Reliable knowledge of the ego position for vehicles is a crucial requirement for many automotive applications. In order to solve this problem for satellite-based localization in dense urban areas, multipath situations need to be handled carefully. This paper proposes a lightweight multipath detection algorithm which is based on dynamically built 3D environmental maps. The algorithm is evaluated with simulated and real-world data. Furthermore, it is applied to a combined GPS and GLONASS system in combination with a loosely coupled integration of odometry measurements from the vehicle.


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    Titel :

    Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas


    Beteiligte:
    Obst, Marcus (Autor:in) / Bauer, Sven (Autor:in) / Reisdorf, Pierre (Autor:in) / Wanielik, Gerd (Autor:in)


    Erscheinungsdatum :

    2012-06-01


    Format / Umfang :

    370126 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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