring (RAIM) satellite selection method to achieve satisfactory positioning performance in urban area is proposed.
References
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Proceedings ArticleDOI
Empirical evaluation of vehicular models for ego motion estimation
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