An Enhanced UWB-Based Range-GPS Cooperative Positioning Approach Using Adaptive Variational Bayesian Cubature Kalman FilteringReport as inadecuate




An Enhanced UWB-Based Range-GPS Cooperative Positioning Approach Using Adaptive Variational Bayesian Cubature Kalman Filtering - Download this document for free, or read online. Document in PDF available to download.

Mathematical Problems in Engineering - Volume 2015 2015, Article ID 843719, 8 pages -

Research ArticleCollege of Automation, Harbin Engineering University, Harbin 150001, China

Received 22 October 2014; Revised 23 December 2014; Accepted 26 December 2014

Academic Editor: Hung Nguyen-Xuan

Copyright © 2015 Feng Shen and Guanghui Xu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Precise position awareness is a fundamental requirement for advanced applications of emerging intelligent transportation systems, such as collision warning and speed advisory system. However, the achievable level of positioning accuracy using global navigation satellite systems does not meet the requirements of these applications. Fortunately, cooperative positioning CP techniques can improve the performance of positioning in a vehicular ad hoc network VANET through sharing the positions between vehicles. In this paper, a novel enhanced CP technique is presented by combining additional range-ultra-wide bandwidth- UWB- based measurements. Furthermore, an adaptive variational Bayesian cubature Kalman filtering AVBCKF algorithm is proposed and used in the enhanced CP method, which can add robustness to the time-variant measurement noise. Based on analytical and experimental results, the proposed AVBCKF-based CP method outperforms the cubature Kalman filtering- CKF- based CP method and extended Kalman filtering- EKF- based CP method.





Author: Feng Shen and Guanghui Xu

Source: https://www.hindawi.com/



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