Augmentation of Carrier-Phase DGPS with UWB Ranges for Relative Vehicle Positioning
نویسندگان
چکیده
In this paper, vehicle relative positioning applied in Vehicle-to-Infrastructure (V2I) navigation is described. GPS positioning augmented with Ultra-Wideband (UWB) ranges is reviewed. The relative solution is implemented in an extended Kalman filter where differential GPS pseudorange, Doppler and carrier phase measurements are used in conjunction with UWB ranges measured between the vehicle and two points on either side of the road. Results indicate that the GPS and UWB integrated positioning system can significantly improve the GPS float solution and ambiguity resolution compared to the GPS-only case. The probability of incorrect fix (PIF) can be improved considerably when adding UWB measurements, but only after the vehicle passes the intersection. The data rate of the GPS measurements has a significant impact on PIF values.
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