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Precise Relative Positioning of Vehicles with on-the-fly Carrier Phase Resolution and Tracking

De Ponte Müller, Fabian and Navarro Tapia, Diego and Kranz, Matthias (2015) Precise Relative Positioning of Vehicles with on-the-fly Carrier Phase Resolution and Tracking. International Journal of Distributed Sensor Networks. Hindawi Publishing Corporation. DOI: 10.1155/2648 ISBN 1550-1329 ISSN 1550-1329

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Abstract

Forward collision warning systems, lane change assistants or cooperative adaptive cruise control are examples of safety relevant applications that rely on accurate relative positioning between vehicles. Current solutions estimate the position of an in-front driving vehicle by measuring the distance with a radar sensor, a laser scanner or a camera system. The perception range of these sensors can be extended by the exchange of GNSS information between the vehicles using an inter-vehicle communication link. One possibility is to transmit GNSS pseudorange and carrier phase measurements and compute a highly accurate baseline vector that represents the relative position between two vehicles. Solving for the unknown integer ambiguity is specially challenging for low-cost single-frequency receivers. Using the well-known LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) algorithm, in this paper we present a method for tracking the ambiguity vector solution, which is able to detect and recover from cycle slips and cope with changing satellite constellations. In several test runs performed in real-world open-sky environments with two vehicles, the performance of the proposed Ambiguity Tracker approach is evaluated. The experiments revealed that it is fact possible to track the position of another vehicle with sub-centimeter accuracy over longer periods of time with low-cost single-frequency receivers.

Item URL in elib:https://elib.dlr.de/107283/
Document Type:Article
Title:Precise Relative Positioning of Vehicles with on-the-fly Carrier Phase Resolution and Tracking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Ponte Müller, Fabianfabian.pontemueller (at) dlr.deUNSPECIFIED
Navarro Tapia, Diegodiego.navarrotapia (at) uma.esUNSPECIFIED
Kranz, Matthiasmatthias.kranz (at) uni-passau.deUNSPECIFIED
Date:16 June 2015
Journal or Publication Title:International Journal of Distributed Sensor Networks
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1155/2648
Editors:
EditorsEmail
Hsu, RobertChung Hua University, Hsinchu, Taiwan
Bessis, NikUniversity of Derby, Derby, UK
Wang, ShangguangBeijing University of Posts and Telecommunications, Beijing, China
Leung, VictorUniversity of British Columbia, Vancouver, Canada
Publisher:Hindawi Publishing Corporation
Series Name:Sensor Communications towards Intelligent Vehicle Networking
ISSN:1550-1329
ISBN:1550-1329
Status:Published
Keywords:GNSS, vehicle, relative positioning, carrier phase, LAMBDA, car-to-car communication, C2C
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Ponte Müller, Fabian
Deposited On:14 Nov 2016 14:06
Last Modified:08 Mar 2018 18:37

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