Localization Algorithm Based on Altitude Time Series in GNSS-Denied Environment

Localization technology is mostly achieved through Global Navigation Satellite Systems(GNSS). However, in mountainous areas where leaves and trees block signals from satellites, getting an appropriate location with GNSS positioning sometimes becomes difficult. In this paper, a localization algorithm based on altitude profiles is proposed. It is a kind of landmark based localization algorithm in which altitude profiles are treated as landmarks. The effectiveness of the algorithm is presented with several experimental results obtained with real data. In recent years, it has become possible to easily use altitude data. Specifically, altitude is estimated from the pressure information obtained from a pressure sensor. The proposed algorithm attempts to identify the current position by matching altitude reference data prepared in advance with altitude data currently acquired.