GNSS, RF-Ranging, and Vision for Cooperative Relative Navigation

全球导航卫星系统，包括美国的全球定位系统、俄罗斯的格洛纳斯系统和其他正在开发的系统，现在为在开放天空环境中工作的广大用户提供准确和可靠的定位。虽然用户已习惯于无处不在的GNSS定位，但在室内和城市环境中的可用性和可靠性仍然很差。这项拟议的研究计划将通过将多个全球导航卫星系统的测量结果与地面无线测距信号和来自视频图像的方位紧密结合起来，改善这些环境中基于全球导航卫星系统的定位。城市和室内位置目前使用无线指纹技术来确定。结果通常是不准确和不可靠的，因此不用于车辆控制或生命安全应用。对通信信号的直接测距是困难的;然而，新的无线标准包括时间/范围能力，使得这些良好的机会信号。中国、欧洲、印度和日本部署新的卫星导航系统将使可用的卫星导航信号数量增加一倍，并将改善城市室外定位。集成在车辆和个人电子设备中的传感器的数量和质量正在增加，这些传感器可用于改善室内和城市环境中的定位和导航。

Global Navigation Satellite Systems (GNSS) including the U.S. Global Positioning System (GPS), Russian GLONASS and others under development now provide accurate and reliable positioning to a broad range of users operating in open sky environments. While users have become accustomed to ubiquitous GNSS positioning, availability and reliability remains poor in indoor and urban environments. This proposed research program will improve GNSS-based positioning in these environments through the tight integration of measurements from multiple GNSSs with ground-based wireless ranging signals and bearings derived from video imagery. Urban and indoor location is presently determined using wireless fingerprinting techniques. Results are generally inaccurate and unreliable and thus not used for vehicle control or safety-of-life applications. Direct ranging on communications signals is difficult; however new wireless standards include time/range capabilities making these good signals of opportunity. The deployment of new satellite navigation systems by China, Europe, India, and Japan will double the number of satellite navigation signals available and will improve urban outdoor positioning. The number and quality of sensors integrated in vehicles and personal electronic devices is increasing and these sensors can be used to improve positioning and navigation in both indoor and urban environments.