A Low-Cost High-Precision Vehicle Navigation System for Urban Environment Using Time Differenced Carrier Phase Measurements

Jungbeom Kim and Changdon Kee

Peer Reviewed

Abstract:	In this study, we developed a low-cost high-precision vehicle navigation system for deep urban multipath environment using time differenced carrier phase (TDCP) measurements. Although many studies to navigate autonomous vehicle using global positioning system (GPS) are constantly being conducted, it is still difficult to have accurate navigation solutions due to multipath errors in urban environment. Especially, low-cost GPS receivers that determine the solution based on pseudorange measurements are more vulnerable to multipath errors. Thus, we used carrier phase measurements which are more robust for multipath errors. However, without correction information from reference station such as real time kinematic (RTK), together with the limited information of a low-cost single-frequency receiver, it is difficult to quickly and accurately determine integer ambiguity of carrier phase measurements. The integer ambiguity is time invariant and can be eliminate through time differencing. Therefore, we combined TDCP based GPS with an inertial navigation system (INS) to overcome deep urban multipath environment. In order to confirm the performance of the TDCP/INS navigation system, we conducted a vehicle based dynamic experiment in deep urban multipath area. The data was collected while driving the land vehicle on Teheran road, most extreme urban environment in Seoul, called Manhattan in Korea. The result of a dynamic field tests in deep urban area indicate that the proposed navigation system can achieve horizontal accuracy of sub meter level (About 20cm RMS).
Published in:	Proceedings of the 2020 International Technical Meeting of The Institute of Navigation January 21 - 24, 2020 Hyatt Regency Mission Bay San Diego, California
Pages:	597 - 611
Cite this article:	Kim, Jungbeom, Kee, Changdon, "A Low-Cost High-Precision Vehicle Navigation System for Urban Environment Using Time Differenced Carrier Phase Measurements," Proceedings of the 2020 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2020, pp. 597-611. https://doi.org/10.33012/2020.17164
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