Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning

Research output: Journal article publicationJournal articleAcademic researchpeer-review

56 Citations (Scopus)


We present a novel method to detect the GNSS NLOS and correct the NLOS pseudorange measurements based on on-board sensing. This paper demonstrates the use of LiDAR scanner and a list of building heights to describe the perceived environment. To estimate the geometry and pose of the top edges of buildings (TEBs) relative to the GNSS receiver, a surface segmentation method is employed to detect the TEBs of surrounding buildings using 3D LiDAR point clouds. The top edges of the building are extracted and extended using the building height list in Skyplot to identify the NLOS-affected ones. Innovatively, the NLOS delay in pseudorange is corrected based on the detected TEBs. Weighted least squares (WLS) is used to cooperate the corrected NLOS and other pseudorange measurements. Vehicle experiments are conducted in two different urban canyons to verify the effectiveness of the proposed method in improving GNSS single point positioning (SPP) accuracy.

Original languageEnglish
Pages (from-to)705-718
Number of pages14
JournalNavigation, Journal of the Institute of Navigation
Issue number4
Publication statusPublished - 14 Jan 2020

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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