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

车辆导航系统是智能交通系统的重要组成部分。当前许多车辆导航系统都依赖于全球定位系统来获取车辆的位置和航向。虽然没有辅助的GPS定位加上数字地图对于定位车辆和提供驾驶方向是有效的，但这种解决方案的精度在5到10米左右，对于许多关键任务应用来说是不够的，包括自主和半自主操作，而且在城市和树木覆盖的环境中通常是不可用的。5到10米的距离足以确定车辆行驶的道路，但不足以确定哪条车道。对于上述应用程序，特别感兴趣的是车辆的相对位置。提案中描述的研究旨在利用GPS、超宽带（UWB）测距无线电和其他车辆传感器改善车辆的相对定位。超宽带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超宽带距离测量与GPS相结合，以便在单独GPS无效的环境中对车辆进行精确的相对定位。将这两个系统与机载轴承传感器集成也是该项目的目标之一。这项研究将直接有助于未来车辆的发展，这些车辆能够意识到周围车辆的位置和运动，并能够利用这些信息来辅助驾驶员并改善交通状况。

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.