Trajectory duplication using relative position information for automated ground vehicle convoys

Travis, William; Bevly, David M.

doi:10.1109/plans.2008.4570076

Cited by 23 publications

(17 citation statements)

References 14 publications

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“…The unit vector associated with the base measurement has been subtracted from the unit vectors of the other measurements. For additional details on the double difference geometry matrix see previous research …”

Section: Dynamic Base Real‐time Kinematic (Drtk)mentioning

confidence: 99%

“…For additional details on the double difference geometry matrix see previous research. 2 As shown in Equation 26, the number of measurements is cut in half when using L1 measurements only, which increases the measurement uncertainty. Therefore, the chance of successfully fixing integers decreases.…”

Section: Dynamic Base Real-time Kinematic (Drtk)mentioning

confidence: 99%

“…The DGPS technique discussed in this paper has the accuracy of customary real‐time kinematic (RTK) level solutions. This technique is known as the dynamic base real‐time kinematic (DRTK) algorithm and was developed by Auburn University . Many low‐cost GPS receivers only track the L1 signal; therefore, a single‐frequency (L1 only) DRTK method was also developed and executed for low‐cost implementation.…”

Section: Introductionmentioning

confidence: 99%

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Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy

2019

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As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios.

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Section: Dynamic Base Real‐time Kinematic (Drtk)mentioning

confidence: 99%

Section: Dynamic Base Real-time Kinematic (Drtk)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy

2019

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“…One simple solution is to force a static baseline and compare the system under test against the constant known range. In [12] Travis et al use a towed trailer to force a constant distance between two GNSS antennas for evaluating a differential RTK approach for estimating the relative position between vehicles. The immediate drawbacks of this system are the limits in baseline length and driving speed.…”

Section: Current Approachesmentioning

confidence: 99%

Characterization of a Laser Scanner Sensor for the Use as a Reference System in Vehicular Relative Positioning

Müller

Navajas

Strang

2013

Lecture Notes in Computer Science

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Abstract. Advanced Driver Assistance Systems (ADAS) play an important role in increasing the safety on today's roads. 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 found in commercial automobiles estimate the position of surrounding vehicles by measuring the distance with RADAR, cameras or IR-sensors. It is envisioned that the advent of inter-car communication will provide onboard relative positioning systems with further information about other vehicles in the surrounding area. While performing research in this field, the need of a proper reference system for testing new approaches originates. In the ideal case, such a reference system would yield the exact and continuous 3D baseline between two vehicles at any time in any circumstance. In this paper we will characterize the use of a laser scanner as a reference system for relative vehicle positioning.

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“…Future vehicle safety systems might benefit from this relative CP method. Similar approaches as those described in [12]- [14] deal with less accurate pseudorange measurements or do not adequately consider vehicle dynamics. The authors of [15] introduce a decentralized fusion center for cooperative multi-vehicle localization but rely on GNSS measurements for absolute positioning and environmental sensors for relative positioning.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Inter-Vehicular relative positioning

Speth

Riebl

Brandmeier

et al. 2016

2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)

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Abstract-Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from precise determination of relative positions between dynamic traffic objects. With conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved. For this reason, an exchange of GNSS observations via Vehicular Ad-Hoc Network (VANET) is proposed in this paper. In particular, the European Inter-Vehicle Communication (IVC) protocol stack ITS-G5 is employed. With these exchanged GNSS observations, Differential GNSS (DGNSS) or Real-Time Kinematic (RTK) calculations provide a precise relative position vector. However, due to relative movement of traffic objects, this position vector becomes obsolete for increasing transmission delays. For this reason, a mitigating kinematic model is set up and validated experimentally. With respect to fixed RTK solutions, this kinematic model reduces the errors by an average of 61 % compared to position calculations ignoring IVC latency.

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Trajectory duplication using relative position information for automated ground vehicle convoys

Cited by 23 publications

References 14 publications

Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy

Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy

Characterization of a Laser Scanner Sensor for the Use as a Reference System in Vehicular Relative Positioning

Enhanced Inter-Vehicular relative positioning

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