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Open AccessArticle

Performance Enhancement of Land Vehicle Positioning Using Multiple GPS Receivers in an Urban Area

by Jong-Hwa Song 1 and Gyu-In Jee 2,*
AESA Radar R&D Center, Hanwha Systems, Gyeonggi-do 17121, Korea
Department of Electronics Engineering, Konkuk University, Seoul 05029, Korea
Author to whom correspondence should be addressed.
Academic Editor: Felipe Jimenez
Sensors 2016, 16(10), 1688;
Received: 30 May 2016 / Revised: 25 September 2016 / Accepted: 8 October 2016 / Published: 14 October 2016
(This article belongs to the Special Issue Sensors for Autonomous Road Vehicles)
The Global Positioning System (GPS) is the most widely used navigation system in land vehicle applications. In urban areas, the GPS suffers from insufficient signal strength, multipath propagation and non-line-of-sight (NLOS) errors, so it thus becomes difficult to obtain accurate and reliable position information. In this paper, an integration algorithm for multiple receivers is proposed to enhance the positioning performance of GPS for land vehicles in urban areas. The pseudoranges of multiple receivers are integrated based on a tightly coupled approach, and erroneous measurements are detected by testing the closeness of the pseudoranges. In order to fairly compare the pseudoranges, GPS errors and terms arising due to the differences between the positions of the receivers need to be compensated. The double-difference technique is used to eliminate GPS errors in the pseudoranges, and the geometrical distance is corrected by projecting the baseline vector between pairs of receivers. In order to test and analyze the proposed algorithm, an experiment involving live data was performed. The positioning performance of the algorithm was compared with that of the receiver autonomous integrity monitoring (RAIM)-based integration algorithm for multiple receivers. The test results showed that the proposed algorithm yields more accurate position information in urban areas. View Full-Text
Keywords: multiple GPS receivers; RAIM; outlier; closeness; double-difference; urban multiple GPS receivers; RAIM; outlier; closeness; double-difference; urban
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Song, J.-H.; Jee, G.-I. Performance Enhancement of Land Vehicle Positioning Using Multiple GPS Receivers in an Urban Area. Sensors 2016, 16, 1688.

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