Improving Positioning Accuracy Using GPS Pseudorange Measurements for Cooperative Vehicular Localization
Improving Positioning Accuracy Using GPS Pseudorange Measurements for Cooperative Vehicular Localization
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DOI：
10.1109/tvt.2013.2296071
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发表时间：
2014-07-01
影响因子：
6.8
通讯作者：
Lee, Victor C. S.
中科院分区：
文献类型：
--
作者：
Liu, Kai;Lim, Hock Beng;Lee, Victor C. S.
准确定位是智能交通系统创新应用的关键因素。尖端的通信技术使协作定位成为精确车辆定位的一种有前景的方法。在本文中，我们首先提出了一种称为加权最小二乘双差（WLS-DD）的测距技术，该技术用于基于共享GPS伪距测量值和加权最小二乘法来检测车辆间距离。它考虑原始伪距测量的载噪比（CNR）来消除噪声，从而提高距离检测的精度。我们通过一系列现场实验展示了 WLS-DD 的优越性。基于车距检测，我们提出了一种分布式位置估计算法（DLEA）来提高车辆定位的精度。 DLEA的实现仅依赖于不准确的GPS伪距测量和获得的车距，而不使用任何参考点进行定位校正。此外，为了评估 WLS-DD 和 DLEA 的联合效果，我们基于现场实验中观察到的距离检测偏差推导了一个数据拟合模型，该模型在各种环境下生成用于性能评估的参数。最后，我们通过全面的模拟研究证明了所提出的解决方案的有效性。
Accurate positioning is a key factor for enabling innovative applications in intelligent transportation systems. Cutting-edge communication technologies make cooperative localization a promising approach for accurate vehicle positioning. In this paper, we first propose a ranging technique called weighted least squares double difference (WLS-DD), which is used to detect intervehicle distances based on the sharing of GPS pseudorange measurements and a weighted least squares method. It takes the carrier-to-noise ratio (CNR) of raw pseudorange measurements into consideration for mitigating noises so that it can improve the accuracy of the distance detection. We show the superiority of WLS-DD by conducting a series of field experiments. Based on intervehicle distance detection, we propose a distributed location estimate algorithm (DLEA) to improve the accuracy of vehicle positioning. The implementation of DLEA only relies on inaccurate GPS pseudorange measurements and the obtained intervehicle distances without using any reference points for positioning correction. Moreover, to evaluate the joint effect of WLS-DD and DLEA, we derive a data fitting model based on the observed distance detection bias from field experiments, which generates parameters in a variety of environments for performance evaluation. Finally, we demonstrate the effectiveness of the proposed solutions via a comprehensive simulation study.