iGPS: Global Positioning in Urban Canyons with Road Surface Maps

PROJECT TITLE :

iGPS: Global Positioning in Urban Canyons with Road Surface Maps

ABSTRACT :

Interval World Positioning with road Surface (iGPS) could be a new methodology to get a robust and continuous positioning in urban areas by tightly- coupling precise three-D drivable space maps with GPS pseudorange measurements. Map and GPS measurements are represented by geometric constraints, so turning the localization downside into a constraint satisfaction drawback whose answer is the boldness domain of position. Interval analysis is utilized to solve the problem by using contractions and bisections of a prior position box. If a lot of than 3 satellites are visible, the strategy is sturdy to erroneous pseudorange measurements. The system is additionally able to compute multiple position hypotheses where there are ambiguities. An experimental validation using real GPS pseudorange measurements and a definite 3-D map is reported to illustrate the performance of the strategy with real data in an urban space, and with reduced satellite visibility. Confidence domains are consistent with the bottom truth throughout the 1 km trial, and a half dozen.5 m ninety fivepercent accuracy is achieved with at least 2 satellites in view.

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