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3D building model-based pedestrian positioning method using GPS/GLONASS/QZSS and its reliability calculation

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Abstract

The current low-cost global navigation satellite systems (GNSS) receiver cannot calculate satisfactory positioning results for pedestrian applications in urban areas with dense buildings due to multipath and non-line-of-sight effects. We develop a rectified positioning method using a basic three-dimensional city building model and ray-tracing simulation to mitigate the signal reflection effects. This proposed method is achieved by implementing a particle filter to distribute possible position candidates. The likelihood of each candidate is evaluated based on the similarity between the pseudorange measurement and simulated pseudorange of the candidate. Finally, the expectation of all the candidates is the rectified positioning of the proposed map method. The proposed method will serve as one sensor of an integrated system in the future. For this purpose, we successfully define a positioning accuracy based on the distribution of the candidates and their pseudorange similarity. The real data are recorded at an urban canyon environment in the Chiyoda district of Tokyo using a commercial grade u-blox GNSS receiver. Both static and dynamic tests were performed. With the aid of GLONASS and QZSS, it is shown that the proposed method can achieve a 4.4-m 1σ positioning error in the tested urban canyon area.

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Acknowledgments

The authors gratefully acknowledge the support of the Strategic Information and Communications R&D Promotion Programme (SCOPE). The authors also thank Professor Tomoji Takasu from the Tokyo University of Marine Science and Technology (TUMSAT) for the release of the open source RTKLIB software.

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Authors and Affiliations

  1. Institute of Industrial Science, The University of Tokyo, Tokyo, Japan

    Li-Ta Hsu, Yanlei Gu & Shunsuke Kamijo

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  1. Li-Ta Hsu
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  2. Yanlei Gu
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  3. Shunsuke Kamijo
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Correspondence to Li-Ta Hsu.

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Hsu, LT., Gu, Y. & Kamijo, S. 3D building model-based pedestrian positioning method using GPS/GLONASS/QZSS and its reliability calculation. GPS Solut 20, 413–428 (2016). https://doi.org/10.1007/s10291-015-0451-7

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  • DOI: https://doi.org/10.1007/s10291-015-0451-7

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