Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera

Mitsunori Kitamura; Taro Suzuki; Yoshiharu Amano; Takumi Hashizume

doi:10.20965/jrm.2011.p1125

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JRM Vol.23 No.6 pp. 1125-1131

doi: 10.20965/jrm.2011.p1125

(2011)

Paper:

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Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera

Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano,
and Takumi Hashizume

Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan

Received:

September 30, 2010

Accepted:

August 21, 2011

Published:

December 20, 2011

Keywords:

GPS, GLONASS, multipath, outdoor localization

Abstract

This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. The availability of satellite positioning is currently expected to improve due to the presence of positioning satellites such as US GPS, Russia’s Glonass and Europe’s Galileo. Due to the serious multipath impact on positioning accuracy in urban or leafy areas, however, improvements in satellite positioning availability do not necessarily facilitate highprecision positioning. Our proposed technique mitigates the GPS and Glonass multipath using an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and surrounding buildings and foliage due to the difference in atmospheric transmittance between visible light and IR rays, since buildings and foliage appear white. The proposed technique can automatically and robustly mitigate the GPS and Glonass multipath by excluding invisible satellites. Positioning was evaluated with visible satellites, which have less multipath error and without using invisible satellites. Evaluation results confirmed the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

Cite this article as:

M. Kitamura, T. Suzuki, Y. Amano, and T. Hashizume, “Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera,” J. Robot. Mechatron., Vol.23 No.6, pp. 1125-1131, 2011.

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References

[1] M. Unwin, “Galileo program overview and Giove-A mission,” GPS/GNSS symposium 2006, Tokyo, 2006.
[2] K. Changdon et al., “Calibration of multipath errors on GPS pseudorange measurements,” Proc. of the 7th Int. Technical Meeting of the Satellite Division of the Institute of Navigation, pp. 353-362, 1994.
[3] J.-C. Bibaut et al., “Characterization of multipath on land and sea at GPS frequencies,” Proc. of the 7th Int. Technical Meeting of the Satellite Division of the Institute of Navigation, pp. 1155-1171, 1994.
[4] K. Ishikawa et al., “A Mobile Mapping System for Precise Road Line Localization Using Single Camera and 3D Road Model,” J. of Robotics and Mechatronics, Vol.19, No.2, pp. 174-180, 2007.
[5] J. Soubielle et al., “GPS positioning in a multipath environment,” IEEE Trans. on Signal Processing, Vol.50, pp. 141-150, 2002.
[6] R. G. Brown, “GPS RAIM: Calculation of Thresholds and Protection Radius Using Chi-Square Methods A – Geometric Approach,” RTCA Paper, No.491-94/SC159-584, 1994.
[7] A. J. Van Dierendonck et al., “Theory and Performance of Narrow Correlator Spacing in a GPS Receiver,” J. of the Institute of Navigation, Vol.39, No.3, pp. 265-283, 1993.
[8] B. Townsend et, al., “A practical approach to the reduction of pseudorange multipath errors in a L1 GPS receiver,” Proc. of ION GPS-94, pp. 143-148, 1994.
[9] L. Garin and J. M. Rousseau, “Enhanced Strobe Correlator Multipath Rejection for Code & Carrier,” Proc. of ION97, 1997.
[10] B. R. Townsendl and D. J. R. van Nee, “Performance Evaluation of the Multipath Estimating Delay Lock Loop,” ION National Technical Meeting, Anaheim, California, January 1995.
[11] P. C. Fenton and J. Jones, “The Theory and Performance of NovAtel Inc.’s Vision Correlator,” ION GNSS 2005, 2005.
[12] Y. C. Suh et al., “Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS,” IEICE Trans. on Communications 2007, pp. 1816-1825.
[13] J.Marais et al., “Land mobile GNSS availability and multipath evaluation tool,” Vehicular Technology, IEEE Trans. on vehicular technology, Vol.54, Issue 5, pp. 1697-1704, 2005.
[14] J. Sleewaegen and F. Boon, “Mitigating Short-Delay Multipath: a Promising New Technique,” Proc. of ION GPS 2001, pp. 204-213, 2001.
[15] T. Hashizume et al, “High Precision Range Estimation from an Omnidirectional Stereo System,” IEEE/RSJ Intelligent Robots and Systems, pp. 263-268, 2002.
[16] T. Suzuki et al, “The Possibility of the Precise Positioning and Multipath Error Mitigation in the Real-time,” The 2004 Int. Symposium on GNSS/GPS, 2004.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Unwin, “Galileo program overview and Giove-A mission,” GPS/GNSS symposium 2006, Tokyo, 2006.

[2] [2] K. Changdon et al., “Calibration of multipath errors on GPS pseudorange measurements,” Proc. of the 7th Int. Technical Meeting of the Satellite Division of the Institute of Navigation, pp. 353-362, 1994.

[3] [3] J.-C. Bibaut et al., “Characterization of multipath on land and sea at GPS frequencies,” Proc. of the 7th Int. Technical Meeting of the Satellite Division of the Institute of Navigation, pp. 1155-1171, 1994.

[4] [4] K. Ishikawa et al., “A Mobile Mapping System for Precise Road Line Localization Using Single Camera and 3D Road Model,” J. of Robotics and Mechatronics, Vol.19, No.2, pp. 174-180, 2007.

[5] [5] J. Soubielle et al., “GPS positioning in a multipath environment,” IEEE Trans. on Signal Processing, Vol.50, pp. 141-150, 2002.

[6] [6] R. G. Brown, “GPS RAIM: Calculation of Thresholds and Protection Radius Using Chi-Square Methods A – Geometric Approach,” RTCA Paper, No.491-94/SC159-584, 1994.

[7] [7] A. J. Van Dierendonck et al., “Theory and Performance of Narrow Correlator Spacing in a GPS Receiver,” J. of the Institute of Navigation, Vol.39, No.3, pp. 265-283, 1993.

[8] [8] B. Townsend et, al., “A practical approach to the reduction of pseudorange multipath errors in a L1 GPS receiver,” Proc. of ION GPS-94, pp. 143-148, 1994.

[9] [9] L. Garin and J. M. Rousseau, “Enhanced Strobe Correlator Multipath Rejection for Code & Carrier,” Proc. of ION97, 1997.

[10] [10] B. R. Townsendl and D. J. R. van Nee, “Performance Evaluation of the Multipath Estimating Delay Lock Loop,” ION National Technical Meeting, Anaheim, California, January 1995.

[11] [11] P. C. Fenton and J. Jones, “The Theory and Performance of NovAtel Inc.’s Vision Correlator,” ION GNSS 2005, 2005.

[12] [12] Y. C. Suh et al., “Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS,” IEICE Trans. on Communications 2007, pp. 1816-1825.

[13] [13] J.Marais et al., “Land mobile GNSS availability and multipath evaluation tool,” Vehicular Technology, IEEE Trans. on vehicular technology, Vol.54, Issue 5, pp. 1697-1704, 2005.

[14] [14] J. Sleewaegen and F. Boon, “Mitigating Short-Delay Multipath: a Promising New Technique,” Proc. of ION GPS 2001, pp. 204-213, 2001.

[15] [15] T. Hashizume et al, “High Precision Range Estimation from an Omnidirectional Stereo System,” IEEE/RSJ Intelligent Robots and Systems, pp. 263-268, 2002.

[16] [16] T. Suzuki et al, “The Possibility of the Precise Positioning and Multipath Error Mitigation in the Real-time,” The 2004 Int. Symposium on GNSS/GPS, 2004.

Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera

Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume

Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano,
and Takumi Hashizume