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About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm
XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France
French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France
* Author to whom correspondence should be addressed.
Received: 10 December 2012; in revised form: 4 January 2013 / Accepted: 4 January 2013 / Published: 11 January 2013
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.
Keywords: localization; satellite navigation; intelligent transportation system; NLOS;3D navigable road maps; 3D kinematic model; data fusion; EKF; set membership estimation
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Peyraud, S.; Bétaille, D.; Renault, S.; Ortiz, M.; Mougel, F.; Meizel, D.; Peyret, F. About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm. Sensors 2013, 13, 829-847.
Peyraud S, Bétaille D, Renault S, Ortiz M, Mougel F, Meizel D, Peyret F. About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm. Sensors. 2013; 13(1):829-847.
Peyraud, Sébastien; Bétaille, David; Renault, Stéphane; Ortiz, Miguel; Mougel, Florian; Meizel, Dominique; Peyret, François. 2013. "About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm." Sensors 13, no. 1: 829-847.