On the use of Dirichlet process mixtures for the modelling of pseudorange errors in multi-constellation based localisation

Asma Rabaoui 1 Nicolas Viandier 2 Juliette Marais 2 Emmanuel Duflos 3, 4, *
* Corresponding author
3 SEQUEL - Sequential Learning
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
4 LAGIS-SI
LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
Abstract : In Global Navigation Satellite Systems (GNSS) positioning, the receiver measures the pseudoranges with respect to each observable navigation satellite and determines the user position. The use of many constellations should lead to highly available, highly accurate navigation anywhere. However, it is important to notice that even if modern receivers achieve high position accuracy in line-of-sight (LOS) conditions, multipath propagation highly degrades positioning performances even in multi-constellation based localisation (¿GPS + Galileo¿ for instance). In urban area, some obstacles (cars, pedestrians, etc) can appear suddenly and thus can induce a random error in the pseudorange measure. We address here the case where the noise probability density functions are of unknown functional form. A flexible Bayesian nonparametric noise model based on Dirichlet process mixtures (DPM) is introduced. Hence, the paper will contain two main parts. The first part focuses on the modelling of the pseudorange noises using DPMs and its suitability in the estimation problem handled by an efficient particle filter. The other part contains interesting validation schemes.
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https://hal.archives-ouvertes.fr/hal-00713043
Contributor : Emmanuel Duflos <>
Submitted on : Thursday, June 28, 2012 - 9:54:30 PM
Last modification on : Thursday, February 21, 2019 - 11:02:54 AM

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Asma Rabaoui, Nicolas Viandier, Juliette Marais, Emmanuel Duflos. On the use of Dirichlet process mixtures for the modelling of pseudorange errors in multi-constellation based localisation. International Conference on Intelligent Transport Systems Telecommunications, (ITST), Oct 2009, Lille, France. pp.465-470, ⟨10.1109/ITST.2009.5399308⟩. ⟨hal-00713043⟩

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