Characterisation and Modelling of the Indoor Pseudorange Error using Low Cost Receivers

Thomas Jost, Mohammed Khider, Elena Abdo Sanchez

Abstract:	Indoor navigation is one of the emerging topics in the last years due to the growing demand of consumers looking for location based services available everywhere. Sensor fusion can solve indoor localisation with an acceptable accuracy. Global Navigation Satellite Systems (GNSSs) are important sensors for positioning in outdoor navigation as it provides long-term accuracy without the need of a local infrastructure and are globally available. However, in indoor environments satellite signals are difficult to receive due to the attenuation caused by building materials. Additionally, diffraction and a diffuse multipath in general cause range estimation errors and accordingly, impede an accurate localisation by GNSSs in such environments. In this contribution we characterise and build a model for the ranging error of the Global Positioning System (GPS) mainly caused by multipath propagation and diffraction/refraction. Since the room and its major fixtures such as furniture and windows, as well as the surrounding building(s), are largely static, a temporal correlation of the pseudorange error measured at a fixed point is to be expected. This is taking into consideration that the satellites motion is too slow to cause sudden channel changes due to changes in the incoming wave angles. Additionally, a certain spatial correlation could be expected as reflecting objects such as walls, will remain in their positions. However, due to the interaction of different reflected waves, a small change in receiver position might degrade the spatial error covariance.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	277 - 284
Cite this article:	Jost, Thomas, Khider, Mohammed, Sanchez, Elena Abdo, "Characterisation and Modelling of the Indoor Pseudorange Error using Low Cost Receivers," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 277-284.
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