A Technology-agnostic GNSS/INS Real-time Sensor Fusion Platform with Ultra Wide Band Cooperative Distance Measurements for Terrestrial Vehicle Navigation

Arribas, Javier; Navarro, Mònica; Moragrega, Ana; Calero, David; Fernández, Emilio; Vilà‐Valls, Jordi; Fernández‐Prades, Carles

doi:10.33012/2018.16014

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…The sensor fusion algorithm is based on the strapdown Inertial Navigation System (INS) architecture with a loose GNSS/INS integration. A detailed description of the loose and tight integration of the GNSS/INS hybrid position scheme can be found in [11,12].…”

Section: Fusionmentioning

confidence: 99%

Cooperative-Intelligent Transport Systems for Vulnerable Road Users Safety

Casademont

Calveras²,

Quinones³

et al. 2019

2019 7th International Conference on Future Internet of Things and Cloud (FiCloud)

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Cooperative-Intelligent Transport Systems (C-ITS) are one of the flagships of new coming automotive and communication industries. Mobility needs to be safer and more efficient and C-ITS are the key for this new era. On the one hand, organizations like ETSI, IEEE, SAE, 3GPP or ISO are developing the standards for the new technologies and protocols and, on the other, manufacturers and operators are deploying and testing their first pilots. In this paper, we present a pilot developed by a group of stakeholders, in which vehicles will alert drivers of potential collisions with vulnerable road users riding bicycles. It is a multidisciplinary project where there are different architecture components: C-ITS stations integrated in vehicles, vehicles provided with digital cockpits that show warning messages to the driver, low-cost C-ITS stations attached to bicycles which are equipped with a high precision location system based on the fusion of different information sources as GPS, inertial sensors and Ultra Wide Band ranging and finally communication between C-ITS stations is provided by a network that supports low delay C-V2X communications with a Multi-access Edge Computing which takes routing decisions.

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Section: Fusionmentioning

confidence: 99%

Cooperative-Intelligent Transport Systems for Vulnerable Road Users Safety

Casademont

Calveras²,

Quinones³

et al. 2019

2019 7th International Conference on Future Internet of Things and Cloud (FiCloud)

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, in dense urban areas or urban canyons with the presence of strong multipath echoes or even total blockage of global navigation satellite system (GNSS) signals, position accuracy is degraded or, in indoor scenarios or tunnels, not available. The data fusion of hybrid approaches with multiple sensors and technologies can address many of the vulnerabilities of satellite-based systems in these environments [ 3 , 4 ]. Therefore, different combinations of sensors and technologies are suitable for positioning and its applications, depending on the environment, dynamics, budget, accuracy, requirements, and degree of robustness or integrity required [ 1 ].…”

Section: Introductionmentioning

confidence: 99%

A Data-Driven Factor Graph Model for Anchor-Based Positioning

Moragrega

Fernández‐Prades

2023

Sensors

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This work presents a data-driven factor graph (FG) model designed to perform anchor-based positioning. The system makes use of the FG to compute the target position, given the distance measurements to the anchor node that know its own position.The aim was to design a hybrid structure (that involves data and modeling approaches) to address positioning models from a Bayesian point of view, customizing them for each technology and scenario. The weighted geometric dilution of precision (WGDOP) metric, which measures the effect on the positioning solution of distance error to the corresponding anchor node and network geometry of the anchor nodes, was taken into account. The presented algorithms were tested with simulated data and also with real-life data collected from IEEE 802.15.4-compliant sensor network nodes with a physical layer based on ultra-wide band (UWB) technology, in scenarios with one target node, three and four anchor nodes, and a time-of-arrival-based range technique. The results showed that the presented algorithm based on the FG technique provided better positioning results than the least squares-based algorithms and even UWB-based commercial systems in various scenarios, with different setups in terms of geometries and propagation conditions.

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Data Fusion With Model-Based Machine Learning For Weighted Least Squares Based Positioning

Moragrega

Fernández‐Prades

2020

2020 14th International Conference on Signal Processing and Communication Systems (ICSPCS)

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A Technology-agnostic GNSS/INS Real-time Sensor Fusion Platform with Ultra Wide Band Cooperative Distance Measurements for Terrestrial Vehicle Navigation

Cited by 4 publications

References 7 publications

Cooperative-Intelligent Transport Systems for Vulnerable Road Users Safety

Cooperative-Intelligent Transport Systems for Vulnerable Road Users Safety

A Data-Driven Factor Graph Model for Anchor-Based Positioning

Data Fusion With Model-Based Machine Learning For Weighted Least Squares Based Positioning

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