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Evaluation of Estimators for Hybrid GNSS-Terrestrial Localization in Collaborative Networks

Medina, Daniel and Grundhöfer, Lars and Hehenkamp, Niklas (2020) Evaluation of Estimators for Hybrid GNSS-Terrestrial Localization in Collaborative Networks. 2020 IEEE Intelligent Transportation Systems Conference (ITSC), 20-23 Sep 2020, Rhodes, Greece.

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Abstract

Global Navigation Satellite Systems (GNSS) constitute the cornerstone for outdoor positioning, which is essential information for prospective automated vehicles. The combination of GNSS with terrestrial ranging, for instance in the form of 5G or UWB, will make accurate positioning a reality even in urban canyon scenarios where GNSS is likely to fail. Thus, hybrid GNSS-terrestrial localization in collaborative networks has become a hotspot for the research community. This paper discusses the Cramér-Rao Bound (CRB) as lower bound for location estimates and evaluates two snapshot estimators, one deterministic and the other Bayesian, for distributed and centralized localization in cooperative networks. The performance of the estimators is evaluated with respect to the presented CRB in a simulated network of mobile and anchor agents, and the role played by agent-to-agent and agent-to-anchor ranging is discussed.

Item URL in elib:https://elib.dlr.de/136438/
Document Type:Conference or Workshop Item (Lecture)
Title:Evaluation of Estimators for Hybrid GNSS-Terrestrial Localization in Collaborative Networks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Medina, DanielDaniel.AriasMedina (at) dlr.dehttps://orcid.org/0000-0002-1586-3269
Grundhöfer, LarsLars.Grundhoefer (at) dlr.deUNSPECIFIED
Hehenkamp, NiklasNiklas.Hehenkamp (at) dlr.deUNSPECIFIED
Date:September 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Collaborative Network; GNSS; Cramer-Rao Bound; Localization
Event Title:2020 IEEE Intelligent Transportation Systems Conference (ITSC)
Event Location:Rhodes, Greece
Event Type:international Conference
Event Dates:20-23 Sep 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0 (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:08 Oct 2020 13:46
Last Modified:18 Feb 2021 17:08

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