Integration of GNSS and 3D Map for Precise Positioning in Urban Environments

• Project/Area Number: 16K18171
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Civil engineering project/Traffic engineering
• Research Institution: Waseda University
• Principal Investigator: Suzuki Taro 早稲田大学, スマート社会技術融合研究機構, 主任研究員(研究院准教授) (80710368)
• Project Period (FY): 2016-04-01 – 2019-03-31
• Project Status: Completed (Fiscal Year 2018)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2018: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: GNSS / GPS / 衛星測位 / 位置推定 / 移動ロボット / 三次元地図 / マルチパス

Outline of Final Research Achievements

We have developed a precision positioning technique that can be applied to vehicles or mobile robots in urban environments where there can be large GNSS multipath errors due to the obstruction of satellites by buildings. We proposed a technique to realize multipath mitigation based on a satellite selection method that uses a 3D map to exclude invisible satellites. In the proposed method, the position is estimated through the particle filter. We propose the method to compute the likelihood of the particle using the GNSS positioning based on the only visible satellites that are determined by the 3D map. The evaluation results confirm the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.

Academic Significance and Societal Importance of the Research Achievements

都市部における衛星測位ではマルチパスと呼ばれる大きな測位誤差が発生し，現在までにこの有効な解決手段は示されていない．本研究では，三次元地図とGNSSを組み合わせるという新たな測位手法を開発し，これまで困難であった都市環境における位置推定精度を向上させた．本手法は様々なアプリケーションに適用可能であり，新たな高精度位置情報を用いた応用が期待される．

Research Products

• [Presentation] GNSS コード擬似距離残差を用いたマルチパス検出による 移動ロボットの自己位置推定 (2019)
  • Author(s): 鈴木太郎
  • Organizer: 第24回ロボティクスシンポジア
• [Presentation] Particle Filter-based GNSS Positioning with NLOS Multipath Detection (2018)
  • Author(s): Taro Suzuki
  • Organizer: the 31st international technical meeting of the satellite division of the Institute of Navigation
  • Int'l Joint Research
• [Presentation] Integration of GNSS Positioning and 3D Map using Particle Filter (2016)
  • Author(s): Taro Suzuki
  • Organizer: The 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
  • Place of Presentation: Portland, Oregon, U.S.
  • Year and Date: 2016-09-12
  • Int'l Joint Research