On board localization technologies for vehicle positioning

This work is based on the results published by Hodoň, 2010a, where thorough analysis of all available localization techniques with their applicability to the vehicle positioning was performed. From the analysis made, the navigation by satellites was defined as the most suitable and promising technology for the purpose of the vehicle localization. Although, in last decades, the considerable improvements relative to the GNSS localization quality were introduced, provided accuracy is still insufficient for using in critical Safety-of-Life applications. Even the best and most expensive GNSS receivers cannot work flawlessly under specific conditions which are associated to the localization of the moving vehicle. If the GNSS systems are aimed to be used within the navigation system of the vehicle, deep analysis of the GNSS system performance and quality has to be performed. Currently, there is no approved and well-accepted procedure to determine the measurement quality of GNSS receivers. The novel method for the classification of GNSS receivers has been therefore introduced. The quality of any GNSS receiver can be described by the defined mainframe. The typical errors considered as the most worthy when navigating through GNSS as well as the size of error that is caused by them are described as well. Different augmentation methods as SBAS (Satellite-Based Augmentation Systems), A-GPS (Assisted GPS) or D-GPS (Differential GPS) are applied and examined among different scenarios. Methodology of Dead reckoning (DR) is presented within the special Inertial Navigation System (INS). The system is composed of a simple L1 C/A GNSS receiver taking advantage of SBAS EGNOS and A-GPS CGEE ∗Recommended by thesis supervisor: Prof. Eckehard Schnieder. Defended at Faculty of Management Science and Informatics, University of Žilina in Žilina on August 20, 2013. c © Copyright 2014. All rights reserved. Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies show this notice on the first page or initial screen of a display along with the full citation. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, to republish, to post on servers, to redistribute to lists, or to use any component of this work in other works requires prior specific permission and/or a fee. Permissions may be requested from STU Press, Vazovova 5, 811 07 Bratislava, Slovakia. Hodon, M. On board localization technologies for vehicle positioning. Information Sciences and Technologies Bulletin of the ACM Slovakia, Vol. 6, No. 2 (2014) 29-44 upgrading. By application of Extended Kalman Filter (EKF), the minimization of position deviations measured by experimental INS vehicle can be observed. The developed system can be used as a universal platform for the dynamic localization accuracy testing.