Localization with noisy android raw GNSS measurements

Localization with noisy android raw GNSS measurements

Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints, however, make Android raw GNSS measurements much noisier than g...

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Bibliographic Details
Main Authors: Weng, Xu, Ling, Keck Voon
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2023
Subjects:
Engineering::Electrical and electronic engineering::Electronic systems::Signal processing
Android Smartphones
Global Navigation Satellite System
Raw Measurements
Localization
Google Smartphone Decimeter Challenge Datasets
Online Access:https://hdl.handle.net/10356/171679
https://apwimobconf.org/
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Institution: Nanyang Technological University
Language: English
Description
Summary:Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints, however, make Android raw GNSS measurements much noisier than geodetic-quality ones. This study elucidates the principles of localization using Android raw GNSS measurements and leverages Moving Horizon Estimation (MHE), Extended Kalman Filter (EKF), and Rauch-Tung-Striebel (RTS) smoother for noise suppression. Experimental results show that the RTS smoother achieves the best positioning performance, with horizontal positioning errors significantly reduced by 76.4\% and 46.5\% in static and dynamic scenarios compared with the baseline weighted least squares (WLS) method. Our codes are available at https://github.com/ailocar/androidGnss.

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