Multipath detection with 3D digital maps for robust multi-constellation GNSS/INS vehicle localization in urban areas

Reliable knowledge of the ego position for vehicles is a crucial requirement for many automotive applications. In order to solve this problem for satellite-based localization in dense urban areas, multipath situations need to be handled carefully. This paper proposes a lightweight multipath detection algorithm which is based on dynamically built 3D environmental maps. The algorithm is evaluated with simulated and real-world data. Furthermore, it is applied to a combined GPS and GLONASS system in combination with a loosely coupled integration of odometry measurements from the vehicle.