Set-Valued Shadow Matching Using Zonotopes for 3D-Map-Aided GNSS Localization

REFERENCES

1. ↵
   1. Adjrad, M., &
   2. Groves, P. D.

   (2017). Intelligent urban positioning: Integration of shadow matching with 3D-mapping-aided GNSS ranging. Journal of Navigation, 71(1). https://doi.org/10.1017/s0373463317000509
2. ↵
   1. Althoff, M.

   (2015). An introduction to CORA 2015. In G. Frehse & M. Althoff (Eds.), ARCH14-15: 1st and 2nd International Workshop on Applied verification for continuous and hybrid systems (Vol. 34, pp. 120–151). https://doi.org/10.29007/zbkv
3. ↵
   1. Althoff, M., &
   2. Dolan, J. M.

   (2014). Online verification of automated road vehicles using reachability analysis. IEEE Transactions on Robotics, 30(4), 903–918. https://doi.org/10.1109/tro.2014.2312453
4. ↵
   1. Bhamidipati, S., &
   2. Gao, G. X.

   (2020). Integrity-driven landmark attention for GPS-vision navigation via stochastic reachability. Proc. of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2020), 2311–2326. https://doi.org/10.33012/2020.17546
5. ↵
   1. Bhamidipati, S.,
   2. Kim, K. J.,
   3. Sun, H., &
   4. Orlik, P. V.

   (2019). GPS spoofing detection and mitigation in PMUs using distributed multiple directional antennas. 2019 IEEE International Conference on Communications (ICC), Shanghai. https://doi.org/10.1109/icc.2019.8761208
6. ↵
   1. Bhamidipati, S.,
   2. Kousik, S., &
   3. Gao, G.

   (2021). Set-valued shadow matching using zonotopes. Proc. of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2021), St. Louis, MO, 2373–2390. https://doi.org/10.33012/2021.17933
7. ↵
   1. Chen, Z.,
   2. Gao, B., &
   3. Devereux, B.

   (2017). State-of-the-art: DTM generation using airborne lidar data. Sensors, 17(12), 150. https://doi.org/10.3390/s17010150
8. ↵
   1. Combettes, P. L., &
   2. Civanlar, M. R.

   (1991). The foundations of set theoretic estimation. Proc. of the 1991 International Conference on Acoustics, Speech, and Signal Processing, Toronto. https://doi.org/10.1109/icassp.1991.151014
9. ↵
   1. Ebinuma, T.

   (2018). GPS-SDR-SIM [Source code]. https://github.com/osqzss/gps-sdr-sim
10. ↵
    1. Fu, G. M.,
    2. Khider, M., &
    3. van Diggelen, F.

    (2020). Android raw GNSS measurement datasets for precise positioning. Proc. of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2020), 1925–1937. https://doi.org/10.33012/2020.17628
11. ↵
    1. Groves, P. D.

    (2011). Shadow matching: A new GNSS positioning technique for urban canyons. Journal of Navigation, 64(3), 417–430. https://doi.org/10.1017/s0373463311000087
12. ↵
    1. Groves, P. D.,
    2. Wang, L.,
    3. Adjrad, M., &
    4. Ellul, C.

    (2015). GNSS shadow matching: The challenges ahead. Proc. of the 28th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2015), Tampa, FL, 2421–2443. https://www.ion.org/publications/abstract.cfm?articleID=12866
13. ↵
    1. György, R.

    (2018). 3DWarehouse San Francisco. https://3dwarehouse.sketchup.com/model/4ad4796d-8102-4bdd-9bfc-5442dee9facf/San-Francisco
14. 1. Xu, H.,
    2. Angrisano, A.,
    3. Gaglione, S., &
    4. Hsu, L. -T.

    (2020). Machine learning based LOS/NLOS classifier and robust estimator for GNSS shadow matching. Satellite Navigation, 1. https://doi.org/10.1186/s43020-020-00016-w
15. 1. Xu, H.,
    2. Zhang, G.,
    3. Xu, B., &
    4. Hsu, L. -T.

    (2018). GNSS shadow matching based on intelligent LOS/NLOS classifier. The 16th World Congress of the International Association of Institutes of Navigation (IAIN), Chiba, Japan. https://www.researchgate.net/publication/337825336_GNSS_Shadow_Matching_based_on_Intelligent_LOSNLOS_Classifier
16. ↵
    1. Herceg, M.,
    2. Kvasnica, M.,
    3. Jones, C. N., &
    4. Morari, M.

    (2013). Multi-parametric toolbox 3.0. 2013 European Control Conference (ECC), Zurich, Switzerland. https://doi.org/10.23919/ecc.2013.6669862
17. ↵
    1. Hetet, S.

    (2000). Signal-to-noise ratio effects on the quality of GPS observations. University of New Brunswick. http://gauss.gge.unb.ca/papers.pdf/hetet.report.pdf
18. ↵
    1. Hofmann-Wellenhof, B.,
    2. Lichtenegger, H., &
    3. Collins, J.

    (1992). Global positioning system. Springer. https://doi.org/10.1007/978-3-7091-5126-6
19. ↵
    1. Iland, D.,
    2. Irish, A.,
    3. Madhow, U., &
    4. Sandler, B.

    (2018). Rethinking GPS: Engineering next-gen location at Uber. Uber Blog. https://eng.uber.com/rethinking-gps
20. ↵
    1. König, D.

    (1990). Theory of finite and infinite graphs. In D. König (Aut.), Theory of finite and infinite graphs (pp. 45–421). Birkhäuser. https://doi.org/10.1007/978-1-4684-8971-2_2
21. ↵
    1. Kousik, S.,
    2. Holmes, P., &
    3. Vasudevan, R.

    (2019). Safe, aggressive quadrotor flight via reachability-based trajectory design. ASME 2019 Dynamic Systems and Control Conference, Park City, UT. https://doi.org/10.1115/dscc2019-9214
22. ↵
    1. Kuusniemi, H.,
    2. Lachapelle, G., &
    3. Takala, J. H.

    (2004). Position and velocity reliability testing in degraded GPS signal environments. GPS Solutions, 8(4), 226–237. https://doi.org/10.1007/s10291-004-0113-7
23. ↵
    1. Martens, H.,
    2. Høy, M.,
    3. Wise, B. M.,
    4. Bro, R., &
    5. Brockhoff, P. B.

    (2003). Pre-whitening of data by covariance-weighted pre-processing. Journal of Chemometrics, 17(3), 153–165. https://doi.org/10.1002/cem.780
24. ↵
    1. Matt, J.

    (2021). Analyze N-dimensional convex polyhedra. MathWorks (MATLAB). https://www.mathworks.com/matlabcentral/fileexchange/30892-analyze-n-dimensional-convex-polyhedra?s_tid=srchtitle
25. ↵
    1. Miura, S.,
    2. Hisaka, S., &
    3. Kamijo, S.

    (2013). GPS multipath detection and rectification using 3D maps. 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, Netherlands. https://doi.org/10.1109/itsc.2013.6728447
26. ↵
    1. Miura, S.,
    2. Hsu, L.-T.,
    3. Chen, F., &
    4. Kamijo, S.

    (2015). GPS error correction with pseudorange evaluation using three-dimensional maps. IEEE Transactions on Intelligent Transportation Systems, 16(6), 3104–3115. https://doi.org/10.1109/tits.2015.2432122
27. ↵
    1. Neamati, D.,
    2. Bhamidipati, S., &
    3. Gao, G.

    (2022a). Mosaic zonotope shadow matching for risk-aware autonomous localization in harsh urban environments [Manuscript submitted for publication]. Stanford University. https://stanford.box.com/shared/static/r0abx08okk5do2gbuhclhr1fuc4ayvij.pdf
28. ↵
    1. Neamati, D.,
    2. Bhamidipati, S., &
    3. Gao, G.

    (2022b). Set-based ambiguity reduction in shadow matching with iterative GNSS pseudoranges. Proc. of the 35th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2022), Denver, CO. https://www.ion.org/gnss/abstracts.cfm?paperID=11326
29. ↵
    1. Raghuraman, V., &
    2. Koeln, J. P.

    (2022). Set operations and order reductions for constrained zonotopes. Automatica, 139. https://www.sciencedirect.com/science/article/abs/pii/S0005109822000498
30. ↵
    1. Rojas, C. P. P.

    (2011). Soft GNSS [Source code]. Github. https://github.com/kristianpaul/SoftGNSS
31. ↵
    1. Scott, J. K.,
    2. Raimondo, D. M.,
    3. Marseglia, G. R., &
    4. Braatz, R. D.

    (2016). Constrained zonotopes: A new tool for set-based estimation and fault detection. Automatica, 69, 126–136. https://doi.org/10.1016/j.automatica.2016.02.036
32. ↵
    1. Shetty, A., &
    2. Gao, G. X.

    (2020). Trajectory planning under stochastic and bounded sensing uncertainties using reachability analysis. Proc. of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2020), 1637–1648. https://doi.org/10.33012/2020.17518
33. ↵
    1. Shi, D.,
    2. Chen, T., &
    3. Shi, L.

    (2015). On set-valued Kalman filtering and its application to event-based state estimation. IEEE Transactions on Automatic Control, 60(5), 1275–1290. https://doi.org/10.1109/tac.2014.2370472
34. ↵
    1. Shiryaev, V. I., &
    2. Podivilova, E. O.

    (2015). Set-valued estimation of linear dynamical system state when disturbance is decomposed as a system of functions. Procedia Engineering, 129, 252–258. https://doi.org/10.1016/j.proeng.2015.12.045
35. ↵
    1. Suzuki, T.

    (2016). Integration of GNSS positioning and 3D map using particle filter. Proc. of the 29th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, OR, 1296–1304. https://doi.org/10.33012/2016.14857
36. ↵
    1. van Diggelen, F., &
    2. Wang, J.

    (2020). Improving urban GPS accuracy for your app. Android Developers Blog. https://android-developers.googleblog.com/2020/12/improving-urban-gps-accuracy-for-your.html
37. ↵
    1. Wang, L.,
    2. Groves, P. D., &
    3. Ziebart, M. K.

    (2013a). GNSS shadow matching: Improving urban positioning accuracy using a 3D city model with optimized visibility scoring scheme. NAVIGATION, 60(3), 195–207. https://doi.org/10.1002/navi.38
38. ↵
    1. Wang, L.,
    2. Groves, P. D., &
    3. Ziebart, M. K.

    (2013b). Urban positioning on a smartphone: Real-time shadow matching using GNSS and 3D city models. Proc. of the 26th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2013), Nashville, TN, 1606–1619. https://www.ion.org/publications/abstract.cfm?articleID=11339
39. ↵
    1. Wang, L.,
    2. Groves, P. D., &
    3. Ziebart, M. K.

    (2014). Smartphone shadow matching for better cross-street GNSS positioning in urban environments. Journal of Navigation, 68(3), 411–433. https://doi.org/10.1017/s0373463314000836
40. ↵
    1. Zhu, N.,
    2. Marais, J.,
    3. Bétaille, D., &
    4. Berbineau, M.

    (2018). GNSS position integrity in urban environments: A review of literature. IEEE Transactions on Intelligent Transportation Systems, 19(9), 2762–2778. https://doi.org/10.1109/tits.2017.2766768