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Sensors 2016, 16(7), 944; doi:10.3390/s16070944

A Tightly-Coupled GPS/INS/UWB Cooperative Positioning Sensors System Supported by V2I Communication

1
School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
2
Nottingham Geospatial Institute, The University of Nottingham, Nottingham NG7 2TU, UK
3
Sino-UK Geospatial Engineering Centre, The University of Nottingham, Nottingham NG7 2TU, UK
4
Department of Civil Engineering, University of Nottingham, Ningbo 315100, China
*
Author to whom correspondence should be addressed.
Received: 22 March 2016 / Revised: 30 May 2016 / Accepted: 8 June 2016 / Published: 27 June 2016
(This article belongs to the Section Remote Sensors)
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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. View Full-Text
Keywords: cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Wang, J.; Gao, Y.; Li, Z.; Meng, X.; Hancock, C.M. A Tightly-Coupled GPS/INS/UWB Cooperative Positioning Sensors System Supported by V2I Communication. Sensors 2016, 16, 944.

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