Skip to main content
SpringerLink
Log in

Cooperative Relative Positioning for Intelligent Transportation System

  • Published:
International Journal of Intelligent Transportation Systems Research Aims and scope Submit manuscript

Abstract

Global navigation satellite system-based positioning plays an important role in support system for safe driving, where relative positions of vehicles are used to prevent collision accidents from happening. In urban areas, however, multipath errors (MPEs) in pseudo-ranges, caused by obstruction and reflection of roadside buildings, greatly degrade the precision of relative positions. On the other hand, simply removing all reflected signals might lead to a shortage of satellites in fixing positions. This dilemma is solved in this paper by exploiting spatial correlation of MPEs. First, by analysis, ray-tracing simulation and testbed experiments, we show that MPEs in pseudo-ranges are spatially correlated in a small area. Then, we suggest a cooperative relative positioning scheme to exploit correlated signals, including reflected ones, in computing relative positions of nearby vehicles. Efficient transmission of pseudo-ranges is also discussed. The proposed scheme, which can be implemented either in a distributed way or via a cloud of intelligent transportation system, helps to improve the precision of relative positions in urban canyons.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11

Similar content being viewed by others

Notes

  1. NovAtel OEM6, http://www.novatel.com/products/gnss-receivers/oem-receiver-boards/oem6-receivers

References

  1. Misra, P., Enge, P.: Global positioning system: signals, measurements, and performance, 2nd ed, Ganga-Jamuna (2006)

  2. Sichitiu, M.L., Kihl, M.: Inter-vehicle communication systems: a survey. IEEE Commun Surv Tutorials 10(2), 88–105 (2008)

    Article  Google Scholar 

  3. ASV4.[Online]. Avaliable: http://www.soumu.go.jp/main_sosiki/joho_tsusin/policyreports/chousa/its/pdf/081219_2_si2-4.pdf

  4. Tang, S., Kubo, N., Ohashi, M.: Cooperative Relative Positioning for Intelligent Transportation System. In: Proc. ITST 2012 (2012)

  5. Quasi-zenith satellite system (QZSS)[Online]. Avaliable: http://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_System

  6. Van Dierendonck, A.J., Fenton, P., Ford, T.: Theory and performance of narrow correlator spacing in a GPS receiver, Navigation. J. Ins. Navig. 39(3), 265–283 (1992)

  7. Townsend, B., Fenton, P.: A practical approach to the reduction of pseudorange multipath errors in a L1 GPS receiver. In: Proc ION GPS-94 (1994)

  8. Veitsel, V.A., Zhdanov, A.V., Zhodzishsky, M.I.: The mitigation of multipath errors by strobe correlators in GPS/GLONASS receivers. GPS Solutions 2(2), 38–45 (1998)

    Article  Google Scholar 

  9. Betz, J.W.: Binary offset carrier modulations for radio navigation. Navig., J. Ins. Navig. 48(4), 227–246 (2001)

    Article  Google Scholar 

  10. Hatch, R.: The synergism of GPS code and carrier measurements. In: Proc. 3rd international geodetic symposium on satellite doppler positioning, pp. 1213-1231 (1983)

  11. van Nee, R.D.J., Siereveld, J., Fenton, P. C., Townsend, B.R.: The multipath estimating delay lock loop: approaching theoretical accuracy limits. In Proc. IEEE Position Location and Navigation Symposium, 246–251 (1994)

  12. Rougerie, S., Carrie, G., Vincent, F., Ries, L., Monnerat, M.: A new multipath mitigation method for GNSS receivers based on an antenna array. Int. J. Navig. Obs. 2012 (2012). Article ID 804732

  13. Suh, Y., Shibasaki, R.: Evaluation of satellite-based navigation services in complex urban environments using a three-dimensional GIS. IEICE Trans. Commun. E90-B(7), 1816–1825 (2007)

    Article  Google Scholar 

  14. Meguro, J., Murata, T., Takiguchi, J., Amano, Y., Hashizume, T.: GPS multipath mitigation for urban area using omni directional infrared camera. IEEE Trans. ITS 10(1), 22–30 (2009)

    Google Scholar 

  15. Groves, P.D.: Principles of GNSS, inertial, and multi sensor integrated navigation systems. Artech House Publishers (2007)

  16. Taha, A., Hancock, C., Roberts, G., Meng, X.: The use of GPS and INS for centimeter precision during large GPS outages. In: Proc. International Symposium on GPS/GNSS (2008)

  17. Marti, E.D., Martin, D., Garcia, J., Escalera, A., Molina, J.M., Armingol, J.M.: Context-aided sensor fusion for enhanced urban navigation. Sensors 12, 16802–16837 (2012)

    Article  Google Scholar 

  18. Win, M.Z., Conti, A., Mazuelas, S., Shen, Y., Gifford, W.M., Dardari, D., Chiani, M.: Network localization and navigation via cooperation. IEEE Commun. Mag. 49(5), 56–62 (2011)

    Article  Google Scholar 

  19. Wireless LAN medium access protocol (MAC) and physical layer (PHY) specification. Amendment 6: Wireless access in vehicular environment, IEEE Std 802, 11p (2010)

  20. Alam, N., Balaei, A.T., Dempster, A.G.: Positioning enhancement with double differencing and DSRC In: Proceedings of ION GNSS 2010, pp. 1210–1218 (2010)

  21. Takasu, T., Kubo, N., Yasuda, A.: Development, evaluation and application of RTKLIB: a program library for RTK-GPS, GPS/GNSS Symposium (2007)

  22. RapLab, http://network.kke.co.jp/products/raplab/

Download references

Acknowledgements

This work is supported by the Strategic Information and Communications R&D Promotion Programme (SCOPE) funded by Ministry of Internal Affairs and Communications, Japan.

Author information

Authors and Affiliations

  1. ATR Adaptive Communications Research Laboratories, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto, 619-0288, Japan

    Suhua Tang, Nao Kawanishi, Rei Furukawa, Akio Hasegawa & Yoshio Takeuchi

  2. Tokyo University of Marine Science and Technology, Minato, Tokyo

    Nobuaki Kubo

Authors
  1. Suhua Tang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nobuaki Kubo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Nao Kawanishi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Rei Furukawa
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Akio Hasegawa
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Yoshio Takeuchi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Suhua Tang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Tang, S., Kubo, N., Kawanishi, N. et al. Cooperative Relative Positioning for Intelligent Transportation System. Int. J. ITS Res. 13, 131–142 (2015). https://doi.org/10.1007/s13177-014-0091-2

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s13177-014-0091-2

Keywords

Search

Navigation