Non-Range Based Cooperative Localization for VANETs in Urban Environments
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Authors
Mahmoud, Anas
Date
2015-08-19
Type
thesis
Language
eng
Keyword
Urban Environments , Localization , Ranging , INS/GPS integration , Cooperative Positioning , Cooperative Navigation , VANETs
Alternative Title
Abstract
Location-Based Services (LBS) and Intelligent Transportation Systems (ITS) demand
positioning accuracy and availability requirements. In urban canyons, Global Navi-
gation Satellite Systems (GNSS) su er from signal blockage, severe multipath, and
low Carrier-to-Noise (C/No) ratio which degrade positioning accuracy and availabil-
ity. Therefore, applications solely relying on GNSS have limited performance. In this
thesis, we present a novel uni ed Cooperative Positioning (CP) solution which en-
hances positioning accuracy and availability in urban canyons. The proposed system
exploits the fact that vehicles have di erent positioning resources and is based on
Angle Approximation (AA). AA requires no infrastructure or other aiding sensors,
AA is distributed and addresses two core challenges (limited positioning accuracy and
availability) in a uni ed solution. AA arti cially generates the hindered pseudorange
by sharing pseudoranges between vehicles using Dedicated Short Range Communi-
cation (DSRC). To enhance the performance of the AA technique, we propose the
Absolute Sum of Double Di erencing (ASODD) method which increases the probabil-
ity of selecting the most accurate generated pseudorange. We also propose a vehicle
selection method called Absolute Sum of Single Di erencing (ASOSD). As the dis-
tance between vehicles decrease, the accuracy of the proposed system increases and
hence ASOSD is utilized to increase the probability of selecting the nearest assistingvehicle to the target vehicle. We have developed an Orbit Simulator to evaluate the
performance of our system.
In addition, we employ the proposed cooperative system to assist the loose integration
between the Inertial Navigation System (INS) and the GPS system (using Extended
Kalman Filter) during partial GPS outages. Using raw data from inertial sensors
and GPS receivers in real road trajectories, we implement the cooperative INS/GPS
loose integration and show that our cooperative integrated system outperforms the
non-cooperative integrated system. The performance metrics used are the 2D posi-
tioning Root-Mean-Square (RMS) error, the maximum 2D positioning error and the
Positioning Accuracy Gain (PAG). Speci cally, the PAG gain is around 88%, 80%
and 60% when the number of blocked satellites is one, two and three respectively.
Description
Thesis (Master, Electrical & Computer Engineering) -- Queen's University, 2015-08-18 15:33:57.429
Citation
Publisher
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Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
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Copying and Preserving Your Thesis
Creative Commons - Attribution - CC BY
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
Creative Commons - Attribution - CC BY
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.