{"title":"基于超宽带/低成本GPS的车辆与基础设施相对定位研究","authors":"Kyle O’Keefe, Yuhang Jiang, M. Petovello","doi":"10.1109/RADAR.2014.6875799","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":127690,"journal":{"name":"2014 IEEE Radar Conference","volume":"104 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"An Investigation of tightly-coupled UWB/low-cost GPS for vehicle-to-infrastructure relative positioning\",\"authors\":\"Kyle O’Keefe, Yuhang Jiang, M. Petovello\",\"doi\":\"10.1109/RADAR.2014.6875799\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":127690,\"journal\":{\"name\":\"2014 IEEE Radar Conference\",\"volume\":\"104 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-05-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 IEEE Radar Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RADAR.2014.6875799\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE Radar Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RADAR.2014.6875799","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An Investigation of tightly-coupled UWB/low-cost GPS for vehicle-to-infrastructure relative positioning
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.
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