{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T17:05:58Z","timestamp":1791306358932,"version":"4.3.1"},"reference-count":24,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2013,1,11]],"date-time":"2013-01-11T00:00:00Z","timestamp":1357862400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Reliable GPS positioning in city environment is a key issue: actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.<\/jats:p>","DOI":"10.3390\/s130100829","type":"journal-article","created":{"date-parts":[[2013,1,11]],"date-time":"2013-01-11T11:16:17Z","timestamp":1357902977000},"page":"829-847","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":121,"title":["About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm"],"prefix":"10.3390","volume":"13","author":[{"given":"S\u00e9bastien","family":"Peyraud","sequence":"first","affiliation":[{"name":"XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"B\u00e9taille","sequence":"additional","affiliation":[{"name":"French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"St\u00e9phane","family":"Renault","sequence":"additional","affiliation":[{"name":"XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Miguel","family":"Ortiz","sequence":"additional","affiliation":[{"name":"French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Florian","family":"Mougel","sequence":"additional","affiliation":[{"name":"French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dominique","family":"Meizel","sequence":"additional","affiliation":[{"name":"XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fran\u00e7ois","family":"Peyret","sequence":"additional","affiliation":[{"name":"French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2013,1,11]]},"reference":[{"key":"ref_1","unstructured":"Marais, J., Berbineau, M., Frimat, O., and Franckart, J.-P. Available online: http:\/\/www.ertico.com\/assets\/download\/locoprol\/arttilt.pdf (accessed on 21 December 2012)."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1017\/S0373463307004079","article-title":"Code Multipath Modelling in the Urban Environment Using Large Virtual Reality City Models: Determining the Local Environment","volume":"60","author":"Bradbury","year":"2007","journal-title":"J. Navig."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1816","DOI":"10.1093\/ietcom\/e90-b.7.1816","article-title":"Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS","volume":"E90-B","author":"Suh","year":"2007","journal-title":"IEDE Trans. Commun."},{"key":"ref_4","unstructured":"CityVIP Website. Available online: http:\/\/www.lasmea.univ-bpclermont.fr\/CityVip (accessed on 21 December 2012)."},{"key":"ref_5","unstructured":"Peyret, F., B\u00e9taille, D., and Mougel, F. (August, January 23\u2013). Non-Line-Of-Sight GNSS signal detection using an on-board 3D model of buildings. Saint-Petersburg, Russia."},{"key":"ref_6","unstructured":"Pinana-Diaz, C., Toledo-Moreo, R., B\u00e9taille, D., and Gomez-Skarmeta, A. (October, January 5\u2013). GPS multipath detection and exclusion with elevation-enhanced maps. Washington, DC, USA."},{"key":"ref_7","unstructured":"Obst, M., Bauer, S., and Wanielik, G. (April, January 23\u2013). Urban Multipath Detection and mitigation with Dynamic 3D Maps for Reliable Land Vehicle Localization. Myrtle Beach, SC, USA."},{"key":"ref_8","unstructured":"Bourdeau, A., Sahmoudi, M., and Tourneret, J.Y. (2012, January 18\u201321). Tight Integration of GNSS and a 3D City Model for Robust Positioning in Urban Canyons. Nashville, TN, USA."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1017\/S0373463311000087","article-title":"Shadow matching: A new GNSS positioning technique for urban canyons","volume":"64","author":"Groves","year":"2011","journal-title":"J. Navig."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Wang, L., Groves, P.D., and Ziebart, M. (2012, January 18\u201321). GNSS Shadow Matching: Improving Urban Positioning Accuracy Using a 3D City Model with Optimized Visibility Prediction Scoring. Nashville, TN, USA.","DOI":"10.1002\/navi.38"},{"key":"ref_11","unstructured":"Groves, P.D., Jiang, Z., Wang, L., and Ziebart, M. (2012, January 18\u201321). Intelligent Urban Positioning using Multi-Constellation GNSS with 3D Mapping and NLOS Signal Detection. Nashville, TN, USA."},{"key":"ref_12","unstructured":"BeNomad Website. Available online: http:\/\/www.benomad.com (accessed on 21 December 2012)."},{"key":"ref_13","first-page":"69","article-title":"Stereopolis II: A multi-purpose and multi-sensor 3D mobile mapping system for street visualisation and 3D metrology","volume":"200","author":"Paparoditis","year":"2012","journal-title":"Revue Franaise de Photogramm\u00e9trie et de T\u00e9l\u00e9d\u00e9tection"},{"key":"ref_14","first-page":"84","article-title":"Towards a sub-decimetric georeferencing of ground-based mobile mapping systems in urban areas: Matching ground-based and aerial-based imagery using roadmarks","volume":"185","author":"Tournaire","year":"2007","journal-title":"Revue Franaise de Photogramm\u00e9trie et de T\u00e9l\u00e9d\u00e9tection"},{"key":"ref_15","unstructured":"Details on the Reference Trajectory Measurement. Available online: http:\/\/www.gnss-test-portal.eu\/tools\/view\/43 (accessed on 21 December 2012)."},{"key":"ref_16","unstructured":"Since we consider the kinematic configuration of a slow vehicle induced by the road and not its dynamic state, we prefer to use heading in place of yaw, slope in place of pitch and cross slope in place of roll."},{"key":"ref_17","unstructured":"Peyraud, S., Renault, S., and Meizel, D. (2010, January 22\u201324). 3D Localization and Map Matching of Urban Vehicles. Yokohama, Japan."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Kelly, A. (1994). A 3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles, Carnegie Mellon University. Technical Report CMU-RI-TR-94-19.","DOI":"10.21236\/ADA282853"},{"key":"ref_19","unstructured":"Cheung, M.F. (1991). On optimal algorithms for parameter set estimation. [Ph.D. Thesis, The Ohio State University]."},{"key":"ref_20","unstructured":"The positive definite matrix Pk may be linked with a validity domain of a Gaussian estimation (q\u0302k, Pk\u2032) with a p0 probability. Pk\u2032 is the covariance matrix of the estimation error. It comes then: Pk=Pk\u2032\u22c5\u03c72(p0)."},{"key":"ref_21","unstructured":"Bonnifait, P., Bouron, P., Crubill\u00e9, P., and Meizel, D. (May, January 21\u2013). Data fusion of four ABS Sensors and GPS for an enhanced Localization of car-like vehicles. Seoul, Korea."},{"key":"ref_22","unstructured":"Peyraud, S. (2012). Localisation 3D de mobile en milieu urbain par fusion dinformations satellitaires, proprioceptives et cartographiques. [Ph.D. Thesis, Universit\u00e9 de Limoges]."},{"key":"ref_23","unstructured":"NMEA GGA: Latitude, Longitude and Altitude computed by the receiver from raw data with its own algorithm."},{"key":"ref_24","unstructured":"Details on the Aroccam multithread software architecture. Available online: http:\/\/www.lasmea.univ-bpclermont.fr\/spip.php7rubriquel20 (accessed on 21 December 2012)."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/829\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:44:13Z","timestamp":1760219053000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/1\/829"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,1,11]]},"references-count":24,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2013,1]]}},"alternative-id":["s130100829"],"URL":"https:\/\/doi.org\/10.3390\/s130100829","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,1,11]]}}}