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Robust TOA-based Navigation under Measurement Model Mismatch in Harsh Propagation Environments

Pagès, Gaël and Vilà-Valls, Jordi Robust TOA-based Navigation under Measurement Model Mismatch in Harsh Propagation Environments. (2020) In: IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 20 September 2020 - 23 September 2020 (Rhodes, Greece).

(Document in English)

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Official URL: https://doi.org/10.1109/ITSC45102.2020.9294221


Global Navigation Satellite Systems (GNSS) is thepositioning technology of choice outdoors but it has many limi-tations to be used in safety-critical applications such IntelligentTransportation Systems (ITS). Namely, its performance clearlydegrades in harsh propagation conditions, these systems arenot reliable due to possible attacks, may not be available inGNSS-denied environments, and using standard architecturesdo not provide the precision needed in ITS. Among the differentalternatives, Ultra-WideBand (UWB) ranging is a promisingsolution to achieve high positioning accuracy. The key pointsimpacting any time-of-arrival (TOA) based navigation systemare i) transmitters’ geometry, and ii) a perfectly known trans-mitters’ position. In this contribution we further analyze theperformance loss of TOA-based navigation systems in real-lifeapplications where we may have both transmitters’ positionmismatch and harsh propagation conditions, i.e., measurementscorrupted by outliers. In addition, we propose a new robustfiltering method able to cope with both effects. Illustrativesimulation results are provided to support the discussionand show the performance improvement brought by the newmethodology with respect to the state-of-the-art.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/9294221 “© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-03274794
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:30 Jun 2021 12:19

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