Machine learning based LOS/NLOS classifier and robust estimator for GNSS shadow matching

查看全文 作　　者：Haosheng [1]Xu;Antonio [2]Angrisano;Salvatore [3]Gaglione;Li-Ta [1]Hsu

机构地区：[1]The Hong Kong Polytechnic University,Kowloon,Hong Kong,People’s Republic of China;[2]The University of Benevento G.Fortunato,Benevento,Italy.3 The University of Naples Parthenope,Naples,Italy.;[3]The University of Naples Parthenope,Naples,Italy

出　　处：《Satellite Navigation》索引2020年第1卷第1期,共12页

基　　金：the support of The Hong Kong PolyU startup fund on the project 1-ZVKZ,“Navigation for Autonomous Driving Vehicle using Sensor Integration.”。 摘　　要：Global Navigation Satellites Systems(GNSS)is frequently used for positioning services in various applications,e.g.,pedestrian and vehicular navigation.However,it is well-known that GNSS positioning performs unreliably in urban environments.GNSS shadow matching is a method of improving accuracy in the cross-street direction.Initial position and classification of observed satellite visibility between line-of-sight(LOS)and non-line-of-sight(NLOS)are essential for its performance.For the conventional LOS/NLOS classification,the classifiers are based on a single feature,extracted from raw GNSS measurements,such as signal noise ratio,pseudorange,elevation angle,etc.Especially in urban canyons,these measurements are unstable and unreliable due to the signal reflection and refraction from the surrounding buildings.Besides,the conventional least square approach for positioning is insufficient to provide accurate initialization for shadow matching in urban areas.In our study,shadow matching is improved using the initial position from robust estimator and the satellite visibility determined by support vector machine(SVM).The robust estimator has an improved positioning accuracy and the classification rate of SVM classification can reach 91.5%in urban scenarios.An important issue is related to satellites with ultra-high or low elevation angles and satellites near the building boundary that are very likely to be misclassified.By solving this problem,the SVM classification shows the potential of about 90%classification accuracy for various urban cases.With the help of these approaches,the shadow matching has a mean error of 10.27 m with 1.44 m in the cross-street direction;these performances are suitable for urban positioning. 关键词：GNSS Shadow matching NLOS and machine learning Robust estimation

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Machine learning based LOS/NLOS classifier and robust estimator for GNSS shadow matching

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