Estimation of Spatially Correlated Errors in Vehicular Collaborative Navigation with Shared GNSS and Road-Boundary Measurements

J. Rife, X. Xiao

Abstract:	In collaborative navigation, users determine their positions by fusing their own sensor data with data shared by other users via a common communication network. This paper proposes a collaborative navigation algorithm that shares GNSS and camera data to enable estimation and removal of spatially correlated GNSS errors. In principle, this algorithm could serve as the basis for a mobile, ad hoc GNSS augmentation system that achieves levels of accuracy comparable with a conventional Ground Based Augmentation System (GBAS), but without requiring a fixed reference station. In particular, such a mobile augmentation system has great potential for future automotive applications, such as automated driving. Keywords: Collaborative Navigation, DGPS, GBAS, Automated Driving
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:	1667 - 1677
Cite this article:	Rife, J., Xiao, X., "Estimation of Spatially Correlated Errors in Vehicular Collaborative Navigation with Shared GNSS and Road-Boundary Measurements," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 1667-1677.
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