Skip to main content Accessibility help
×
Home

Applying Standard Digital Map Data in Map-aided, Lane-level GNSS Location

  • David Bétaille (a1), François Peyret (a1), IFSTTAR and Maxime Voyer (a2)

Abstract

Urban positioning using the Global Positioning System (GPS) is challenging because of multipath. Urban canyons limit open sky visibility, and cause signal reflection and diffraction, resulting in significant satellite range measurement errors. The investigations reported here have been carried out in a French project called Inturb (an acronym derived from integrity and urban positioning). So far, the project has had two phases: first, a simple Three-Dimensional (3D) geometrical city modelling, called “Urban Trench”, has been developed and engineered manually from data sets collected in different cities. Positioning improvement in terms of accuracy was quantified where the model could be applied. Second, this modelling has been automated, based on the standard national BD Topo ® map database for France, with promising results. This geometrical modelling makes it possible to distinguish between line-of-sight satellite signals and those from non-line-of-sight. The latter, apparently bona fide, signals are caused by strong reflections, usually from buildings with a lot of steel and glass in their construction. A correction of the pseudo-range measurements of the latter is also computed and applied in the position estimator. Positioning accuracy is improved, whilst availability is kept at its maximum. In the study both manual and automatic 3D models are used in extensive experimental campaigns. Results are: first, the possibility to cover entirely any urban area in the country; second, the reduction of the median error in 3D by more than 50% on data collected in Nantes, Paris and Toulouse for a total duration of nearly ten hours; third, the compliance with standards used in most embedded maps and geographical information systems, including an assessment of the trade-off between the model simplicity and the positioning improvement.

    • Send article to Kindle

      To send this article to your Kindle, first ensure no-reply@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about sending to your Kindle. Find out more about sending to your Kindle.

      Note you can select to send to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

      Find out more about the Kindle Personal Document Service.

      Applying Standard Digital Map Data in Map-aided, Lane-level GNSS Location
      Available formats
      ×

      Send article to Dropbox

      To send this article to your Dropbox account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Dropbox.

      Applying Standard Digital Map Data in Map-aided, Lane-level GNSS Location
      Available formats
      ×

      Send article to Google Drive

      To send this article to your Google Drive account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your <service> account. Find out more about sending content to Google Drive.

      Applying Standard Digital Map Data in Map-aided, Lane-level GNSS Location
      Available formats
      ×

Copyright

Corresponding author

References

Hide All
Braasch, M. S. (1997). Multipath effects. Chapter 14 in GPS: theory and applications, Volume 1, edited by B. W. Parkinson and J. J. Spilker, Progress in Astronautics and Aeronautics Series, AIAA.
Bétaille, D., Peyret, F., Ortiz, M., Miquel, S. and Fontenay, L. (2013a). A New Modelling based on Urban Trenches to Improve GNSS Positioning Quality of Service in Cities. IEEE Intelligent Transportation Systems Magazine, 5(3), 5970.
Bétaille, D., Peyret, F., Ortiz, M., Miquel, S. and Fontenay, L. (2013b). GNSS Accurate Positioning Including Satellite Visibility Check in a Multiple Hypotheses 3D Mapping Framework. ENC GNSS Congress, Vienna.
Bourdeau, A., Sahmoudi, M. and Tourneret, J.-Y. (2012). Tight Integration of GNSS and a 3D City Model for Robust Positioning in Urban Canyons. Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN.
Bradbury, J., Ziebart, M., Cross, P. A., Boulton, P. and Read, A. (2007). Code Multipath Modelling in the Urban Environment Using Large Virtual Reality City Models: Determining the Local Environment. The Journal of Navigation, 60, 95105.
Groves, P. D. (2011). Shadow Matching: A New GNSS Positioning Technique for Urban Canyons. The Journal of Navigation, 64, 417430.
Groves, P. D., Jiang, Z., Wang, L. and Ziebart, M. (2012). Intelligent Urban Positioning using Multi-Constellation GNSS with 3D Mapping and NLOS Signal Detection. Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN.
Groves, P. D. and Jiang, Z. (2013). Height Aiding, C/N0 Weighting and Consistency Checking for GNSS NLOS and Multipath Mitigation in Urban Areas. The Journal of Navigation, 66, 653659.
Jiang, Z., Groves, P., Ochieng, W. Y., Feng, S., Milner, C. D. and Mattos, P. G. (2011). Multi-Constellation GNSS Multipath Mitigation Using Consistency Checking. Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR.
Jiang, Z. and Groves, P. D. (2012). GNSS NLOS and Multipath Error Mitigation using Advanced Multi-Constellation Consistency Checking with Height Aiding. Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN.
Meguro, J.-I., Murata, T., Takiguchi, J.-I., Amano, Y. and Hashizume, T. (2009). GPS Multipath Mitigation for Urban Area using Omnidirectional Infrared Camera. IEEE Transactions on Intelligent Transportation Systems, 10(1), 2230.
Marais, J., Ambellouis, S., Flancquart, A., Lefebvre, S., Meurie, C. and Ruichek, Y. (2012) Accurate Localisation Based on GNSS and Propagation Knowledge for Safe Applications in Guided Transport. Transport Research Arena, Athens.
Miura, S., Hisaka, S. and Kamijo, S. (2013). GPS Multipath Detection and Rectification using 3D Maps. Proceedings of the IEEE Intelligent Transportation Systems Conference, The Hague.
Obst, M., Bauer, S., Reisdorf, P. and Wanielik, G. (2012). Multipath Detection with 3D Digital Maps for Robust Multi-Constellation GNSS/INS Vehicle Localization in Urban Areas. Proceedings of the IEEE Intelligent Vehicles Symposium, Alcalá de Henares.
Ortiz, M., Peyret, F., Renaudin, V. and Bétaille, D. (2013). From Lab to Road Test: Using a Reference Vehicle for Solving GNSS Localization Challenges. Inside GNSS, September-October 2013, 20–34.
Peyraud, S., Bétaille, D., Renault, S., Ortiz, M., Mougel, F., Meizel, D. and Peyret, F. (2013) About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm. Sensors, 13, 829847.
Peyret, F., Bétaille, D. and Mougel, F. (2011). Non-Line-Of-Sight GNSS signal detection using an on-board 3D model of buildings. Proceedings of IEEE International Conference on ITS Telecommunications, Saint-Petersburg.
Quddus, M. A., Ochieng, W. Y. and Noland, R. B. (2007). Current map-matching algorithms for transport applications: State-of-the-art and future research directions. Elsevier Transportation Research Part C, 15, 312328.
Suh, Y. and Shibasaki, R. (2007). Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS. IEEE Transactions on Communications, E90-B, No. 7, 18161825.
Suzuki, T. and Kubo, N. (2013). Correcting GNSS Multipath Errors Using a 3D Surface Model and Particle Filter. Proceedings of the 26th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2013), Nashville, TN.
Wang, L., Groves, P. D. and Ziebart, M. (2012). Multi-Constellation GNSS Performance Evaluation for Urban Canyons Using Large Virtual Reality City Models. The Journal of Navigation, 65, 459476.
Wang, L., Groves, P. D. and Ziebart, M. (2013). GNSS Shadow Matching: Improving Urban Positioning Accuracy using a 3D City Model with Optimized Visibility Scoring Scheme. NAVIGATION, 60, 195207.
Yozevitch, R., Ben-Moshe, B. and Dvir, A. (2014). GNSS Accuracy Improvement Using Rapid Shadow Transitions. IEEE Transactions on Intelligent Transportation Systems, 15(3), 11131122.

Keywords

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed