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
收藏
页码：184 / 190
页数：7
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