차량 간 GPS 공통 가시위성 검색을 통한 상대위치 추정 정확도 향상에 대한 연구|RISS 상세보기

다국어 초록 (Multilingual Abstract)

In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.

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참고문헌 (Reference)

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