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A Low-Order DGPS-Based Vehicle Positioning System Under Urban Environment

机译：城市环境下基于DGPS的低阶车辆定位系统

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摘要

The vehicle positioning system is a key component in functions such as vehicle guidance, driver alert and assistance, and vehicle automation. Since installing a low-cost global positioning system (GPS) or inertial navigation system (INS) unit is becoming a common practice in vehicle applications, its involvement in vehicle guidance and vehicle safety deserves a closer investigation. Typical vehicle applications require high reliability, low cost, and sufficient accuracy under all operational conditions. For GPS-based positioning, urban driving with its complicated maneuvers, frequent GPS blockage, and multipath, are some of the most difficult driving environments. This paper explores the feasibility of a low-order vehicle positioning system functioning under an urban environment. The equipped vehicle has a midrange differential GPS (DGPS) unit and few relatively simple in-vehicle sensors. A low-order integration is explored by utilizing a vehicle model-based extended Kalman filter (EKF) to incorporate in-vehicle motion sensors and to largely avoid direct integration of INS signals. Further, the characteristics of DGPS measurements under urban environments are investigated, and novel DGPS noise processing techniques are proposed to reduce the chances of exposing the EKF to undesirable DGPS measurements due to common DGPS problems such as blockage and multipath. A resulting fourth order EKF based positioning system is successfully implemented in the test vehicle to demonstrate the feasibility of the proposed design. Experimental results illustrate the ability of the system to meet the accuracy and robustness requirements in the presence of blockage and multipath under a typical urban driving environment.
机译：车辆定位系统是诸如车辆导航，驾驶员警报和协助以及车辆自动化等功能中的关键组件。由于安装低成本的全球定位系统（GPS）或惯性导航系统（INS）单元已成为车辆应用中的常见做法，因此其在车辆导航和车辆安全方面的参与值得进一步研究。典型的车辆应用在所有操作条件下都要求高可靠性，低成本和足够的精度。对于基于GPS的定位，城市驾驶及其复杂的操作，频繁的GPS阻塞和多路径是最困难的驾驶环境。本文探讨了在城市环境下运行低阶车辆定位系统的可行性。配备的车辆具有中程差分GPS（DGPS）单元，并且很少有相对简单的车载传感器。通过利用基于车辆模型的扩展卡尔曼滤波器（EKF）来集成车载运动传感器，并在很大程度上避免直接集成INS信号，从而探索了低阶集成。此外，研究了城市环境下DGPS测量的特性，并提出了新颖的DGPS噪声处理技术，以减少由于常见的DGPS问题（例如阻塞和多径）而使EKF暴露于不良DGPS测量的机会。由此产生的基于四阶EKF的定位系统已在测试车辆中成功实施，以证明所提出设计的可行性。实验结果表明，在典型的城市驾驶环境下，在存在阻塞和多径的情况下，系统能够满足精度和鲁棒性要求。

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