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. 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/ | |||||||||||||||
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Document Type: | Article | |||||||||||||||
Title: | Precise Relative Positioning of Vehicles with on-the-fly Carrier Phase Resolution and Tracking | |||||||||||||||
Authors: |
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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: |
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Publisher: | Hindawi Publishing Corporation | |||||||||||||||
Series Name: | Sensor Communications towards Intelligent Vehicle Networking | |||||||||||||||
ISSN: | 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: | 23 Jul 2022 13:44 |
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