About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm

• Main Authors: François Peyret, Dominique Meizel, Florian Mougel, Miguel Ortiz, Stéphane Renault, Sébastien Peyraud, David Bétaille
• Format: Article
• Language: English
• Published: MDPI AG 2013-01-01
• Series: Sensors
• Subjects: localization; satellite navigation; intelligent transportation system; NLOS; 3D navigable road maps; 3D kinematic model; data fusion; EKF; set membership estimation
• Online Access: http://www.mdpi.com/1424-8220/13/1/829

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.