Low-latency GNSS multipath simulator for real-time applications in autonomous driving

authored by: Marcus Christopher O´Connor, Fabian Ruwisch, Tobias Kersten, Christian Skupin, Le Ren, Temmo Wübbena, Steffen Schön
Abstract: It is essential to periodically provide precise position estimations to realize fully autonomous driving in all kinds of environments, especially in dense urban areas. Global Navigation Satellite System (GNSS) technology has the potential to provide positioning accuracy at a centimetre level. In urban environments the occurrence of satellite signal reflection and diffraction, also called multipath, is a challenging source of GNSS errors. A scalable real-time multipath simulator is created to face this problem and mitigate potential multipath errors. The inputs of the simulator are 3D building data, satellite positions and vehicle positions. A GPU memory manager and a specialised load balancer allow fast multipath analysis. Experiments show that the outputs of the simulator can improve the positioning accuracy of the positioning engine. The scalability of the simulator is shown by connecting the multipath simulator with a traffic simulator.
Organisation(s): Institute of Geodesy
External Organisation(s): Robert Bosch GmbH
Geo++ GmbH
Type: Conference contribution
No. of pages: 8
Publication date: 2021
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Information Systems and Management, Safety, Risk, Reliability and Quality, Computer Science Applications, Modelling and Simulation
Research Area (based on ÖFOS 2012): Satellite geodesy, Sensor systems
Electronic version(s): https://doi.org/10.1109/ds-rt52167.2021.9576146 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@inproceedings{e8119cda7d26477bb47c82e071392831,
title = "Low-latency GNSS multipath simulator for real-time applications in autonomous driving",
abstract = "It is essential to periodically provide precise position estimations to realize fully autonomous driving in all kinds of environments, especially in dense urban areas. Global Navigation Satellite System (GNSS) technology has the potential to provide positioning accuracy at a centimetre level. In urban environments the occurrence of satellite signal reflection and diffraction, also called multipath, is a challenging source of GNSS errors. A scalable real-time multipath simulator is created to face this problem and mitigate potential multipath errors. The inputs of the simulator are 3D building data, satellite positions and vehicle positions. A GPU memory manager and a specialised load balancer allow fast multipath analysis. Experiments show that the outputs of the simulator can improve the positioning accuracy of the positioning engine. The scalability of the simulator is shown by connecting the multipath simulator with a traffic simulator.",
keywords = "autonomous driving, GNSS, gpgpu, multipath, performance, traffic simulation",
author = "O´Connor, {Marcus Christopher} and Fabian Ruwisch and Tobias Kersten and Christian Skupin and Le Ren and Temmo W{\"u}bbena and Steffen Sch{\"o}n",
year = "2021",
doi = "10.1109/ds-rt52167.2021.9576146",
language = "English",
isbn = "978-1-6654-3327-3",
editor = "Cecilia, {Jose Maria} and Martinez, {Francisco J.}",
booktitle = "2021 IEEE/ACM 25th International Symposium on Distributed Simulation and Real Time Applications (DS-RT)",
note = "25th International Symposium on Distributed Simulation and Real Time Applications (DS-RT) ; Conference date: 27-09-2021 Through 29-09-2021",
}