GNSS receiver performance in urban environment: Challenges and test approaches for automotive applications

Cristodaro, Calogero; Dovis, Fabio; Falco, Gianluca; Pini, Marco

doi:10.23919/eeta.2017.7993222

Cited by 23 publications

(13 citation statements)

References 12 publications

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“…Multiple challenges that future automotive GNSS positioning could face in urban areas are listed; performance improvement with multi-GNSS dataset is shown (Escher et al, 2016). The use of data gathered in an urban surrounding with software-defined radio (SDR) technology allows improvement to the system's performance (Cristodaro et al, 2017). However, the processing load is higher and there is a considerable latency to obtain the solution.…”

Section: Introductionmentioning

confidence: 99%

Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers

Jain

Schön

2021

J. Navigation

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In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.

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Section: Introductionmentioning

confidence: 99%

Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers

Jain

Schön

2021

J. Navigation

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“…In the outdoor open environment, GPS/BDS/GLONASS [3,4] (global navigation satellite system) and other constellation systems can provide far superior satellite geometry and signal availability and more consistent and accurate positioning capability, which can basically meet the needs of high-precision position information of vehicles [5][6][7]. However, the number of visible/available satellites in high-rise buildings, three-dimensional traffic, long-distance tunnels, underground parking, and other complex urban environments is decreasing, even the satellite signal is not available for positioning, which brings great challenges to vehicle navigation [8][9][10]. GNSS/INS integrated system can provide better performance than simple GNSS in complex environments [9,11,12]; however, the performance of GNSS/INS integration depends heavily on the quality of Inertial Measurement Unit (IMU) adopted.…”

Section: Introductionmentioning

confidence: 99%

Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment

et al. 2020

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Global Navigation Satellite System Real-Time Kinematic (GNSS-RTK) technology is widely used in vehicle navigation, but in complex environments such as urban high-rise street, wooded street, overpass, and tunnel, satellite signals are prone to attenuation or even unavailability. It brings great challenges to the continuous high-precision navigation. For this reason, a tightly coupled (TC) integration algorithm for GPS (Global Positioning System)/BDS (BeiDou Navigation Satellite System)/MEMS-INS (Micro-Electro-Mechanical System-Inertial Navigation System)/Odometer (GCIO) is proposed for vehicle navigation in complex urban environments. The accuracy improvement and ambiguity resolution (AR) performance are analysed in this research. First of all, the INS positioning error is constrained by fusion GPS/BDS (GC) and odometer; then, the predicted position information is used to aid GPS/BDS ambiguity resolution. In GNSS-denied environments, the odometer/INS integration is still carried out for continuous navigation. Real-time experiments are carried out in urban degraded and denied environments to validate the performance of the integrated system. In high-rise streets, the ambiguity fixing success rate of GCIO mode is 13.57% higher than that of GC mode. In the wooded street environment, the success rate has increased particularly significantly, by about 55 percent. The positioning accuracy analysis for open environment, high-rise street, wooded street, overpass, and tunnel is conducted. The experimental results show that in the above environment, the order of 0.1 m positioning accuracy can be achieved in the case of satellite outage for 1 minute, which can meet the positioning needs in most scenarios.

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“…Preliminary experimental results on the use of the record and replay method for the GBPT performance assessment have been discussed in [ 9 , 10 ]. This paper extends the analysis of [ 10 ], and it discusses the trade-off between the parameters and provides results that validate the method. Eventually, it highlights the strengths and weaknesses behind the use of such a method for the GBPT performance assessment in the case of different operational environments.…”

Section: Introductionmentioning

confidence: 99%

Benefits and Limitations of the Record and Replay Approach for GNSS Receiver Performance Assessment in Harsh Scenarios

Cristodaro

Ruotsalainen

Dovis

2018

Sensors

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Global navigation satellite systems play a significant role in the development of intelligent transport systems, where the estimation of the vehicle’s position is a key element. However, in strongly constrained environments such as city centers, the definition of quality metrics and the assessment of positioning performances are challenges to be addressed. Due to the variability of different urban scenarios, the modeling of the dynamics as well as the architecture of the positioning platform, which might embed other sensors and aiding means to the GNSS unit, make it hard to define unambiguous positioning metrics. Performance assessment through analytical models and simulators can be ineffective in terms of cost, complexity, and general validity and scalability of the results. This paper shows how a record and replay approach can be an efficient solution to grant fidelity to a realistic scenario. This work discusses advantages and disadvantages with emphasis on the case study of harsh scenarios. Such an approach requires proper data collections that allow the replay phase to test the GNSS-based positioning terminals. This paper presents the results obtained on a set of field tests related to different scenarios, selected as representative for the key performance indicators assessment.

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GNSS receiver performance in urban environment: Challenges and test approaches for automotive applications

Cited by 23 publications

References 12 publications

Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers

Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers

Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment

Benefits and Limitations of the Record and Replay Approach for GNSS Receiver Performance Assessment in Harsh Scenarios

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