<h3>Abstract</h3> Factor graph optimization (FGO) recently has attracted attention as an alternative to the extended Kalman filter (EKF) for GNSS-INS integration. This study evaluates both loosely and tightly coupled integrations of GNSS code pseudorange INS measurements real-time positioning, using conventional EKF FGO with a dataset collected in urban canyon Hong Kong. The strength is analyzed by degenerating FGO-based estimator into "EKF-like estimator." In addition, effects window size...

Insufficient localization accuracy of global navigation satellite system (GNSS) receivers is one the challenges to implement advanced intelligent transportation in highly urbanized areas. Multipath and non-line-of-sight (NLOS) effects strongly deteriorate GNSS positioning performance. This paper aims train a classifier by supervised machine learning separate type pseudorange measurement into three categories, clean, multipath NLOS. Several features obtained or calculated from raw data are...

GNSS/INS integrated solution has been extensively studied over the past decades. However, its performance relies heavily on environmental conditions and sensor costs. The GNSS positioning can obtain satisfactory in open area. Unfortunately, accuracy be severely degraded a highly urbanized area, due to notorious multipath effects none-line-of-sight (NLOS) receptions. As result, excessive outliers occur, which causes huge error integration. This paper proposes apply fish-eye camera capture sky...

The accuracy of the positions a pedestrian is very important and useful information for statistics, advertisement, safety different applications. Although GPS chip in smartphone currently most convenient device to obtain positions, it still suffers from effect multipath nonline-of-sight propagation urban canyons. These reflections could greatly degrade performance receiver. This paper describes an approach estimate position by aid 3-D map ray-tracing method. proposed first distributes...

Lane-level vehicle self-localization is a challenging and significant issue arising in autonomous driving driver-assistance systems. The Global Navigation Satellite System (GNSS) onboard inertial sensor integration are among the solutions for self-localization. However, as main source integration, GNSS positioning performance severely degraded urban canyons because of effects multipath non-line-of-sight (NLOS) propagations. These errors also decrease integration. To reduce negative caused by...

Sensors play important roles for autonomous driving. Localization is definitely a key one. Undoubtedly, global positioning system (GPS) sensor will provide absolute localization almost all the future land vehicles. In terms of driverless car, 1.5 m accuracy minimum requirement, since vehicle has to keep in driving lane that usually wider than 3 m. However, skyscrapers highly-urbanized cities, such as Tokyo and Hong Kong, dramatically deteriorate GPS performance, leading more 50 error....

Mapping and localization is a critical module of autonomous driving, significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research point cloud registration, visual feature matching, inertia navigation has greatly enhanced the accuracy robustness mapping different scenarios. However, highly urbanized scenes are still challenging: LIDAR- camera-based methods perform poorly with numerous dynamic objects; GNSS-based solutions experience...

Currently, global navigation satellite system (GNSS) receivers can provide accurate and reliable positioning service in open-field areas. However, their performance the downtown areas of cities is still affected by multipath none-line-of-sight (NLOS) receptions. This paper proposes a new method using 3D building models receiver autonomous integrity monitoring (RAIM) selection to achieve satisfactory urban area. The model uses ray-tracing technique simulate line-of-sight (LOS) NLOS signal...

Absolute positioning is an essential factor for the arrival of autonomous driving. At present, GNSS indispensable source that can supply initial in commonly used high definition map-based LiDAR point cloud solution However, non-light-of-sight (NLOS) reception dominates performance super-urbanized areas. The recent proposed 3D map aided (3DMA) mitigate majority NLOS caused by buildings. same phenomenon moving objects urban areas currently not modeled geographic information system (GIS)....

Urban canyon is typical in megacities like Hong Kong and Tokyo. Accurate positioning urban canyons remains a challenging problem for the applications with navigation requirements, such as pedestrian, autonomous driving vehicles unmanned aerial vehicles. The GNSS can be significantly degraded canyons, due to signal blockage by tall buildings. visual LiDAR considerably affected numerous dynamic objects. To facilitate research development of robust, accurate precise using multiple sensors we...

Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning autonomous systems. However, performance GNSS is significantly challenged in urban canyons, due to signal reflection and blockage from buildings. Given fact that measurements highly environmentally dependent time-correlated, conventional filtering-based method cannot simultaneously explore time-correlation among historical measurements. As a result, estimator...

The GNSS performance could be significantly degraded by the interferences in an urban canyon, such as blockage of direct signal and measurement error due to reflected signals. Such can hardly predicted statistical or physical models, making positioning unable achieve satisfactory accuracy. deep learning networks, specializing extracting abstract representations from data, may learn representation about quality existing measurements, which employed predict area. In this study, we proposed a...

This paper proposes a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method due to both static buildings and dynamic objects. A sliding window map describing the environment of ego-vehicle is first generated, based on real-time point clouds from sensor. Subsequently, NLOS receptions are detected using proposed quick searching which eliminates reliance initial guessing position GNSS receiver. Instead directly excluding satellites further...

Pedestrian location tracking in emergency responses and environmental surveys of indoor scenarios tend to rely only on their own mobile devices, reducing the usage external services. Low-cost small-sized inertial measurement units (IMU) have been widely distributed devices. However, they suffer from high-level noises, leading drift position estimation over time. In this work, we present a graph-based 3D pedestrian with inertial-only perception. The proposed method uses onboard sensors...

This paper focuses on the pedestrian navigation in highly urbanized area, where a current smartphone and commercial global satellite system (GNSS) receiver perform poorly because of reflection blockage GNSS signal by buildings foliage. A 3-D map-aided positioning method is previously developed to mitigate correct multipath signal. However, it still suffers from low availability due insufficient number satellites. We develop smartphone-based dead reckoning (PDR) algorithm, which carried...

Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, Light detection ranging (LiDAR) can provide continuous high-frequency pose estimation by means of mapping, on condition that enough environment features are available. The error mapping accumulate over time. Therefore, LiDAR usually integrated with other sensors. In diverse urban scenarios, the feature availability relies heavily traffic (moving static objects) degree urbanization. Common...

The accuracy of location information, mainly provided by the global positioning system (GPS) sensor, is critical for Internet-of-Things applications in smart cities. However, built environments attenuate GPS signals reflecting or blocking them resulting some cases multipath and non-line-of-sight (NLOS) reception. These effects cause range errors that degrade accuracy. Enhancements design antennae receivers deliver a level reduction multipath. NLOS signal reception residual are still to be...

We present a novel method to detect the GNSS NLOS and correct pseudorange measurements based on on-board sensing. This paper demonstrates use of LiDAR scanner list building heights describe perceived environment. To estimate geometry pose top edges buildings (TEBs) relative receiver, surface segmentation is employed TEBs surrounding using 3D point clouds. The are extracted extended height in Skyplot identify NLOS-affected ones. Innovatively, delay corrected detected TEBs. Weighted least...

Abstract Global Navigation Satellites Systems (GNSS) is frequently used for positioning services in various applications, e.g., pedestrian and vehicular navigation. However, it well-known that GNSS performs unreliably urban environments. shadow matching a method of improving accuracy the cross-street direction. Initial position classification observed satellite visibility between line-of-sight (LOS) non-line-of-sight (NLOS) are essential its performance. For conventional LOS/NLOS...