A Robust Shadow Matching Algorithm for GNSS Positioning
A Robust Shadow Matching Algorithm for GNSS Positioning
复制标题
一种用于 GNSS 定位的鲁棒阴影匹配算法
DOI：
10.1002/navi.117
复制
发表时间：
2015
影响因子：
--
通讯作者：
B. B. Moshe
中科院分区：
文献类型：
--
作者：
Roi Yozevitch;B. B. Moshe
商用GNSS设备往往在城市峡谷环境中表现不佳。密集而高大的建筑物阻挡了许多卫星的信号。在这项工作中，我们提出了一个粒子滤波算法的阴影匹配框架来面对这个问题。给定3D城市地图和给定卫星的信号属性，该算法实时计算感兴趣区域（ROI）内的无效区域。这种方法将ROI减小到其原始大小的一小部分。提出了一种基于改进粒子滤波的阴影匹配定位算法的总体框架。通过仿真实验，我们已经表明，所提出的方法可以提高现有的GNSS设备在城市地区的精度。此外，该算法可以有效地扩展到高采样率的三维定位，固有地适用于无人机和无人机。Copyright © 2015 - 2019 www.cnjs.com
Commercial GNSS devices tend to perform poorly in urban canyon environments. The dense and tall buildings block the signals from many of the satellites. In this work, we present a particle filter algorithm for a Shadow Matching framework to face this problem. Given a 3D city map and given the satellites' signal properties, the algorithm calculates in real-time invalid regions inside the Region Of Interest (ROI). This approach reduces the ROI to a fraction of its original size. We present a general framework for a Shadow Matching positioning algorithm based on a modified particle filter. Using simulation experiments we have shown that the suggested method can improve the accuracy of existing GNSS devices in urban regions. Moreover, the proposed algorithm can be efficiently extended to 3D positioning in high sampling rate, inherently applicable for UAVs and Drones. Copyright © 2015 Institute of Navigation.