Autonomous vehicle positioning with GPS in urban canyon environments
- 13 November 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1105-1110 vol.2
- https://doi.org/10.1109/robot.2001.932759
Abstract
The positioning systems based on GPS alone face great problems in the so called urban canyon environments where the GPS signals are often blocked by high buildings and there are not enough available satellites signals to estimate the positioning information of a fix. To solve the problem, a constrained method is presented by approximately modeling the path of the vehicle in the urban canyon environments as pieces of lines. By adding this constraint, the minimum number of available satellites reduces to two, which is satisfied in many urban canyon environments. Then, a state-augmentation method is proposed and the extended Kalman filtering technique is adopted to simultaneously estimate the positions of the GPS receiver and the parameters of the line. Simulation results show that this approach can solve the urban canyon problems successfully.Keywords
This publication has 7 references indexed in Scilit:
- Testing and analysis of OEM GPS sensor boards for AVL applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- GPS/INS integration in a severe urban environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Real time differential GPS and GLONASS vehicle positioning in urban areasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Urban Canyon Vehicle Navigation with Integrated GPS/GLONASS/DR SystemsNAVIGATION: Journal of the Institute of Navigation, 1999
- Position fix from three GPS satellites and altitude: a direct methodIEEE Transactions on Aerospace and Electronic Systems, 1999
- Navigating Urban Areas by VISAT-A Mobile Mapping System Integrating GPS/INS/Digital Cameras for GIS ApplicationsNAVIGATION: Journal of the Institute of Navigation, 1998
- Urban area performance of GPS receiver with simultrac capabilityIEEE Aerospace and Electronic Systems Magazine, 1992