{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T20:44:21Z","timestamp":1773175461687,"version":"3.50.1"},"reference-count":56,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,12,29]],"date-time":"2022-12-29T00:00:00Z","timestamp":1672272000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001659","name":"German Research Foundation (DFG)","doi-asserted-by":"publisher","award":["RTG 2159"],"award-info":[{"award-number":["RTG 2159"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"German Research Foundation (DFG)","doi-asserted-by":"publisher","award":["19A20002C"],"award-info":[{"award-number":["19A20002C"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"German Research Foundation (DFG)","doi-asserted-by":"publisher","award":["45FGU121_E"],"award-info":[{"award-number":["45FGU121_E"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Federal Ministry for Economic Affairs and Climate Action (BMWK)","award":["RTG 2159"],"award-info":[{"award-number":["RTG 2159"]}]},{"name":"Federal Ministry for Economic Affairs and Climate Action (BMWK)","award":["19A20002C"],"award-info":[{"award-number":["19A20002C"]}]},{"name":"Federal Ministry for Economic Affairs and Climate Action (BMWK)","award":["45FGU121_E"],"award-info":[{"award-number":["45FGU121_E"]}]},{"name":"German Federal Ministry for Digital and Transport (BMDV)","award":["RTG 2159"],"award-info":[{"award-number":["RTG 2159"]}]},{"name":"German Federal Ministry for Digital and Transport (BMDV)","award":["19A20002C"],"award-info":[{"award-number":["19A20002C"]}]},{"name":"German Federal Ministry for Digital and Transport (BMDV)","award":["45FGU121_E"],"award-info":[{"award-number":["45FGU121_E"]}]},{"name":"Open Access Fund of Leibniz Universit\u00e4t Hannover","award":["RTG 2159"],"award-info":[{"award-number":["RTG 2159"]}]},{"name":"Open Access Fund of Leibniz Universit\u00e4t Hannover","award":["19A20002C"],"award-info":[{"award-number":["19A20002C"]}]},{"name":"Open Access Fund of Leibniz Universit\u00e4t Hannover","award":["45FGU121_E"],"award-info":[{"award-number":["45FGU121_E"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>3D Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) is a widely used method to mitigate multipath errors. Various research has been presented which utilizes 3D building model data in conjunction with ray-tracing algorithms to compute and predict satellites\u2019 visibility conditions and compute delays caused by signal reflection. To simulate, model and potentially correct multipath errors in highly dynamic applications, such as, e.g., autonomous driving, the satellite\u2013receiver\u2013reflector geometry has to be known precisely in a common reference frame. Three-dimensional building models are often provided by regional public or private services and the coordinate information is usually given in a coordinate system of a map projection. Inconsistencies in the coordinate frames used to express the satellite and user coordinates, as well as the reflector surfaces, lead to falsely determined multipath errors and, thus, reduce the performance of 3DMA GNSS. This paper aims to provide the needed transformation steps to consider when integrating 3D building model data, user position, and GNSS orbit information. The impact of frame inconsistencies on the computed extra path delay is quantified based on a simulation study in a local 3D building model; they can easily amount to several meters. Differences between the extra path-delay computations in a metric system and a map projection are evaluated and corrections are proposed to both variants depending on the accuracy needs and the intended use.<\/jats:p>","DOI":"10.3390\/rs15010180","type":"journal-article","created":{"date-parts":[[2022,12,29]],"date-time":"2022-12-29T02:52:21Z","timestamp":1672282341000},"page":"180","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Coordinate Frames and Transformations in GNSS Ray-Tracing for Autonomous Driving in Urban Areas"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5136-2517","authenticated-orcid":false,"given":"Kai-Niklas","family":"Baasch","sequence":"first","affiliation":[{"name":"Institut f\u00fcr Erdmessung, Leibniz Universit\u00e4t Hannover, 30167 Hannover, Germany"}]},{"given":"Lucy","family":"Icking","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Erdmessung, Leibniz Universit\u00e4t Hannover, 30167 Hannover, Germany"}]},{"given":"Fabian","family":"Ruwisch","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Erdmessung, Leibniz Universit\u00e4t Hannover, 30167 Hannover, Germany"}]},{"given":"Steffen","family":"Sch\u00f6n","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Erdmessung, Leibniz Universit\u00e4t Hannover, 30167 Hannover, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Reid, T.G., Houts, S.E., Cammarata, R., Mills, G., Agarwal, S., Vora, A., and Pandey, G. 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