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multipath estimation in urban environments from joint gnss receivers and lidar sensors在城市环境中多径估计从联合gnss接收器和激光雷达传感器.pdf

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multipath estimation in urban environments from joint gnss receivers and lidar sensors在城市环境中多径估计从联合gnss接收器和激光雷达传感器

Sensors 2012, 12, 14592-14603; doi:10.3390/s121114592 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Multipath Estimation in Urban Environments from Joint GNSS Receivers and LiDAR Sensors ´ Khurram Ali , Xin Chen , Fabio Dovis , David De Castro and Antonio J. Fernandez Department of Electronics and Telecommunications (DET), Politecnico di Torino, Corso Duca degli Abruzzi, 24-10129 Turin, Italy; E-Mail: fabio.dovis@polito.it Shanghai Advanced Research Institute, Chinese Academy of Sciences, 3rd ﬂoor, 1st Building, Haike Road 99, Pudong, Shanghai 201203, China; E-Mail: chenx@ DEIMOS Space S.L.U., Ronda de Poniente, 19-28760 Tres Cantos, Madrid, Spain; E-Mails: david.decastro@ (D.D.C.); antonio.fernandez@ (A.J.F.) Author to whom correspondence should be addressed; E-Mail: khurram.ali@polito.it; Tel.: +39-011-2276-432. Received: 31 July 2012; in revised form: 10 October 2012 / Accepted: 23 October 2012 / Published: 30 October 2012 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 rob