Aiding GNSS Signal Tracking Loops using Vehicle Dead Reckoning Sensors

Hans-Georg Buesing, Ulrich Haak, Peter Hecker

Abstract:	The use of GNSS positioning systems is currently experiencing a significant paradigm shift in the automotive industry. Car navigation systems are widely spread for personal use as well as systems for fleet management or tolling. Present systems have in common that their use is exclusively for comfort or information. These systems are not safety-relevant and therefore the requirements towards navigation performance are limited. However, several major car manufacturers have driver assistance systems in development that are aiming at disburdening the driver and partly automating the driving task. Several of them are relying on the knowledge of the absolute position and velocity of the vehicle. This trend is likely to continue and the positioning performance of localization systems will more and more come into focus. The authors of this paper have presented a software GNSS receiver at the ION GNSS 2011 [1] that is implemented considering the special needs of automotive applications. An approach has been presented that allows the instantaneous reacquisition of satellite signals by modeling the dynamics of the tracking channels based on the vehicle’s and satellite’s movement during signal outages. In this paper this approach is taken to the next level. The tracking channels are continuously aided using vehicle dead reckoning sensors such as odometers, accelerometers and gyroscopes. Previous implementations of aided signal processing routines are mostly based on a 6-Degree-of-Freedom inertial state estimation. In the presented paper the state estimation is itself adapted to the vehicle dynamic model and therefore reduced to the relevant parameters of motion.
Published in:	Proceedings of the 2013 International Technical Meeting of The Institute of Navigation January 29 - 27, 2013 Catamaran Resort Hotel San Diego, California
Pages:	325 - 332
Cite this article:	Buesing, Hans-Georg, Haak, Ulrich, Hecker, Peter, "Aiding GNSS Signal Tracking Loops using Vehicle Dead Reckoning Sensors," Proceedings of the 2013 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2013, pp. 325-332.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In