GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning

Yuyang HUANG; Li-Ta HSU; Yanlei GU; Shunsuke KAMIJO

doi:10.1587/transfun.E101.A.1245

GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning

Yuyang HUANG, Li-Ta HSU, Yanlei GU, Shunsuke KAMIJO

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Accurate pedestrian navigation remains a challenge in urban environments. GNSS receiver behaves poorly because the reflection and blockage of the GNSS signals by buildings or other obstacles. Integration of GNSS positioning and Pedestrian Dead Reckoning (PDR) could provide a more smooth navigation trajectory. However, the integration system cannot present the satisfied performance if GNSS positioning has large error. This situation often happens in the urban scenario. This paper focuses on improving the accuracy of the pedestrian navigation in urban environment using a proposed altitude map aided GNSS positioning method. Firstly, we use consistency check algorithm, which is similar to receiver autonomous integrity monitoring (RAIM) fault detection, to distinguish healthy and multipath contaminated measurements. Afterwards, the erroneous signals are corrected with the help of an altitude map. We called the proposed method altitude map aided GNSS. After correcting the erroneous satellite signals, the positioning mean error could be reduced from 17 meters to 12 meters. Usually, good performance for integration system needs accurately calculated GNSS accuracy value. However, the conventional GNSS accuracy calculation is not reliable in urban canyon. In this paper, the altitude map is also utilized to calculate the GNSS localization accuracy in order to indicate the reliability of the estimated position solution. The altitude map aided GNSS and accuracy are used in the integration with PDR system in order to provide more accurate and continuous positioning results. With the help of the proposed GNSS accuracy, the integration system could achieve 6.5 meters horizontal positioning accuracy in urban environment.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E101-A No.8 pp.1245-1256

Publication Date: 2018/08/01

Publicized

Online ISSN: 1745-1337

DOI: 10.1587/transfun.E101.A.1245

Type of Manuscript: PAPER

Category: Intelligent Transport System

Authors

Yuyang HUANG
  The University of Tokyo
Li-Ta HSU
  The University of Tokyo
Yanlei GU
  The University of Tokyo
Shunsuke KAMIJO
  The University of Tokyo

Keyword

GNSS, altitude map, localization, navigation, pedestrian dead reckoning

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Yuyang HUANG, Li-Ta HSU, Yanlei GU, Shunsuke KAMIJO, "GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning" in IEICE TRANSACTIONS on Fundamentals, vol. E101-A, no. 8, pp. 1245-1256, August 2018, doi: 10.1587/transfun.E101.A.1245.
Abstract: Accurate pedestrian navigation remains a challenge in urban environments. GNSS receiver behaves poorly because the reflection and blockage of the GNSS signals by buildings or other obstacles. Integration of GNSS positioning and Pedestrian Dead Reckoning (PDR) could provide a more smooth navigation trajectory. However, the integration system cannot present the satisfied performance if GNSS positioning has large error. This situation often happens in the urban scenario. This paper focuses on improving the accuracy of the pedestrian navigation in urban environment using a proposed altitude map aided GNSS positioning method. Firstly, we use consistency check algorithm, which is similar to receiver autonomous integrity monitoring (RAIM) fault detection, to distinguish healthy and multipath contaminated measurements. Afterwards, the erroneous signals are corrected with the help of an altitude map. We called the proposed method altitude map aided GNSS. After correcting the erroneous satellite signals, the positioning mean error could be reduced from 17 meters to 12 meters. Usually, good performance for integration system needs accurately calculated GNSS accuracy value. However, the conventional GNSS accuracy calculation is not reliable in urban canyon. In this paper, the altitude map is also utilized to calculate the GNSS localization accuracy in order to indicate the reliability of the estimated position solution. The altitude map aided GNSS and accuracy are used in the integration with PDR system in order to provide more accurate and continuous positioning results. With the help of the proposed GNSS accuracy, the integration system could achieve 6.5 meters horizontal positioning accuracy in urban environment.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E101.A.1245/_p

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@ARTICLE{e101-a_8_1245,
author={Yuyang HUANG, Li-Ta HSU, Yanlei GU, Shunsuke KAMIJO, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning},
year={2018},
volume={E101-A},
number={8},
pages={1245-1256},
abstract={Accurate pedestrian navigation remains a challenge in urban environments. GNSS receiver behaves poorly because the reflection and blockage of the GNSS signals by buildings or other obstacles. Integration of GNSS positioning and Pedestrian Dead Reckoning (PDR) could provide a more smooth navigation trajectory. However, the integration system cannot present the satisfied performance if GNSS positioning has large error. This situation often happens in the urban scenario. This paper focuses on improving the accuracy of the pedestrian navigation in urban environment using a proposed altitude map aided GNSS positioning method. Firstly, we use consistency check algorithm, which is similar to receiver autonomous integrity monitoring (RAIM) fault detection, to distinguish healthy and multipath contaminated measurements. Afterwards, the erroneous signals are corrected with the help of an altitude map. We called the proposed method altitude map aided GNSS. After correcting the erroneous satellite signals, the positioning mean error could be reduced from 17 meters to 12 meters. Usually, good performance for integration system needs accurately calculated GNSS accuracy value. However, the conventional GNSS accuracy calculation is not reliable in urban canyon. In this paper, the altitude map is also utilized to calculate the GNSS localization accuracy in order to indicate the reliability of the estimated position solution. The altitude map aided GNSS and accuracy are used in the integration with PDR system in order to provide more accurate and continuous positioning results. With the help of the proposed GNSS accuracy, the integration system could achieve 6.5 meters horizontal positioning accuracy in urban environment.},
keywords={},
doi={10.1587/transfun.E101.A.1245},
ISSN={1745-1337},
month={August},}

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TY - JOUR
TI - GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1245
EP - 1256
AU - Yuyang HUANG
AU - Li-Ta HSU
AU - Yanlei GU
AU - Shunsuke KAMIJO
PY - 2018
DO - 10.1587/transfun.E101.A.1245
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E101-A
IS - 8
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - August 2018
AB - Accurate pedestrian navigation remains a challenge in urban environments. GNSS receiver behaves poorly because the reflection and blockage of the GNSS signals by buildings or other obstacles. Integration of GNSS positioning and Pedestrian Dead Reckoning (PDR) could provide a more smooth navigation trajectory. However, the integration system cannot present the satisfied performance if GNSS positioning has large error. This situation often happens in the urban scenario. This paper focuses on improving the accuracy of the pedestrian navigation in urban environment using a proposed altitude map aided GNSS positioning method. Firstly, we use consistency check algorithm, which is similar to receiver autonomous integrity monitoring (RAIM) fault detection, to distinguish healthy and multipath contaminated measurements. Afterwards, the erroneous signals are corrected with the help of an altitude map. We called the proposed method altitude map aided GNSS. After correcting the erroneous satellite signals, the positioning mean error could be reduced from 17 meters to 12 meters. Usually, good performance for integration system needs accurately calculated GNSS accuracy value. However, the conventional GNSS accuracy calculation is not reliable in urban canyon. In this paper, the altitude map is also utilized to calculate the GNSS localization accuracy in order to indicate the reliability of the estimated position solution. The altitude map aided GNSS and accuracy are used in the integration with PDR system in order to provide more accurate and continuous positioning results. With the help of the proposed GNSS accuracy, the integration system could achieve 6.5 meters horizontal positioning accuracy in urban environment.
ER -