High-precision vehicle positioning method based on ultra-wideband in intelligent vehicle infrastructure cooperative systems
In Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), a high-precision vehicle positioning method utilizing Ultra-Wide Band (UWB) is proposed. Owing to remarkable wide band of radio signal, this UWB-based positioning method shows excellent anti-interference capability and multi-path immunity, which are essential for achieving high precision in practical traffic scenario. In this approach, several UWB nodes are deliberately deployed at the crossing with the help of roadside infrastructure in IVICS. Meanwhile, an algorithm aiming at Non Line of Sight (NLOS) error compensation is developed to improve the positioning performance. In a word, this method has been demonstrated the potential to achieve accurate, reliable, continuous and integrated localization.
1. A high-precision vehicle positioning method utilizing ultra-wideband (UWB) in Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), comprising the following steps:
step 1) formulating a UWB layout scheme, arranging UWB fixed nodes on both sides of a road, and measuring position coordinates of the UWB fixed nodes;
step 2) arranging a UWB mobile node on the roof of a vehicle, and acquiring an observed distance value from the UWB mobile node to each UWB fixed node by means of Time Difference of Arrival (TDOA);
step 3) establishing an Autoregressive Integrated Moving Average (ARIMA) model according to historical observed distance values before the current moment, performing NLOS identification on the UWB fixed nodes one by one by using the ARIMA model, and compensating and correcting the observed distance values according to an identification result, wherein a specific process is as follows:
1)testing stationarity of a time series constituted by observed distance values from an initial moment to the current moment; and if the time series is non-stationary, performing differential processing on the time series to convert it into a stationary time series;
2)after the stationary processing, determining orders of the ARIMA model according to autocorrelation and partial correlation functions of the stationary time series;
3) estimating parameters of an autoregressive part and a moving average part in the ARIMA model by means of conditional least square;
4) performing a unit root test on a residual series of the established ARIMA model to determine whether the residual series is a white noise series; if the ARIMA model passes the test, performing forecasting, or otherwise, re-estimating model parameters until the ARIMA model passes the test;
5) forecasting a distance from the UWB mobile node to each UWB fixed node at the current moment by using the ARIMA model which passes the test, to obtain a forecasted distance value d(t) at the current moment, wherein an observed distance value at the current moment is d(t) and an absolute value of a difference between the forecasted value and the observed value is |d(t)−d(t)|; and
6) setting an NLOS identification threshold θ thr according to complexity of the traffic scene and requirements for the positioning accuracy; if |d(t)−d(t)|≥θ thr , determining that NLOS propagation occurs between the UWB mobile node and the UWB fixed nodes and the observed distance value d(t) in this case has a relatively large NLOS error; and correcting the distances from the mobile node to the UWB fixed nodes according to the values forecasted based on the ARIMA model; and
step 4) according to the corrected distances from the UWB mobile node to the UWB fixed nodes and the coordinates of the UWB fixed nodes, establishing a coordinate equation based on a processed range measurements, and calculating the coordinates of the UWB mobile node by using the least square method, to obtain an accurate position of the vehicle.