Search
Abstract
Nowadays, the most widely used method for estimating location of autonomous vehicles in real time is the use of Global Navigation Satellite Systems (GNSS). However, positioning in urban environments using GNSS is hampered by poor satellite geometry due to signal obstruction created by both man-made and natural features of the urban environment. The presence of obstacles is the reason for the decreased number of observed satellites as well as uncertainty of GNSS positioning. It is possible that in some sections of the vehicle route there might not be enough satellites necessary to fix position. It is common to use software for static GNSS measurement campaign planning, but it is often only able to predict satellite visibility at one point. This article presents a proposal for dynamic GNSS mission planning using a Digital Terrain Model (DTM) and dead reckoning. The methodology and sample results of numerical experiments are also described. They clearly show that proper dynamic GNSS mission planning is necessary in order to complete a task by an autonomous vehicle in an obstructed environment.
Citations
-
9
CrossRef
-
0
Web of Science
-
1 0
Scopus
Cite as
Full text
full text is not available in portal
Keywords
Details
- Category:
- Articles
- Type:
- artykuł w czasopiśmie wyróżnionym w JCR
- Published in:
-
JOURNAL OF NAVIGATION
no. 70,
pages 483 - 504,
ISSN: 0373-4633 - Language:
- English
- Publication year:
- 2017
- Bibliographic description:
- Nowak A.: Dynamic GNSS Mission Planning Using DTM for Precise Navigation of Autonomous Vehicles// JOURNAL OF NAVIGATION. -Vol. 70, iss. 3 (2017), s.483-504
- DOI:
- Digital Object Identifier (open in new tab) 10.1017/s0373463316000679
- Verified by:
- Gdańsk University of Technology
seen 209 times
Recommended for you
Testing the Positioning Accuracy of GNSS Solutions during the Tramway Track Mobile Satellite Measurements in Diverse Urban Signal Reception Conditions
- M. Specht,
- C. Specht,
- A. Wilk
- + 10 authors