Coordinate Frames and Transformations in GNSS Ray-Tracing for Autonomous Driving in Urban Areas
Coordinate Frames and Transformations in GNSS Ray-Tracing for Autonomous Driving in Urban Areas
复制标题
城市地区自动驾驶 GNSS 射线追踪的坐标系和变换
作者：
Kai;Lucy Icking;Fabian Ruwisch;S. Schön
3D 测绘辅助 (3DMA) 全球导航卫星系统 (GNSS) 是一种广泛使用的减轻多径误差的方法。已经提出了各种研究，利用 3D 建筑模型数据与射线追踪算法相结合来计算和预测卫星的可见度条件并计算由信号反射引起的延迟。为了在自动驾驶等高动态应用中进行仿真、建模并可能纠正多径误差，必须在公共参考系中精确了解卫星-接收器-反射器的几何形状。三维建筑模型通常由区域公共或私人服务提供，并且坐标信息通常在地图投影的坐标系中给出。用于表示卫星和用户坐标以及反射器表面的坐标系中的不一致会导致错误确定的多径误差，从而降低 3DMA GNSS 的性能。本文旨在提供集成 3D 建筑模型数据、用户位置和 GNSS 轨道信息时需要考虑的转换步骤。根据本地 3D 建筑模型中的模拟研究，量化了帧不一致对计算出的额外路径延迟的影响；它们很容易达到几米。评估公制系统和地图投影中的额外路径延迟计算之间的差异，并根据精度需求和预期用途对这两种变体提出修正。
3D Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) is a widely used method to mitigate multipath errors. Various research has been presented which utilizes 3D building model data in conjunction with ray-tracing algorithms to compute and predict satellites’ visibility conditions and compute delays caused by signal reflection. To simulate, model and potentially correct multipath errors in highly dynamic applications, such as, e.g., autonomous driving, the satellite–receiver–reflector geometry has to be known precisely in a common reference frame. Three-dimensional building models are often provided by regional public or private services and the coordinate information is usually given in a coordinate system of a map projection. Inconsistencies in the coordinate frames used to express the satellite and user coordinates, as well as the reflector surfaces, lead to falsely determined multipath errors and, thus, reduce the performance of 3DMA GNSS. This paper aims to provide the needed transformation steps to consider when integrating 3D building model data, user position, and GNSS orbit information. The impact of frame inconsistencies on the computed extra path delay is quantified based on a simulation study in a local 3D building model; they can easily amount to several meters. Differences between the extra path-delay computations in a metric system and a map projection are evaluated and corrections are proposed to both variants depending on the accuracy needs and the intended use.
DOI：
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发表时间：
2015-09
期刊：
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影响因子：
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作者：
P. Groves;Lei Wang;M. Adjrad;C. Ellul
通讯作者：
P. Groves;Lei Wang;M. Adjrad;C. Ellul