Multipath Estimation in Urban Environments from Joint GNSS Receivers and LiDAR Sensors

In this paper, multipath error on Global Navigation Satellite System (GNSS) signals in urban environments is characterized with the help of Light Detection and Ranging (LiDAR) measurements. For this purpose, LiDAR equipment and Global Positioning System (GPS) receiver implementing a multipath estimating architecture were used to collect data in an urban environment. This paper demonstrates how GPS and LiDAR measurements can be jointly used to model the environment and obtain robust receivers. Multipath amplitude and delay are estimated by means of LiDAR feature extraction and multipath mitigation architecture. The results show the feasibility of integrating the information provided by LiDAR sensors and GNSS receivers for multipath mitigation.

[1]  Emanuela Falletti,et al.  Satellite Radiolocalization From GPS to GNSS and Beyond: Novel Technologies and Applications for Civil Mass Market , 2011, Proceedings of the IEEE.

[2]  Pau Closas,et al.  A Statistical Multipath Detector for Antenna Array Based GNSS Receivers , 2011, IEEE Transactions on Wireless Communications.

[3]  Fabio Dovis,et al.  Enhanced CADLL Structure for Multipath Mitigation in Urban Scenarios , 2011 .

[4]  Fabio Dovis,et al.  On the use of multipath estimating architecture for spoofer detection , 2012, 2012 International Conference on Localization and GNSS.

[5]  Zhenhua Li,et al.  GPS/INS Integration Based Navigation with Multipath Mitigation for Intelligent Vehicles , 2007, 2007 IEEE International Conference on Mechatronics.

[6]  Fabio Dovis,et al.  Characterizing Local Effects on Protection Level Concept in Urban Environments , 2012 .

[7]  M. Wis,et al.  GNSS/INS/LiDAR integration in urban environment: Algorithm description and results from ATENEA test campaign , 2012, 2012 6th ESA Workshop on Satellite Navigation Technologies (Navitec 2012) & European Workshop on GNSS Signals and Signal Processing.

[8]  Fabio Dovis,et al.  Detection of Spoofing Threats by Means of Signal Parameters Estimation , 2011 .

[9]  Fabio Dovis,et al.  ATENEA: Advanced techniques for deeply integrated GNSS/INS/LiDAR navigation , 2010, 2010 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC).

[10]  Fabio Dovis,et al.  An innovative multipath mitigation method using coupled amplitude delay lock loops in GNSS receivers , 2010, IEEE/ION Position, Location and Navigation Symposium.

[11]  Emanuela Falletti,et al.  Low Complexity Carrier-to-Noise Ratio Estimators for GNSS Digital Receivers , 2011, IEEE Transactions on Aerospace and Electronic Systems.

[12]  Jing Li,et al.  Prediction and visualization of GPS multipath signals in urban areas using LiDAR Digital Surface Models and building footprints , 2008, Int. J. Geogr. Inf. Sci..

[13]  Fabio Dovis,et al.  Turbo architecture for multipath mitigation in global navigation satellite system receivers , 2011 .

[14]  Fabio Dovis,et al.  Measured performance of the application of EGNOS in the road traffic sector , 2012, GPS Solutions.