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In this paper, a way of improving the positioning performance of the GNSS system through hybridization with distances derived from GSM power measurements was proposed. The GNSS/GSM Fusion algorithm was an APF (Auxiliary Particle Filter) algorithm with UKF (Unscented Kalman Filter) proposal and Rao-Blackwellisation allowing tight hybridization of GPS and GSM measurements. Scenario 1 and 2 showed an improvement in terms of accuracy and availability thanks to the use of GSM received powers in addition to GPS pseudoranges in a realistic scenario.
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