GNSS correction using altitude map and its integration with pedestrian dead reckoning

Yuyang Huang, Li Ta Hsu, Yanlei Gu, Shunsuke Kamijo

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)


Accurate pedestrian navigation remains a challenge in urban environments. GNSS receiver behaves poorly because the reflection and blockage of the GNSS signals by buildings or other obstacles. Integration of GNSS positioning and Pedestrian Dead Reckoning (PDR) could provide a more smooth navigation trajectory. However, the integration system cannot present the satisfied performance if GNSS positioning has large error. This situation often happens in the urban scenario. This paper focuses on improving the accuracy of the pedestrian navigation in urban environment using a proposed altitude map aided GNSS positioning method. Firstly, we use consistency check algorithm, which is similar to receiver autonomous integrity monitoring (RAIM) fault detection, to distinguish healthy and multipath contaminated measurements. Afterwards, the erroneous signals are corrected with the help of an altitude map. We called the proposed method altitude map aided GNSS. After correcting the erroneous satellite signals, the positioning mean error could be reduced from 17 meters to 12 meters. Usually, good performance for integration system needs accurately calculated GNSS accuracy value. However, the conventional GNSS accuracy calculation is not reliable in urban canyon. In this paper, the altitude map is also utilized to calculate the GNSS localization accuracy in order to indicate the reliability of the estimated position solution. The altitude map aided GNSS and accuracy are used in the integration with PDR system in order to provide more accurate and continuous positioning results. With the help of the proposed GNSS accuracy, the integration system could achieve 6.5 meters horizontal positioning accuracy in urban environment.

Original languageEnglish
Pages (from-to)1245-1256
Number of pages12
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Issue number8
Publication statusPublished - 1 Aug 2018
Externally publishedYes


  • Altitude map
  • GNSS
  • Localization
  • Navigation
  • Pedestrian dead reckoning

ASJC Scopus subject areas

  • Signal Processing
  • Computer Graphics and Computer-Aided Design
  • Electrical and Electronic Engineering
  • Applied Mathematics


Dive into the research topics of 'GNSS correction using altitude map and its integration with pedestrian dead reckoning'. Together they form a unique fingerprint.

Cite this