A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication

Wang, Jian; Gao, Yang; Li, Zengke; Meng, Xiaolin; Hancock, Craig

Abstract

This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm.

Citation

Wang, J., Gao, Y., Li, Z., Meng, X., & Hancock, C. (2016). A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication. Sensors, 16, Article 944. https://doi.org/10.3390/s16070944

• Journal Article Type: Article
• Acceptance Date: Jun 8, 2016
• Publication Date: Jun 27, 2016
• Deposit Date: Jul 25, 2016
• Publicly Available Date: Jul 25, 2016
• Journal: Sensors
• Electronic ISSN: 1424-8220
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• Volume: 16
• Article Number: 944
• DOI: https://doi.org/10.3390/s16070944
• Keywords: cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I
• Public URL: https://nottingham-repository.worktribe.com/output/793431
• Publisher URL: http://www.mdpi.com/1424-8220/16/7/944