Abstract
In this paper, multipath error on Global Navigation Satellite System (GNSS) signals in urban environments is characterized with the help of Light Detection and Ranging (LiDAR) measurements. For this purpose, LiDAR equipment and Global Positioning System (GPS) receiver implementing a multipath estimating architecture were used to collect data in an urban environment. This paper demonstrates how GPS and LiDAR measurements can be jointly used to model the environment and obtain robust receivers. Multipath amplitude and delay are estimated by means of LiDAR feature extraction and multipath mitigation architecture. The results show the feasibility of integrating the information provided by LiDAR sensors and GNSS receivers for multipath mitigation.
Highlights
In Global Navigation Satellite System (GNSS), the user computes its position by means of measured distances between the receiver and a set of in-view satellites
Five satellites are acquired during the test campaign
C/N0 ; the signal drop is masked by the variance of the measurement of the signal-to-noise ratio in an urban environment
Summary
In Global Navigation Satellite System (GNSS), the user computes its position by means of measured distances between the receiver and a set of in-view satellites. These distances are calculated estimating the propagation time of signals transmitted by each satellite. In some environments, reflected versions of the LOS (multipath) may exist due to obstacles surrounding the receiver [1] When such reflected rays have a delay smaller than one chip duration, they are not mitigated by the shift-orthogonality properties of the codes used for the ranging, and they may cause a bias in the delay and carrier-phase estimations. The positioning accuracy of GNSS receiver is badly affected
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