A particle filtering approach for joint detection/estimation of multipath effects on GPS measurements

Abstract : Multipath propagation causes major impairments to Global Positioning System (GPS) based navigation. Multipath results in biased GPS measurements, hence inaccurate position estimates. In this work, multipath effects are considered as abrupt changes affecting the navigation system. A multiple model formulation is proposed whereby the changes are represented by a discrete valued process. The detection of the errors induced by multipath is handled by a Rao-Blackwellized particle filter (RBPF). The RBPF estimates the indicator process jointly with the navigation states and multipath biases. The interest of this approach is its ability to integrate a priori constraints about the propagation environment. The detection is improved by using information from near future GPS measurements at the particle filter (PF) sampling step. A computationally modest delayed sampling is developed, which is based on a minimal duration assumption for multipath effects. Finally, the standard PF resampling stage is modified to include an hypothesis test based decision step.
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Article dans une revue
IEEE Transactions on Signal Processing, Institute of Electrical and Electronics Engineers, 2007, vol. 55 n° 4., 1275-1285 available on : http://oatao.univ-toulouse.fr/874/2/Tourneret_874.pdf
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https://hal.archives-ouvertes.fr/hal-00475972
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Soumis le : vendredi 23 avril 2010 - 13:59:53
Dernière modification le : mercredi 12 septembre 2018 - 17:46:02

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  • HAL Id : hal-00475972, version 1

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Audrey Giremus, Jean-Yves Tourneret, Vincent Calmettes. A particle filtering approach for joint detection/estimation of multipath effects on GPS measurements. IEEE Transactions on Signal Processing, Institute of Electrical and Electronics Engineers, 2007, vol. 55 n° 4., 1275-1285 available on : http://oatao.univ-toulouse.fr/874/2/Tourneret_874.pdf. 〈hal-00475972〉

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