A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication
This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transm...
| Main Authors: | , , , , |
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| Format: | Article |
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MDPI
2016
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| Online Access: | https://eprints.nottingham.ac.uk/35373/ |
| _version_ | 1848795062729703424 |
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| author | Wang, Jian Gao, Yang Li, Zengke Meng, Xiaolin Hancock, Craig |
| author_facet | Wang, Jian Gao, Yang Li, Zengke Meng, Xiaolin Hancock, Craig |
| author_sort | Wang, Jian |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm. |
| first_indexed | 2025-11-14T19:26:07Z |
| format | Article |
| id | nottingham-35373 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:26:07Z |
| publishDate | 2016 |
| publisher | MDPI |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-353732020-05-04T17:55:06Z https://eprints.nottingham.ac.uk/35373/ A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication Wang, Jian Gao, Yang Li, Zengke Meng, Xiaolin Hancock, Craig This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm. MDPI 2016-06-27 Article PeerReviewed Wang, Jian, Gao, Yang, Li, Zengke, Meng, Xiaolin and Hancock, Craig (2016) A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication. Sensors, 16 . 944/1-944/16. ISSN 1424-8220 cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I http://www.mdpi.com/1424-8220/16/7/944 doi:10.3390/s16070944 doi:10.3390/s16070944 |
| spellingShingle | cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I Wang, Jian Gao, Yang Li, Zengke Meng, Xiaolin Hancock, Craig A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title | A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title_full | A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title_fullStr | A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title_full_unstemmed | A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title_short | A tightly-coupled GPS/INS/UWB cooperative positioning sensors system supported by V2I communication |
| title_sort | tightly-coupled gps/ins/uwb cooperative positioning sensors system supported by v2i communication |
| topic | cooperative positioning; GPS; INS; Robust Kalman Filter; UWB; V2I |
| url | https://eprints.nottingham.ac.uk/35373/ https://eprints.nottingham.ac.uk/35373/ https://eprints.nottingham.ac.uk/35373/ |