Texture-Based Satellite Visibility Detection for Efficient 3D-Model-Aided GNSS


IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E100-A   No.2   pp.432-439
Publication Date: 2017/02/01
Online ISSN: 1745-1337
Type of Manuscript: INVITED PAPER (Special Section on Intelligent Transport Systems)
GNSS position information,  height map,  raytracing,  satellite visibility,  

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Limited satellite visibility, multipath and non-line-of-sight signals reduce the performance of the stand-alone Global Navigation Satellite System (GNSS) receiver in urban environments. Embedding 3D model of urban structures in the condition of restricted visibility of the GNSS satellites due to urban canyons may improve position measurement accuracy significantly. State-of-the-art methods use raytracing or rasterization techniques applied on a 3D map to detect satellite visibility. But these techniques are computationally expensive and limit their widespread benefits for mobile and automotive applications. In this paper, a texture-based satellite visibility detection (TBSVD) methodology suitable for mobile and automotive grade Graphical Processing Units is presented. This methodology applies ray marching algorithm on a 2D height map texture of urban structures, and it is proposed as a more efficient alternative to 3D raytracing or rasterization methodology. Real road test in the business district of the metropolitan city is conducted in order to evaluate its performance. TBSVD is implemented in conventional ranging-based GNSS solution and the results illustrate the effectiveness of the proposed approach.