3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons

Research output: Journal article publicationJournal articleAcademic researchpeer-review

Abstract

This paper proposes a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method due to both static buildings and dynamic objects. A sliding window map describing the environment of the ego-vehicle is first generated, based on real-time 3D point clouds from a 3D LiDAR sensor. Subsequently, the NLOS receptions are detected based on the sliding window map using a proposed quick searching method which eliminates the reliance on the initial guessing of the position of the GNSS receiver. Instead of directly excluding the detected NLOS satellites from further estimating the position, this paper rectifies the pseudo-range measurement model by (1) correcting the pseudo-range measurements if the reflecting point of the NLOS signals is detected within the sliding window map, and (2) remodeling the uncertainty in the NLOS pseudo-range measurement using a novel weighting scheme. The performance of the proposed model was experimentally evaluated in several typical urban canyons in Hong Kong using an automobile-level GNSS receiver. Furthermore, the potential of the proposed NLOS mitigation method in GNSS and the integration of inertial navigation systems were evaluated via factor graph optimization.

Original languageEnglish
Pages (from-to)1-13
Number of pages13
JournalIEEE Transactions on Intelligent Transportation Systems
DOIs
Publication statusAccepted/In press - Apr 2022

Keywords

  • 3D LiDAR
  • automobile-level GNSS receiver
  • Global navigation satellite system
  • GNSS
  • GNSS NLOS detection
  • Laser radar
  • NLOS correction and remodeling
  • Point cloud compression
  • Real-time systems
  • Receivers
  • Satellites
  • Three-dimensional displays
  • urban canyons.

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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