Paper Info
Title
Precise relative positioning of vehicles with on-the-fly carrier phase resolution and tracking
Abstract
AbstractForward 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 sub centimeter accuracy over longer periods of time with low-cost single-frequency receivers.
Year
DOI
Venue
2015
10.1155/2015/459142
Periodicals
Field
DocType
Volume
Radar engineering details,Pseudorange,Laser scanning,Decorrelation,Simulation,Computer science,Collision,Real-time computing,GNSS applications,Cooperative Adaptive Cruise Control,Ambiguity,Distributed computing
Journal
2015
Issue
ISSN
Citations 
1
1550-1329
1
PageRank 
References 
Authors
0.37
6
3
Name
Order
Citations
PageRank
Fabian de Ponte Müller1637.74
diego navarro tapia210.37
Matthias Kranz344237.93