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Related Experiment Video

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A Low-Cost, High-Precision Vehicle Navigation System for Deep Urban Multipath Environment Using TDCP Measurements.

Jungbeom Kim1, Minhuck Park1, Yonghwan Bae1

  • 1School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, Seoul 08826, Korea.

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Summary
This summary is machine-generated.

This study presents a low-cost vehicle navigation system using time-differenced carrier phase (TDCP) measurements. The system achieves submeter-level accuracy in challenging urban environments by combining GPS with an inertial navigation system.

Keywords:
GPS/INSmultipathtime-differenced carrier phaseurban environment

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Area of Science:

  • Robotics and Autonomous Systems
  • Geomatics Engineering
  • Signal Processing

Background:

  • Autonomous vehicle navigation faces challenges in urban canyons due to Global Positioning System (GPS) multipath errors.
  • Low-cost GPS receivers relying on pseudorange measurements are particularly susceptible to these errors.
  • Accurate integer ambiguity determination for carrier phase measurements is difficult with single-frequency receivers without reference stations.

Purpose of the Study:

  • To develop a low-cost, high-precision vehicle navigation system for deep urban multipath environments.
  • To overcome the limitations of traditional GPS in complex urban settings.
  • To enhance the robustness and availability of navigation solutions.

Main Methods:

  • Utilized time-differenced carrier phase (TDCP) measurements to eliminate the need for time-invariant integer ambiguity determination.
  • Integrated TDCP-based GPS with an inertial navigation system (INS).
  • Incorporated a cycle slip algorithm for improved accuracy and a multi-constellation navigation system for enhanced availability.

Main Results:

  • Demonstrated a low-cost, high-precision vehicle navigation system.
  • Achieved horizontal accuracy at the submeter level in dynamic field tests within a deep urban area.
  • Successfully mitigated multipath errors common in urban environments.

Conclusions:

  • The developed system effectively addresses the challenges of vehicle navigation in deep urban multipath environments.
  • Combining TDCP-based GPS with INS provides a robust and accurate solution.
  • The system offers a viable approach for reliable autonomous vehicle positioning in GPS-denied areas.