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Sensors 2013, 13(1), 829-847; doi:10.3390/s130100829

About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm

1
XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France
2
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 / Revised: 4 January 2013 / Accepted: 4 January 2013 / Published: 11 January 2013
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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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 localization; satellite navigation; intelligent transportation system; NLOS;3D navigable road maps; 3D kinematic model; data fusion; EKF; set membership estimation
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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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.

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