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Detection of variance changes and mean value jumps in measurement noise for multipath mitigation in urban navigation

Spangenberg, Mariana and Calmettes, Vincent and Julien, Olivier and Tourneret, Jean-Yves and Duchâteau, Grégoire Detection of variance changes and mean value jumps in measurement noise for multipath mitigation in urban navigation. (2010) Journal of the Institute of Navigation, vol. 57 (n° 1). pp. 35-52. ISSN 0028-1522

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Abstract

This paper investigates an urban navigation filter for land vehicles. Typical urban canyon phenomena due to multipath and GPS outages seriously degrade positioning performance. To deal with these scenarios a hybrid navigation system using GPS and dead-reckoning sensors is presented. This navigation system is complemented by a two-step detection procedure that aims at classifying outliers according to their associated source of error. Two different situations will be considered in the presence of multipath. These situations correspond to the presence or absence of line of sight signal for the different GPS satellites. Therefore, two kinds of errors are potentially “corrupting” the pseudoranges, modeled as variance changes or mean value jumps in noise measurements. An original multiple model approach is proposed to detect, identify and correct these errors and provide a final consistent solution.

Item Type:Article
Additional Information:Thanks to The Institue of Navigation editor. The definitive version is available at http://www.ion.org/search/view_abstract.cfm?jp=j&idno=2517
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National des Etudes Spatiales - CNES
French research institutions > Centre National de la Recherche Scientifique - CNRS
Université de Toulouse > Ecole Nationale de l'Aviation Civile - ENAC
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
Other partners > Rockwell Collins (FRANCE)
Other partners > Thales (FRANCE)
Other partners > Telecom ParisTech (FRANCE)
Université de Toulouse > Université Paul Sabatier-Toulouse III - UPS
Université de Toulouse > Université de Toulouse II-Le Mirail - UTM
Université de Toulouse > Université de Toulouse I-Sciences Sociales - UT1
Laboratory name:
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Deposited By:Jean-yves TOURNERET

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