Multipath detection and mitigation in urban environments
- The Global Navigation Satellite System (GNSS) has become more and more widely used in commercial applications such as smart phones, cars, and drones. GNSS is one of the core technologies used for automotive navigation. For consumer automotive applications, it is typically the only navigation system that provides precise absolute positioning and timing. As transportation technology moves towards greater autonomy, the need for and the reliance on precise GNSS with integrity becomes increasingly urgent. For terrestrial applications, multipath becomes the biggest challenge having GNSS with high accuracy and high integrity. This work explored and examined several approaches to detect and mitigate multipath using newly available resources and technologies. A multipath detection method using three- dimensional (3D) building model with statistical ray tracing was developed that provides better resilience toward initial user position error than deterministic ray tracing and does not rely on redundancy in received GNSS measurements. A multipath mitigation method using multi-frequency signals was also developed that leverages the new civil signals and the correlation in multipath characteristics between different frequency signals from the same satellite to estimate and remove multipath effect on correlation function. Finally, a mapping methodology to infer obstacles in the environment using obscured and unobscured rays was proposed and algorithms were developed to generate 3D maps using GNSS measurements
|Type of resource
|electronic resource; remote; computer; online resource
|1 online resource
|Degree committee member
|Stanford University, Department of Aeronautics and Astronautics.
|Statement of responsibility
|Submitted to the Department of Aeronautics and Astronautics
|Thesis Engineering Stanford University 2020
- © 2020 by Shiwen Zhang
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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