Abstract
The current low-cost global navigation satellite systems (GNSS) receiver cannot calculate satisfactory positioning results for pedestrian applications in urban areas with dense buildings due to multipath and non-line-of-sight effects. We develop a rectified positioning method using a basic three-dimensional city building model and ray-tracing simulation to mitigate the signal reflection effects. This proposed method is achieved by implementing a particle filter to distribute possible position candidates. The likelihood of each candidate is evaluated based on the similarity between the pseudorange measurement and simulated pseudorange of the candidate. Finally, the expectation of all the candidates is the rectified positioning of the proposed map method. The proposed method will serve as one sensor of an integrated system in the future. For this purpose, we successfully define a positioning accuracy based on the distribution of the candidates and their pseudorange similarity. The real data are recorded at an urban canyon environment in the Chiyoda district of Tokyo using a commercial grade u-blox GNSS receiver. Both static and dynamic tests were performed. With the aid of GLONASS and QZSS, it is shown that the proposed method can achieve a 4.4-m 1σ positioning error in the tested urban canyon area.
Similar content being viewed by others
References
Braasch MS (1996) Multipath Effects. In: Parkinson BW, Spilker JJ (eds) Global positioning system: theory and applications, vol 1., AIAAWashington, DC, pp 547–568
Bradbury J, Ziebart MK, Cross PA, Boulton P, Read A (2007) Code multipath modelling in the urban environment using large virtual reality city models: determining the local environment. J Navig 60:95–105. doi:10.1017/S0373463307004079
Dierendonck AJV, Fenton P, Ford T (1992) Theory and performance of narrow correlator spacing in GPS receiver. Navigation 39:265–283
Garin L, Diggelen Fv, Rousseau J-M Strobe (1996) Edge correlator multipath mitigation for code. In: Proceedings of ION GPS 1996, Institute of Navigation, Kansas City, MO, September, pp 657–664
Groves PD (2013) Principles of GNSS, inertial, and multi-sensor integrated navigation systems (GNSS technology and applications), 2nd edn. Artech House, Boston
Groves PD, Jiang Z (2013) Height aiding, C/N 0 weighting and consistency checking for GNSS NLOS and multipath mitigation in urban areas. J Navig 66:653–669. doi:10.1017/S0373463313000350
Groves PD, Christopher JM, Macaulay AA (2007) Demonstration of non-coherent Deep INS/GPS integration for optimised signal-to-noise performance. In: Proceedings of ION GNSS 2007, Institute of Navigation, Fort Worth, TX, September, pp 2627–2638
Groves PD, Jiang Z, Wang L, Ziebart MK (2012) Intelligent urban positioning using multi-constellation GNSS with 3D mapping and NLOS signal detection. In: Proceedings of ION GNSS 2012, Institute of Navigation, Nashville, TN, September, pp 458–472
Hsu L-T, Jan S-S, Groves P, Kubo N (2014) Multipath mitigation and NLOS detection using vector tracking in urban environments. GPS Solut 1–14 doi:10.1007/s10291-014-0384-6
Hsu L-T, Gu Y, Chen F, Wada Y, Kamijo S (2015) Assessment of QZSS L1-SAIF for 3D map-based pedestrian positioning method in an urban environment. In: Proceedings of ION ITM 2015, Institute of Navigation, Dana Point, CA, January 26–28, 2015
Iskander MF, Zhengqing Y (2002) Propagation prediction models for wireless communication systems. IEEE Trans Microw Theory Tech 50:662–673. doi:10.1109/22.989951
Jiang Z, Groves PD (2012) NLOS GPS signal detection using a dual-polarisation antenna. GPS Solut 18(1):15–26. doi:10.1007/s10291-012-0305-5
Kaplan ED, Leva JL, Mibert D, Pavloff MS (2006) Fundamentals of satellite navigation. In: Kaplan ED, Hegarty CJ (eds) Understanding GPS principles and applications, 2nd edn. Artech House Publishers, Norwood
Kumar R, Petovello MG (2014) A novel GNSS positioning technique for improved accuracy in urban canyon scenarios using 3D city model. In: Proceedings of ION GNSS + 2014, Institute of Navigation, Tampa, Florida, September 8–12, pp 2139–2148
Lee Y-W, Suh Y-C, Shibasaki R (2008) A simulation system for GNSS multipath mitigation using spatial statistical methods. Comput Geosci 34:1597–1609. doi:10.1016/j.cageo.2008.01.004
McGraw GA, Young RSY, Reichenauer K, Stevens J, Ventrone F (2004) GPS multipath mitigation assessment of digital beam forming antenna technology in a JPALS dual frequency smoothing architecture. In: Proceedings of ION NTM 2004, Institute of Navigation, San Diego, CA January, pp 561–572
Miura S, Hisaka S, Kamijo S (2013) GPS multipath detection and rectification using 3D maps. 16th International IEEE conference on intelligent transportation systems (ITSC), 2013, October 6–9, pp 1528–1534. doi:10.1109/ITSC.2013.6728447
Obst M, Bauer S, Reisdorf P, Wanielik G (2012) Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas. In: Intelligent vehicles symposium (IV), IEEE, June 3–7, pp 184–190. doi:10.1109/IVS.2012.6232285
Parkinson BW (1996) GPS error analysis. In: Spilker JJ, Parkionson BW (eds) Global positioning system: theory and applications, vol 1. American Institute of Aeronautics, Washington, DC, pp 469–483
Petovello MG, O’Driscoll C, Lachapelle G (2008) Carrier phase tracking of weak signals using different receiver architectures. In: Proceedings of ION NTM 2008, Institute of Navigation, San Diego, CA, January, pp 781–791
Peyraud S, Bétaille D, Renault S, Ortiz M, Mougel F, Meizel D, Peyret F (2013) About non-line-of-sight satellite detection and exclusion in a 3D map-aided localization algorithm. Sensors 13:829–847
Pinana-Diaz C, Toledo-Moreo R, Betaille D, Gomez-Skarmeta AF (2011) GPS multipath detection and exclusion with elevation-enhanced maps. In: 14th International IEEE conference intelligent transportation systems (ITSC), October 5–7, pp 19–24. doi:10.1109/ITSC.2011.6083042
RCTA (2006) Minimum operational performance standards for global positioning system/wide area augmentation system airborne equipment
Sakai T, Fukushima S, Ito K (2009). Development of QZSS L1-SAIF augmentation signal. In: ICCAS-SICE, August 18–21, pp 4462–4467
Soloviev A, Van Graas F (2009) Use of deeply integrated GPS/INS architecture and laser scanners for the identification of multipath reflections in urban environments selected topics in signal processing. IEEE J Sel Topics Signal Process 3:786–797. doi:10.1109/JSTSP.2009.2027796
Soloviev A, Toth C, Grejner-Brzezinska D (2011) Performance of deeply integrated GPS/INS in dense forestry areas. In: Proceedings of ION GNSS 2011, Institute of Navigation, Portland, OR, September, pp 2427–2435
Suzuki T, Kubo N (2013) Correcting GNSS multipath errors using a 3D surface model and particle filter. In: Proceedings ION GNSS + 2013, Institute of Navigation, Nashville, TN, September 16–20, pp 1583–1595
Takasu T, Yasuda A (2009) Development of the low-cost RTK-GPS receiver with an open source program package RTKLIB. Paper presented at the international symposium on GPS/GNSS 2009, Jeju, Korea, November 4–6
Wang L, Groves PD, Ziebart MK (2013) GNSS shadow matching: improving urban positioning accuracy using a 3D city model with optimized visibility scoring scheme NAVIGATION. J Inst Navig 60:195–207
Xie P, Petovello MG (2012) Improving high sensitivity receiver performance in multipath environment for vehicular applications. In: Proceedings of ION GNSS 2012, Institute of Navigation, Nashville, TN, September 448–458
Acknowledgments
The authors gratefully acknowledge the support of the Strategic Information and Communications R&D Promotion Programme (SCOPE). The authors also thank Professor Tomoji Takasu from the Tokyo University of Marine Science and Technology (TUMSAT) for the release of the open source RTKLIB software.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Hsu, LT., Gu, Y. & Kamijo, S. 3D building model-based pedestrian positioning method using GPS/GLONASS/QZSS and its reliability calculation. GPS Solut 20, 413–428 (2016). https://doi.org/10.1007/s10291-015-0451-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10291-015-0451-7