A New Approach of Integrity Monitoring for Land Vehicles Navigation in Urban Environment by Augmenting GNSS with a 3D City Model and Gyro/Odometer

M. Sahmoudi and K.A. Ahmad

Abstract:	In this paper, we propose an original formulation of GNSS integrity in urban environments based on the use of additional geometric information. We compute the horizontal protection level (HPL) of the positioning solution in GNSS challenging environments by augmenting the GNSS receiver with a 3D city model and couple of a single very precise mechanical Odometer and Gyro. We adopt the composite approach for HPL computation, in which the biases are treated independent of noise. It is assumed in this method that the noise can be modelled as a zero-mean Gaussian distribution. The 3D city model jointly with a GNSS Ray-Tracing simulator is used to predict the NLOS bias and use this information in order to compute the HPL bias component. A tight integration Kalman filter of valid Pseudoranges with an Odometer and Gyroscope is used for three functions: 1) consitency checking with the 3D model of bias prediction; 2) to improve the relaibility of the navigation solution by tight integration; and 3) to provide a positioning solution in periods of reduced visibility of GNSS satellites.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	486 - 494
Cite this article:	Sahmoudi, M., Ahmad, K.A., "A New Approach of Integrity Monitoring for Land Vehicles Navigation in Urban Environment by Augmenting GNSS with a 3D City Model and Gyro/Odometer," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 486-494.
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