An Investigation of tightly-coupled UWB/Low-Cost GPS for Vehicle-to-Infrastructure Relative Positioning

被引：0

作者：

O'Keefe, Kyle ^{[1
]}

Jiang, Yuhang ^{[1
]}

Petovello, Mark ^{[1
]}

机构：

[1] Univ Calgary, Dept Geomat Engn, Posit Locat & Nav PLAN Grp, Calgary, AB, Canada

来源：

2014 IEEE RADAR CONFERENCE | 2014年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A method for tightly-coupling carrier-phase differential GPS with ultra-wideband (UWB) ranging for vehicle-to-infrastructure relative navigation is proposed. Relative position, velocity, clock errors, GPS phase ambiguities and UWB systematic errors are estimated using an extended Kalman filter. The method is tested with real data and evaluated in terms of position accuracy, GPS float ambiguity convergence, time to fix ambiguities, and correctness of the ambiguity solution. Performance with geodetic and consumer grade GPS receivers is compared. The effect of UWB operational range and the number of available UWB ranging sources is also evaluated.

引用

页码：1295 / 1300

页数：6

共 12 条

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