Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB
Reliable and precise vehicle positioning is essential for most intelligent transportation applications as well as autonomous driving. Due to satellite signal blocking, it can be challenging to achieve continuous lane-level positioning in GPS-denied environments such as urban canyons and crossroads....
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-06-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/13/2867 |
| _version_ | 1798004144037953536 |
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| author | Huaikun Gao Xu Li |
| author_facet | Huaikun Gao Xu Li |
| author_sort | Huaikun Gao |
| collection | DOAJ |
| description | Reliable and precise vehicle positioning is essential for most intelligent transportation applications as well as autonomous driving. Due to satellite signal blocking, it can be challenging to achieve continuous lane-level positioning in GPS-denied environments such as urban canyons and crossroads. In this paper, a positioning strategy utilizing ultra-wide band (UWB) and low-cost onboard sensors is proposed, aimed at tracking vehicles in typical urban scenarios (such as intersections). UWB tech offers the potential of achieving high ranging accuracy through its ability to resolve multipath and penetrate obstacles. However, not line of sight (NLOS) propagation still has a high occurrence in intricate urban intersections and may significantly deteriorate positioning accuracy. Hence, we present an autoregressive integrated moving average (ARIMA) model to first address the NLOS problem. Then, we propose a tightly-coupled multi sensor fusion algorithm, in which the fuzzy calibration logic (FCL) is designed and introduced to adaptively adjust the dependence on each received UWB measurement to effectively mitigate NLOS and multipath interferences. At last, the proposed strategy is evaluated through experiments. Ground test results validate that this low-cost approach has the potential to achieve accurate, reliable and continuous localization, regardless of the GPS working statue. |
| first_indexed | 2024-04-11T12:18:56Z |
| format | Article |
| id | doaj.art-0c6c52d0d45c44d68b5defdabec755e3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:18:56Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-0c6c52d0d45c44d68b5defdabec755e32022-12-22T04:24:10ZengMDPI AGSensors1424-82202019-06-011913286710.3390/s19132867s19132867Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWBHuaikun Gao0Xu Li1School of Instrument Science and Engineering, Southeast University, Sipailou 2, Xuanwu District, Nanjing 210096, ChinaSchool of Instrument Science and Engineering, Southeast University, Sipailou 2, Xuanwu District, Nanjing 210096, ChinaReliable and precise vehicle positioning is essential for most intelligent transportation applications as well as autonomous driving. Due to satellite signal blocking, it can be challenging to achieve continuous lane-level positioning in GPS-denied environments such as urban canyons and crossroads. In this paper, a positioning strategy utilizing ultra-wide band (UWB) and low-cost onboard sensors is proposed, aimed at tracking vehicles in typical urban scenarios (such as intersections). UWB tech offers the potential of achieving high ranging accuracy through its ability to resolve multipath and penetrate obstacles. However, not line of sight (NLOS) propagation still has a high occurrence in intricate urban intersections and may significantly deteriorate positioning accuracy. Hence, we present an autoregressive integrated moving average (ARIMA) model to first address the NLOS problem. Then, we propose a tightly-coupled multi sensor fusion algorithm, in which the fuzzy calibration logic (FCL) is designed and introduced to adaptively adjust the dependence on each received UWB measurement to effectively mitigate NLOS and multipath interferences. At last, the proposed strategy is evaluated through experiments. Ground test results validate that this low-cost approach has the potential to achieve accurate, reliable and continuous localization, regardless of the GPS working statue.https://www.mdpi.com/1424-8220/19/13/2867UWBurban intersectionsARIMAFCLtightly-coupledvehicle positioning |
| spellingShingle | Huaikun Gao Xu Li Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB Sensors UWB urban intersections ARIMA FCL tightly-coupled vehicle positioning |
| title | Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB |
| title_full | Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB |
| title_fullStr | Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB |
| title_full_unstemmed | Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB |
| title_short | Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB |
| title_sort | tightly coupled vehicle positioning method at intersections aided by uwb |
| topic | UWB urban intersections ARIMA FCL tightly-coupled vehicle positioning |
| url | https://www.mdpi.com/1424-8220/19/13/2867 |
| work_keys_str_mv | AT huaikungao tightlycoupledvehiclepositioningmethodatintersectionsaidedbyuwb AT xuli tightlycoupledvehiclepositioningmethodatintersectionsaidedbyuwb |