Collaborative Autonomous Vehicles with Signals of Opportunity Aided Inertial Navigation Systems
Collaborative Autonomous Vehicles with Signals of Opportunity Aided Inertial Navigation Systems
复制标题
具有机会辅助惯性导航系统信号的协作自主车辆
DOI：
--
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Z. Kassas
中科院分区：
文献类型：
--
作者：
Joshua Morales;Joe J. Khalife;Z. Kassas
提出并研究了一种协同机会信号辅助惯性导航系统框架。考虑以下问题。能够接入全球导航卫星系统（GNSS）信号的多辆自动驾驶汽车（av）正在用GNSS伪信号辅助其车载导航系统。在导航时，安装在av上的接收器对周围未知的地面sop进行伪距观测，并协同估计sop的状态。一段时间后，GNSS信号不可用。随后，自动驾驶汽车利用sop来协同帮助他们的ins。提出了一种基于特定SOP使用到达时间差（TDOA）测量的协同估计框架。该框架研究了不同数量的协作av，并证明了在没有GNSS信号的情况下可以实现“类似GNSS”的性能。实验结果展示了多架无人机（uav）协同导航，其机载惯性测量单元（imu）和从两个蜂窝塔发出的未知地面sop中提取的伪距。
A collaborative signal of opportunity (SOP)-aided inertial navigation system (INS) framework is presented and studied. The following problem is considered. Multiple autonomous vehicles (AVs) with access to global navigation satellite system (GNSS) signals are aiding their on-board INSs with GNSS pseudoranges. While navigating, AV-mounted receivers draw pseudorange observations on ambient unknown terrestrial SOPs and collaboratively estimate the SOPs’ states. After some time, GNSS signals become unavailable. Subsequently, the AVs exploit the SOPs to collaboratively aid their INSs. A collaborative estimation framework which uses time-difference-of-arrival (TDOA) measurements taken with reference to a specific SOP is presented. This framework is studied over varying the quantity of collaborating AVs, and it is demonstrated that “GNSS-like” performance can be achieved in the absence of GNSS signals. Experimental results are presented demonstrating multiple unmanned aerial vehicles (UAVs) collaboratively navigating exclusively with their onboard inertial measurement units (IMUs) and pseudoranges extracted from unknown terrestrial SOPs emanating from two cellular towers.