scholarly journals An Enhanced UWB-Based Range/GPS Cooperative Positioning Approach Using Adaptive Variational Bayesian Cubature Kalman Filtering

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Feng Shen ◽  
Guanghui Xu
Keyword(s):  
Kalman Filtering ◽  
Intelligent Transportation Systems ◽  
Ad Hoc ◽  
Transportation Systems ◽  
Global Navigation Satellite Systems ◽  
Extended Kalman Filtering ◽  
Precise Position ◽  
Variational Bayesian ◽  
Satellite Systems ◽  
Cooperative Positioning

Precise position awareness is a fundamental requirement for advanced applications of emerging intelligent transportation systems, such as collision warning and speed advisory system. However, the achievable level of positioning accuracy using global navigation satellite systems does not meet the requirements of these applications. Fortunately, cooperative positioning (CP) techniques can improve the performance of positioning in a vehicular ad hoc network (VANET) through sharing the positions between vehicles. In this paper, a novel enhanced CP technique is presented by combining additional range-ultra-wide bandwidth- (UWB-) based measurements. Furthermore, an adaptive variational Bayesian cubature Kalman filtering (AVBCKF) algorithm is proposed and used in the enhanced CP method, which can add robustness to the time-variant measurement noise. Based on analytical and experimental results, the proposed AVBCKF-based CP method outperforms the cubature Kalman filtering- (CKF-) based CP method and extended Kalman filtering- (EKF-) based CP method.

scholarly journals Robust TOA-Based UAS Navigation under Model Mismatch in GNSS-Denied Harsh Environments

2020 ◽  
Vol 12 (18) ◽  
pp. 2928
Author(s):  
Jan Mortier ◽  
Gaël Pagès ◽  
Jordi Vilà-Valls
Keyword(s):  
Intelligent Transportation Systems ◽  
Autonomous Systems ◽  
Real Life ◽  
Transportation Systems ◽  
Urban Environments ◽  
Global Navigation Satellite Systems ◽  
Ultra Wideband ◽  
Time Of Arrival ◽  
Navigation Systems ◽  
Satellite Systems

Global Navigation Satellite Systems (GNSS) is the technology of choice for outdoor positioning purposes but has many limitations when used in safety-critical applications such Intelligent Transportation Systems (ITS) and Unmanned Autonomous Systems (UAS). Namely, its performance clearly degrades in harsh propagation conditions and is not reliable due to possible attacks or interference. Moreover, GNSS signals may not be available in the so-called GNSS-denied environments, such as deep urban canyons or indoors, and standard GNSS architectures do not provide the precision needed in ITS. Among the different alternatives, cellular signals (LTE/5G) may provide coverage in constrained urban environments and Ultra-Wideband (UWB) ranging is a promising solution to achieve high positioning accuracy. The key points impacting any time-of-arrival (TOA)-based navigation system are (i) the transmitters’ geometry, (ii) a perfectly known transmitters’ position, and (iii) the environment. In this contribution, we analyze the performance loss of alternative TOA-based navigation systems in real-life applications where we may have both transmitters’ position mismatch, harsh propagation environments, and GNSS-denied conditions. In addition, we propose new robust filtering methods able to cope with both effects up to a certain extent. Illustrative results in realistic scenarios are provided to support the discussion and show the performance improvement brought by the new methodologies with respect to the state-of-the-art.

scholarly journals Positioning Performance Limits of GNSS Meta-Signals and HO-BOC Signals

Sensors ◽  
2020 ◽  
Vol 20 (12) ◽  
pp. 3586 ◽  
Author(s):  
Lorenzo Ortega ◽  
Daniel Medina ◽  
Jordi Vilà-Valls ◽  
François Vincent ◽  
Eric Chaumette
Keyword(s):  
Intelligent Transportation Systems ◽  
Single Point ◽  
Transportation Systems ◽  
Global Navigation Satellite Systems ◽  
Performance Limits ◽  
Binary Offset Carrier ◽  
Ml Estimation ◽  
Satellite Systems ◽  
Satellite Constellation ◽  
The Impact

Global Navigation Satellite Systems (GNSS) are the main source of position, navigation, and timing (PNT) information and will be a key player in the next-generation intelligent transportation systems and safety-critical applications, but several limitations need to be overcome to meet the stringent performance requirements. One of the open issues is how to provide precise PNT solutions in harsh propagation environments. Under nominal conditions, the former is typically achieved by exploiting carrier phase information through precise positioning techniques, but these methods are very sensitive to the quality of phase observables. Another option that is gaining interest in the scientific community is the use of large bandwidth signals, which allow obtaining a better baseband resolution, and therefore more precise code-based observables. Two options may be considered: (i) high-order binary offset carrier (HO-BOC) modulations or (ii) the concept of GNSS meta-signals. In this contribution, we assess the time-delay and phase maximum likelihood (ML) estimation performance limits of such signals, together with the performance translation into the position domain, considering single point positioning (SPP) and RTK solutions, being an important missing point in the literature. A comprehensive discussion is provided on the estimators’ behavior, the corresponding ML threshold regions, the impact of good and bad satellite constellation geometries, and final conclusions on the best candidates, which may lead to precise solutions under harsh conditions. It is found that if the receiver is constrained by the receiver bandwidth, the best choices are the L1-M or E6-Public Regulated Service (PRS) signals. If the receiver is able to operate at 60 MHz, it is recommended to exploit the full-bandwidth Galileo E5 signal. In terms of robustness and performance, if the receiver can operate at 135 MHz, the best choice is to use the GNSS meta-signals E5 + E6 or B2 + B3, which provide the best overall performances regardless of the positioning method used, the satellite constellation geometry, or the propagation conditions.

scholarly journals An Integrated Dead Reckoning with Cooperative Positioning Solution to Assist GPS NLOS Using Vehicular Communications

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2895 ◽  
Author(s):  
Pedro Nascimento ◽  
Bruno Kimura ◽  
Daniel Guidoni ◽  
Leandro Villas
Keyword(s):  
Intelligent Transportation Systems ◽  
Urban Areas ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Dead Reckoning ◽  
Transportation Systems ◽  
Ieee 802.11P ◽  
Vehicular Communication ◽  
Cooperative Positioning ◽  
Wide Range

In Intelligent Transportation Systems (ITS), the Vehicular Ad Hoc Networks (VANETs) paradigm based on the WAVE IEEE 802.11p standard is the main alternative for inter-vehicle communications. Recently, many protocols, applications, and services have been developed with a wide range of objectives, ranging from comfort to security. Most of these services rely on location systems and require different levels of accuracy for their full operation. The Global Positioning System (GPS) is an off-the-shelf solution for localization in VANETs and ITS. However, GPS systems present problems regarding inaccuracy and unavailability in dense urban areas, multilevel roads, and tunnels, posing a challenge for protocols, applications, and services that rely on localization. With this motivation, we carried out a characterization of the problems of inaccuracy and unavailability of GPS systems from real datasets, and regions around tunnels were selected. Since the nodes of the vehicular network are endowed with wireless communication, processing and storage capabilities, an integrated Dead Reckoning aided Geometric Dilution of Precision (GDOP)-based Cooperative Positioning solution was developed and evaluated. Leveraging the potential of vehicular sensors, such as odometers, gyroscopes, and digital compasses, vehicles share their positions and kinematics information using vehicular communication to improve their location estimations. With the assistance of a digital map, vehicles adjust the final estimated position using the road geometry. The situations of GPS unavailability characterized in the datasets were reproduced in a simulation environment to validate the proposed localization solution. The simulation results show average gains in Root Mean Square Error (RMSE) between 97% to 98% in comparison with the stand-alone GPS solution, and 83.00% to 88.00% against the GPS and Dead Reckoning (DR) only solution. The average absolute RMSE was reduced to the range of 3 to 5 m by vehicle. In addition, the proposed solution was shown to support 100% of the GPS unavailability zones on the evaluated scenarios.

Modified fuzzy-based greedy routing protocol for VANETs

2020 ◽  
Vol 39 (6) ◽  
pp. 8357-8364
Author(s):  
Thompson Stephan ◽  
Ananthnarayan Rajappa ◽  
K.S. Sendhil Kumar ◽  
Shivang Gupta ◽  
Achyut Shankar ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Routing Protocol ◽  
Intelligent Transportation Systems ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Research Area ◽  
Transportation Systems ◽  
Delivery Ratio ◽  
Greedy Routing ◽  
Hoc Networks

Vehicular Ad Hoc Networks (VANETs) is the most growing research area in wireless communication and has been gaining significant attention over recent years due to its role in designing intelligent transportation systems. Wireless multi-hop forwarding in VANETs is challenging since the data has to be relayed as soon as possible through the intermediate vehicles from the source to destination. This paper proposes a modified fuzzy-based greedy routing protocol (MFGR) which is an enhanced version of fuzzy logic-based greedy routing protocol (FLGR). Our proposed protocol applies fuzzy logic for the selection of the next greedy forwarder to forward the data reliably towards the destination. Five parameters, namely distance, direction, speed, position, and trust have been used to evaluate the node’s stability using fuzzy logic. The simulation results demonstrate that the proposed MFGR scheme can achieve the best performance in terms of the highest packet delivery ratio (PDR) and minimizes the average number of hops among all protocols.

scholarly journals Robust Filtering Techniques for RTK Positioning in Harsh Propagation Environments

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1250
Author(s):  
Daniel Medina ◽  
Haoqing Li ◽  
Jordi Vilà-Valls ◽  
Pau Closas
Keyword(s):  
Intelligent Transportation Systems ◽  
Robust Statistics ◽  
Real Data ◽  
Transportation Systems ◽  
Global Navigation Satellite Systems ◽  
Mixed Integer ◽  
Robust Filtering ◽  
Precise Positioning ◽  
The Impact ◽  
Filtering Techniques

Global navigation satellite systems (GNSSs) play a key role in intelligent transportation systems such as autonomous driving or unmanned systems navigation. In such applications, it is fundamental to ensure a reliable precise positioning solution able to operate in harsh propagation conditions such as urban environments and under multipath and other disturbances. Exploiting carrier phase observations allows for precise positioning solutions at the complexity cost of resolving integer phase ambiguities, a procedure that is particularly affected by non-nominal conditions. This limits the applicability of conventional filtering techniques in challenging scenarios, and new robust solutions must be accounted for. This contribution deals with real-time kinematic (RTK) positioning and the design of robust filtering solutions for the associated mixed integer- and real-valued estimation problem. Families of Kalman filter (KF) approaches based on robust statistics and variational inference are explored, such as the generalized M-based KF or the variational-based KF, aiming to mitigate the impact of outliers or non-nominal measurement behaviors. The performance assessment under harsh propagation conditions is realized using a simulated scenario and real data from a measurement campaign. The proposed robust filtering solutions are shown to offer excellent resilience against outlying observations, with the variational-based KF showcasing the overall best performance in terms of Gaussian efficiency and robustness.

scholarly journals Performance Evaluation of GPS Auto-Surveying Techniques

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7374
Author(s):  
João Manito ◽  
José Sanguino
Keyword(s):  
Kalman Filter ◽  
Least Squares ◽  
Unscented Kalman Filter ◽  
Weighted Least Squares ◽  
Base Station ◽  
Global Navigation Satellite Systems ◽  
Precise Position ◽  
Satellite Systems ◽  
Global Navigation Satellite ◽  
Position Estimate

With the increase in the widespread use of Global Navigation Satellite Systems (GNSS), increasing numbers of applications require precise position data. Of all the GNSS positioning methods, the most precise are those that are based in differential systems, such as Differential GNSS (DGNSS) and Real-Time Kinematics (RTK). However, for absolute positioning, the precision of these methods is tied to their reference position estimates. With the goal of quickly auto-surveying the position of a base station receiver, four positioning methods are analyzed and compared, namely Least Squares (LS), Weighted Least Squares (WLS), Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), using only pseudorange measurements, as well as the Hatch Filter and position thresholding. The research results show that the EKF and UKF present much better mean errors than LS and WLS, with an attained precision below 1 m after about 4 h of auto-surveying. The methods that presented the best results are then tested against existing implementations, showing them to be very competitive, especially considering the differences between the used receivers. Finally, these results are used in a DGNSS test, which verifies a significant improvement in the position estimate as the base station position estimate improves.

A Comprehensive Survey of the Key Technologies and Challenges Surrounding Vehicular Ad Hoc Networks

2021 ◽  
Vol 12 (4) ◽  
pp. 1-30
Author(s):  
Zhenchang Xia ◽  
Jia Wu ◽  
Libing Wu ◽  
Yanjiao Chen ◽  
Jian Yang ◽  
...  
Keyword(s):  
Ad Hoc Networks ◽  
Intelligent Transportation Systems ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
Key Technologies ◽  
Comprehensive Survey ◽  
Hoc Networks ◽  
Graph Neural Networks

Vehicular ad hoc networks ( VANETs ) and the services they support are an essential part of intelligent transportation. Through physical technologies, applications, protocols, and standards, they help to ensure traffic moves efficiently and vehicles operate safely. This article surveys the current state of play in VANETs development. The summarized and classified include the key technologies critical to the field, the resource-management and safety applications needed for smooth operations, the communications and data transmission protocols that support networking, and the theoretical and environmental constructs underpinning research and development, such as graph neural networks and the Internet of Things. Additionally, we identify and discuss several challenges facing VANETs, including poor safety, poor reliability, non-uniform standards, and low intelligence levels. Finally, we touch on hot technologies and techniques, such as reinforcement learning and 5G communications, to provide an outlook for the future of intelligent transportation systems.

Potential Using Vehicle to Vehicle Communication Based on Wireless Fidelity (Wi-Fi) for Supporting Intelligent Transportation Systems (ITS)

2021 ◽  
pp. 61-76
Author(s):  
إسراء عصام بن موسى ◽  
عبدالسلام صالح الراشدي
Keyword(s):  
Intelligent Transportation Systems ◽  
Ad Hoc ◽  
Real Life ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
The Road ◽  
Vehicle Communication ◽  
Vehicle To Vehicle ◽  
Vehicle To Vehicle Communication ◽  
Wireless Fidelity

Vehicular Ad-hoc Network (VANET) becomes one of the most popular modern technologies these days, due to its contribution to the development and modernization of Intelligent Transportation Systems (ITS). The primary goal of these networks is to provide safety and comfort for drivers and passengers in roads. There are many types of VANET that are used in ITS, in this paper, we particularly focus on the Vehicle to Vehicle communication (V2V), which each vehicle can exchange information to inform drivers of other vehicles about the current state of the road flow, in the event of any emergency to avoid accidents, and reduce congestion on roads. We proposed V2V using Wi-Fi (wireless fidelity); the reason of its unique characteristics that distinguish it from other types. There are many difficulties and the challenges in implementing most types of V2V, and the reason is due to the lack of devices and equipment needed for real implementation. To prove the possibility of applying this type in real life, we made a prototype contains a modified toy car, a 12-volt power supply, sensors, visual, audible alarm, a visual “LED” devices, and finally a 12-volt DC relay unit. As a conclusion, the proposed implementation in spite of minimal requirements and use simple equipment, we have achieved the most important main objectives of the paper: preventing vehicles from collision, early warning, and avoiding congestion on the roads.

Intrusion Detection in Vehicular Ad-Hoc Networks on Lower Layers

2015 ◽  
pp. 192-220
Author(s):  
Chong Han ◽  
Sami Muhaidat ◽  
Ibrahim Abualhaol ◽  
Mehrdad Dianati ◽  
Rahim Tafazolli
Keyword(s):  
Intrusion Detection ◽  
Ad Hoc Networks ◽  
Intelligent Transportation Systems ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Transportation Systems ◽  
Detection Systems ◽  
Channel Errors ◽  
Major Attention ◽  
Hoc Networks

Vehicular Ad-Hoc Networks (VANETs) are a critical component of the Intelligent Transportation Systems (ITS), which involve the applications of advanced information processing, communications, sensing, and controlling technologies in an integrated manner to improve the functionality and the safety of transportation systems, providing drivers with timely information on road and traffic conditions, and achieving smooth traffic flow on the roads. Recently, the security of VANETs has attracted major attention for the possible presence of malicious elements, and the presence of altered messages due to channel errors in transmissions. In order to provide reliable and secure communications, Intrusion Detection Systems (IDSs) can serve as a second defense wall after prevention-based approaches, such as encryption. This chapter first presents the state-of-the-art literature on intrusion detection in VANETs. Next, the detection of illicit wireless transmissions from the physical layer perspective is investigated, assuming the presence of regular ongoing legitimate transmissions. Finally, a novel cooperative intrusion detection scheme from the MAC sub-layer perspective is discussed.

scholarly journals Vehicular Ad hoc Network for Intelligent Transport System: A review

2018 ◽  
Vol 7 (4.36) ◽  
pp. 350
Author(s):  
Mohammed Saad Talib ◽  
Aslinda Hassan ◽  
Burairah Hussin ◽  
Ali Abdul-Jabbar Mohammed ◽  
Ali Abdulhussian Hassan ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Intelligent Transportation Systems ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
High Efficiency ◽  
New Technologies ◽  
Negative Impact ◽  
Transportation Systems ◽  
Transport Systems ◽  
Intelligent Transport System

the numbers of accidents are increasing in an exponential manner with the growing of vehicles numbers on roads in recent years.  This huge number of vehicles increases the traffic congestion rates. Therefore, new technologies are so important to reduce the victims in the roads and improve the traffic safety. The Intelligent Transportation Systems (ITS) represents an emerging technology to improve the road's safety and traffic efficiency. ITS have various safety and not safety applications. Numerous methods are intended to develop the smart transport systems. The crucial form is the Vehicular Ad hoc Networks (VANET). VANET is becoming the most common network in ITS. It confirms human’s safety on streets by dissemination protection messages among vehicles. Optimizing the traffic management operations represent an urgent issue in this era a according to the massive growing in number of circulating vehicles, traffic congestions and road accidents. Street congestions can have significant negative impact on the life quality, passenger's safety, daily activities, economic and environmental for citizens and organizations. Current progresses in communication and computing paradigms fetched the improvement of inclusive intelligent devices equipped with wireless communication capability and high efficiency processors.  

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