RT Journal Article SR Electronic T1 Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques JF NAVIGATION: Journal of the Institute of Navigation JO NAVIGATION FD Institute of Navigation SP navi.515 DO 10.33012/navi.515 VO 69 IS 2 A1 Zhong, Qiming A1 Groves, Paul D. YR 2022 UL https://navi.ion.org/content/69/2/navi.515.abstract 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