About Non-Line-Of-Sight satellite detection and exclusion in a 3D map-aided localization algorithm.
Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.
XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France. peyraud@ensil.unilim.fr
Sébastien
S
Peyraud
David
D
Bétaille
Stéphane
S
Renault
Miguel
M
Ortiz
Florian
F
Mougel
Dominique
D
Meizel
François
F
Peyret