Title :
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
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;
Conference_Titel :
Information Fusion, 2009. FUSION '09. 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
978-0-9824-4380-4
