Positioning of Vehicles with the Fusion of Time of Arrival, Angle of Arrival and Inertial Measurements in the Extended Kalman Filter
https://doi.org/10.31854/1813-324X-2021-7-2-51-67
Abstract
This work is devoted to the study of models and methods for improving posi-tioning accuracy in ultradense V2X/5G radio access networks for vehicles during maneuvers by combining range and angle primary measurements with measure-ments of inertial navigation systems in the extended Kalman filter. Onboard platformless inertial navigation system is represented by three-axis accelerometer and gyroscope modules. Integration of primary inertial measurements of acceleration and angular velocity with primary radio measurements of range and angle is carried out by converting the inertial coordinate system of the accelerometer and gy-roscope into coordinate system of vehicle using quaternions. Secondary pro-cessing of inertial and radio measurements is carried out in the extended Kalman filter. The integration results show an increase in the accuracy of estimating the trajectory of a vehicle from several meters to one meter when turning at an inter-section.
About the Authors
G. A. Fokin
The Bonch-Bruevich State University of Telecommunication
Russian Federation
Russian Federation
St. Petersburg, 193232
A. G. Vladyko
The Bonch-Bruevich State University of Telecommunication
Russian Federation
Russian Federation
St. Petersburg, 193232
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Review
For citations:
Fokin G.A., Vladyko A.G. Positioning of Vehicles with the Fusion of Time of Arrival, Angle of Arrival and Inertial Measurements in the Extended Kalman Filter. Proceedings of Telecommunication Universities. 2021;7(2):51-67. (In Russ.) https://doi.org/10.31854/1813-324X-2021-7-2-51-67
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