Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments

Taro Suzuki, Mitsunori Kitamura, Yoshiharu Amano, Takumi Hashizume

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

10 Citations (Scopus)

Abstract

This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban environments. Currently, the availability of satellite positioning is anticipated to improve because of the presence of various positioning satellites such as U.S.'s GPS, Russia's GLONASS and Europe's GALILEO systems. However, because of the serious impact of multipath on their positioning accuracy in urban areas, such improvements in the availability of satellite positioning do not necessarily also facilitate high precision positioning. In this study, we propose a precision positioning technique that can be applied to vehicles or mobile robots in urban environment using a single frequency GNSS receiver, and we propose a technique to realize code multipath mitigation that uses an omnidirectional IR (infrared) camera to exclude invisible satellites. With the IR camera, the sky is distinctively dark. This makes it easy to detect the borderline between the sky and the obstacles such as the buildings, which are captured in white, due to the difference in the atmospheric transmittance rates between visible light and far-IR rays. Moreover we apply a tightly coupled GPS/INS (inertial navigation system) integration based on code and carrier phase from visible satellites determined by the omnidirectional IR camera. In a situation of degraded GNSS availability because of elimination of invisible satellites however a tightly coupled configuration is capable of updating the filter with only one visible satellite. 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 publication24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
Pages2914-2922
Number of pages9
Volume4
Publication statusPublished - 2011
Event24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011 - Portland, OR
Duration: 2011 Sep 192011 Sep 23

Other

Other24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011
CityPortland, OR
Period11/9/1911/9/23

Fingerprint

Global positioning system
Cameras
Satellites
Infrared radiation
Availability
robot
Mobile robots
Inertial navigation systems
evaluation
building
urban area
Russia
recipient

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Communication

Cite this

Suzuki, T., Kitamura, M., Amano, Y., & Hashizume, T. (2011). Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments. In 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011 (Vol. 4, pp. 2914-2922)

Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments. / Suzuki, Taro; Kitamura, Mitsunori; Amano, Yoshiharu; Hashizume, Takumi.

24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011. Vol. 4 2011. p. 2914-2922.

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

Suzuki, T, Kitamura, M, Amano, Y & Hashizume, T 2011, Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments. in 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011. vol. 4, pp. 2914-2922, 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011, Portland, OR, 11/9/19.
Suzuki T, Kitamura M, Amano Y, Hashizume T. Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments. In 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011. Vol. 4. 2011. p. 2914-2922
Suzuki, Taro ; Kitamura, Mitsunori ; Amano, Yoshiharu ; Hashizume, Takumi. / Multipath mitigation using omnidirectional infrared camera for tightly coupled GPS/INS integration in urban environments. 24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011. Vol. 4 2011. pp. 2914-2922
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