Tight Integration of GNSS and WSN Ranging based on Spatial Map Data Enhancing Localization in Urban Environments

摘要

Highly precise localization is a necessary precondition for safety-critical applications and location based services in land navigation. Low-cost GNSS receivers are often used in a vehicular context as they provide a reasonable trade-off between affordability and accuracy. Especially in dense urban environments shadowing or Non-Line-of-Sight (NLOS) reception of GNSS signals can occur, degrading availability and positioning accuracy. In order to still meet given performance requirements, GNSS positioning is usually assisted by correction data or multisensor data fusion. Intelligent transportation systems (ITS) provide an interconnection between vehicles and infrastructure, whose radio propagation properties can furthermore be exploited as local transponder based augmentation systems. Depending on the types of provided information, different data fusion levels can be selected. In this paper, we provide a tight integration of GNSS pseudoranges and RF augmentation systems based on spatial map data given as a digital elevation model. The proposed method is evaluated using a dynamic simulation scenario analyzing previously surveyed as well as synthetically created heavy-tailed measurement error distributions.