Global Navigation Satellite Systems (GNSS) have been commonly used as a source for global localization in autonomous systems, including autonomous vehicles and robots. Different GNSS-based techniques exist to compute the position, velocity and time (PVT) of a moving rover, differing in the level of precision and complexity. The expected performance for each technique is well-studied but it is highly-dependant on the surrounding conditions and local effects such as occlusion or multipath. This paper presents the results after evaluating multiconstellation single-frequency data obtained from an extensive field campaign carried out in the port of Thessaloniki over several months, as part of the European GSA project LOGIMATIC. The paper, furthermore, focuses on the GNSS performance in container terminals, considered different from common urban and suburban scenarios and a potentially challenging environment due to the presence of containers, cranes, hangars and proximity to water. Analysis results show that the accuracy of the standalone PVT estimation methods for GPS and Galileo separately matched the expected performance numbers, with Galileo slightly outperforming GPS. The analysis also illustrated the effects of multipath and signal denial when operating in the proximity of cranes and hangars. Furthermore, the application of EGNOS/SBAS introduced a significant improvement, demonstrating the added value of EGNOS and Galileo over a traditional GPS only solution in these scenarios.
A Benchmark of Dual Constellations GNSS Solutions for Vehicle Localization in Container Terminals
2020-05-01
379604 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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