Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer
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 mai...
| Main Authors: | , |
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| Format: | Journal Article |
| Published: |
2018
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| Online Access: | http://hdl.handle.net/20.500.11937/73311 |
| _version_ | 1848762980479533056 |
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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 | 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. |
| first_indexed | 2025-11-14T10:56:11Z |
| format | Journal Article |
| id | curtin-20.500.11937-73311 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:56:11Z |
| publishDate | 2018 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-733112019-03-08T01:03:04Z Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer El-Mowafy, Ahmed Kubo, N. 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. 2018 Journal Article http://hdl.handle.net/20.500.11937/73311 10.1049/iet-its.2018.0106 fulltext |
| spellingShingle | El-Mowafy, Ahmed Kubo, N. Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title | Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title_full | Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title_fullStr | Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title_full_unstemmed | Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title_short | Integrity monitoring for Positioning of intelligent transport systems using integrated RTK-GNSS, IMU and vehicle odometer |
| title_sort | integrity monitoring for positioning of intelligent transport systems using integrated rtk-gnss, imu and vehicle odometer |
| url | http://hdl.handle.net/20.500.11937/73311 |