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An Accurate Cooperative Positioning System for Vehicular Safety Applications
Abstract : Typical Global Navigation Satellite System (GNSS) receivers offer precision in the order of meters. This error margin is excessive for vehicular safety applications , such as forward collision warning, autonomous intersection management, or hard braking sensing. In this work we develop CooPS, a GNSS positioning system that uses Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications to cooperatively determine absolute and relative position of the ego-vehicle with enough precision. To that end, we use differential GNSS through position vector differencing to acquire track and across-track axes projections , employing elliptical and spherical geometries. We evaluate CooPS performance by carrying out real experiments using off-the-shelf IEEE 802.11p equipment at the campus of the Federal University of Rio de Janeiro. We obtain an accuracy level under 1.0 and 1.5 m for track (where-in-lane) and across-track (which-lane) axes, respectively. These accuracy levels were achieved using a 2.5 m accuracy circular error probable (CEP) of 50% and a 5 Hz navigation update rate GNSS receiver.
Cited literature [42 references]
https://hal.inria.fr/hal-02364355
Contributor : Nathalie Mitton <>
Submitted on : Thursday, November 14, 2019 - 9:16:44 PM
Last modification on : Monday, October 19, 2020 - 2:34:03 PM
Long-term archiving on: : Saturday, February 15, 2020 - 5:20:11 PM
Contributor : Nathalie Mitton <>
Submitted on : Thursday, November 14, 2019 - 9:16:44 PM
Last modification on : Monday, October 19, 2020 - 2:34:03 PM
Long-term archiving on: : Saturday, February 15, 2020 - 5:20:11 PM
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CooPS_JB_CAEE_v2.pdf
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