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

全球导航卫星系统（GNSS），包括美国全球定位系统（GPS），俄罗斯GLONASS和其他正在开发的系统，现在为在开放天空环境中操作的广泛用户提供准确可靠的定位。虽然用户已经习惯了无处不在的GNSS定位，但在室内和城市环境中，可用性和可靠性仍然很差。该研究计划将通过将多个gnss测量数据与基于地面的无线测距信号和来自视频图像的方位紧密集成，改进这些环境中的基于gnss的定位。城市和室内的位置目前是通过无线指纹识别技术确定的。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。直接对通信信号进行测距是困难的；然而，新的无线标准包括时间/范围功能，使这些良好的信号成为可能。中国、欧洲、印度和日本部署的新型卫星导航系统将使卫星导航信号数量增加一倍，并将改善城市户外定位。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。***拟议的研究包括以下三个相关目标：***1。在GNSS信号有限的城市环境中，将差分GNSS和来自图像的方位测量紧密结合，应用于车对车（V2V）和车对基础设施（V2I）相对导航。具体地说，将在GNSS测量和接收机层面研究双向反馈的能力，其中GNSS相对位置估计有助于图像中的目标识别，然后使用已识别的目标来改进相对位置。开发使用专用短距离通信（DSRC）直接测量距离的方法，DSRC是汽车行业用于V2V和V2I通信的无线通信标准。尽管DSRC无线电测距技术可能不如其他测距技术精确，但由于DSRC无线电将成为未来车辆的标准设备，因此它具有成本优势***3。开发使用多个GNSS星座的编队驱动相对导航算法、用于城市环境导航的视觉衍生方位测量和DSRC测距，并将这些算法扩展到包括车辆以外的物体（包括智能基础设施点）的测距和视觉衍生方位测量。***提出的研究项目在培养8名研究生的同时，推动了V2V和V2I GNSS相对导航技术的发展。

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.