3D LiDARで都市峡谷のGNSS非見通し信号を軽減する手法
3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons
3D LiDARの点群から周辺地図を作り、建物や動く物体によるGNSSの非見通し信号を検出して測距値を補正・重み付けし、都市部での測位精度を高める手法を提案した。
著者: Weisong Wen, Li-Ta Hsu
分類: cs.RO
原文アブストラクト
In this paper, we propose a 3D LiDAR aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method caused by both static buildings and dynamic objects. A sliding window map describing the surrounding of the ego-vehicle is first generated, based on real-time 3D point clouds from a 3D LiDAR sensor. Then, NLOS receptions are detected based on the sliding window map using a proposed fast searching method which is free of the initial guess of the position of the GNSS receiver. Instead of directly excluding the detected NLOS satellites from further positioning estimation, this paper rectifies the pseudorange measurement model by (1) correcting the pseudorange measurements if the reflecting point of NLOS signals is detected inside the sliding window map, and (2) remodeling the uncertainty of the NLOS pseudorange measurement using a novel weighting scheme. We evaluated the performance of the proposed method in several typical urban canyons in Hong Kong using an automobile-level GNSS receiver. Moreover, we also evaluate the potential of the proposed NLOS mitigation method in GNSS and inertial navigation systems integration via factor graph optimization.
