论文标题
用于GNSS多路径信号仿真的开源凉亭插件在虚拟城市峡谷中
An Open-Source Gazebo Plugin for GNSS Multipath Signal Emulation in Virtual Urban Canyons
论文作者
论文摘要
影响Urban Canyons中GNSS信号的主要错误之一是GNSS多径误差。在这项工作中，我们开发了一个凉亭插件，该插件利用射线追踪技术来考虑使用虚拟卫星在虚拟城市峡谷环境中的多径效果。该软件插件平衡了准确性和计算复杂性，以实时运行模拟，以实时使用软件（SITL）和硬件（hitl）测试。我们还构建了香港的3D虚拟环境，并将插件的结果与公开可用的Urban-NAV数据集中的GNSS数据进行了比较，以验证拟议的凉亭插件的功效。该插件可公开提供机器人社区中的所有研究人员。 https://github.com/kpant14/multipath_sim
One of the major errors affecting GNSS signals in urban canyons is GNSS multipath error. In this work, we develop a Gazebo plugin which utilizes a ray tracing technique to account for multipath effects in a virtual urban canyon environment using virtual satellites. This software plugin balances accuracy and computational complexity to run the simulation in real-time for both software-in-the-loop (SITL) and hardware-in-the-loop (HITL) testing. We also construct a 3D virtual environment of Hong Kong and compare the results from our plugin with the GNSS data in the publicly available Urban-Nav dataset, to validate the efficacy of the proposed Gazebo Plugin. The plugin is openly available to all the researchers in the robotics community. https://github.com/kpant14/multipath_sim
