Trams can be positioned more accurately in dense cities by pulling raw GPS distance measurements toward predicted values and softly constraining positions to the track map.
A Portfolio Approach to NLOS and Multipath Mitigation in Dense Urban Areas
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Tram Positioning with Map-Enabled GNSS Data Reconciliation
Trams can be positioned more accurately in dense cities by pulling raw GPS distance measurements toward predicted values and softly constraining positions to the track map.