# Three-Dimensional Mapping-Aided Global Navigation Satellite System in Global Navigation Satellite System-Accessible Indoor Areas

## TL;DR

This paper shows how combining 3D mapping with GPS and pedestrian tracking improves indoor and urban navigation accuracy.

## Contribution

The study introduces an integrated approach using 3DMA GNSS, PDR, and I-SM to enhance positioning in GPS-limited environments.

## Key findings

- The integrated method achieves a 2 m better root mean square error compared to PDR alone or single epoch I-SM.
- Accurate 3D models are crucial for robust indoor positioning with 3DMA GNSS.
- Combining GNSS with I-SM and PDR improves positioning availability in dense urban and indoor areas.

## Abstract

What are the main findings?
The integration of Three-Dimensional Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) and Pedestrian Dead Reckoning (PDR) increases the accuracy and availability of positioning solutions in dense urban and indoor spaces.When comparing with general 3DMA, indoor 3DMA GNSS requires more accurate 3D models to increase the robustness of positioning solutions.

The integration of Three-Dimensional Mapping-Aided (3DMA) Global Navigation Satellite System (GNSS) and Pedestrian Dead Reckoning (PDR) increases the accuracy and availability of positioning solutions in dense urban and indoor spaces.

When comparing with general 3DMA, indoor 3DMA GNSS requires more accurate 3D models to increase the robustness of positioning solutions.

What are the implications of the main finding?
Results of the study highlight the potential of the integrated approach for positioning in GNSS limited areas and during GNSS outages.Further studies should be conducted to reduce the overall error budget of positioning solutions in dense urban and indoor areas.

Results of the study highlight the potential of the integrated approach for positioning in GNSS limited areas and during GNSS outages.

Further studies should be conducted to reduce the overall error budget of positioning solutions in dense urban and indoor areas.

The Global Navigation Satellite System (GNSS) is commonly used for outdoor positioning. However, its effectiveness diminishes in urban canyons and indoor environments attributed to signal blockage. This study aims to explore the potential of GNSS signals penetrating indoor spaces through windows and to enhance indoor positioning with Three-Dimensional Mapping-Aided (3DMA) GNSS, a concept generally applied outdoors. The research employs a 3D model of a corridor with manually labeled window locations to predict satellite visibility within indoor areas. The study integrates Pedestrian Dead Reckoning (PDR) with an indoor Shadow-matching (I-SM) technique, utilizing an Extended Kalman Filter (EKF) to improve positioning accuracy. One of the findings indicates that the proposed method significantly enhances positioning performance and its availability, achieving a root mean square error (RMSE) that is 2 m better than using PDR alone or single epoch I-SM. The study concludes that integrating GNSS with I-SM technique and PDR can optimize an indoor positioning solution and highlights the potential for improved navigation solutions in complex urban environments.