A Framework for Navigation with LTE Time-Correlated Pseudorange Errors in Multipath Environments

A navigation framework based on a multi-state constraint Kalman filter (MSCKF) is proposed to reduce the effect of time-correlated pseudorange measurement noise of cellular long-term evolution (LTE) signals. The proposed MSCKF framework captures the position of the antenna over a window of measurements to impose constraints on the position estimate. Simulation results are presented showing a reduction of 57% and 51% in the two- dimensional (2D) and three-dimensional (3D) position root mean squared-error (RMSE), respectively, using the proposed framework compared to an extended Kalman filter (EKF). Experimental results on a ground vehicle navigating in an urban environment are presented showing a reduction of 29% and 64.7% in the 2D and 3D position RMSE, respectively, and a reduction of 19.6% and 86.7% in the 2D and 3D maximum error, respectively, using the proposed framework compared to an EKF.