Multi-vehicle tracking using GNSS integrated with Ultra-wideband range and onboard orientation sensors

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Vehicle navigation systems are an important component of intelligent transportation systems. Many current vehicle navigation systems rely on the Global Positioning System to obtain vehicle position and heading. While an unaided GPS position coupled with a digital map is effective for locating vehicles and providing driving directions, the accuracy of this kind of solution, which is on the order of five to ten metres, is insufficient for many mission-critical applications including autonomous and semi-autonoumous operation and and often unavailable in urban and tree-covered environments. Five to ten metres is sufficient to determine what road a vehicle is traveling, but insufficient to determine what lane. For the applications described above, what is of particular interest is the relative positions of vehicles. The research described in the proposal seeks to improve relative positioning of vehicles using GPS, ultra-wideband (UWB) ranging radios, and other vehicle sensors. UWB is a new radio technology that allows for very precise short distance ranging. This research will show how between vehicle UWB range measurements can be combined with GPS to allow for precise relative positioning of vehicles in environments where GPS alone is ineffective. The usefulness of integrating these two systems with onboard bearing sensors is also a goal of the project. This research will contribute directly to the future development of vehicles that are aware of surrounding vehicle positions and movements what are able to use this information to assist drivers and improve traffic movement.