Indoor Doppler Measurements and Velocity Characterization Using a Reference-Rover Receiver

B. Aminian, V. Renaudin, D. Borio, G. Lachapelle

Abstract:	Doppler measurement is one of the signal parameters of Global Navigation Satellite System (GNSS). This parameter is used as an observation for velocity estimation. In order to evaluate velocity estimation, Doppler measurements should be characterized. In comparison to other GNSS signal parameters, Doppler measurements are more accurate and this accuracy encourages particular interest in using Doppler measurements for indoor navigation. This paper focuses on Doppler characterization indoors, where signal is affected by attenuation, multipath and fading. To do so, a method for extracting and evaluating Doppler measurements is introduced. Existing Doppler extraction process in signal degraded environments is enhanced using block processing technique combined with assisted data. The assessment of the measurements is conducted using reference values from a GNSS/INS system and a turning table. An empirical GNSS data collection is conducted and Doppler measurements are evaluated in two different indoor environments. These environments are different from the signal attenuation point of view. Velocity estimation is provided and the reliability of this estimation is investigated.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3069 - 3079
Cite this article:	Aminian, B., Renaudin, V., Borio, D., Lachapelle, G., "Indoor Doppler Measurements and Velocity Characterization Using a Reference-Rover Receiver," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 3069-3079.
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