GNSS RUMS: GNSS realistic urban multiagent simulator for collaborative positioning research

Research output: Journal article publicationJournal articleAcademic researchpeer-review

16 Citations (Scopus)


Accurate localization of road agents (GNSS receivers) is the basis of intelligent transportation systems, which is still difficult to achieve for GNSS positioning in urban areas due to the signal interferences from buildings. Various collaborative positioning techniques were recently developed to improve the positioning performance by the aid from neighboring agents. However, it is still challenging to study their performances comprehensively. The GNSS measurement error be-havior is complicated in urban areas and unable to be represented by naive models. On the other hand, real experiments requiring numbers of devices are difficult to conduct, especially for a large-scale test. Therefore, a GNSS realistic urban measurement simulator is developed to provide measurements for collaborative positioning studies. The proposed simulator employs a ray‐tracing technique searching for all possible interferences in the urban area. Then, it categorizes them into direct, reflected, diffracted, and multipath signal to simulate the pseudorange, C/N, and Doppler shift measurements correspondingly. The performance of the proposed simulator is validated through real experimental comparisons with different scenarios based on commercial‐grade receivers. The proposed simulator is also applied with different positioning algorithms, which verifies it is sophis-ticated enough for the collaborative positioning studies in the urban area.

Original languageEnglish
Article number544
Pages (from-to)1-37
Number of pages37
JournalRemote Sensing
Issue number4
Publication statusPublished - 2 Feb 2021


  • 3D building model
  • Collaborative positioning
  • Global navigation satellite system (GNSS)
  • Multipath
  • Simulator
  • Urban canyon

ASJC Scopus subject areas

  • General Earth and Planetary Sciences


Dive into the research topics of 'GNSS RUMS: GNSS realistic urban multiagent simulator for collaborative positioning research'. Together they form a unique fingerprint.

Cite this