Accurate Relative Localization for Land Vehicles with SBAS Corrected GPS/INS Integration and V2V Communication

Marcus Obst, Eric Richter, Gerd Wanielik

Abstract:	In this paper, different algorithms for performing relative localization based on GNSS measurements only are presented. The focus of this work is to provide an accurate and reliable distance vector between moving vehicles on the road. Therefore, two different algorithms are described and evaluated with real data gathered from several scenarios and test sites. To achieve communication between the vehicles the 802.11p standard for wireless automotive communication is utilized. Moreover, an extension to transmit GNSS raw data in real-time is introduced. Even though the main focus is on relative localization, an absolute position estimate for the ego vehicle is often required as well. In order to provide a stabilized absolute position, orientation and velocity of the vehicle, a Bayes filter implementation to integrate GPS and in-vehicle INS measurements is proposed. Additionally, a vehicular motion model, which describes the dynamics, is applied. The algorithms are tested and evaluated with several prototyping test vehicles which are equipped with reliable ground truth sensors to generate reference trajectories. The paper concludes with the generated results and gives an outlook to potential applications for relative localization in automotive domain.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	363 - 371
Cite this article:	Obst, Marcus, Richter, Eric, Wanielik, Gerd, "Accurate Relative Localization for Land Vehicles with SBAS Corrected GPS/INS Integration and V2V Communication," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 363-371.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In