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Open AccessArticle

Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB

by Huaikun Gao and Xu Li *
School of Instrument Science and Engineering, Southeast University, Sipailou 2, Xuanwu District, Nanjing 210096, China
Author to whom correspondence should be addressed.
Sensors 2019, 19(13), 2867;
Received: 13 May 2019 / Revised: 17 June 2019 / Accepted: 23 June 2019 / Published: 28 June 2019
(This article belongs to the Collection Positioning and Navigation)
Reliable and precise vehicle positioning is essential for most intelligent transportation applications as well as autonomous driving. Due to satellite signal blocking, it can be challenging to achieve continuous lane-level positioning in GPS-denied environments such as urban canyons and crossroads. In this paper, a positioning strategy utilizing ultra-wide band (UWB) and low-cost onboard sensors is proposed, aimed at tracking vehicles in typical urban scenarios (such as intersections). UWB tech offers the potential of achieving high ranging accuracy through its ability to resolve multipath and penetrate obstacles. However, not line of sight (NLOS) propagation still has a high occurrence in intricate urban intersections and may significantly deteriorate positioning accuracy. Hence, we present an autoregressive integrated moving average (ARIMA) model to first address the NLOS problem. Then, we propose a tightly-coupled multi sensor fusion algorithm, in which the fuzzy calibration logic (FCL) is designed and introduced to adaptively adjust the dependence on each received UWB measurement to effectively mitigate NLOS and multipath interferences. At last, the proposed strategy is evaluated through experiments. Ground test results validate that this low-cost approach has the potential to achieve accurate, reliable and continuous localization, regardless of the GPS working statue. View Full-Text
Keywords: UWB; urban intersections; ARIMA; FCL; tightly-coupled; vehicle positioning UWB; urban intersections; ARIMA; FCL; tightly-coupled; vehicle positioning
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Gao, H.; Li, X. Tightly-Coupled Vehicle Positioning Method at Intersections Aided by UWB. Sensors 2019, 19, 2867.

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