Abstract
global navigation satellite system (GNSS) receivers are usually unable to achieve satisfactory performance in difficult environments, such as open-pit mines, urban canyons and indoors. Pseudolites have the potential to extend GNSS usage and significantly improve receiver performance in such environments by providing additional navigation signals. This also applies to asynchronous pseudolite systems, where different pseudolites operate in an independent way. Asynchronous pseudolite systems require, however, dedicated strategies in order to properly integrate GNSS and pseudolite measurements. In this paper, several asynchronous pseudolite/GNSS integration strategies are considered: loosely- and tightly-coupled approaches are developed and combined with pseudolite proximity and receiver signal strength (RSS)-based positioning. The performance of the approaches proposed has been tested in different scenarios, including static and kinematic conditions. The tests performed demonstrate that the methods developed are effective techniques for integrating heterogeneous measurements from different sources, such as asynchronous pseudolites and GNSS.
Highlights
The ever-increasing demand for location-based services (LBSs) in all environments is promoting the development of augmentation systems to aid or replace global navigation satellite system (GNSS)
The results obtained in the partially-obstructed scenario and static conditions are described; the results obtained in deep indoor environments are presented, and an assessment of the system performance outdoors is performed
The algorithms are based on weighted centroid (WeC) and receiver signal strength (RSS), respectively: in both cases, the user position is computed exploiting C/N0 measurements from different pseudolites
Summary
The ever-increasing demand for location-based services (LBSs) in all environments is promoting the development of augmentation systems to aid or replace GNSS. GNSS-based navigation in difficult environments is hindered by signal attenuation and blockage and cannot usually provide the level of performance required. In open-pit mines, urban canyons and indoors, measurements are usually affected by gross errors due to multipath and fading, even when GNSS signals are available. In such conditions, the lack of signals of good quality makes GNSS-based navigation unreliable, if not unfeasible. The lack of signals of good quality makes GNSS-based navigation unreliable, if not unfeasible For this reason, several complementary technologies have been developed to make LBSs available in such environments. The synergy between GNSS and pseudolites has the potential to enable seamless navigation
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