Reliable Positioning Domain Computation for Urban Navigation

Reliable positioning is a key issue for intelligent vehicle navigation. Interval-based positioning methods have shown to be capable of computing relevant confidence domains used for integrity monitoring in environments which are challenging for Global Positioning System (GPS). The approach presented in this paper consists in tightly coupling a GPS receiver with a 3D-map of the drivable area. Interval analysis is employed to solve the constraint positioning problem using contractions and bisections. Integrity is provided through the use of a robust set-inversion scheme applied to a redundant measurement set. If the prior distribution of the measurement noise is known, it is possible to compute confidence domains that correspond to a given integrity risk, which is often set very low out of safety considerations. In this paper the authors examine a way of validating the proposed approach, using a real experimental dataset and a ground truth equipment. Different tunings of the method, corresponding to different risks, are assessed in terms of availability and integrity in order to compute statistical metrics. Results indicate that this methodology is relevant since the specified risk corresponds to experimental observations.

• Record URL:
  • https://doi.org/10.1109/MITS.2013.2252058
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/19391390
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Authors:
  • Drevelle, V
  • Bonnifait, P
• Publication Date: 2013

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References; Tables;
• Pagination: pp 21-29
• Serial:
  • IEEE Intelligent Transportation Systems Magazine
  • Volume: 5
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1939-1390
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=5117645

Subject/Index Terms

• TRT Terms: Automatic vehicle monitoring; Confidence intervals; Global Positioning System; Intelligent vehicles; Metrics (Quantitative assessment); Navigation; Reliability; Uncertainty; Urban areas; Validation
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment; I73: Traffic Control; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01491616
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 3 2013 12:28PM