1. About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm
- Author
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François Peyret, Sébastien Peyraud, Miguel Ortiz, Stéphane Renault, David Betaille, Florian Mougel, Dominique Meizel, MECATRONIQUE (XLIM-MECATRONIQUE), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), Géolocalisation (IFSTTAR/COSYS/GEOLOC), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-PRES Université Nantes Angers Le Mans (UNAM), Département Mesure, Auscultation et Calcul Scientifique (IFSTTAR/MACS), and Cadic, Ifsttar
- Subjects
Engineering ,satellite navigation ,010504 meteorology & atmospheric sciences ,[INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing ,lcsh:Chemical technology ,01 natural sciences ,Biochemistry ,Article ,localization ,SYSTEME DE TRANSPORT INTELLIGENT ,Analytical Chemistry ,LOCALISATION ,Extended Kalman filter ,Non-line-of-sight propagation ,[INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing ,EKF ,3D navigable road maps ,lcsh:TP1-1185 ,Computer vision ,Electrical and Electronic Engineering ,NLOS ,Instrumentation ,Simulation ,[SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing ,0105 earth and related environmental sciences ,GLOBAL POSITIONING SYSTEM ,data fusion ,set membership estimation ,business.industry ,010401 analytical chemistry ,Sensor fusion ,Atomic and Molecular Physics, and Optics ,0104 chemical sciences ,intelligent transportation system ,Virtual image ,3D kinematic model ,Global Positioning System ,Satellite navigation ,Satellite ,Artificial intelligence ,business ,[SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing ,Multipath propagation - Abstract
Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.
- Published
- 2013
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