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Three-Dimensional Mapping-Aided Global Navigation Satellite System in Global Navigation Satellite System-Accessible
Hoi-Wah Ng1, Hoi-Fung Ng1, Li-Ta Hsu1
1Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, 11 Yuk Choi Rd, Hung Hom, Hong Kong, China.
Sensors (Basel, Switzerland)
|February 13, 2026
Summary
This study enhances indoor positioning by using Global Navigation Satellite System (GNSS) signals penetrating windows, combined with 3D mapping and Pedestrian Dead Reckoning (PDR). The integrated approach significantly improves accuracy in challenging indoor environments.
Area of Science:
- Geomatics Engineering
- Indoor Positioning Systems
- Satellite Navigation
Background:
- Global Navigation Satellite System (GNSS) is crucial for outdoor positioning but struggles indoors due to signal blockage.
- Urban canyons and indoor environments present significant challenges for GNSS accuracy.
Purpose of the Study:
- To investigate GNSS signal penetration through windows for indoor positioning.
- To enhance indoor positioning using Three-Dimensional Mapping-Aided (3DMA) GNSS integrated with other techniques.
Main Methods:
- Utilized a 3D corridor model to predict indoor satellite visibility.
- Integrated Pedestrian Dead Reckoning (PDR) with indoor Shadow-matching (I-SM) and an Extended Kalman Filter (EKF).
Main Results:
- Achieved a 2 m better root mean square error (RMSE) compared to PDR alone or single-epoch I-SM.
- Demonstrated significant improvements in positioning performance and availability.
Conclusions:
- Integrating GNSS with I-SM and PDR optimizes indoor positioning solutions.
- Highlights potential for advanced navigation in complex urban and indoor settings.
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