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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, 57 (1). 35-52. ISSN 0028-1522

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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
HAL Id:hal-03474753
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Laboratoire de recherche en télécommunications spatiales et aéronautiques - TéSA (FRANCE)
Laboratory name:
Deposited On:19 Nov 2010 15:18

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