About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm

Author： Peyraud Sébastien Bétaille David Renault Stéphane Ortiz Miguel Mougel Florian Meizel Dominique Peyret François

Publisher： MDPI

E-ISSN： 1424-8220|13|1|829-847

ISSN： 1424-8220

Source： Sensors, Vol.13, Iss.1, 2013-01, pp. : 829-847

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Abstract

Reliable GPS positioning in city environment is a key issue actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.