Decentralized collaborative localization in urban environments using 3D-mapping-aided (3DMA) GNSS and inter-agent ranging

Siddharth Tanwar, Grace Xingxin Gao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

GPS navigation in urban environments is prone to error sources such as multipath and signal blockage. Shadow matching and likelihood-based 3D-mapping-aided (3DMA) ranging methods have shown high potential in 3DMA GNSS navigation for a single agent in urban environments. However, they suffer from errors such as ambiguity which cannot be reliably mitigated without external sensing and integrated systems. Collaborative localization (CL) is a way to aid navigation in a multi-agent system and is capable of providing the external sensing required to reduce error due to ambiguity in 3DMA approaches. CL algorithms face challenges such as scalability, robustness to noisy sensor data and single point of failure, and operability despite limited inter-agent communication. In this paper, we present a decentralized collaborative localization algorithm which is applicable to sparsely communicating networks, and has limited information exchange. Moreover, the proposed algorithm takes advantage of the variable visibility of the sky and variable building geometry for different agents. We propose a methodology for ambiguity mitigation by constraining an agent’s probability distribution using its neighbors. The methodology is based on coupling of agents’ GPS measurements with range-only sensors and is applicable to multi-agent systems with these modalities. The proposed method is validated on simulated datasets in an urban area of Champaign, Illinois with multiple agents in a variety of scenarios. We demonstrate the improved performance in terms of positioning accuracy and ambiguity mitigation. We also analyze the impact of network connectivity, and size of network on positioning accuracy.

Original languageEnglish (US)
Title of host publicationProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
PublisherInstitute of Navigation
Pages2352-2363
Number of pages12
ISBN (Electronic)0936406100, 9780936406107
StatePublished - Jan 1 2018
Event31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 - Miami, United States
Duration: Sep 24 2018Sep 28 2018

Publication series

NameProceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018

Conference

Conference31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
CountryUnited States
CityMiami
Period9/24/189/28/18

ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Electrical and Electronic Engineering

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  • Cite this

    Tanwar, S., & Gao, G. X. (2018). Decentralized collaborative localization in urban environments using 3D-mapping-aided (3DMA) GNSS and inter-agent ranging. In Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018 (pp. 2352-2363). (Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018). Institute of Navigation.