PT  - JOURNAL ARTICLE
AU  - Strandjord, Kirsten L.
AU  - Axelrad, Penina
AU  - Mohiuddin, Shan
TI  - Improved urban navigation with shadow matching and specular matching
AID  - 10.1002/navi.378
DP  - 2020 Sep 21
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - 547--565
VI  - 67
IP  - 3
4099  - https://navi.ion.org/content/67/3/547.short
4100  - https://navi.ion.org/content/67/3/547.full
SO  - NAVIGATION2020 Sep 21; 67
AB  - As the dependence of Global Navigation Systems (GNSS) increases, so does a growing demand for GNSS accuracy in urban environments. This research aims to improve navigation in these environments by integrating non-line-of-sight signals, building models, and measured signal to noise ratios in ways not typically used in GNSS positioning. We propose a technique of combining elements of shadow matching, non-line-of-sight signal prediction through ray tracing, and collaborative navigation. A specularity metric is developed, which predicts the likelihood of building reflections resulting in non-line-of-sight signal reception, and is used in conjunction with shadow matching techniques to improve positioning. A framework for implementing these approaches is presented and demonstrated using improved positioning techniques built and tested using real-world data collected in urban surroundings.