The Whole Works: A GNSS/IMU Tight Coupled Filter for Android Raw GNSS Measurements with Local Ground Augmentation Strategies

Marco Fortunato, Giulio Tagliaferro, Eva Fernández-Rodríguez, Joshua Critchley-Marrows

Abstract:	Delivering high-accuracy GNSS using a low-grade receiver is seen as a holy grail to many positioning and navigation researchers and engineers. Proposed in this paper is a methodology that overcomes many challenges posed by the noisy measurements of an Android smartphone, targeting the decimeter milestone. Known as The Whole Works, the algorithm was developed by The Whole Shebang as a solution to the Google Decimeter Accuracy Competition. The Competition provided a set of data collected from a vehicle driven around the San Francisco Bay area over multiple days using three different smartphones. The team placed 4th in the contest, out of 810 international teams, using an approach that maximised benefit of the GNSS and IMU sensors available on the mobile. The approach adopted a UKF as the core processor, employing also Huber-like readjustments, reverse smoothing, static vehicle detection and a series of pre- and post-processing steps to ensure only quality measurements and solutions were delivered by the algorithm. All typical environments were considered in testing the solution, including motorways, residential and urban areas. Significant benefits are derived by an appropriate inclusion of each step, where decimeter accuracies are retrieved on the smartphone device.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	3103 - 3126
Cite this article:	Fortunato, Marco, Tagliaferro, Giulio, Fernández-Rodríguez, Eva, Critchley-Marrows, Joshua, "The Whole Works: A GNSS/IMU Tight Coupled Filter for Android Raw GNSS Measurements with Local Ground Augmentation Strategies," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 3103-3126. https://doi.org/10.33012/2021.18006
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