Detection of variance changes and mean value jumps in measurement noise for multipath mitigation in urban navigation

Spangenberg, M.; Tourneret, J.-Y.; Calmettes, Vincent; Duchâteau, Grégoire

doi:10.1109/acssc.2008.5074604

Cited by 25 publications

(18 citation statements)

References 14 publications

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“…Furthermore, by comparing a series of innovations, NLOS reception, characterized by a bias, may be distinguished from multipath interference, characterized by a larger than normal variance. 16…”

Section: The Urban-positioning Problemmentioning

confidence: 99%

Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review

Groves

Adjrad

2019

NAVIGATION

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A full performance assessment of 3D‐mapping–aided (3DMA) GNSS in dense urban areas is presented. This first part of a two‐part paper focuses on the effects of algorithm design and user equipment, based on data collected in London using Leica Viva GS15 and u‐blox EVK‐M8T GNSS receivers and a Nexus 9 Android tablet. Best performance is obtained by combining shadow matching with likelihood‐based 3DMA GNSS ranging using hypothesis‐domain integration. Improved versions of the algorithms, together with a comprehensive tuning process, are described. Root mean square horizontal position errors obtained using data from Leica, u‐blox, and Nexus receivers are 3.5, 4.7, and 4.9 m, respectively, compared with 23.6, 26.4, and 31.0 m using conventional GNSS positioning, about a factor of six improvement. Optimal algorithm tuning depends on the environment and the impact of varying grid spacing of the candidate positions is assessed. Algorithms have also been shown to operate in real time on both a Raspberry Pi 3 and a Samsung Galaxy S8+ Android smartphone.

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Section: The Urban-positioning Problemmentioning

confidence: 99%

Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review

Groves

Adjrad

2019

NAVIGATION

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“…According to the window size, one or several modes will be identified. This can be compared to Spangenberg proposals [9] [10]. However, in a changing environment, the choice of a large window is not the most accurate.…”

Section: B Error Modelsmentioning

confidence: 99%

Advanced signal processing techniques for multipath mitigation in land transportation environment

Marais¹,

Duflos

Viandier³

et al. 2010

13th International IEEE Conference on Intelligent Transportation Systems

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International audienceGNSS (Global Navigation Satellite Systems) are today the core of all new ITS applications and require increasing accuracy in particular in dense urban areas where complex localization scenarios become more and more frequent as the number of users evolves. In order to reduce inaccuracy caused by the obstacles around the receiver's antenna, a solution lies in developing new filtering algorithms. These algorithms will take into account both the variation of the noise distribution over time and the reception environment. This paper intends to be a synthesis of our investigations conducted both theoretically and experimentally since 2006. They have been performed by cooperation between Ecole Centrale of Lille and the INRETS-LEOST lab. Results show the achieved performances of each of the proposed algorithms

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“…Snapshot schemes are often based on the self-consistency check of the observations, using, e.g., least squares residuals, such as fault detection in RAIM [1], or on a check of the consistency of the position estimates given by two separate positioning systems [14]. In filtering systems, the same hypothesis tests used in snapshot methods are employed but instead of residuals, Kalman innovations are tested [8,10,15].…”

Section: Statistical Hypothesis Testingmentioning

confidence: 99%

A Framework for Bayesian Receiver Autonomous Integrity Monitoring in Urban Navigation

Pesonen

2011

Navigation

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A Bayesian framework for RAIM designed to meet the requirements of today's urban navigation is introduced. The framework is general in the sense that when contaminated observations can be modeled, integrity information can be computed. We consider the case of positioning in the presence of multipath signals. The proposed method consists of a Bayesian filter that computes the posterior distribution of the history of the presence of multipath signals and the sizes of multipath biases, along with the navigation parameters. From the posterior distribution, optimal integrity information can be theoretically derived. For practical implementation, the optimal Bayesian filter is approximated with various techniques, and suboptimal integrity information is achieved. Simulations show that the approximations of the Bayesian RAIM framework have good performance compared to the traditional least squares RAIM, the drawback being the computational complexity of the methods.

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Detection of variance changes and mean value jumps in measurement noise for multipath mitigation in urban navigation

Cited by 25 publications

References 14 publications

Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review

Performance assessment of 3D‐mapping–aided GNSS part 1: Algorithms, user equipment, and review

Advanced signal processing techniques for multipath mitigation in land transportation environment

A Framework for Bayesian Receiver Autonomous Integrity Monitoring in Urban Navigation

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