DocumentCode
3681964
Title
GPS/GNSS Consistency in a Multi-path Environment and During Signal Outages
Author
Stewart Worrall;James Ward;Asher Bender;Eduardo M. Nebot
Author_Institution
Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia
fYear
2015
Firstpage
2505
Lastpage
2511
Abstract
The majority of Intelligent Transportation System (ITS) applications require an estimate of position, often generated through the fusion of satellite based positioning (such as GPS) with on-board inertial systems. To make the position estimates consistent it is necessary to understand the noise distribution of the information used in the estimation algorithm. For GNSS position information the noise distribution is commonly approximated as zero mean with Gaussian distribution, with the standard deviation used as an algorithm tuning parameter. A major issue with satellite based positioning is the well known problem of multipath which can introduce a non-linear and non-Gaussian error distribution for the position estimate. This paper introduces a novel algorithm that compares the noise distribution of the GNSS information with the more consistent noise distribution of the local egocentric sensors to effectively reject GNSS data that is inconsistent. The results presented in this paper show how the gating of the GNSS information in a strong multipath environment can maintain consistency in the position filter and dramatically improve the position estimate. This is particularly important when sharing information from different vehicles as in the case of cooperative perception due to the requirement to align information from various sources.
Keywords
"Global Positioning System","Satellites","Sensors","Noise","Logic gates","Vehicles","Uncertainty"
Publisher
ieee
Conference_Titel
Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on
ISSN
2153-0009
Electronic_ISBN
2153-0017
Type
conf
DOI
10.1109/ITSC.2015.408
Filename
7313495
Link To Document