An INS-Aided Tight Integration Approach for Relative Positioning Enhancement in VANETs

Alam, Nima; Kealy, Allison; Dempster, Andrew G.

doi:10.1109/tits.2013.2265235

Cited by 49 publications

(52 citation statements)

References 9 publications

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“…Another advantage of the CP technique is that the communication RF signal itself can be used to derive internodal distances across the network. For example, in the case of intelligent transport systems (ITS), 5.9GHz dedicated short range communications (DSRC) can be used to determine the ranges between nodes in a vehicular ad hoc network (VANET) [41]. These ranges can then be used to further strengthen the positioning solution [42,43,44].…”

Section: Collaborative Navigationmentioning

confidence: 99%

Multisensor Navigation Systems: A Remedy for GNSS Vulnerabilities?

et al. 2016

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Abstract-Space-based positioning, navigation and timing (PNT) technologies, such as the Global Navigation Satellite Systems (GNSS) provide position, velocity, and timing information to an unlimited number of users around the world. In recent years PNT information has become increasingly critical to the security, safety and prosperity of the World's population, and is now widely recognized as an essential element of the global information infrastructure.Due to its vulnerabilities and line-of-sight requirements GNSS alone is unable to provide PNT with the required levels of integrity, accuracy, continuity and reliability. A multi-sensor navigation approach offers an effective augmentation in GNSSchallenged environments that holds a promise of delivering robust and resilient PNT. Traditionally, sensors such as inertial measurement units (IMUs), barometers, magnetometers, odometers and digital compasses, have been used. However, recent trends have largely focused on image-based, terrain-based and collaborative navigation to recover the user location. This paper offers a review of the technological advances that have taken place in PNT over the last two decades, and discusses various hybridizations of multi-sensory systems, building upon the fundamental GNSS/IMU integration. The most important conclusion of this study is that in order to meet the challenging goals of delivering continuous, accurate and robust PNT to the ever-growing numbers of users, the hybridization of a suite of different PNT solutions is required.

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Section: Collaborative Navigationmentioning

confidence: 99%

Multisensor Navigation Systems: A Remedy for GNSS Vulnerabilities?

et al. 2016

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“…The FM0 encoding is naturally conducted from positivecycle logic Y F P (t) and negative-cycle logic Y F N (t), as listed in (3) and (4). Hence, the following discussion mainly focuses on the positive-cycle logic and the negative-cycle logic of Manchester encoding/decoding and FM0 decoding.…”

Section: A Hclpmentioning

confidence: 99%

“…The article [4] still applies DSRC to transmit the information of local navigation sensors for relative positioning enhancement. Another utilization of DSRC with sensor information is in developing a map-free intersection collision-warning system [5].…”

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confidence: 99%

VLSI Architecture Design of FM0/Manchester Codec With 100% Hardware Utilization Rate for DSRC-Based Sensor Nodes in ITS Applications

2015

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Dedicated short-range communication (DSRC) plays an important role in sensor networking for intelligent transportation system (ITS) applications. How to achieve a higher hardware-efficiency becomes an attractive issue to design each critical building-bock in sensor node. DSRC standards usually adopt either FM0 code or Manchester code as a coding technique to enhance signal reliability. In this paper, a fully-reused VLSI architecture of FM0/Manchester codec with a hardware utilization rate (HUR) of 100% is proposed for DSRC-based sensor node. It is based on the half-cycle processing model (HCPM). The HCPM includes three core techniques: half-cycle logic partition (HCLP), reused-based retiming (RBR), and Boolean function reshaping (BFR). The HCPM can improve the HUR of FM0/Manchester codec from 27.33% to 100% with the reduction of the transistor count from 86 to 66. A 100% HUR means every transistor is activated; therefore, a more power is consumed. With a design trade-off between HUR and power consumption, this work still presents a higher energy-efficiency. This work is realized in TSMC 0.18 um 1P6M CMOS technology. The silicon area of core circuit is 33 × 120 um 2 . The experiment results demonstrate that this work presents a competitive performance with 100% HUR compared with existing works. With this work, DSRCbased sensor nodes can present a 100% HUR FM0/Manchester codec, fully supporting DSRC standards of Europe, USA, and Japan.

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“…This method eliminates spatially correlated errors among vehicles and achieves higher performance in relative positioning compared to DGPS. Furthermore, based on this method, an INS-aided enhanced tight integration CP approach for relative positioning was proposed (Alam et al, 2013b), which showed a performance improvement over a purely tight integration CP. But the Doppler shift based on DSRC was not introduced in this tightly-coupled approach.…”

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confidence: 99%

“…Meanwhile, this method relies on GPS Doppler measurements to obtain the rotation angles of the body frame to navigation frame, therefore an increased duration of GPS outage results in performance degradation with respect to the INS-integrated method shown in this paper. Therefore the methods proposed by (Alam et al, 2013b) are not suitable for dense urban areas where observable GPS Doppler measurements are low.…”

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A DSRC Doppler/IMU/GNSS Tightly-coupled Cooperative Positioning Method for Relative Positioning in VANETs

2016

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Relative position awareness is a vital premise for the implementation of emerging intelligent transportation systems. However, commercial Global Satellite Navigation Systems (GNSS) receivers do not satisfy the requirements of these applications. Fortunately, Cooperative Positioning (CP) systems, based on inter-vehicle communications, have improved performance of relative positioning in a Vehicular Ad Hoc Network (VANET). CP techniques rely primarily on measurements from the Global Positioning System (GPS) to deliver measurements or positions that describe the location of individual vehicles. In urban environments, the reduced quality or complete unavailability of GPS measurements challenges the effectiveness of any CP algorithm. In this paper, a new enhanced tightly–coupled CP technique is presented by adding the measurements from low-cost inertial sensors and the Doppler shift of the carrier of Dedicated Short-Range Communications (DSRC) signals. In the enhanced CP method proposed here, vehicles communicate their Inertial Measurement Unit (IMU) data and GPS measurements. Each vehicle fuses the GPS measurements and IMU data and the inter-node range-rates based on the Doppler shift of the carrier of DSRC signals. Based on analytical and experimental results, in a full GPS coverage environment, the new tight integration CP outperforms tight CP with Inertial Navigation System (INS), tight CP and differential GPS by at least by 6%, 15%, and 28%, respectively. In a GPS outage, the performance improvement can be up to 60%, 55%, and 66% respectively.

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An INS-Aided Tight Integration Approach for Relative Positioning Enhancement in VANETs

Cited by 49 publications

References 9 publications

Multisensor Navigation Systems: A Remedy for GNSS Vulnerabilities?

Multisensor Navigation Systems: A Remedy for GNSS Vulnerabilities?

VLSI Architecture Design of FM0/Manchester Codec With 100% Hardware Utilization Rate for DSRC-Based Sensor Nodes in ITS Applications

A DSRC Doppler/IMU/GNSS Tightly-coupled Cooperative Positioning Method for Relative Positioning in VANETs

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