Cooperative relative localization using Vehicle-To-Vehicle communications

Author

Richter, Eric ; Obst, Marcus ; Schubert, Robin ; Wanielik, Gerd

Author_Institution

Dept. of Commun. Eng., Chemnitz Univ. of Technol., Chemnitz, Germany

fYear

2009

fDate

6-9 July 2009

Firstpage

126

Lastpage

131

Abstract

The estimation of a vehicle´s dynamic state is one of the most fundamental data fusion tasks for intelligent transportation systems. This paper presents a decentralized data fusion system, which estimates the relative position between traffic participants. For that, GPS pseudorange measurements and ego motion estimations are exchanged by vehicle-to-vehicle communications and incorporated by a relative motion model. Particle filtering is used for the tight coupled relative GPS/INS integration.

Keywords

Global Positioning System; automated highways; mobile radio; motion estimation; particle filtering (numerical methods); sensor fusion; state estimation; GPS pseudorange measurement; Global Positioning System; Particle filtering; cooperative relative localization; decentralized data fusion system; intelligent transportation system; relative GPS/INS integration; vehicle dynamic state estimation; vehicle-to-vehicle communications; Clocks; Coupling circuits; Global Positioning System; Motion estimation; Motion measurement; Particle filters; Particle measurements; Satellite broadcasting; Time measurement; Vehicles; Cooperative Localization; GPS; Particle Filtering; Relative Positioning; Tight Coupling;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Fusion, 2009. FUSION '09. 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

978-0-9824-4380-4

Type

conf

Filename

5203864