Multipath Detection with 3D Digital Maps for Robust Multi-Constellation GNSS/INS Vehicle Localization in Urban Areas

被引：0

作者：

Obst, Marcus ^{[1
]}

Bauer, Sven ^{[1
]}

Reisdorf, Pierre ^{[1
]}

Wanielik, Gerd ^{[1
]}

机构：

[1] Tech Univ Chemnitz, Chemnitz, Germany

来源：

2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2012年

关键词：

MITIGATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Reliable knowledge of the ego position for vehicles is a crucial requirement for many automotive applications. In order to solve this problem for satellite-based localization in dense urban areas, multipath situations need to be handled carefully. This paper proposes a lightweight multipath detection algorithm which is based on dynamically built 3D environmental maps. The algorithm is evaluated with simulated and real-world data. Furthermore, it is applied to a combined GPS and GLONASS system in combination with a loosely coupled integration of odometry measurements from the vehicle.

引用

页码：184 / 190

页数：7

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