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首页> 外文期刊>Journal of robotics and mechatronics >Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera
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Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera

机译：使用全向红外摄像机通过多径缓解来提高GPS和GLONASS定位精度

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摘要

This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. The availability of satellite positioning is currently expected to improve due to the presence of positioning satellites such as US GPS, Russia's Glonass and Europe's Galileo. Due to the serious multipath impact on positioning accuracy in urban or leafy areas, however, improvements in satellite positioning availability do not necessarily facilitate high-precision positioning. Our proposed technique mitigates the GPS and Glonass multipath using an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and surrounding buildings and foliage due to the difference in atmospheric transmittance between visible light and IR rays, since buildings and foliage appear white. The proposed technique can automatically and robustly mitigate the GPS and Glonass multipath by excluding invisible satellites. Positioning was evaluated with visible satellites, which have less multipath error and without using invisible satellites. Evaluation results confirmed the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.
机译：本文介绍了一种精确的定位技术，该技术可应用于城市或多叶环境中的车辆或移动机器人。由于存在诸如美国GPS，俄罗斯的Glonass和欧洲的Galileo等定位卫星，卫星定位的可用性目前有望得到改善。然而，由于严重的多径影响城市或绿树成荫地区的定位精度，卫星定位可用性的提高并不一定有助于高精度定位。我们提出的技术通过使用全向红外（IR）摄像机减轻了GPS和Glonass多径干扰，可以消除使用IR图像的不可见卫星的需求。使用红外热像仪，天空显得特别暗。由于可见光和红外线之间的空气透射率不同，这有利于检测天空与周围建筑物和树叶之间的边界线，因为建筑物和树叶看起来是白色的。所提出的技术可以通过排除不可见的卫星来自动，稳健地缓解GPS和Glonass多径现象。使用可见卫星评估定位，可见卫星的多径误差较小，并且不使用不可见卫星。评估结果证实了该技术的有效性以及其高精度定位的可行性。

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