Accurate Positioning of Autonomous Vehicles in Adverse Visibility Conditions

John Nielsen, and Vahid Dehghanian

Abstract:	Positioning of the autonomous vehicle (AV) will be based on a variety of GNSS, inertial, wireless, optical and camera-based sensors. In addition, roadside infrastructure will be developed and integrated to augment this sensor suite for assuring accurate and robust guidance of AV’s implying that the AV can operate reliably without human intervention in all weather conditions. In scenarios, such as in fog, heavy snow or rain, optical and camera-based sensors do not contribute valid observations and positioning of the AV will be based on radio signaling only. In this paper, the value of cooperative sharing of wireless observables by several AV’s is developed. The information relevant to positioning from a given wireless source is significantly enhanced through cooperative sharing amongst AV’s.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	1931 - 1940
Cite this article:	Nielsen, John, Dehghanian, Vahid, "Accurate Positioning of Autonomous Vehicles in Adverse Visibility Conditions," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 1931-1940.
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