Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Real-time Loosely Coupled 3DMA GNSS /Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York

Hoi-Fung Ng
ORCID logo ,
Li-Ta Hsu
* ORCID logo ,
Max Jwo Lem Lee
,
Junchi Feng
,
Tahereh Naeimi
,
Mahya Beheshti
,
John-Ross Rizzo
*
Version 1 : Received: 3 August 2022 / Approved: 4 August 2022 / Online: 4 August 2022 (08:56:12 CEST)

A peer-reviewed article of this Preprint also exists.

Ng, H.-F.; Hsu, L.-T.; Lee, M.J.L.; Feng, J.; Naeimi, T.; Beheshti, M.; Rizzo, J.-R. Real-Time Loosely Coupled 3DMA GNSS/Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York. Sensors 2022, 22, 6533. Ng, H.-F.; Hsu, L.-T.; Lee, M.J.L.; Feng, J.; Naeimi, T.; Beheshti, M.; Rizzo, J.-R. Real-Time Loosely Coupled 3DMA GNSS/Doppler Measurements Integration Using a Graph Optimization and Its Performance Assessments in Urban Canyons of New York. Sensors 2022, 22, 6533.

Abstract

Smart health applications have received significant attention in recent years. Novel applications hold significant promise to overcome many of the inconveniences faced by persons with disabilities throughout daily living. For people with blindness and low vision (BLV), environmental perception is compromised, creating myriad difficulties. Precise localization is still a gap in the field and is critical to safe navigation. Conventional GNSS positioning cannot provide satisfactory performance in urban canyons. 3D mapping-aided (3DMA) GNSS may serve as an urban GNSS solution, since the availability of 3D city models has widely increased. As a result, this study developed a real-time 3DMA GNSS-positioning system based on state-of-the-art 3DMA GNSS algorithms. Shadow matching was integrated with likelihood-based ranging 3DMA GNSS, generating positioning hypothesis candidates. To increase robustness, the 3DMA GNSS solution was then optimized with Doppler measurements using factor graph optimization (FGO) in a loosely-coupled fashion. This study also evaluated positioning performance using an advanced wearable system’s recorded data in New York City. The real-time forward processed FGO can provide a root-mean-square error (RMSE) with about 21 m. The RMSE drops to 16 m when the data is post-processed with FGO in a combined direction. Overall results show that the proposed loosely-coupled 3DMA FGO algorithm can provide a better and more robust positioning performance for the multi-sensor integration approach used by this wearable for persons with BLV.

Keywords

Localization; Navigation; Smartphone; GNSS; 3D Building Models

Subject

Engineering, Electrical and Electronic Engineering

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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