In this paper, non ranging-based cooperative positioning algorithms based on GNSS measurements, including Absolute Position Differencing (APD), Single-Differencing (SD), and Double-Differencing (DD), are used to estimate the intervehicle distance (IVD). To reduce the uncertainty of IVD estimates, the maximum volume algorithm (MVA) was employed to determine the optimal geometric group composition of four satellites as a multi-GNSS system, namely GPS, GLONASS, Galileo, and BeiDou. Real-world experiments on two autonomous vehicles using SD-based and DD-based algorithms demonstrate that estimated IVD uncertainty is sub-centimetres, which is close to sensor-based solutions but at a lower cost.

Cooperative Positioning Algorithms for Estimating Inter-Vehicle Distance Using Multi-GNSS / Alijani, Morteza; Steccanella, Andrea; Fontanelli, Daniele. - (2023). (Intervento presentato al convegno I2MTC 2023 tenutosi a Kuala Lumpur, Malaysia nel 22nd-25th May 2023) [10.1109/i2mtc53148.2023.10176082].

Cooperative Positioning Algorithms for Estimating Inter-Vehicle Distance Using Multi-GNSS

Fontanelli, Daniele
Ultimo
2023-01-01

Abstract

In this paper, non ranging-based cooperative positioning algorithms based on GNSS measurements, including Absolute Position Differencing (APD), Single-Differencing (SD), and Double-Differencing (DD), are used to estimate the intervehicle distance (IVD). To reduce the uncertainty of IVD estimates, the maximum volume algorithm (MVA) was employed to determine the optimal geometric group composition of four satellites as a multi-GNSS system, namely GPS, GLONASS, Galileo, and BeiDou. Real-world experiments on two autonomous vehicles using SD-based and DD-based algorithms demonstrate that estimated IVD uncertainty is sub-centimetres, which is close to sensor-based solutions but at a lower cost.
2023
2023 IEEE International Instrumentation and Measurement Technology Conference (I2MTC 2023)
Piscataway, NJ, USA
IEEE
978-1-6654-5383-7
Alijani, Morteza; Steccanella, Andrea; Fontanelli, Daniele
Cooperative Positioning Algorithms for Estimating Inter-Vehicle Distance Using Multi-GNSS / Alijani, Morteza; Steccanella, Andrea; Fontanelli, Daniele. - (2023). (Intervento presentato al convegno I2MTC 2023 tenutosi a Kuala Lumpur, Malaysia nel 22nd-25th May 2023) [10.1109/i2mtc53148.2023.10176082].
File in questo prodotto:
File Dimensione Formato  
Cooperative_Positioning_Algorithms_for_Estimating_Inter-Vehicle_Distance_Using_Multi-GNSS.pdf

Solo gestori archivio

Tipologia: Versione editoriale (Publisher’s layout)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 1.35 MB
Formato Adobe PDF
1.35 MB Adobe PDF   Visualizza/Apri
1570872682 final.pdf

accesso aperto

Tipologia: Post-print referato (Refereed author’s manuscript)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 738.79 kB
Formato Adobe PDF
738.79 kB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/403569
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 0
social impact