Volume 14 Issue 4
. 
Turn off MathJax
Article Contents
Abstract
FullText
References
Article Navigation >  Journal of Traffic and Transportation Engineering  > 2014  >  14(4): 116-126
Previous
LIU Jiang, CAI Bo-gen, WANG Yun-peng. Cooperative vehicle positioning method based on GNSS/DSRC fusion[J]. Journal of Traffic and Transportation Engineering, 2014, 14(4): 116-126.
Citation: LIU Jiang, CAI Bo-gen, WANG Yun-peng. Cooperative vehicle positioning method based on GNSS/DSRC fusion[J]. Journal of Traffic and Transportation Engineering, 2014, 14(4): 116-126.
shu

Cooperative vehicle positioning method based on GNSS/DSRC fusion

  • 1.

    School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China

  • 2.

    State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China

  • 3.

    School of Transportation Science and Engineering, Beihang University, Beijing 100191, China

  • 4.

    Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China

More Information
  • Author Bio:

    LIU Jiang(1985-), male, lecturer, PhD, +86-10-51684361, jiangliu@bjtu.edu.cn

  • Received Date: 2014-03-01
  • Publish Date: 2014-08-25
    Abstract
  • Aiming at the integration and information fusion of global navigation satellite system(GNSS)positioning and the cooperative positioning based on dedicated short-range communication(DSRC), an advanced selection strategy for neighborhood vehicle nodes for DSRC-based cooperative positioning was proposed based on the minimum principle of horizontal dilution of precision.For GNSS/DSRC integrated vehicle positioning, a loose-coupling positioning method was designed according to decentralized estimation scheme.In the positioning method, the parallel GNSS and DSRC filters were combined for global estimation, and the adaptive capability against different operation conditions was enhanced based on feedback strategy.The cooperative vehicle positioning method was verified by using a cooperative vehicle infrastructure simulation platform.Verification result indicates that the precision of DSRC-based positioning method was significantly improved by the selection strategy of neighborhood vehicle nodes.When the DSRCbased positioning method was used in the GNSS/DSRC integrated positioning, under normal operation condition, the precision of decentralized fusion estimation with feedback is better than that with single sensor mode and the decentralized estimation without feedback.Compared to the GNSS-alone mode under the given GNSS multipath interference condition, the root mean square errors of vehicle positioning method reduce by 42.6% and 37.0% in east and north direction respectively, and they reduce by 24.8% and 20.3% compared to the centralized fusion estimation.The performance of proposed positioning method is better than conventional positioning solutions, and has an enhanced tolerant ability to GNSS multipath interference conditions, which suggest the better precision, availability and practical application value of proposed method.

     

    • FullText(HTML)
    • References(26)
  • [1]
    WANG Yun-peng, Yl Zhen-guo. XIA Hai-ying, et al. Cooperative traffic alarming method based on epidemic model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(5): 515-518. (in Chinese).
    [2]
    MATTERN N, OBST M, SCHUBERT R, et al. Simulative analysis of accuracy demands of co-operative localization in the COVEL project[C]//IEEE. Proceedings of 2011 IEEE Intelligent Vehicles Symposium. Baden-Baden: IEEE, 20111516-521.
    [3]
    SCHLINGELHOF M, BETAILLE D, BONNIFAIT P, et al. Advanced positioning technologies for co-operative systems[J]. IET Intelligent Transport Systems, 2008, 2(2): 81-91.
    [4]
    TOLEDOMOREO R. ZAMORA-IZQUIERDO M A, UBEDAMINARRO B, et al. High-integrity IMM-EKF-based road vehicle navigation with low-cost GPS/SBAS/INS[J]. IEEE Transactions on Intelligent Transportation Systems, 2007, 8(3): 491-511. doi: 10.1109/TITS.2007.902642
    [5]
    PENG Deng, XU Jian-min, LIN Pei-qun. Research on communication of city cooperative vehicle infrastructure system and it's positioning technology[J]. Computer Engineering and Design, 2011, 32(3): 859-862. (in Chinese).
    [6]
    LI Hao, NASHASHIBI F, TOULMINET G. Localization for intelligent vehicle by fusing mono-camera, low-cost GPS and map data[C]/'IEEE. Proceedings of the 13th International IEEE Annual Conference on Intelligent Transportation Systems. Funchah IEEE, 2010: 1657-1662.
    [7]
    LI Kang, TAN H S, HEDRICK J K. Map-aided GPS/INS localization using a low-order constrained unscented Kalman filter[C]//IEEE. Proceedings of the 48th IEEE Conference on Decision and Control Held Jointly with 2009 28th Chinese Control Conference. Shanghai: IEEE, 2009: 4607-4612.
    [8]
    TOLEDO-MOREO R, BET AILLE D, PEYRET F. Lanelevel integrity provision for navigation and map matching with GNSS, dead reckoning, and enhanced maps[J]. IEEE Transactions on Intelligent Transportation Systems, 2010, 11(1): 100-112. doi: 10.1109/TITS.2009.2031625
    [9]
    EFATMANESHNIK M, ALAM N, KEALY A, et al. Evaluation of a cooperative positioning algorithm by tight GPS/DSRC integration for vehicular networks[C]//IGNSS Society. Proceedings of International Global Navigation Satellite Systems Symposium. Tweed Heads: IGNSS Society, 2011: 1-14.
    [10]
    ALAM N, BALAEI A T, DEMPSTER A G. An instantaneous lane-level positioning using DSRC carrier frequency offset[J]. IEEE Transactions on Intelligent Transportation Systems, 2012, 13(4): 1566-1575. doi: 10.1109/TITS.2012.2195177
    [11]
    ALAM N. Three dimensional positioning with two GNSS satellites and DSRC for vehicles in urban canyons[C]/^Institute of Navigation. Proceedings of the 24th International Technical Meeting of the Satellite Division of the Institute of Navigation. Portland: Institute of Navigation, 2011: 3975-3983.
    [12]
    ALAM N, BALAEI A T, DEMPSTER A G. A DSRC dopplerbased cooperative positioning enhancement for vehicular networks with GPS availability[J]. IEEE Transactions on Vehicular Technology, 2011, 60(9): 4462-4470. doi: 10.1109/TVT.2011.2168249
    [13]
    REZAEI S, SENGUPTA R, KRISHNAN H, et al. Tracking the position of neighboring vehicles using wireless communications[J]. Transportation Research Part C: Emerging Technologies, 2010, 18(3): 335-350. doi: 10.1016/j.trc.2009.05.010
    [14]
    EFATMANESHNIK M, BALAEI A T, ALAM N, et al. A modified multidimensional scaling with embedded particle filter algorithm for cooperative positioning of vehicular networks[C]//IEEE. Proceedings of 2009 IEEE International Conference on Vehicular Electronics and Safety. Pune: IEEE, 2009: 7-12.
    [15]
    LI Jian, LU Wen-hua. Full truckload vehicle routing problem with profits[J]. Journal of Traffic and Transportation Engineering: English Edition, 2014, 1(2): 146-152. doi: 10.1016/S2095-7564(15)30099-4
    [16]
    EFATMANESHNIK M, KEALY A, BALAEI A T, et al. Information fusion for localization within vehicular networks[J]. The Journal of Navigation, 2011, 64(3): 401-416. doi: 10.1017/S0373463311000075
    [17]
    ANSARI K, WANG C, WANG L, et al. Vehicle-to-vehicle real-time relative positioning using 5.9 GHz DSRC media[C]//IEEE. Proceedings of 2013 IEEE 78th Vehicular Technology Conference. Las Vegas: IEEE, 2013: 1-7.
    [18]
    WILLIAMS T, ALVES P, LACHAPELLE G, et al. Evaluation of GPS-based methods of relative positioning for automotive safety applications[J]. Transportation Research Part C: Emerging Technologies, 2012, 23(1): 98-108.
    [19]
    LAI Lei, QU Shi-ru. Moving vehicle location method based on traffic wireless sensor network[J]. Journal of Traffic and Transportation Engineering, 2013, 13(1): 114-120. (in Chinese). doi: 10.3969/j.issn.1671-1637.2013.01.017
    [20]
    PEKER A U, ACARMAN T, YAMAN C, et al. Vehicle localization enhancement with VANETs[C]//IEEE. Proceedings of 2014 IEEE Intelligent Vehicles Symposium. Lansing: IEEE, 2014: 661-666.
    [21]
    NAJJAR M, BONNIFAIT P. A road-matching method for precise vehicle localization using belief theory and Kalman filtering[J]. Autonomous Robots, 2005, 19(2): 173-191. doi: 10.1007/s10514-005-0609-1
    [22]
    PESONEN H, PICHE R. Cubature-based Kalman filters for positioning[J]/'IEEE. Proceedings of the 7th Workshop on Positioning Navigation and Communication. Piscataway: IEEE, 2010: 45-49.
    [23]
    ALAM N, BABAEI A, DEMPSTER A. A filtering method for improving the precision of cooperative positioning in VANETs[C]//IGNSS Society. Proceedings of International Global Navigation Satellite Systems Symposium. Tweed Heads: IGNSS Society, 2011: 45-55.
    [24]
    NDIENG A N, GRUYER D, GLASER S, et al. Low cost IMU-odometer-GPS ego localization for unusual maneuvers[J]. Information Fusion, 2011, 12(4): 264-274. doi: 10.1016/j.inffus.2010.06.006
    [25]
    ARASARATNAM I, HAYKIN S. Cubature Kalman filters[J]. IEEE Transactions on Automatic Control, 2009, 54(6): 1254-1269. doi: 10.1109/TAC.2009.2019800
    [26]
    CARLSON N A. Federated square root filter for decentralized parallel processes[J]. IEEE Transactions on Aerospace and Electronic Systems, 1990, 26(3): 517-525. doi: 10.1109/7.106130
    • Relative Articles

  • Relative Articles

    [1]YUAN Yu-peng, XU Chao-yuan, LI Na, TANG Dao-gui, YUAN Cheng-qing, ZHONG Xiao-hui, YAN Xin-ping. Review on multi-energy integration systems in ports[J]. Journal of Traffic and Transportation Engineering, 2024, 24(4): 83-103. doi: 10.19818/j.cnki.1671-1637.2024.04.007
    [2]YAN Ban-fu, OUYANG Kang, LIANG Cai. Review on research of non-contact displacement measurement technologies in bridge engineering[J]. Journal of Traffic and Transportation Engineering, 2024, 24(1): 43-67. doi: 10.19818/j.cnki.1671-1637.2024.01.003
    [3]WU Chao-zhong, YANG Xin-wei, HE Yi, LU Xiao-yun. Cooperative control system of truck platoon with heterogeneous dynamics under feedforward multi-source information[J]. Journal of Traffic and Transportation Engineering, 2023, 23(1): 256-266. doi: 10.19818/j.cnki.1671-1637.2023.01.019
    [4]WANG Jun, WANG Yu-qi, XUAN Jian-ping, LIU Jin-zhao, HUANG Wei-guo, ZHU Zhong-kui. Fault diagnosis method of vehicle transmission system based on manifold fusion of parameter-varying wavelet[J]. Journal of Traffic and Transportation Engineering, 2023, 23(1): 170-183. doi: 10.19818/j.cnki.1671-1637.2023.01.013
    [5]QIU Wei-zhi, SHANGGUAN Wei, CHAI Lin-guo, CHU Duan-feng. Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing[J]. Journal of Traffic and Transportation Engineering, 2022, 22(3): 199-209. doi: 10.19818/j.cnki.1671-1637.2022.03.016
    [6]LI Li, PING Zhen-dong, ZHU Jin-yu, XU Zhi-gang, WANG Gui-ping. Vehicle trajectory prediction based on spatio-temporal information fusion in crowded driving scenario[J]. Journal of Traffic and Transportation Engineering, 2022, 22(3): 104-114. doi: 10.19818/j.cnki.1671-1637.2022.03.008
    [7]JIA Qiong-qiong, WU Ren-biao, WANG Wen-yi, LU Dan, WANG Lu. Multipath interference suppression algorithm based on spatial signal separation[J]. Journal of Traffic and Transportation Engineering, 2017, 17(2): 151-158.
    [8]ZHAO Hong-sheng, XU Xiao-hao, LI Rui, XIONG Zhi-yong, LI Dong-bin. Overview of research on flight technical error estimation in performance based navigation[J]. Journal of Traffic and Transportation Engineering, 2014, 14(5): 101-110.
    [9]ZHAO Xiang-mo, HUI Fei, SHI Xin, MA Jun-yan, YANG Lan. Concept, architecture and challenging technologies of ubiquitous traffic information service system[J]. Journal of Traffic and Transportation Engineering, 2014, 14(4): 105-115.
    [10]DING Jian-ming, LIN Jian-hui, WANG Han, HUANG Chen-guang, ZHAO Jie. Performance parameter estimation method of high-speed train based on Rao-Blackwellised particle filter[J]. Journal of Traffic and Transportation Engineering, 2014, 14(3): 52-57.
    [11]CAI Bo-gen, WANG Cong-cong, SHANGGUAN Wei, ZHANG Shu-zhong. Simulation method of information interaction in CVIS[J]. Journal of Traffic and Transportation Engineering, 2014, 14(3): 111-119.
    [12]LAI Lei, QU Shi-ru. Moving vehicle location method based on traffic wireless sensor network[J]. Journal of Traffic and Transportation Engineering, 2013, 13(1): 114-120. doi: 10.19818/j.cnki.1671-1637.2013.01.017
    [13]HAN Ping, GAN Hao-liang, HE Wei-kun, ALAZARD Daniel. Aircraft attitude estimation method based on CKF[J]. Journal of Traffic and Transportation Engineering, 2013, 13(6): 113-118.
    [14]PENG Zhong-ren, LIU Xiao-feng, ZHANG Li-ye, SUN Jian. Research progress and prospect of UAV applications in transportation information collection[J]. Journal of Traffic and Transportation Engineering, 2012, 12(6): 119-126. doi: 10.19818/j.cnki.1671-1637.2012.06.018
    [15]LIU Jiang, CAI Bo-gen, TANG Tao, WANG Jian. CKF-based robust filtering algorithm for GNSS/INS integrated train positioning[J]. Journal of Traffic and Transportation Engineering, 2010, 10(5): 102-107. doi: 10.19818/j.cnki.1671-1637.2010.05.018
    [16]LIAO Jun, AN Yi-sheng, ZHANG Shao-yang, ZHAO Xiang-mo, MA Tian-shan. Synthesized evaluation model of dynamic traffic safety for road section[J]. Journal of Traffic and Transportation Engineering, 2009, 9(4): 79-84. doi: 10.19818/j.cnki.1671-1637.2009.04.016
    [17]YU De-xin, YANG Zhao-sheng, LIU Xue-jie. GPS/DR navigation data fusion method based on Kalman filter[J]. Journal of Traffic and Transportation Engineering, 2006, 6(2): 65-69.
    [18]HE Zhao-cheng, LIU Xu-qi, HONG Bo, LI Jun, HUANG Zhong-zhou, YU Zhi. Realization of voice route guidance module of vehicle navigation system[J]. Journal of Traffic and Transportation Engineering, 2003, 3(4): 108-111.
    [19]SHEN Zhong-jie, WANG Wu-hong, HOU Fu-guo, YI Bing. Architecture and key techniques of digital driving system within intelligent transport information network environment[J]. Journal of Traffic and Transportation Engineering, 2002, 2(1): 96-100.
    [20]ZHANG Xian-ku, REN Guang, LIU Jun, YU Cheng. Information Display System of Engine Room for Ships[J]. Journal of Traffic and Transportation Engineering, 2001, 1(3): 112-114.
    • Supplements(0)
    • Cited By

Catalog

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (805) PDF downloads(762) Cited by()
    Related

    Copyright《Journal of Traffic and Transportation Engineering》编辑部陕ICP备05001904号-1

    Address ：Editorial Department of Journal of Traffic and Transportation Engineering, Chang 'an University, Middle Section of South Second Ring Road, Xi 'an, Shaanxi（710064） Tel：029-82334388 Email：jygc@chd.edu.cn

    All visit:1713460Today's visit:120

    Supported by: Beijing Renhe Information Technology Co. Ltd    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return