Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer
© 2017 IOP Publishing Ltd.Continuous and trustworthy positioning is a critical capability for advanced driver assistance systems (ADAS). To achieve continuous positioning, methods such as global navigation satellite systems real-time kinematic (RTK), Doppler-based positioning, and positioning using...
| Main Authors: | , |
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| Format: | Journal Article |
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IOP Publishing Ltd
2017
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| Online Access: | http://hdl.handle.net/20.500.11937/53187 |
| _version_ | 1848759086030520320 |
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| author | El-Mowafy, Ahmed Kubo, N. |
| author_facet | El-Mowafy, Ahmed Kubo, N. |
| author_sort | El-Mowafy, Ahmed |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | © 2017 IOP Publishing Ltd.Continuous and trustworthy positioning is a critical capability for advanced driver assistance systems (ADAS). To achieve continuous positioning, methods such as global navigation satellite systems real-time kinematic (RTK), Doppler-based positioning, and positioning using low-cost inertial measurement unit (IMU) with car speedometer data are combined in this study. To ensure reliable positioning, the system should have integrity monitoring above a certain level, such as 99%. Achieving this level when combining different types of measurements that have different characteristics and different types of errors is a challenge. In this study, a novel integrity monitoring approach is presented for the proposed integrated system. A threat model of the measurements of the system components is discussed, which includes both the nominal performance and possible fault modes. A new protection level is presented to bound the maximum directional position error. The proposed approach was evaluated through a kinematic test in an urban area in Japan with a focus on horizontal positioning. Test results show that by integrating RTK, Doppler with IMU/speedometer, 100% positioning availability was achieved. The integrity monitoring availability was assessed and found to meet the target value where the position errors were bounded by the protection level, which was also less than an alert level, indicating the effectiveness of the proposed approach. |
| first_indexed | 2025-11-14T09:54:17Z |
| format | Journal Article |
| id | curtin-20.500.11937-53187 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:54:17Z |
| publishDate | 2017 |
| publisher | IOP Publishing Ltd |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-531872017-10-02T02:28:15Z Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer El-Mowafy, Ahmed Kubo, N. © 2017 IOP Publishing Ltd.Continuous and trustworthy positioning is a critical capability for advanced driver assistance systems (ADAS). To achieve continuous positioning, methods such as global navigation satellite systems real-time kinematic (RTK), Doppler-based positioning, and positioning using low-cost inertial measurement unit (IMU) with car speedometer data are combined in this study. To ensure reliable positioning, the system should have integrity monitoring above a certain level, such as 99%. Achieving this level when combining different types of measurements that have different characteristics and different types of errors is a challenge. In this study, a novel integrity monitoring approach is presented for the proposed integrated system. A threat model of the measurements of the system components is discussed, which includes both the nominal performance and possible fault modes. A new protection level is presented to bound the maximum directional position error. The proposed approach was evaluated through a kinematic test in an urban area in Japan with a focus on horizontal positioning. Test results show that by integrating RTK, Doppler with IMU/speedometer, 100% positioning availability was achieved. The integrity monitoring availability was assessed and found to meet the target value where the position errors were bounded by the protection level, which was also less than an alert level, indicating the effectiveness of the proposed approach. 2017 Journal Article http://hdl.handle.net/20.500.11937/53187 10.1088/1361-6501/aa5c66 IOP Publishing Ltd restricted |
| spellingShingle | El-Mowafy, Ahmed Kubo, N. Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title | Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title_full | Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title_fullStr | Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title_full_unstemmed | Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title_short | Integrity monitoring of vehicle positioning in urban environment using RTK-GNSS, IMU and speedometer |
| title_sort | integrity monitoring of vehicle positioning in urban environment using rtk-gnss, imu and speedometer |
| url | http://hdl.handle.net/20.500.11937/53187 |