Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas

Author

Obst, Marcus ; Bauer, Sven ; Reisdorf, Pierre ; Wanielik, Gerd

Author_Institution

Commun. Eng., Chemnitz Univ. of Technol., Chemnitz, Germany

fYear

2012

fDate

3-7 June 2012

Firstpage

184

Lastpage

190

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.

Keywords

Global Positioning System; artificial satellites; automobiles; driver information systems; inertial navigation; 3D digital maps; GLONASS system; GPS system; Global Navigation Satellite System; Global Positioning System; automotive applications; dense urban areas; multipath detection algorithm; odometry measurements; robust multiconstellation GNSS/INS vehicle localization; satellite-based localization; urban areas; vehicle ego position; Buildings; Detection algorithms; Global Navigation Satellite Systems; Global Positioning System; Receivers; Satellites; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2012 IEEE

Conference_Location

Alcala de Henares

ISSN

1931-0587

Print_ISBN

978-1-4673-2119-8

Type

conf

DOI

10.1109/IVS.2012.6232285

Filename

6232285