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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.
Abstract:
The Global Navigation Satellite System (GNSS) is commonly used for outdoor positioning. However, its effectiveness diminishes in urban canyons and indoor environments attributed to signal blockage. This study aims to explore the potential of GNSS signals penetrating indoor spaces through windows and to enhance indoor positioning with Three-Dimensional Mapping-Aided (3DMA) GNSS, a concept generally applied outdoors. The research employs a 3D model of a corridor with manually labeled window locations to predict satellite visibility within indoor areas. The study integrates Pedestrian Dead Reckoning (PDR) with an indoor Shadow-matching (I-SM) technique, utilizing an Extended Kalman Filter (EKF) to improve positioning accuracy. One of the findings indicates that the proposed method significantly enhances positioning performance and its availability, achieving a root mean square error (RMSE) that is 2 m better than using PDR alone or single epoch I-SM. The study concludes that integrating GNSS with I-SM technique and PDR can optimize an indoor positioning solution and highlights the potential for improved navigation solutions in complex urban environments.
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