GPS/GNSS Consistency in a Multi-path Environment and During Signal Outages

The majority of Intelligent Transportation System (ITS) applications require an estimate of position, often generated through the fusion of satellite based positioning [such as Global Positioning System (GPS)] with on-board inertial systems. To make the position estimates consistent it is necessary to understand the noise distribution of the information used in the estimation algorithm. For Global Navigation Satellite System (GNSS) position information the noise distribution is commonly approximated as zero mean with Gaussian distribution, with the standard deviation used as an algorithm tuning parameter. A major issue with satellite based positioning is the well known problem of multipath which can introduce a non-linear and non-Gaussian error distribution for the position estimate. This paper introduces a novel algorithm that compares the noise distribution of the GNSS information with the more consistent noise distribution of the local egocentric sensors to effectively reject GNSS data that is inconsistent. The results presented in this paper show how the gating of the GNSS information in a strong multipath environment can maintain consistency in the position filter and dramatically improve the position estimate. This is particularly important when sharing information from different vehicles as in the case of cooperative perception due to the requirement to align information from various sources.


  • English

Media Info

  • Media Type: Web
  • Features: References;
  • Pagination: pp 2505-2511
  • Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

Filing Info

  • Accession Number: 01604656
  • Record Type: Publication
  • ISBN: 9781467365956
  • Files: TRIS
  • Created Date: May 2 2016 3:26PM