INTEGRATION OF UWB RANGING AND GPS FOR IMPROVED RELATIVE VEHICLE POSITIONING AND AMBIGUITY RESOLUTION

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atmire.migration.oldid519
dc.contributor.advisorPetovello, Mark
dc.contributor.advisorO'Keefe, Kyle
dc.contributor.authorJiang, Yuhang
dc.date.accessioned2012-12-20T18:15:40Z
dc.date.available2013-12-21T08:00:15Z
dc.date.issued2012-12-20
dc.date.submitted2012en
dc.description.abstractIn this thesis, a system for GPS positioning augmented with Ultra-Wideband (UWB) ranges for vehicle relative positioning applied in Vehicle-to-Infrastructure (V2I) navigation is developed and tested. It is assumed that UWB ranging information and carrier-phase differential GPS (DGPS) corrections are only available via a limited-range communication link between the vehicle and the infrastructure points. The navigation solution is implemented in an extended Kalman filter where differential GPS pseudorange, Doppler and carrier phase measurements are used in conjunction with UWB ranges measured between the vehicle and infrastructure points purposefully chosen on the road. Results indicate that the GPS and UWB integrated positioning system can improve the float solution and ambiguity resolution compared to the GPS-only case. When a single UWB radio is located roughly 300 m north of a fictitious intersection in 25 out of 40 cases the RMS position errors improved before the vehicle approaching the intersection. The inclusion of UWB ranges also improves in the time to fix ambiguities by 4.1% (0.4 seconds), 9.4% (0.9 seconds), 16.8% (2.4 seconds), 16.9% (3.2 seconds) and 15% (4.0 seconds) when the additional UWB measurements are available for 25 m, 50 m, 100 m, 200 m, and 300 m, respectively.en_US
dc.description.embargoterms12 monthsen_US
dc.identifier.citationJiang, Y. (2012). INTEGRATION OF UWB RANGING AND GPS FOR IMPROVED RELATIVE VEHICLE POSITIONING AND AMBIGUITY RESOLUTION (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/26587en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/26587
dc.identifier.urihttp://hdl.handle.net/11023/371
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectGeotechnology
dc.subject.classificationGPSen_US
dc.titleINTEGRATION OF UWB RANGING AND GPS FOR IMPROVED RELATIVE VEHICLE POSITIONING AND AMBIGUITY RESOLUTION
dc.typemaster thesis
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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