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Learning-Enhanced Adaptive Robust GNSS Navigation in Challenging Environments

Ding, Yi and Chauchat, Paul and Pagès, Gaël and Asseman, Philippe Learning-Enhanced Adaptive Robust GNSS Navigation in Challenging Environments. (2022) IEEE Robotics and Automation Letters, 7 (4). 9905-9912. ISSN 2377-3774

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Official URL: https://doi.org/10.1109/LRA.2022.3192889

Abstract

Global Navigation Satellite System (GNSS) is the widely used technology when it comes to outdoor positioning. But it has severe limitations with regard to safety-critical applications involving unmanned autonomous systems. Namely, the positioning performance degrades in harsh propagation environment such as urban canyons. In this paper we propose a new algorithm for GNSS navigation in challenging environments based on robust statistics. M-estimators showed promising results in this context, but are limited by some fixed hyper-parameters. Our main idea is to adapt this parameter, for the Huber cost function, to the current environment in a data-driven manner. Doing so, we also present a simple yet efficient way of learning with satellite data, whose number may vary over time. Focusing the learning problem on a single parameter enables to efficiently learn with a lightweight neural network. The generalization capability and the positioning performance of the proposed method are evaluated in multiple contexts scenarios (open-sky, trees, urban and urban canyon), with two distinct GNSS receivers, and in an airplane ground inspection scenario. The maximum positioning error is reduced by up to 68% with respect to M-estimators.

Item Type:Article
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/9834955 “© 2022 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.
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Other partners > Airbus (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > CentraleSupélec (FRANCE)
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Deposited On:07 Dec 2022 11:26

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