ＧＮＳＳ測位の高度化と自動運転への応用

• Project/Area Number: 15F15047
• Research Category: Grant-in-Aid for JSPS Fellows
• Allocation Type: Single-year Grants
• Section: 外国
• Research Field: Perceptual information processing
• Research Institution: The University of Tokyo
• Principal Investigator: 上條 俊介 東京大学, 大学院情報学環・学際情報学府, 准教授 (70334357)
• Co-Investigator(Kenkyū-buntansha): HSU LI-TA 東京大学, 大学院情報学環・学際情報学府, 外国人特別研究員
• Project Period (FY): 2015-04-24 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥2,300,000 (Direct Cost: ¥2,300,000); Fiscal Year 2016: ¥1,100,000 (Direct Cost: ¥1,100,000); Fiscal Year 2015: ¥1,200,000 (Direct Cost: ¥1,200,000)
• Keywords: GPS / GNSS / Multipath / Urban canyon / Localization / 3D Map / 3D maps / 3D building model / Urban Canyon / RAIM / Autonomous driving

Outline of Annual Research Achievements

Precise positioning is essential to realize autonomous driving in city urban area. The common understanding is GNSS receiver, LiDAR and vision sensor are integrated to provide localization service with lane-level accuracy. In general, the width of lane is about 3 meters. According to recent studies, localization methods of GNSS, LiDAR and camera can be improved by applying 2D maps and 3D models. Since 2007, using 3D building models as aids to mitigate/exclude/correct the multipath and non-line-of-sight effects has become a popular approach to enhance GNSS receivers. We propose an innovative GPS error correction method by the use of 3D building model and ray-tracing simulation. Finally, the proposed method successfully achieves a performance with less than 3 meters of positioning error.

Research Progress Status

28年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

28年度が最終年度であるため、記入しない。

Research Products

• [Journal Article] Database Calibration for Outdoor Wi-Fi Positioning System (2016)
  • Author(s): Yuyang Huang, Li-Ta Hsu, Yanlei Gu, Haitao Wang, Shunsuke Kamijo
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E99.A Issue: 9 Pages: 1683-1690
  • DOI: 10.1587/transfun.E99.A.1683
  • NAID: 130005261434
  • ISSN: 0916-8508, 1745-1337
  • Peer Reviewed
• [Journal Article] Integrating Global Navigation Satellite System and Road Marking Detection for Vehicle Localization in Urban Traffic (2016)
  • Author(s): Yanlei Gu, Li-Ta Hsu, Jiali Bao, and Shunsuke Kamijo
  • Journal Title: Transportation Research Record: Journal of the Transportation Research Board Volume: 2595 Issue: 1 Pages: 59-67
  • DOI: 10.3141/2595-07
  • Peer Reviewed
• [Journal Article] Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS (2016)
  • Author(s): Hsu, Li-Ta, Gu, Y., Huang, Y., Kamijo, S.
  • Journal Title: IEEE Sensors Journal Volume: 16 Issue: 5 Pages: 1281-1293
  • DOI: 10.1109/jsen.2015.2496621
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment (2015)
  • Author(s): Gu, Y., Hsu, Li-Ta, Kamijo, S.
  • Journal Title: Sensors Volume: 15 Issue: 12 Pages: 30199-30220
  • DOI: 10.3390/s151229795
  • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] NLOS Correction/Exclusion for GNSS Measurement using RAIM and City Building Models (2015)
  • Author(s): Hsu, Li-Ta, Gu, Y., Kamijo, S.,
  • Journal Title: Sensors Volume: 15 Issue: 7 Pages: 17329-17349
  • DOI: 10.3390/s150717329
  • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
• [Presentation] Autonomous driving positioning using building model and DGNSS (2016)
  • Author(s): Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo
  • Organizer: European Navigation Conference (ENC)
  • Place of Presentation: Helsink(Finland)
  • Year and Date: 2016-05-30
  • Int'l Joint Research
• [Presentation] SLAM with 3Dimensional-GNSS (2016)
  • Author(s): Yanlei Gu, Yutaro Wada, Li-Ta Hsu, Shunsuke Kamijo
  • Organizer: IEEE/ION PLANS 2016
  • Place of Presentation: Savannah, Georgia(USA)
  • Year and Date: 2016-04-11
  • Int'l Joint Research
• [Presentation] Sensor integration of 3D map aided GNSS and smartphone PDR in urban canyon with dense foliage (2016)
  • Author(s): Li-Ta Hsu, Yanlei Gu and Shunsuke Kamijo
  • Organizer: IEEE/ION PLANS 2016
  • Place of Presentation: Savannah, Georgia(USA)
  • Year and Date: 2016-04-11
  • Int'l Joint Research
• [Presentation] GNSS positioning using WLS, DGNSS and RAIM in Tokyo City (2015)
  • Author(s): Hsu, Li-Ta, Tokura, H., Kubo, N., Kamijo, S.
  • Organizer: International Symposium on GNSS 2015
  • Place of Presentation: Miyakomesse, Kyoto city, Kyoto fu, Japan
  • Year and Date: 2015-11-16
  • Int'l Joint Research
• [Presentation] Rectification of 3D Building Models Based on GPS Signal Collected by Vehicle (2015)
  • Author(s): Hsu, Li-Ta, Wada, Y., Gu, Y., Kamijo, S.
  • Organizer: IEEE International Conference on Vehicular Electronics and Safety 2015
  • Place of Presentation: Kanto Gakuin University Yokohama city, Kanagawa pref., Japan
  • Year and Date: 2015-11-05
  • Int'l Joint Research
• [Presentation] Pedestrian Localization Service using 3D Map and RAIM GNSS Satellite Selection Technique (2015)
  • Author(s): Hsu, Li-Ta, Gu, Y., Kamijo S.,
  • Organizer: IEEE 18th International Conference on Intelligent Transportation Systems
  • Place of Presentation: The Canary Islands Convention Centre, Canary Islands, Spain
  • Year and Date: 2015-09-15
  • Int'l Joint Research
• [Presentation] NLOS Exclusion using Consistency Check and City Building Model in Deep Urban Canyons (2015)
  • Author(s): Hsu, Li-Ta, Kamijo, S.
  • Organizer: ION GNSS+ 2015
  • Place of Presentation: Tampa Convention Center, Tampa Florida, USA
  • Year and Date: 2015-09-14
  • Int'l Joint Research