3D mapping aided GNSS-based cooperative positioning using factor graph optimization

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

The global navigation satellite system (GNSS) positioning accuracy is highly degraded due to signal reflections from buildings. A stand-alone receiver only has limited measurement capabilities, thus resulting in limited performance. With the rapid development of communications techniques, sharing measurements between receivers have become possible. Therefore, this study proposed a novel 3D mapping aided (3DMA) GNSS-based cooperative positioning method that makes use of all the available surrounding receivers' measurements for acquiring better positioning solutions. By complementarily integrating the GNSS ray-tracing algorithm and the double difference technique, the uncorrelated errors are mitigated while eliminating the correlated errors between users. As a result, a more accurate relative positioning solution is achieved, which can further improve the absolute positioning accuracy of the degraded receiver. To improve the robustness of the cooperative positioning algorithm, factor graph optimization is employed to obtain an overall optimal positioning solution among multiple receivers' solutions. By further integrating the 3DMA GNSS cooperative positioning with factor graph optimization, the positioning accuracy and robustness are improved, and the method achieves a root mean square error of less than 10 meters for most receivers in a dense urban area.

Original languageEnglish
Title of host publicationProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
PublisherThe Institute of Navigation
Pages2269-2284
Number of pages16
ISBN (Electronic)0936406232, 9780936406237
DOIs
Publication statusPublished - 2019
Event32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 - Miami, United States
Duration: 16 Sept 201920 Sept 2019

Publication series

NameProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019

Conference

Conference32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
Country/TerritoryUnited States
CityMiami
Period16/09/1920/09/19

ASJC Scopus subject areas

  • Communication
  • Computer Science Applications
  • Information Systems
  • Software
  • Electrical and Electronic Engineering
  • Computer Networks and Communications

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