Collaborative Vehicle Self-Localization Using Multi-GNSS Receivers and V2V/V2I Communications

Conde Bento, Luis; Chelim, Rafael; Nunes, Urbano

http://hdl.handle.net/10400.8/13085

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Authors

Conde Bento, Luis

Chelim, Rafael

Nunes, Urbano

Abstract(s)

This paper presents a collaborative self-localization approach using a multi-GNSS receiver setup and V2V/V2I communications. The purpose is to develop a low-cost alternative (equipment and installation), without compromising the process of localization estimation. The proposed method uses two GPS-receivers installed on the vehicle, disposed longitudinally on the cover (to maximize the distance among receivers) in order to estimate the Yaw and Pitch angles. To estimate the Roll angle, the proposed approach uses information from a receiver on the road infrastructure or on a nearby vehicle using V2V and/or V2I communication (compliant with 802.11p standard). Experimental results revealed that the performance on both absolute positioning and Pitch angle estimation is very high. The method is accurate in Yaw angle estimation enabling acceptable results in heading computation. Therefore the use of this algorithm in risk assessment on crossroads approaching scenarios, is achievable with an affordable setup. The Roll angle estimation can reach satisfactory results if there is a third receiver in the vicinity and in a non-collinear position with respect to the installed onboard receivers.

Description

Conference on Intelligent Transportation Systems, Proceedings, ITSC. Volume 2015-October, Pages 2525 - 2532, 30 October 2015 Article number 7313498, 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015Gran Canaria, 15 September 2015 through 18 September 2015, Code 116827

Keywords

Vehicles Antennas Estimation Receivers Yttrium Global Positioning System Satellites

URI

http://hdl.handle.net/10400.8/13085

Citation

L. Conde, R. Chelim and U. Nunes, "Collaborative Vehicle Self-Localization Using Multi-GNSS Receivers and V2V/V2I Communications," 2015 IEEE 18th International Conference on Intelligent Transportation Systems, Gran Canaria, Spain, 2015, pp. 2525-2532, doi: 10.1109/ITSC.2015.406. [ieee]