Unlike many urban localization methods that return point-valued estimates, a set-valued representation enables robustness by ensuring that a continuum of possible positions obeys safety constraints. One strategy with the potential for set-valued estimation is GNSS-based shadow matching (SM) in which one uses a three-dimensional (3D) map to compute GNSS shadows (where line-of-sight is blocked). However, SM requires a point-valued grid for computational tractability, with accuracy limited by grid resolution. We propose zonotope shadow matching (ZSM) for set-valued 3D-map-aided GNSS localization. ZSM represents buildings and GNSS shadows using constrained zonotopes, a convex polytope representation that enables propagating set-valued estimates using fast vector concatenation operations. Starting from a coarse set-valued position, ZSM refines the estimate depending on the receiver being inside or outside each shadow as judged by received carrier-to-noise density. We demonstrate our algorithm’s performance using simulated experiments on a simple 3D example map and on a dense 3D map of San Francisco.


    Access

    Download


    Export, share and cite



    Title :

    Set-Valued Shadow Matching Using Zonotopes for 3D-Map-Aided GNSS Localization


    Contributors:


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Set-Valued Shadow Matching using Zonotopes

    Bhamidipati, Sriramya / Kousik, Shreyas / Gao, Grace | British Library Conference Proceedings | 2021


    Intelligent Urban Positioning using Shadow Matching and GNSS Ranging Aided by 3D Mapping

    Adjrad, Mounir / Groves, Paul D. | British Library Conference Proceedings | 2016


    GNSS Shadow Matching: The Challenges Ahead

    Groves, Paul D. / Wang, Lei / Adjrad, Mounir et al. | British Library Conference Proceedings | 2015


    A Robust Shadow Matching Algorithm for GNSS Positioning

    Yozevitch, Roi | Online Contents | 2015


    A Robust Shadow Matching Algorithm for GNSS Positioning

    Yozevitch, Roi | Online Contents | 2015