Zhong, Qiming;
Groves, Paul D;
(2022)
Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques.
NAVIGATION: Journal of the Institute of Navigation
, 69
(2)
, Article navi.515. 10.33012/navi.515.
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Abstract
The performance of different filtering algorithms combined with 3D mapping-aided (3DMA) techniques is investigated in this paper. Several single- and multi-epoch filtering algorithms were implemented and then tested on static pedestrian navigation data collected in the City of London using a u-blox EVK M8T GNSS receiver and vehicle navigation data collected in Canary Wharf, London, by a trial van with a Racelogic Labsat 3 GNSS front-end. The results show that filtering has a greater impact on mobile positioning than static positioning, while 3DMA GNSS brings more significant improvements to positioning accuracy in denser environments than in more open areas. Thus, multi-epoch 3DMA GNSS filtering should bring the maximum benefit to mobile positioning in dense environments. In vehicle tests at Canary Wharf, 3DMA GNSS filtering reduced the RMS horizontal position error by approximately 68% and 57% compared to the single-epoch 3DMA GNSS and filtered conventional GNSS, respectively.
| Type: | Article |
|---|---|
| Title: | Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.33012/navi.515 |
| Publisher version: | https://doi.org/10.33012/navi.515 |
| Language: | English |
| Additional information: | © 2022 Institute of Navigation. This is an open access article under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/). |
| Keywords: | 3D-mapping-aided GNSS, grid filter, Kalman filter, multi-epoch GNSS, particle filter |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10151212 |
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