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.***The proposed research consists of the following three related objectives:***1. Tight-integration of differential GNSS and bearing measurements derived from imagery with an application to vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) relative navigation in urban environments with limited GNSS signal availability. Specifically the ability to use two way feedback, where the relative GNSS position estimates aid in target identification in imagery and the identified target is then used to improve the relative position, will be investigated at the GNSS measurement and receiver levels.***2. Development of methods to directly measure range using Dedicated Short Range Communications (DSRC), the wireless communication standard being adopted by the auto industry for V2V and V2I communications. DSRC range measurements, though likely less accurate than other ranging radio technologies, offer cost advantages since DSRC radios will be standard equipment on future vehicles***3. Development of formation driving relative navigation algorithms using multiple GNSS constellations, vision derived bearing measurements, and DSRC ranging for navigation in urban environments and the extension of these algorithms to include ranging and vision derived bearing measurements to objects other than vehicles, including intelligent infrastructure points.***The proposed research program advance the state of the art of V2V and V2I GNSS relative navigation while training eight graduate students.