Robust Positioning Based on Opportunistic Radio Sources and Doppler

Doppler shift measurements on opportunistic radio sources can be an alternative to GNSS in disturbed environments. Mobile measurements on a GSM base station indicate that the uncertainty is sufficiently low for vehicle positioning, provided that at least two sources are within range and that measurements are fused with an odometer and a rate gyro. A key idea is to fuse the relatively uncertain Doppler measurements with accurate measurements of the vehicle speed. The positioning performance is analyzed by Monte Carlo simulations. A position RMSE in the interval 15 – 44 m can be expected in a suburban environment with limited occlusion.