Low-Cost Tightly Coupled GPS, Dead-Reckoning, and Digital Elevation Model Land Vehicle Tracking System for Intelligent Transportation Systems
Low-Cost Tightly Coupled GPS, Dead-Reckoning, and Digital Elevation Model Land Vehicle Tracking System for Intelligent Transportation Systems
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发表时间：
2011
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通讯作者：
M. Quddus;Yuheng Zheng
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作者：
M. Quddus;Yuheng Zheng
本文旨在开发一个增强的紧耦合LVT系统，通过集成来自GPS，低成本航位推算（DR）传感器和数字高程模型（DEM）的数据。考虑了三种不同的配置：（1）将GPS与低成本DR传感器集成，从而形成集成的GPS/DR系统，（2）将GPS与数字高程模型（DEM）集成，从而形成集成的GPS/DEM系统，以及（3）将GPS与DR传感器和DEM集成，从而形成集成的GPS/DR/DEM系统。扩展卡尔曼滤波器（EKF）的集成数据在三个集成系统中的每一个。三个LVT系统的精度性能进行了评估，使用真实世界和模拟数据。模拟数据已被创建，以复制一个相对恶劣的操作环境中的LVT系统的性能预计将迅速下降与低GPS卫星的能见度。结果表明，GPS/DR/DEM系统，如预期的那样，优于其他两个系统（GPS/DR和GPS/DEM）。这是因为GPS/DR/DEM系统中的定位误差由GPS测量、DR测量和DEM高度数据补偿，即使只有一颗卫星在视野中。如果没有卫星可用（例如，在隧道内），通过DR测量和DEM高度数据减小GPS/DR/DEM中的定位误差。在英国诺丁汉收集的GPS数据集，GPS/DR/DEM系统提供的精度为1.83 m（95%），30秒连续GPS中断结束时的最大水平误差为6.6 m（有三颗卫星在视野中）和31.3 m（只有一颗卫星在视野中）。GPS/DR/DEM系统的总成本将是低的，因为这里所需的唯一附加传感器是低成本陀螺仪沿着GPS接收器。因此，LVT系统具有满足在密集城市区域中运行的许多智能交通系统的精度要求的能力，并且具有由行业实施的高潜力。
This paper aims to develop an enhanced tightly-coupled LVT system by integrating data from GPS, low-cost dead-reckoning (DR) sensors and a Digital Elevation Model (DEM). Three different configurations are considered: (1) integrating GPS with low-cost DR sensors resulting in an integrated GPS/DR system, (2) integrating GPS with a Digital Elevation Model (DEM) resulting in an integrated GPS/DEM system and (3) integrating GPS with both DR sensors and a DEM resulting in an integrated GPS/DR/DEM system. An Extended Kalman Filter (EKF) is employed to integrate data in each of the three integrated systems. The accuracy performance of each of the three LVT systems has been evaluated using both real-world and simulated data. Simulated data have been created to replicate a relatively harsh operational environment where the performance of a LVT system is expected to degrade rapidly with low GPS satellite visibility. The results suggest that the GPS/DR/DEM system, as expected, outperforms the other two systems (GPS/DR and GPS/DEM). This is because the positioning error in the GPS/DR/DEM system is compensated by the GPS measurements, DR measurements and DEM height data even with only one satellite in view. If no satellite is available (e.g., within a tunnel), the positioning error in GPS/DR/DEM is reduced by DR measurements and DEM height data. The accuracy offered by the GPS/DR/DEM system has been found to be 1.83m (95%) for the GPS dataset collected in Nottingham (UK) and the maximum horizontal error at the end of 30sec continuous GPS outage has been found to be 6.6m (with three satellites in view) and 31.3m (with only one satellite in view). The overall cost of the GPS/DR/DEM system would be low given that the only additional sensor needed here is a low-cost gyroscope along with a GPS receiver. Therefore, the LVT system has capability to satisfy the accuracy requirements of many intelligent transport systems operating in dense urban areas and has high potential to be implemented by the industry.