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Title: Multiple faulty GNSS measurement exclusion based on consistency check in urban canyons
Authors: Hsu, LT 
Tokura, H
Kubo, N
Gu, YL
Kamijo, S
Issue Date: 2017
Source: IEEE sensors journal, 2017, v. 17, no. 6, p. 1909-1917
Abstract: Sensors play important roles for autonomous driving. Localization is definitely a key one. Undoubtedly, global positioning system (GPS) sensor will provide absolute localization for almost all the future land vehicles. In terms of driverless car, 1.5 m of positioning accuracy is the minimum requirement, since the vehicle has to keep in a driving lane that usually wider than 3 m. However, the skyscrapers in highly-urbanized cities, such as Tokyo and Hong Kong, dramatically deteriorate GPS localization performance, leading more than 50 m of error. GPS signals are reflected at modern glassy buildings, which caused the notorious multipath effect. Fortunately, the number of navigation satellite is rapidly increasing in a global scale, since the rise of multi-global navigation satellite system. It provides an excellent opportunity for positioning algorithm developer of GPS sensor. More satellites in the sky imply more measurements to be received. Novelty, this paper proposes to take advantage of the fact that clean measurements (refers to line-of-sight measurement) are consistent and multipath measurements are inconsistent. Based on this consistency check, the faulty measurements can be detected and excluded to obtain better localization accuracy. Experimental results indicate that the proposed method can achieve less than 1-m lateral positioning error in middle urban canyons.
Keywords: Localization
Autonomous driving
Urban canyon
Land application
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE sensors journal 
ISSN: 1530-437X
DOI: 10.1109/JSEN.2017.2654359
Rights: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication Hsu, L. T., Tokura, H., Kubo, N., Gu, Y., & Kamijo, S. (2017). Multiple Faulty GNSS Measurement Exclusion Based on Consistency Check in Urban Canyons. IEEE Sensors Journal, 17(6), 1909-1917 is available at
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