Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, we will also consider methods to estimate of the position with high accuracy even in urban areas. We use satellite positioning by GNSS for position estimation. RTK with high precision in satellite positioning can estimate position with accuracy of cm class. However, in urban areas, multipath causes degradation of positioning results. Therefore, we propose a method to improve positioning results by improving robustness against multipath by utilizing vehicle trajectory. In the proposed method, we improve the initial conditions when estimating the float solution in RTK. Conventionally, this initial condition suffered from multipath and a large error occurred. However, in the proposed method, since the robustness to multipath is improved, the error of the initial condition is small. Accuracy of RTK positioning improved by using the initial condition that suppresses multipath.
