UWB/GNSS-based Cooperative Positioning Method for V2X Applications (original) (raw)
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An Empirical Study on V2X Enhanced Low-Cost GNSS Cooperative Positioning in Urban Environments
Sensors
High-precision and lane selective position estimation is of fundamental importance for prospective advanced driver assistance systems (ADAS) and automated driving functions, as well as for traffic information and management processes in intelligent transportation systems (ITS). User and vehicle positioning is usually based on Global Navigation Satellite System (GNSS), which, as stand-alone positioning, does not meet the necessary requirements in terms of accuracy. Furthermore, the rise of connected driving offers various possibilities to enhance GNSS positioning by applying cooperative positioning (CP) methods. Utilizing only low-cost sensors, especially in urban environments, GNSS CP faces several demanding challenges. Therefore, this contribution presents an empirical study on how Vehicle-to-Everything (V2X) technologies can aid GNSS position estimation in urban environments, with the focus being solely on positioning performance instead of multi-sensor data fusion. The performanc...
An accurate cooperative positioning system for vehicular safety applications
Computers & Electrical Engineering, 2020
Typical Global Navigation Satellite System (GNSS) receivers offer precision in the order of meters. This error margin is excessive for vehicular safety applications, such as forward collision warning, autonomous intersection management, or hard braking sensing. In this work we develop CooPS, a GNSS positioning system that uses Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications to cooperatively determine absolute and relative position of the ego-vehicle with enough precision. To that end, we use differential GNSS through position vector differencing to acquire track and across-track axes projections, employing elliptical and spherical geometries. We evaluate CooPS performance by carrying out real experiments using off-the-shelf IEEE 802.11p equipment at the campus of the Federal University of Rio de Janeiro. We obtain an accuracy level under 1.0 and 1.5 m for track (where-in-lane) and across-track (which-lane) axes, respectively. These accuracy levels were achieved using a 2.5 m accuracy circular error probable (CEP) of 50% and a 5 Hz navigation update rate GNSS receiver.
2018 15th Workshop on Positioning, Navigation and Communications (WPNC), 2018
Future applications of Cooperative - Intelligent Transportation Systems (C-ITS) will require accurate and reliable localization capabilities in a variety of harsh operating contexts. In this paper, we account for proof-of-concept field validations of a cooperative localization approach suitable to GPS-enabled Vehicular Ad Hoc Networks (VANETs), which relies on Vehicle-to-Vehicle (V2V) communications (e.g., over ITS-G5) and Impulse Radio - Ultra Wideband (IR-UWB) V2V ranging measurements. First, we evaluate 1-D V2V ranging accuracy on a highway in real mobility conditions. Then, in the same environment, we evaluate the positive impact of cooperation on positioning (i.e., in comparison with standalone standard GPS) in the steady-state fusion regime. Finally, investigating the impact of erroneous initialization and full GPS denial conditions, we illustrate the resilience of the proposed solution, before discussing the limitations of the current evaluation setting.
Experimental Assessment of UWB and Vision-Based Car Cooperative Positioning System
Remote Sensing, 2021
The availability of global navigation satellite systems (GNSS) on consumer devices has caused a dramatic change in every-day life and human behaviour globally. Although GNSS generally performs well outdoors, unavailability, intentional and unintentional threats, and reliability issues still remain. This has motivated the deployment of other complementary sensors in such a way that enables reliable positioning, even in GNSS-challenged environments. Besides sensor integration on a single platform to remedy the lack of GNSS, data sharing between platforms, such as in collaborative positioning, offers further performance improvements for positioning. An essential element of this approach is the availability of internode measurements, which brings in the strength of a geometric network. There are many sensors that can support ranging between platforms, such as LiDAR, camera, radar, and many RF technologies, including UWB, LoRA, 5G, etc. In this paper, to demonstrate the potential of the ...
Evaluation of GPS-based methods of relative positioning for automotive safety applications
Transportation Research Part C: Emerging Technologies, 2012
According to United States Department of Transport (USDOT) statistics, roadway accidents are the leading cause of death for the age group 4-34 years with over 30,000 deaths a year. These roadway accidents also have a direct economic cost of over $ 200 billion. Day-today roadway traffic congestion is estimated to drain around 4.2 billion lost hours per year and the associated financial loss is estimated to be over $87 billion. The use of wireless technology to enable communications between all road user entities (generally termed V2X or Vehicle-to-Entity) so that they are aware of each other is seen as a promising approach to lessen the negative implications of road accidents and traffic congestion. USDOT Intelli-Drive program is the official initiative to do exactly that. The capability to estimate the position of a given entity with respect to another is a critical requirement in all V2X applications. Therefore, positioning and wireless communication capabilities can be considered the two critical building blocks of all V2X applications. Once all the technical challenges are addressed, V2X can be a paradigm changer and people will be able to rely on V2X technology to assist them in day-today driving to improve their safety, efficiency, and security. Eventually, the V2X-based awareness may be supplanted by various levels of vehicle control, ranging from crash avoidance to fully automated driving. For V2X application deployment to be feasible, all technologies that are a part of V2X have to be accurate, reliable and available in all drivable environments. GNSS being a key V2X enabler, this implies strict accuracy, reliability and availability requirements for GNSS-based positioning. Crash Avoidance Metrics Partnership (CAMP), a consortium of automakers has been working on V2X technologies for a number of years as a collaborative effort with the USDOT support. Among the most recent research and development work done by this consortium is the Vehicle Safety Communications-Applications (VSC-A) project. As a part of this work, an interoperable Vehicle-to-Vehicle (V2V) communications enabled fleet was built. More importantly, GNSS service availability and accuracy as applicable to V2X applications was investigated. The Position, Location, and Navigation (PLAN) Group of the University of Calgary conducted related extensive field trials in late 2009. This paper provides a summary of the goals and findings of this study and, more importantly, provides some insights on the positioning technology challenges ahead. The study used a Dedicated Short Range Communications (DSRC) link that was previously developed and tested as a part of CAMP-USDOT collaborative efforts for between vehicle communications. The method that will be selected for V2X relative positioning has a direct impact on the data volume shared Over-the-Air using the DSRC data link. Therefore, this study and its findings are of great importance for data management in Vehicular Networks.
Sensors, 2019
Cooperative positioning (CP) utilises information sharing among multiple nodes to enable positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology inGNSS-denied environments. This data set was collected as part of a benchmarking measurementcampaign carried out at the Ohio State University in October 2017. Pedestrians were equippedwith a variety of sensors, including two different UWB systems, on a specially designed helmetserving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go modealong trajectories with predefined checkpoints and under various challenging environments. Inthe developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurementsare used for positioning of the pedestrians. It is realised that the proposed system can achievedecimetre-level accuracies (on average, around 20 cm) in the com...
Cooperative Positioning in Vehicular Networks
Present and Future Challenges
Despite the fact that drivers are often blamed for fatal accidents on the roads, the significant number of deaths on the roads indicate a systematic failure to exploit intelligence in the vehicular road system. The need for novel and comprehensive approaches to road safety has led major industrial and government bodies to accept the DSRC (Dedicated Short Range Communication) as a solution for urban safety. DSRC is a 75 MHz bandwidth communication medium between 5.85 GHz and 5.925GHz. It will enable VANET (Vehicular Adhoc NETworks), allowing the spontaneous set up of networks between vehicles, roadside infrastructure and pedestrians, in the form of autonomous message exchanges. Many safety applications can be addressed in the context of VANET; an important example is collision avoidance systems. All the safety applications can be considered to be Location-Based Services (LBS) and require continual position estimation. For the most important applications, such as collision avoidance, position must be estimated at a frequency of 10Hz with an accuracy of no less than 50 cm [1]. Currently satellite-based positioning systems known as GNSS (Global Navigation Satellite Systems) are the only comprehensive positioning tool for vehicles. In spite of the fact that different GNSS systems such as the Global Positioning System (GPS), Russia's GLObal NAvigation Satellite System (GLONASS), and Europe's Galileo can be used for positioning in good open-sky environments, the issue that is often neglected is that these systems cannot satisfy the requirements of DSRC safety applications. For example, single frequency GPS receivers that are widely used for vehicular navigation are position estimation engines with 10 m accuracy reported at 1 Hz. In addition to this accuracy issue, since the satellites can be easily masked by high rise buildings in the city centers, there are reliability issues with GNSS positioning for DSRC safety applications. Note that any solution technology for DSRC positioning needs to be extremely cost effective for mass production. This eliminates the possibility of using highly accurate MEMS (Micro Electrical and Mechanical Sensors) gyros because these are very expensive. Cooperative Positioning (CP) refers to any method which combines different positioning tools and sensor data in order to improve the quality of positioning for different purposes. The fundamental elements of CP are communication and data fusion. Specifically, for vehicular applications, CP methods can be classified into conventional and modern CP. Conventional Cooperative Positioning methods that have been developed for different applications than vehicular include Differential GPS (DGPS), Real Time kinematic (RTK) GPS, Assisted-GPS (AGPS), Satellite Based Augmentation System (SBAS), and Ground Based Augmentation System (GBAS). These methods have shortcomings when it comes to vehicular applications, especially in urban areas and these will be clarified later in the chapter. Because of these concerns, the necessity of innovative approaches for CP in vehicular applications is evident. {I would put a list here of the traditional and modern CP methods we discuss} Cooperative Network Positioning (CNP) is a modern CP technique which can provide safe and reliable position information for road safety applications. This is effectively the ad hoc sensor network localization problem revisited specifically for vehicles. This problem, using pseudorange measurements, is usually tackled by trilateration, and multilateration. These situations correspond to when the nodes with unknown positions measure their distances respectively from three anchor points, and more than three anchor points. However, in networks, it is possible to use the information from the pseudorange measurements between
Integrated Positioning for Connected Vehicles
IEEE Transactions on Intelligent Transportation Systems, 2019
In the era of autonomous cars, accurate vehicular positioning becomes very essential. The global navigation satellite systems (GNSS) suffer from signal blockage and severe multipath in urban canyons, which degrades the positioning accuracy and availability. Therefore, vehicles solely relying on positioning from GNSS receivers have limited performance. In this research, we present a novel unified cooperative positioning solution which enhances positioning accuracy and availability in urban canyons. The proposed system exploits the fact that vehicles have different positioning resources and is based on angle approximation, which artificially generates the hindered pseudorange by sharing angle information between vehicles using dedicated short-range communication. In addition, we propose a system that employs the proposed cooperative technique to assist the loose integration between the inertial navigation system (INS) and the GPS system (using extended Kalman filter) during partial GPS outages. Using raw data from inertial sensors and GPS receivers in the real road trajectories, we implement the cooperative INS/GPS loose integration and show that our cooperative integrated system outperforms the non-cooperative integrated system. The performance metrics used are the 2-D positioning root-mean-square error, the maximum 2-D positioning error, and the positioning accuracy gain (PAG). Specifically, the PAG gain is around 88%, 80%, and 60% when the number of blocked satellites is one, two, and three, respectively.
Sensors
In Intelligent Transportation Systems (ITS), the Vehicular Ad Hoc Networks (VANETs) paradigm based on the WAVE IEEE 802.11p standard is the main alternative for inter-vehicle communications. Recently, many protocols, applications, and services have been developed with a wide range of objectives, ranging from comfort to security. Most of these services rely on location systems and require different levels of accuracy for their full operation. The Global Positioning System (GPS) is an off-the-shelf solution for localization in VANETs and ITS. However, GPS systems present problems regarding inaccuracy and unavailability in dense urban areas, multilevel roads, and tunnels, posing a challenge for protocols, applications, and services that rely on localization. With this motivation, we carried out a characterization of the problems of inaccuracy and unavailability of GPS systems from real datasets, and regions around tunnels were selected. Since the nodes of the vehicular network are endo...
Demonstration and Evaluation of Precise Positioning for Connected and Automated Mobility Services
2022 Joint European Conference on Networks and Communications & 6G Summit (EuCNC/6G Summit)
Cooperative, Connected and Automated Mobility (CCAM) services require precise and reliable localization services able to infer and track the position of a vehicle with lane accuracy. The H2020 5GCroCo project, which trials 5G technologies in the European cross-border corridor along France, Germany and Luxembourg, as well as in five small-scale trial sites, considers different technologies to enhance vehicle localization, including GPS-Real Time Kinematic (GPS-RTK), Ultra-WideBand (UWB) and Inertial Sensors (INS). This paper presents a compact prototype, which integrates these localization technologies with 5GCroCo's On-Board Unit (OBU) equipment, and its evaluation within the scope of the Anticipated Cooperative Collision Avoidance (ACCA) Use Case demonstrated in Barcelona small-scale trial site.