MultipathEstimationinurbanenvironment程序.doc

Abstract: In this paper, multipath error on Global Navigation Satellite System GNSS signals in urban environments is characterized with the help of Light Detection and Ranging LiDAR measurements. For this purpose, LiDAR equipment and Global Positioning System GPS receiver implementing a multipath estimating architecture were used to collect data in an urban environment. This paper demonstrates how GPS and LiDAR measurements can be jointly used to model the environment and obtain robust receivers. Multipath amplitude and delay are estimated by means of LiDAR feature extraction and multipath mitigation architecture. The results show the feasibility of integrating the information provided by LiDAR sensors and GNSS receivers for multipath mitigation. Keywords: global navigation satellite system; light detection and ranging; multipath 在本文中，对全球导航卫星系统（GNSS）多径误差在城市环境中的信号具有光探测和测距（LIDAR）测量的帮助。为此，激光雷达和全球定位系统（GPS）接收机的多径估计架构实现用于在城市环境中的数据收集。本文介绍了GPS和激光雷达测量可以共同使用的模型的环境中获得强大的接收器。多径幅度和延迟是由激光雷达特征提取和抗多径结构估计。结果表明，结合激光雷达传感器和抗多径的GNSS接收机提供的信息的可行性。 LiDAR——Light Detection And Ranging，即光探测与测量。是利用GPS（Global Position System）和IMU（Inertial Measurement Unit，惯性测量装置）机载激光扫描。其所测得的数据为数字表面模型 Digital Surface Model, DSM 的离散点表示，数据中含有空间三维信息和激光强度信息。应用分类 Classification 技术在这些原始数字表面模型中移除建筑物、人造物、覆盖植物等测点，即可获得数字高程模型 Digital Elevation Model, DEM ，并同时得到地面覆盖物的高度。 1. Introduction In Global Navigation Satellite System GNSS , the user computes its position by means of measureddistances between the receiver and a set of in-view satellites. These distances are calculated estimating the propagation time of signals transmitted by each satellite. For such a reason GNSS receivers areonly interested in estimating the delays of signals in line-of-sight LOS carrying the information onthe relative distance. In some environments, reflected versions of the LOS multipath may exist due to obstacles surrounding the receiver [1].When such reflected rays have a delay smaller than one chip duration, they are not mitiga