NDLI: Autonomous vehicle positioning with GPS in urban canyon environments

Content Provider	IEEE Xplore Digital Library
Author	Youjing Cui Shuzhi Sam Ge
Copyright Year	1989
Abstract	The Global Positioning System (GPS) has been widely used in land vehicle navigation applications. However, the positioning systems based on GPS alone face great problems in the so-called urban canyon environments, where the GPS signals are often blocked by high-rise buildings and there are not enough available satellite signals to estimate the positioning information of a fix. To solve the problem, a constrained method is presented by approximately modeling the path of the vehicle in the urban canyon environments as pieces of lines. By adding this constraint, the minimum number of available satellites reduces to two, which is satisfied in many urban canyon environments. Then, different approaches using the constrained method are systematically developed. In addition, a state-augmentation method is proposed to simultaneously estimate the positions of the GPS receiver and the parameters of the line. Furthermore, the interacting multiple model method is used to determine the correct path which the vehicle follows after passing an intersection of roads. Simulation results show that this approach can solve the urban canyon problems successfully.
Starting Page	15
Ending Page	25
Page Count	11
File Size	736343
File Format	PDF
ISSN	1042296X
Volume Number	19
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-02-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Mobile robots Global Positioning System Land vehicles Road vehicles Satellite navigation systems State estimation Kalman filters Filtering Urban areas
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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