Accuracy enhancement in high sensitivity GNSS with Particle Filter approach
چکیده
We propose a novel approach to estimate the position in weak signals conditions, based on Particle Filter algorithm. In urban canyoning and light indoor environment huge errors affect pseudorange measurements mainly due to multipath and thermal noise. In details in this work, we have empirically evaluated the statistical distribution of pseudo-ranges measurement error, taking into account heterogeneous environments. The error behavior may be described by Gaussian distribution, however long tails (outliers) are not taken into account by the Guassian approximation. The outliers may be isolated by integrity approach if redundancy is available. In high sensitivity environment the number of outliers and the system redundancy may allow to detect the presence of faulty measurements but not to isolate them. We propose under above conditions to estimate the position with particle filter approach, based on the empirical error distribution, achieving remarkable improvement in position accuracy. Keywords-component; Assisted-GNSS;High Sensitivity GNSS; Particle Filter;