Abstract
The Global Positioning System (GPS) is the most widely used navigation system in land vehicle applications. In urban areas, the GPS suffers from insufficient signal strength, multipath propagation and non-line-of-sight (NLOS) errors, so it thus becomes difficult to obtain accurate and reliable position information. In this paper, an integration algorithm for multiple receivers is proposed to enhance the positioning performance of GPS for land vehicles in urban areas. The pseudoranges of multiple receivers are integrated based on a tightly coupled approach, and erroneous measurements are detected by testing the closeness of the pseudoranges. In order to fairly compare the pseudoranges, GPS errors and terms arising due to the differences between the positions of the receivers need to be compensated. The double-difference technique is used to eliminate GPS errors in the pseudoranges, and the geometrical distance is corrected by projecting the baseline vector between pairs of receivers. In order to test and analyze the proposed algorithm, an experiment involving live data was performed. The positioning performance of the algorithm was compared with that of the receiver autonomous integrity monitoring (RAIM)-based integration algorithm for multiple receivers. The test results showed that the proposed algorithm yields more accurate position information in urban areas.
Highlights
At present, the Global Positioning System (GPS) is the most widely used sensor for land vehicle navigation systems, as it provides reasonable positioning solutions in terms of absolute coordinates at most locations and times worldwide and it is free of cost [1,2]
In order to remove outliers such as the multipath and NLOS errors, the pseudorange pseudorange comparison method was proposed for pseudoranges from the same satellite
Before applying the applying the closeness test, non-common terms were removed by double-differencing the closeness test, non-common terms were removed by double-differencing the pseudoranges and pseudoranges and projecting the baseline vector of multiple receivers
Summary
The Global Positioning System (GPS) is the most widely used sensor for land vehicle navigation systems, as it provides reasonable positioning solutions in terms of absolute coordinates at most locations and times worldwide and it is free of cost [1,2]. Skyscrapers and other tall structures prevent the GPS signal propagation, which leads to degradation of the positioning performance due to poor measurement, multipath interference, and non-line-of-sight (NLOS) errors [3,4]. The IMU is incorporated in full or reduced order (dead reckoning) to consider the characteristics of load vehicle dynamics [2,5,6]. Another method involves detecting and excluding multipath or NLOS errors by checking the signal propagation path [7,8,9,10,11,12]. In [9], a Light Detection and Ranging (LiDAR) sensor was used to obtain the digital surface of the environment, and the results were used as an external source of information on expected
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