PT - JOURNAL ARTICLE AU - Qiming Zhong AU - Paul D. Groves TI - Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques AID - 10.33012/navi.515 DP - 2022 Jun 20 TA - NAVIGATION: Journal of the Institute of Navigation PG - navi.515 VI - 69 IP - 2 4099 - https://navi.ion.org/content/69/2/navi.515.short 4100 - https://navi.ion.org/content/69/2/navi.515.full SO - NAVIGATION2022 Jun 20; 69 AB - The performance of different filtering algorithms combined with 3D mapping-aided (3DMA) techniques is investigated in this paper. Several single- and multi-epoch filtering algorithms were implemented and then tested on static pedestrian navigation data collected in the City of London using a u-blox EVK M8T GNSS receiver and vehicle navigation data collected in Canary Wharf, London, by a trial van with a Racelogic Labsat 3 GNSS front-end. The results show that filtering has a greater impact on mobile positioning than static positioning, while 3DMA GNSS brings more significant improvements to positioning accuracy in denser environments than in more open areas. Thus, multi-epoch 3DMA GNSS filtering should bring the maximum benefit to mobile positioning in dense environments. In vehicle tests at Canary Wharf, 3DMA GNSS filtering reduced the RMS horizontal position error by approximately 68% and 57% compared to the single-epoch 3DMA GNSS and filtered conventional GNSS, respectively.3DMA3D mapping-aidedEKFextended Kalman filterPFparticle filterGFgrid filterLOSline-of-sightNLOSnon-line-of-sightSMshadow matchingLBRlikelihood-based ranging