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June 17, 2026Remote SensingOpen Access

Robust Spatial Georeferencing for UAV-UGV Mobile Mapping Platforms in Urban Canyons via Asymmetric GNSS/UWB Fusion

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Authors

JCJiajia ChenXWXingao WangZFZhibo Fang

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Overview

Randomized trial demonstrates improved spatial georeferencing in urban canyons, suggesting enhanced mapping accuracy.

Key Points

  • The aim is to enhance spatial georeferencing accuracy for UAV-UGV systems in urban environments.
  • Developed an asymmetric GNSS/UWB fusion method using UAVs as spatial anchors.
  • Implemented a stochastic model to mitigate multipath effects and improve observation quality.
  • Validated through simulations and field experiments with a focus on high-dynamic scenarios.
  • Achieved a 98.2% ambiguity resolution success rate in environments with ≤3 visible satellites.
  • Attained sub-decimeter 3D accuracy in extreme occlusion conditions.
  • Reduced the 95th-percentile 3D error from 7.25 m to 0.19 m, ensuring 100% positioning availability.

Cite This Study

Chen et al. (2026) studied this question.

synapsesocial.com/papers/6a323aa6d50b63ecad2059achttps://doi.org/10.3390/rs18121967
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