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Pseudorange measurement outlier detection for navigation with cellular signals: WIP abstract

Published: 16 April 2019 Publication History

Abstract

We present an autonomous measurement outlier detection and exclusion framework for ground vehicle navigation using cellular signals of opportunity (SOPs) and an inertial measurement unit (IMU). The experimental results demonstrate the proposed framework successfully detecting and excluding outlier measurements, improving the position root mean-squared error (RMSE) by 42%. The demo session will showcase work in progress, namely (1) demo (in the form of a video of our experiment driving in downtown Riverside, California) and (2) a poster that includes the navigation framework, the proposed outlier detection method, and the experimental results.

References

[1]
S. Bhattacharyya and D. Gebre-Egziabher. 2015. Kalman filter-based RAIM for GNSS receivers. IEEE Trans. Aerospace Electron. Systems 51, 3 (July 2015), 2444--2459.
[2]
Z. Kassas. 2014. Analysis and Synthesis of Collaborative Opportunistic Navigation Systems. Ph.D. Dissertation. The University of Texas at Austin, USA.
[3]
M. Maaref, J. Khalife, and Z. Kassas. 2018. Integrity monitoring of LTE signal of opportunity-based navigation for autonomous ground vehicles. In Proceedings of ION GNSS Conference. 2456--2466.

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cover image ACM Conferences
ICCPS '19: Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems
April 2019
367 pages
ISBN:9781450362856
DOI:10.1145/3302509
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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  • IEEE-CS\TCRT: TC on Real-Time Systems

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Association for Computing Machinery

New York, NY, United States

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Published: 16 April 2019

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Overall Acceptance Rate 25 of 91 submissions, 27%

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