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

车载导航系统是智能交通系统的重要组成部分。目前许多车辆导航系统依靠全球定位系统来获取车辆的位置和航向。虽然无人辅助的GPS定位结合数字地图可以有效地定位车辆和提供驾驶方向，但这种解决方案的精度约为5至10米，对于许多关键任务应用，包括自动和半自动操作，精度是不够的，而且在城市和树木覆盖的环境中往往无法使用。五到十米足以确定车辆行驶的道路，但不足以确定哪条车道。对于上述应用，特别感兴趣的是车辆的相对位置。提案中描述的研究旨在改善使用GPS、超宽带(UWB)测距无线电和其他车辆传感器的车辆的相对定位。UWB是一种新的无线电技术，可以实现非常精确的短距离测距。这项研究将展示如何将车辆之间的UWB距离测量与GPS相结合，以便在仅有GPS无效的环境中实现车辆的精确相对定位。将这两个系统与车载方位传感器集成的有效性也是该项目的目标之一。这项研究将直接为未来车辆的发展做出贡献，这些车辆能够感知周围车辆的位置和运动，从而能够利用这些信息来帮助司机和改善交通运动。

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.