The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B1-2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2022, 467–472, 2022
https://doi.org/10.5194/isprs-archives-XLIII-B1-2022-467-2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2022, 467–472, 2022
https://doi.org/10.5194/isprs-archives-XLIII-B1-2022-467-2022
 
30 May 2022
30 May 2022

ANALYSIS OF THE PERFORMANCE OF AN UWB-BASED COOPERATIVE POSITIONING FOR DIFFERENT CAR PLATOON CONFIGURATIONS

A. Masiero1, C. Toth2, J. Gabela3, and G. Retscher3 A. Masiero et al.
  • 1University of Florence, Italy
  • 2The Ohio State University, USA
  • 3TU Wien-Vienna University of Technology, Austria

Keywords: Collaborative positioning, UWB, Extended Kalman filter

Abstract. The increasing interest in autonomous vehicles motivates the researches aiming at developing reliable positioning system also in conditions challenging for the Global Navigation Satellite Systems (GNSS), such as in urban canyons, tunnels, under quite dense vegetation. The uso of Ultra Wide-Band (UWB) systems is among the quite well known methods for providing reasonable positioning results without exploiting GNSS. UWB systems are typically used indoors, however their use can be of interest also outdoors, in particular when the need is to ensure good positioning results over a quite small area. This paper investigates the use of UWB systems for positioning in the case of terrestrial vehicles, and, more specifically, it focuses on checking the influence of car platoon configurations on the performance of an UWB cooperative positioning system. In the considered tests, where a high percentage of UWB communications was successful, the obtained results show that the car configuration can have a quite remarkable impact on the positioning performance, doubling the obtained median error.