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首页> 外文期刊>Journal of robotics and mechatronics >NLOS Satellite Detection Using a Fish-Eye Camera for Improving GNSS Positioning Accuracy in Urban Area
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NLOS Satellite Detection Using a Fish-Eye Camera for Improving GNSS Positioning Accuracy in Urban Area

机译：鱼眼镜头的NLOS卫星检测提高城市GNSS定位精度

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摘要

In recent years, global navigation satellite systems (GNSSs) have been widely used in intelligent transport systems (ITSs), and many countries have been rapidly improving the infrastructure of their satellite positioning systems. However, there is a serious problem involving the use of kinematic GNSS positioning in urban environments, which stems from significant positioning errors introduced by non-line-of-sight (NLOS) satellites blocked by obstacles. Therefore, we propose the method for positioning based on NLOS satellites detection using a fish-eye camera. In general, it is difficult to robustly extract an obstacle region from the fish-eye image because the image is affected by cloud cover, illumination conditions, and weather conditions. We extract the obstacle region from the image by tracking image feature points in sequential images. Because the obstacle region on the image moves larger than the sky region, the obstacle region can be determined by performing image segmentation and by using feature point tracking techniques. Finally, NLOS satellites can be identified using the obstacle region on the image. The evaluation results confirm the GNSS positioning accuracy without the NLOS satellites was improved compared with using all observed satellites, and confirm the effectiveness of the proposed technique and the feasibility of implementing its highly accurate positioning capabilities in urban environments.
机译：近年来，全球导航卫星系统（GNSS）已在智能运输系统（ITS）中得到广泛使用，许多国家/地区正在迅速改善其卫星定位系统的基础设施。但是，存在一个严重的问题，涉及在城市环境中使用运动型GNSS定位，这是由障碍物所阻挡的非视距（NLOS）卫星引入的重大定位误差引起的。因此，我们提出了一种基于鱼眼摄像机基于NLOS卫星检测的定位方法。通常，难以从鱼眼图像中可靠地提取障碍物区域，因为该图像受云量，照明条件和天气条件的影响。通过跟踪连续图像中的图像特征点，我们从图像中提取障碍物区域。因为图像上的障碍物区域移动得比天空区域大，所以可以通过执行图像分割和使用特征点跟踪技术来确定障碍物区域。最后，可以使用图像上的障碍物区域识别NLOS卫星。评估结果证实，与使用所有观察到的卫星相比，不使用NLOS卫星的GNSS定位精度有所提高，并且证实了所提出技术的有效性以及在城市环境中实现其高精度定位能力的可行性。

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