De Ponte Müller, Fabian and Munoz Diaz, Estefania and Kloiber, Bernhard and Strang, Thomas (2014) Bayesian Cooperative Relative Vehicle Positioning using Pseudorange Differences. IEEE/ION Position Location and Navigation Symposium, 5.-8. Mai 2014, Monterey, USA.
![]() |
PDF (Presentation)
- Only accessible within DLR
4MB |
![]() |
PDF (Paper)
1MB |
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 surrounding vehicles by measuring the distance with a RADAR sensor or a camera system. The perception range of these sensors can be extended by the exchange of GNSS information between the vehicles using an in inter-vehicle communication link. In this paper we analyze two competing strategies against each other: the subtraction of the absolute positions estimated in each vehicle and the differentiation of GNSS pseudoranges. The aim of the later approach is to cancel out correlated errors in both receivers and, thus, achieve a better relative position estimate. The theoretical analysis is backed with Monte-Carlo simulations and empirical measurements in real world scenarios. Further on, two Bayesian approaches that make use of pseudorange differences are proposed. In a Kalman Filter pseudorange and Doppler measurements are used to estimate the baseline between two vehicles. This concept is extended in a second filter using on-board inertial and speed sensors in a multisensor fusion approach. The performance is evaluated in both, a highway and an urban scenario. The multisensor fusion approach proves to be able to stabilize the baseline estimate in GNSS challenging environments, like urban canyons and tunnels.
Item URL in elib: | https://elib.dlr.de/89977/ | |||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Bayesian Cooperative Relative Vehicle Positioning using Pseudorange Differences | |||||||||||||||
Authors: |
| |||||||||||||||
Date: | 12 May 2014 | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | No | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Vehicle Relative Positioning, Pseudorange, Doppler, Inertial Measurement Unit, Kalman filter | |||||||||||||||
Event Title: | IEEE/ION Position Location and Navigation Symposium | |||||||||||||||
Event Location: | Monterey, USA | |||||||||||||||
Event Type: | international Conference | |||||||||||||||
Event Dates: | 5.-8. Mai 2014 | |||||||||||||||
Organizer: | The Institute of Navigation | |||||||||||||||
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: | 25 Jul 2014 09:11 | |||||||||||||||
Last Modified: | 27 Mar 2015 09:01 |
Repository Staff Only: item control page