Cooperative relative positioning for vehicular environments:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Passau
[2018]
|
| Subjects: | |
| Online Access: | Volltext Volltext Inhaltsverzeichnis |
| Physical Description: | VII, 246 Seiten Illustrationen, Diagramme |
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MARC
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| 100 | 1 | |a De Ponte Müller, Fabian |e Verfasser |0 (DE-588)115973464X |4 aut | |
| 245 | 1 | 0 | |a Cooperative relative positioning for vehicular environments |c Fabian de Ponte Müller |
| 264 | 1 | |a Passau |c [2018] | |
| 300 | |a VII, 246 Seiten |b Illustrationen, Diagramme | ||
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| 502 | |b Dissertation |c Universität Passau |d 2017 | ||
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Record in the Search Index
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| adam_text | Contents
Contents
1. Introduction
1.1. Intelligent Transportation Systems .... . ... . . . .. . .
1.2. Positioning in Vehicular Environments . . ••.....
1.3. Relative Positioning for Safety-Critical Applications ......
1.4. Objective, Research Questions and Methodology . . . . . . .
1.5. Outline of the Thesis............ ... ...... .
2. State-of-the-Art Relative Vehicle Positioning Solutions
2.1. Requirements on Relative Positioning . . . . ..... . . . .
2.2. Non-Cooperative Approaches for Relative Positioning
2.2.1. Radio Ranging . . .... .................. ........
2.2.2. Laser Scanners............• • ■ ■ ■ • • ■ • ......
2.2.3. Time-of-flight Cameras . . . ... . . ........
2.2.4. Vision-based Solutions ...... .... .... . . .
2.2.5. Ultrasonic Ranging . . . ..... . . ...... . .
2.3. Cooperative Approaches for Relative Positioning . . . . . . .
2.3.1. Transponder-based Ranging............... . . ... . .
2.3.2. GNSS-based Cooperative Positioning . . ..... . .
2.4. Discussion . . ..... . . . . . . . . . . . . ....... .
3. Theoretical Background for Cooperative Relative Positioning
3.1. Global Navigation Satellite Systems ......................
3.2. Inertial Navigation . . . .... ... . . ... . . . . ..... .
3.2.1. Coordinate Frames .... . ... . . . . .... . .
3.2.2. Navigation . . .............. . . ...... .
3.2.3. Aided Navigation ............................
3.3. Bayesian Estimation Theory . .... . . . . . ... . . .
3.3.1. Estimation Theory . . . ..... ... . . . .... .
3.3.2. Bayesian Estimation . . . .... . . . . ...
3.3.3. Gaussian Filters . . . . . ... . ............ ... .
iv
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45
IV
CONTENTS v
3.3.4. Modeling .... . . . . .... ...... . ... . . . ... . ..... . 49
4. Theoretical Model for Cooperative Relative Positioning 50
4.1. Situation Awareness ........................... . . . ... 50
4.2. Definition of the Baseline between two Vehicles . ... . . . ...... 53
4.3. Bayesian Relative Positioning . . . . . . . . . . . . . .............. . 55
4.4. Vehicle Relative Positioning Metrics ..... . ... ... ... ..... . . . . 62
4.5. Summary ... ..... . . . . . . .... . ... ... ..... . . . . . . . . . 63
5. Cooperative Relative Position Estimation through Sensor Fusion 64
5.1. GNSS-based Baseline Estimation . . .... ..... . . . . . . . . . . ... . . 64
5.1.1. Common Errors ............... . . . . . . ... . .... . . 66
5.1.2. Absolute Position Differencing . . . . ....... . ..... 74
5.1.3. Pseudorange Differencing . . ........................ 77
5.1.4. Comparison: Absolute Position Differencing and Pseudorange Differencing 81
5.1.5. Receiver Synchronization .......................... 90
5.2. Inertial Sensors .......... . . . :. ... 92
5.3. GNSS Doppler Measurements . . . . ... . ..... ......... ... . 96
5.4. Speed Sensors . . ... . . .... . . . . . . . . . .............. . 97
5.5. Vehicle Relative Motion Models . . . . ... .... .... . ... .... .... . 99
5.6. Multisensor Fusion . . . . . . . . . . ... . . . .... . . . . ... .105
5.6.1. Relative Positioning Filter . . . . . . .... ....... ....... . . 106
5.6.2. Kinematic Filter . . . . . ... . . ... . .... . . . . ... . 110
5.6.3. Synchronization ...... . . . ....... ..... ................ . 116
5.6.4. Pseudorange Measurement Quality and Gating ... .... . . .... . 117
5.7. Impact of Communication . ..... . . . . . . . . . . . . .... . . . ... . . 119
5.7.1. Communication Load ... . . . . . ... ....... . . ... .......... 119
5.7.2. Communication Link Performance ... . . . . . . . .... ...... .120
5.8. Summary . . ............. ......... . . . . . . . . . . . . . . . 122
6. Verification under Controlled Conditions 124
6.1. Cooperative Relative Position Simulator . . . . ... . . .... . . . . . 124
6.1.1. Movement Model Evaluation . ..... . . . ... . ... . . . .... 129
6.1.2. GNSS Evaluation . ... . . ........................ . . . . . 131
6.1.3. Kinematic Evaluation ... ............................................ 135
6.1.4. Speed Quantization . . . . . . . . . . . . . . ........................ . 144
6.1.5. Timing Evaluation . . . . . . . . . . . . . . . ... . .... . . . . . . . . . 146
6.2. GNSS Simulator . ... . ......... .... . . .... ....... . ... 147
6.2.1. Static Scenario - No errors . . . ..... . . . . . ............. . . 149
CONTENTS
VI
6.2.2. Static Scenario - Common errors . . . . . . . . ..... . . . . . . . . . 152
6.2.3. Static Scenario - Multipath errors . .... ... .... . . ... . ... 153
6.2.4. Dynamic Scenario . ...... . . . . . . . ... . . . ... 157
6.2.5. Baseline Estimation . ................... ...... ... 158
6.3. Summary . . . . . . . ........ ..... ... . ....... . . . . . . . . 161
7. Experimental Evaluation in Real World Environments 163
7.1. Experimental Setup . . . . . ............................ 163
7.1.1. GNSS receiver . . . . . . . . . . . . . . . . . . ..... ... ..... . 164
7.1.2. Inertial Measurement Unit ......................... 165
7.1.3. Speedometer . . . . . . . . . . . . .... . ....... ... . ... . . 165
7.2. Reference System . . .... ... .... .... ........ .... . . . . . 166
7.3. Test Scenarios. . . . . .... . . . ... . . ........ . ... .... 168
7.4. Measurement Runs . . . . . . . . . . . . . .... . .... . . . ... . . ... 170
7.4.1. GNSS-only Relative Positioning . . . . . ... . . ..... ....... .170
7.4.2. Multisensor Fusion Relative Positioning ...... . . . . . . .... . . 177
7.5. V2V Communication
192
7.6. Discussion ... ... ..... . . . . . ..... . . ..... ......... . 195
Summary, Conclusions and Future Work 199
8.1. Summary and Main Contributions . . . . ... ....... . . . . ... . . . . 199
8.2. Conclusions . ... . . .. . ... . ..... . . . . ..... ...... ..... 201
8.3. Future Work . . . . . . ............................. . . 203
A. Relative Positioning Error for Absolute Position Differencing and Pseudorange Dif-
ferencing 205
B. Cooperative Relative Positioning Simulator 208
B.l. Kinematic Filter Evaluation . . . . . ... . . . . . . .... . . ... . ... . . 208
C. V2V Communication Evaluation
List of Figures
List of Tables
Mathematical Notation
List of Acronyms
Glossary
211
213
217
218
223
226
CONTENTS
Bibliography 228
|
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| spelling | De Ponte Müller, Fabian Verfasser (DE-588)115973464X aut Cooperative relative positioning for vehicular environments Fabian de Ponte Müller Passau [2018] VII, 246 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier Dissertation Universität Passau 2017 Fahrerassistenzsystem (DE-588)4622983-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Fahrerassistenzsystem (DE-588)4622983-8 s DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:739-opus4-5411 https://nbn-resolving.org/urn:nbn:de:bvb:739-opus4-5411 Resolving-System kostenfrei Volltext https://opus4.kobv.de/opus4-uni-passau/frontdoor/index/index/docId/541 kostenfrei Volltext Digitalisierung UB Passau - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030358489&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | De Ponte Müller, Fabian Cooperative relative positioning for vehicular environments Fahrerassistenzsystem (DE-588)4622983-8 gnd |
| subject_GND | (DE-588)4622983-8 (DE-588)4113937-9 |
| title | Cooperative relative positioning for vehicular environments |
| title_auth | Cooperative relative positioning for vehicular environments |
| title_exact_search | Cooperative relative positioning for vehicular environments |
| title_full | Cooperative relative positioning for vehicular environments Fabian de Ponte Müller |
| title_fullStr | Cooperative relative positioning for vehicular environments Fabian de Ponte Müller |
| title_full_unstemmed | Cooperative relative positioning for vehicular environments Fabian de Ponte Müller |
| title_short | Cooperative relative positioning for vehicular environments |
| title_sort | cooperative relative positioning for vehicular environments |
| topic | Fahrerassistenzsystem (DE-588)4622983-8 gnd |
| topic_facet | Fahrerassistenzsystem Hochschulschrift |
| url | https://nbn-resolving.org/urn:nbn:de:bvb:739-opus4-5411 https://opus4.kobv.de/opus4-uni-passau/frontdoor/index/index/docId/541 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030358489&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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