NDLI: Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer

Content Provider	IET Digital Library
Author	Mowafy, Ahmed El Kubo, Nobuaki
Abstract	Reliable continuing positioning is a critical requirement for intelligent transportation systems (ITS). An integrated positioning system is presented, where the global navigation satellite systems (GNSS) real-time kinematic (RTK) method was mainly used. When RTK is not available, positioning was maintained by using Doppler measurements or by low-cost inertial measurement unit (IMU) coupled with vehicle odometer measurements. A new integrity monitoring (IM) method is presented that addresses each positioning mode of the proposed integrated system. Models for the protection levels (PLs) are presented to bound the position error (PE) along the direction of motion of the vehicle and for the cross-track direction. Both direction components are needed, for instance for collision avoidance and for lane identification. The method was assessed through a kinematic test performed in a dense urban environment. Results showed that by integrating GNSS RTK, Doppler with IMU + odometer, positioning was available all the time. For RTK, positioning accuracy was less than a decimetre and the IM availability was 99%, where the PLs bounded the PEs and were less than an alert limit of 1 m. Positioning using Doppler and IMU + odometer measurements bridged RTK breaks but at the sub-meter level accuracy when used for short periods.
Starting Page	901
Ending Page	908
Page Count	8
ISSN	1751956X
Volume Number	12
e-ISSN	17519578
Issue Number	Issue 8, Oct (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/12/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.0106
Journal	IET Intelligent Transport Systems
Publisher Date	2018-07-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Car Odometer Measurement Collision Avoidance Cross-track Direction Direction Component Distance Measurement Doppler Measurement Doppler-with-IMU + Odometer Global Navigation Satellite System Real-time Kinematic Method IM Availability Integrated Positioning System Integrated RTK-GNSS Intelligent Transport System ITS Kinematic Test Lane Identification Low-cost Inertial Measurement Unit Position Error Positioning Integrity Monitoring Positioning Mode Protection Levels Radio Navigation And Direction Finding Satellite Navigation Spatial Variables Measurement Traffic Engineering Computing Vehicle Odometer
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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