Details
| Translated title of the contribution | Koordinatenrahmen und Transformationen im GNSS Ray-Tracing für autonomes Fahren in städtischen Gebieten |
|---|---|
| Original language | English |
| Article number | 180 |
| Number of pages | 17 |
| Journal | Remote Sensing |
| Volume | 15 |
| Issue number | 1 |
| Early online date | 29 Dec 2022 |
| Publication status | Published - Jan 2023 |
Abstract
3D Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) is a widely used method to mitigate multipath errors. Various research has been presented which utilizes 3D building model data in conjunction with ray-tracing algorithms to compute and predict satellites’ visibility conditions and compute delays caused by signal reflection. To simulate, model and potentially correct multipath errors in highly dynamic applications, such as, e.g., autonomous driving, the satellite–receiver–reflector geometry has to be known precisely in a common reference frame. Three-dimensional building models are often provided by regional public or private services and the coordinate information is usually given in a coordinate system of a map projection. Inconsistencies in the coordinate frames used to express the satellite and user coordinates, as well as the reflector surfaces, lead to falsely determined multipath errors and, thus, reduce the performance of 3DMA GNSS. This paper aims to provide the needed transformation steps to consider when integrating 3D building model data, user position, and GNSS orbit information. The impact of frame inconsistencies on the computed extra path delay is quantified based on a simulation study in a local 3D building model; they can easily amount to several meters. Differences between the extra path-delay computations in a metric system and a map projection are evaluated and corrections are proposed to both variants depending on the accuracy needs and the intended use.
Keywords
- 3D building model, 3DMA, autonomous driving, coordinate frames, GNSS, NLOS, ray-tracing
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- General Earth and Planetary Sciences
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In: Remote Sensing, Vol. 15, No. 1, 180, 01.2023.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Coordinate Frames and Transformations in GNSS Ray-Tracing for Autonomous Driving in Urban Areas
AU - Baasch, Kai Niklas
AU - Icking, Lucy
AU - Ruwisch, Fabian
AU - Schön, Steffen
N1 - Funding Information: This work was funded by the German Research Foundation (DFG) as part of the Research Training Group i.c.sens [RTG 2159], the project KOMET, which is managed by TÜV-Rheinland (PT-TÜV) under the grant 19A20002C and is funded by the Federal Ministry for Economic Affairs and Climate Action (BMWK), as well as by the project 5GAPS under the grand 45FGU121_E, which is funded by the German Federal Ministry for Digital and Transport (BMDV) on the basis of a decision by the German Bundestag. The publication of this article was funded by the Open Access Fund of Leibniz Universität Hannover.
PY - 2023/1
Y1 - 2023/1
N2 - 3D Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) is a widely used method to mitigate multipath errors. Various research has been presented which utilizes 3D building model data in conjunction with ray-tracing algorithms to compute and predict satellites’ visibility conditions and compute delays caused by signal reflection. To simulate, model and potentially correct multipath errors in highly dynamic applications, such as, e.g., autonomous driving, the satellite–receiver–reflector geometry has to be known precisely in a common reference frame. Three-dimensional building models are often provided by regional public or private services and the coordinate information is usually given in a coordinate system of a map projection. Inconsistencies in the coordinate frames used to express the satellite and user coordinates, as well as the reflector surfaces, lead to falsely determined multipath errors and, thus, reduce the performance of 3DMA GNSS. This paper aims to provide the needed transformation steps to consider when integrating 3D building model data, user position, and GNSS orbit information. The impact of frame inconsistencies on the computed extra path delay is quantified based on a simulation study in a local 3D building model; they can easily amount to several meters. Differences between the extra path-delay computations in a metric system and a map projection are evaluated and corrections are proposed to both variants depending on the accuracy needs and the intended use.
AB - 3D Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) is a widely used method to mitigate multipath errors. Various research has been presented which utilizes 3D building model data in conjunction with ray-tracing algorithms to compute and predict satellites’ visibility conditions and compute delays caused by signal reflection. To simulate, model and potentially correct multipath errors in highly dynamic applications, such as, e.g., autonomous driving, the satellite–receiver–reflector geometry has to be known precisely in a common reference frame. Three-dimensional building models are often provided by regional public or private services and the coordinate information is usually given in a coordinate system of a map projection. Inconsistencies in the coordinate frames used to express the satellite and user coordinates, as well as the reflector surfaces, lead to falsely determined multipath errors and, thus, reduce the performance of 3DMA GNSS. This paper aims to provide the needed transformation steps to consider when integrating 3D building model data, user position, and GNSS orbit information. The impact of frame inconsistencies on the computed extra path delay is quantified based on a simulation study in a local 3D building model; they can easily amount to several meters. Differences between the extra path-delay computations in a metric system and a map projection are evaluated and corrections are proposed to both variants depending on the accuracy needs and the intended use.
KW - GNSS
KW - Ray-Tracing
KW - 3D building model
KW - NLOS
KW - Coordinate Frames
KW - Autonomous driving
KW - 3D building model
KW - 3DMA
KW - autonomous driving
KW - coordinate frames
KW - GNSS
KW - NLOS
KW - ray-tracing
UR - http://www.scopus.com/inward/record.url?scp=85145976392&partnerID=8YFLogxK
U2 - 10.3390/rs15010180
DO - 10.3390/rs15010180
M3 - Article
AN - SCOPUS:85145976392
VL - 15
JO - Remote Sensing
JF - Remote Sensing
SN - 2072-4292
IS - 1
M1 - 180
ER -