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Urban multipath detection and mitigation with dynamic 3D maps for reliable land vehicle localization

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3 Author(s)
Obst, M. ; Commun. Eng., Chemnitz Univ. of Technol., Chemnitz, Germany ; Bauer, S. ; Wanielik, G.

Accurate and reliable positioning is an important prerequisite for numerous vehicular applications. Localization techniques based on satellite navigation systems are nowadays standard and deployed in most commercial vehicles. When such a standalone positioning is used in challenging environments like dense urban areas, the localization performance often dramatically degrades due to blocked and reflected satellites signals. In this paper, a general and lightweight probabilistic positioning algorithm with integrated multipath detection through 3D environmental building models is presented. It will be shown that the proposed system outperforms-in terms of accuracy and integrity-existing methods without introducing additional hardware sensors. Furthermore, a benefit analysis of the suggested 3D model for tightly and loosely coupled GPS/INS sensor integration schemas is provided. Finally, the algorithm will be evaluated with real-world data collected during an urban measurement campaign.

Published in:

Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION

Date of Conference:

23-26 April 2012