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

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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.