Ubiquitous and Low-Cost Generation of Elevation Pseudo Ground Control Points

In this paper, we design a system to generate Pseudo Ground Control Points (PGCPs) using standard low-cost widely available GNSS receivers in a crowd-sourcing manner. We propose a number of GNSS points filters that removes different causes of errors and biases, and design a linear regression height estimator leading to high-accuracy PGCP elevations. Evaluation of our system shows that the PGCPs can achieve a median accuracy of 22.5 cm in 25 metropolitan areas in the USA.