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http://dx.doi.org/10.12673/jkoni.2012.16.6.927

Improvement of Relative Positioning Accuracy by Searching GPS Common Satellite between the Vehicles  

Han, Young-Min (HYUNDAI Motor Group)
Lee, Sung-Yong (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kim, Youn-Sil (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Song, June-Sol (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
No, Hee-Kwon (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kee, Chang-Don (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Publication Information
Journal of Advanced Navigation Technology / v.16, no.6, 2012 , pp. 927-934 More about this Journal
Abstract
In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.
Keywords
Relative Positioning; CAS; RGPS; GPS/INS Integration;
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