High-accuracy GPS and GLONASS positioning by multipath mitigation using omnidirectional infrared camera

Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Takumi Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. Currently, the availability of satellite positioning is anticipated to improve because of the presence of various positioning satellites such as GPS of the U.S., GLONASS of Russia and GALILEO of Europe. However, because of the serious impact of multipath on their positioning accuracy in urban or leafy areas, such improvements in the availability of satellite positioning do not necessarily also facilitate high precision positioning. Our proposed technique mitigates GPS and GLONASS multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites by using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and the surrounding buildings, which are captured in white, because of the difference in the atmospheric transmittance rates between visible light and IR rays. The proposed technique can automatically and robustly mitigate GPS and GLONASS multipath by excluding the invisible satellites. Positioning evaluation was carried out only with visible satellites that have less multipath errors and without using invisible satellites. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages311-316
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period11/5/911/5/13

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Suzuki, T., Kitamura, M., Amano, Y., & Hashizume, T. (2011). High-accuracy GPS and GLONASS positioning by multipath mitigation using omnidirectional infrared camera. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 311-316). [5980424] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980424