The global navigation satellite system (GNSS) is low-cost and is highly expected by intelligent vehicles, which can provide reliable absolute positioning service in open areas. Unfortunately, the performance of the GNSS positioning is significantly degraded in urban canyons, due to the notorious non-line-of-sight (NLOS) receptions and multipath interference caused by signal reflections. To fill this gap, this paper proposed a fisheye camera-based GNSS NLOS detection method, where the state-of-the-art Swin Transformer model is employed to segment the sky and non-sky view areas within the image. Instead of directly excluding the detected GNSS NLOS receptions that would significantly degrade the geometry of satellite distribution, this paper proposed to directly estimate the bias of the NLOS receptions and multipath by a tightly-coupled integration model of GNSS least square and the deep neural network (DNN). The effectiveness of the proposed method was validated on multiple datasets from urban canyons in Hong Kong. In particular, a GNSS NLOS detection accuracy of more than 99.0% is achieved in the evaluated dataset. By correcting the bias involved from the GNSS NLOS and multipath, improved positioning accuracy about 5% is obtained using the proposed method. To benefit the research community, we open-source a library, the pyRTKLIB, which can serve as an important bridge between the DNN and the conventional GNSS processing tools, the RTKLIB.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fisheye Camera Aided GNSS NLOS Detection and Learning-Based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons


    Contributors:
    Hu, Runzhi (author) / Wen, Weisong (author) / Hsu, Li-Ta (author)


    Publication date :

    2023-09-24


    Size :

    1795315 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    3D LiDAR Aided GNSS NLOS Mitigation in Urban Canyons

    Wen, Weisong Weisong / Hsu, Li-Ta | IEEE | 2022


    Use of a FishEye Camera for GNSS NLOS Exclusion and Characterization in Urban Environments

    Sánchez, Jan Sanromà / Gerhmann, Andreas / Thevenon, Paul et al. | British Library Conference Proceedings | 2016


    NLOS-Multipath Effects on Pseudo-Range Estimation in Urban Canyons for GNSS Applications

    Ercek, R. / De Doncker, P. / Grenez, F. et al. | British Library Conference Proceedings | 2006


    Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons

    Zhang, Jiachen / Wen, Weisong / Huang, Feng et al. | British Library Conference Proceedings | 2021


    Pseudorange Bias Correction for BDSBAS Single Frequency Service

    Zhao, Liqian / Jin, Biao / Dong, Qijia et al. | Springer Verlag | 2022