LiDAR-Aided Positioning

This chapter introduces a 3D LiDAR-aided global navigation satellite system (GNSS) non-line-of-sight (NLOS) mitigation method due to both static buildings and dynamic objects. A sliding window map describing the environment of the ego-vehicle is first generated, based on real-time 3D point clouds from a 3D LiDAR sensor. Subsequently, the NLOS receptions are detected based on the sliding window map using a proposed quick searching method, which eliminates the reliance on the initial guessing of the position of the GNSS receiver. Instead of directly excluding the detected NLOS satellites from further estimating the position, this chapter rectifies the pseudorange measurement model by (1) correcting the pseudorange measurements if the reflecting point of the NLOS signals is detected within the sliding window map, and (2) remodeling the uncertainty in the NLOS pseudorange measurement using a novel weighting scheme.