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Redundant localization system for automatic vehicles
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DOI：10.1016/j.ymssp.2019.106433.png)
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摘要
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Unmanned vehicles rely on positioning information for a number of key operations. The location systems for vehicles require having the most information available when it comes to positioning for security and redundancy purposes. Assisted-Global Navigation Satellite System is the most popular positioning system, however, jointly to that, other positioning systems should be integrated into the Electronics and Electric System of the vehicle for reliability purposes, and a selection criterion for choosing the proper information should be also implemented. In this paper, we propose different Electrical Control Units for providing localization information by using different technologies in 5G networks and provide an algorithm for selection of information. These Units complement the Global Navigation Satellite System. Moreover, we provide a method to calculate the Dilution Of Precision for the integrated localization techniques, which are the Observed Time Difference of Arrival and beam-forming. Finally, the simulation results of the vehicle localization of both methods in 5G show that fusion system (using more than one positioning system) not only provides redundancy, but also overcomes the efficiency of separated techniques. The simulations also validate the mathematical description of the dilution of precision described in the paper. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword:
Dilution of precision
OTDoA
Beamforming
Localization
Unmanned vehicle
Electronic control unit
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8.9
论文数:
1.3W
被引数:
6.6W
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