Verfügbarkeit: Cooperative relative positioning for vehicular environments

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Titel:	Cooperative relative positioning for vehicular environments
Von:	Fabian de Ponte Müller
Person:	De Ponte Müller, Fabian Verfasser aut
Hauptverfasser:	De Ponte Müller, Fabian (VerfasserIn)
Format:	Abschlussarbeit Buch
Sprache:	Englisch
Veröffentlicht:	Passau [2018]
Schlagworte:	Fahrerassistenzsystem Hochschulschrift
Online-Zugang:	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
Beschreibung:	VII, 246 Seiten Illustrationen, Diagramme

Internformat

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Datensatz im Suchindex

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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 1 1 4 5 6 7 9 9 14 14 16 17 18 20 20 21 21 25 28 28 32 32 35 38 38 39 42 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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physical	VII, 246 Seiten Illustrationen, Diagramme
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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
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work_keys_str_mv	AT depontemullerfabian cooperativerelativepositioningforvehicularenvironments

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