کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4968552 1449669 2017 16 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Cooperative GNSS positioning aided by road-features measurements
ترجمه فارسی عنوان
موقعیت جغرافیایی تعاونی با کمک اندازه گیری های جاده ها کمک می کند
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزارهای علوم کامپیوتر
چکیده انگلیسی
Cooperation between road users through V2X communication is a way to improve GNSS localization accuracy. When vehicles localization systems involve standalone GNSS receivers, the resulting accuracy can be affected by satellite-specific errors of several meters. This paper studies how road-features like lane marking detected by on-board cameras can be exploited to reduce absolute position errors of cooperative vehicles sharing information in real-time in a network. The algorithms considered in this work are based on a error bounded set membership strategy. In every vehicle, a set membership algorithm computes the absolute position and an estimation of the satellite-specific errors by using raw GNSS pseudoranges, lane boundary measurements and a 2D georeferenced road map which provides absolute geometric constraints. As lane-boundary measurements provide essentially cross-track corrections in the position estimation process, cooperation enables the vehicles to improve their own estimates thanks to the different orientation of the roads. Set-membership methods are very efficient to solve this problem since they do not involve any independence hypothesis of the errors and so, the same information can be used several times in the computation. Such class of algorithm provides a novel approach to improve position accuracy for connected vehicles guaranteeing the integrity of the computed solution which is pivoting for automated automotive systems requiring guaranteed safety-critical solutions. Results from simulations and real experiments show that sharing position corrections reduces significantly satellite-specific GNSS errors effects in both cross-track and along-track components. Moreover, it is shown that lane-boundary measurements help reducing estimation errors for all the networked vehicles even those which are not equipped with an embedded perception system.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Transportation Research Part C: Emerging Technologies - Volume 79, June 2017, Pages 42-57
نویسندگان
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