%0 Journal Article
%T About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm
%A S¨¦bastien Peyraud
%A David B¨¦taille
%A St¨¦phane Renault
%A Miguel Ortiz
%A Florian Mougel
%A Dominique Meizel
%A Fran£¿ois Peyret
%J Sensors
%D 2013
%I MDPI AG
%R 10.3390/s130100829
%X Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.
%K localization
%K satellite navigation
%K intelligent transportation system
%K NLOS
%K 3D navigable road maps
%K 3D kinematic model
%K data fusion
%K EKF
%K set membership estimation
%U http://www.mdpi.com/1424-8220/13/1/829