GPS擬似距離を用いた協調車間距離計測手法
A GPS Pseudorange Based Cooperative Vehicular Distance Measurement Technique
車車間でGPS擬似距離を共有し、重み付き最小二乗法で車間距離を高精度に推定する手法を提案した論文。
著者: Daiqin Yang, Fang Zhao, Kai Liu, Hock Beng Lim, Emilio Frazzoli, Daniela Rus
分類: cs.AI, cs.RO
原文アブストラクト
Accurate vehicular localization is important for various cooperative vehicle safety (CVS) applications such as collision avoidance, turning assistant, etc. In this paper, we propose a cooperative vehicular distance measurement technique based on the sharing of GPS pseudorange measurements and a weighted least squares method. The classic double difference pseudorange solution, which was originally designed for high-end survey level GPS systems, is adapted to low-end navigation level GPS receivers for its wide availability in ground vehicles. The Carrier to Noise Ratio (CNR) of raw pseudorange measurements are taken into account for noise mitigation. We present a Dedicated Short Range Communications (DSRC) based mechanism to implement the exchange of pseudorange information among neighboring vehicles. As demonstrated in field tests, our proposed technique increases the accuracy of the distance measurement significantly compared with the distance obtained from the GPS fixes.
