scholarly journals Kinematic and Dynamic Vehicle Model-Assisted Global Positioning Method for Autonomous Vehicles with Low-Cost GPS/Camera/In-Vehicle Sensors

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5430 ◽  
Author(s):  
Haigen Min ◽  
Xia Wu ◽  
Chaoyi Cheng ◽  
Xiangmo Zhao
Keyword(s):  
Coordinate System ◽  
Autonomous Vehicles ◽  
Low Cost ◽  
Positioning System ◽  
Visual Slam ◽  
Multiple Model ◽  
Positioning Systems ◽  
Local Accuracy ◽  
Global Positioning ◽  
Vehicle Sensors

Real-time, precise and low-cost vehicular positioning systems associated with global continuous coordinates are needed for path planning and motion control in autonomous vehicles. However, existing positioning systems do not perform well in urban canyons, tunnels and indoor parking lots. To address this issue, this paper proposes a multi-sensor positioning system that combines a global positioning system (GPS), a camera and in-vehicle sensors assisted by kinematic and dynamic vehicle models. First, the system eliminates image blurring and removes false feature correspondences to ensure the local accuracy and stability of the visual simultaneous localisation and mapping (SLAM) algorithm. Next, the global GPS coordinates are transferred to a local coordinate system that is consistent with the visual SLAM process, and the GPS and visual SLAM tracks are calibrated with the improved weighted iterative closest point and least absolute deviation methods. Finally, an inverse coordinate system conversion is conducted to obtain the position in the global coordinate system. To improve the positioning accuracy, information from the in-vehicle sensors is fused with the interacting multiple-model extended Kalman filter based on kinematic and dynamic vehicle models. The developed algorithm was verified via intensive simulations and evaluated through experiments using KITTI benchmarks (A project of Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago) and data captured using our autonomous vehicle platform. The results show that the proposed positioning system improves the accuracy and reliability of positioning in environments in which the Global Navigation Satellite System is not available. The developed system is suitable for the positioning and navigation of autonomous vehicles.

Vehicle Positioning Based on Velocity and Heading Angle Observer Using Low-Cost Sensor Fusion

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Giseo Park ◽  
Yoonjin Hwang ◽  
Seibum B. Choi
Keyword(s):  
Sensor Fusion ◽  
Low Cost ◽  
Estimation Error ◽  
Nonlinear Observer ◽  
Positioning System ◽  
Positioning Systems ◽  
Noise Covariance ◽  
Heading Angle ◽  
Vehicle Positioning ◽  
Vehicle Sensors

The vehicle positioning system can be utilized for various automotive applications. Primarily focusing on practicality, this paper presents a new method for vehicle positioning systems using low-cost sensor fusion, which combines global positioning system (GPS) data and data from easily available in-vehicle sensors. As part of the vehicle positioning, a novel nonlinear observer for vehicle velocity and heading angle estimation is designed, and the convergence of estimation error is also investigated using Lyapunov stability analysis. Based on this estimation information, a new adaptive Kalman filter with rule-based logic provides robust and highly accurate estimations of the vehicle position. It adjusts the noise covariance matrices Q and R in order to adapt to various environments, such as different driving maneuvers and ever-changing GPS conditions. The performance of the entire system is verified through experimental results using a commercial vehicle. Finally, through a comparative study, the effectiveness of the proposed algorithm is confirmed.

Low-Cost Receiver and Network Real-Time Kinematic Positioning for use in Connected and Autonomous Vehicles

2019 ◽  
Vol 72 (04) ◽  
pp. 917-930
Author(s):  
Fang-Shii Ning ◽  
Xiaolin Meng ◽  
Yi-Ting Wang
Keyword(s):  
Real Time ◽  
Autonomous Vehicles ◽  
High Performance ◽  
Low Cost ◽  
Satellite System ◽  
High Accuracy ◽  
Future Trend ◽  
Intelligent Transport System ◽  
Positioning System ◽  
Gnss Receiver

Connected and Autonomous Vehicles (CAVs) have been researched extensively for solving traffic issues and for realising the concept of an intelligent transport system. A well-developed positioning system is critical for CAVs to achieve these aims. The system should provide high accuracy, mobility, continuity, flexibility and scalability. However, high-performance equipment is too expensive for the commercial use of CAVs; therefore, the use of a low-cost Global Navigation Satellite System (GNSS) receiver to achieve real-time, high-accuracy and ubiquitous positioning performance will be a future trend. This research used RTKLIB software to develop a low-cost GNSS receiver positioning system and assessed the developed positioning system according to the requirements of CAV applications. Kinematic tests were conducted to evaluate the positioning performance of the low-cost receiver in a CAV driving environment based on the accuracy requirements of CAVs. The results showed that the low-cost receiver satisfied the “Where in Lane” accuracy level (0·5 m) and achieved a similar positioning performance in rural, interurban, urban and motorway areas.

scholarly journals New Global Referencing Approach in a Camera-LCD Micro Positioning System

Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 2118
Author(s):  
Óscar de Francisco Ortiz ◽  
Irene Ortiz ◽  
Antonio Bueno
Keyword(s):  
Global Positioning System ◽  
New Technology ◽  
Positioning System ◽  
New Approach ◽  
Positioning Systems ◽  
System A ◽  
Quality Product ◽  
Global Positioning ◽  
Accuracy And Repeatability ◽  
Current Systems

In any precision manufacturing process, positioning systems play a very important role in achieving a quality product. As a new approach to current systems, camera-LCD positioning systems are a new technology that can provide substantial improvements enabling better accuracy and repeatability. However, in order to provide stability to the system a global positioning system is required. This paper presents an improvement of a positioning system based on the treatment of images on an LCD in which a new algorithm with absolute reference has been implemented. The method is based on basic geometry and linear algebra applied to computer vision. The algorithm determines the spiral center using an image taken at any point. Consequently, the system constantly knows its position and does not lose its reference. Several modifications of the algorithm are proposed and compared. The simulation and test of the algorithm provide an important improvement in the reliability and stability of the positioning system providing errors of microns for the calculation of the global position used by the algorithm.

scholarly journals In-motion Alignment of a Low-cost GPS/INS under Large Heading Error

2014 ◽  
Vol 68 (2) ◽  
pp. 355-366 ◽  
Author(s):  
Burak H. Kaygısız ◽  
Bekir Şen
Keyword(s):  
Global Positioning System ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Positioning System ◽  
Performance Tests ◽  
Alignment Procedure ◽  
Attitude Error ◽  
Global Positioning ◽  
New Type ◽  
Navigation Accuracy

This paper presents a new type of Global Positioning System/Inertial Navigation System (GPS/INS) providing higher navigation accuracy under large initial heading error. The mechanization introduced is applicable to low cost GPS/INS systems and enhances the performance when the heading error is large. The proposed approach has the capability to decrease large heading errors very quickly and can start the strapdown navigation computations under poor heading accuracy without any special alignment procedure. Although the design is applicable to land, sea and aerial vehicles, a land vehicle is used for the performance tests. The test is conducted around a closed path and the proposed system is compared to a GPS/INS system based on small attitude error assumption. The performance of both systems is given in this paper.

Urban Fleet Monitoring with GPS and GLONASS

1998 ◽  
Vol 51 (3) ◽  
pp. 382-393 ◽  
Author(s):  
M. Tsakiri ◽  
M. Stewart ◽  
T. Forward ◽  
D. Sandison ◽  
J. Walker
Keyword(s):  
Global Positioning System ◽  
Public Transport ◽  
Urban Areas ◽  
Dead Reckoning ◽  
Satellite System ◽  
Basic Function ◽  
Positioning System ◽  
Positioning Systems ◽  
Global Positioning ◽  
Global Navigation Satellite

The increasing volume of traffic in urban areas has resulted in steady growth of the mean driving time on fixed routes. Longer driving times lead to significantly higher transportation costs, particularly for vehicle fleets, where efficiency in the distribution of their transport tasks is important in staying competitive in the market. For bus fleets, the optimal control and command of the vehicles is, as well as the economic requirements, a basic function of their general mission. The Global Positioning System (GPS) allows reliable and accurate positioning of public transport vehicles except within the physical limitations imposed by built-up city ‘urban canyons’. With a view to the next generation of satellite positioning systems for public transport fleet management, this paper highlights the limitations imposed on current GPS systems operating in the urban canyon. The capabilities of a future positioning system operating in this type of environment are discussed. It is suggested that such a system could comprise receivers capable of integrating the Global Positioning System (GPS) and the Russian equivalent, the Global Navigation Satellite System (GLONASS), and relatively cheap dead-reckoning sensors.

scholarly journals Indoor Localization System Using Wi-Fi Technology

2019 ◽  
pp. 69-77
Keyword(s):  
Global Positioning System ◽  
Indoor Localization ◽  
Tracking System ◽  
Low Cost ◽  
Positioning System ◽  
Test Results ◽  
Localization System ◽  
Transmission Technique ◽  
Wide Range ◽  
Global Positioning

Recently, indoor localization has witnessed an increase in interest, due to the potential wide range of using in different applications, such as Internet of Things (IoT). It is also providing a solution for the absence of Global Positioning System (GPS) signals inside buildings. Different techniques have been used for performing the indoor localization, such as sensors and wireless technologies. In this paper, an indoor localization and object tracking system is proposed based on WiFi transmission technique. It is done by distributing different WiFi sources around the building to read the data of the tracked objects. This is to measure the distance between the WiFi receiver and the object to allocate and track it efficiently. The test results show that the proposed system is working in an efficient way with low cost.

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