Precise Relative Positioning of Vehicles with On-the-Fly Carrier Phase Resolution and Tracking

Forward collision warning systems, lane change assistants, and cooperative adaptive cruise control are examples of safety relevant applications that rely on accurate relative positioning between vehicles. Current solutions estimate the position of an in-front driving vehicle by measuring the distanc...

Full description

Saved in:
Bibliographic Details
Published in:International journal of distributed sensor networks 2015-01, Vol.2015 (11), p.459142
Main Authors: de Ponte Müller, Fabian, Navarro Tapia, Diego, Kranz, Matthias
Format: Article
Language:English
Subjects:
Ambiguity
Artificial satellites in navigation
Automatic location systems
Carriers
Engineering research
GNSS
Mathematical analysis
Mathematical models
Methods
Motor vehicles
Sensors
Tracking (position)
Tracking systems
Vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Forward collision warning systems, lane change assistants, and cooperative adaptive cruise control are examples of safety relevant applications that rely on accurate relative positioning between vehicles. Current solutions estimate the position of an in-front driving vehicle by measuring the distance with a radar sensor, a laser scanner, or a camera system. The perception range of these sensors can be extended by the exchange of GNSS information between the vehicles using an intervehicle communication link. One possibility is to transmit GNSS pseudorange and carrier phase measurements and compute a highly accurate baseline vector that represents the relative position between two vehicles. Solving for the unknown integer ambiguity is specially challenging for low-cost single-frequency receivers. Using the well-known LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) algorithm, in this paper, we present a method for tracking the ambiguity vector solution, which is able to detect and recover from cycle slips and cope with changing satellite constellations. In several test runs performed in real-world open-sky environments with two vehicles, the performance of the proposed Ambiguity Tracker approach is evaluated. The experiments revealed that it is in fact possible to track the position of another vehicle with subcentimeter accuracy over longer periods of time with low-cost single-frequency receivers.
ISSN:1550-1329
1550-1477
1550-1477
DOI:10.1155/2015/459142