High Precision Positioning in Difficult GPS Environments for Cooperative Vehicle Safety Applications

A. Soloviev, Z. Popovic, Y. Mochizuki

Abstract:	The paper develops a multi-sensor fusion solution for accurate estimation of position states in difficult GPS environments such as urban canyons. The solution is developed to support performance requirements of cooperative vehicle safety applications: 2-meter horizontal accuracy and 6-meter vertical accuracy with a 95% availability. The solution is also developed to incorporate lower-cost sensor options, specifically, lower-cost inertial measurement units that can be generally characterized by the gyro drift of 100 deg/hr and accelerometer bias of 2 mg. There is potential for the cost of the sensors used to decrease with time, volume, and specification reduction. Two architectures are implemented and studied including Global positioning System (GPS)/inertial/clock/ odometer and GPS/inertial/clock/odometer/lidar integration options. Performance is evaluated using experimental data collected in urban environments in downtown Detroit.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1622 - 1630
Cite this article:	Soloviev, A., Popovic, Z., Mochizuki, Y., "High Precision Positioning in Difficult GPS Environments for Cooperative Vehicle Safety Applications," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 1622-1630.
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