Preprint Article Version 2 Preserved in Portico This version is not peer-reviewed

CoDRIVE – Delivering High Accuracy, Ubiquitous Positioning Through Combined Radio Navigation and Inertial Sensing Technologies

Version 1 : Received: 1 September 2020 / Approved: 2 September 2020 / Online: 2 September 2020 (09:59:30 CEST)
Version 2 : Received: 2 September 2020 / Approved: 3 September 2020 / Online: 3 September 2020 (07:44:14 CEST)

How to cite: Roberts, S.; Meng, X.; Xu, C.; Wang, X.; Cui, Y.; Ye, G.; Bonenberg, L. CoDRIVE – Delivering High Accuracy, Ubiquitous Positioning Through Combined Radio Navigation and Inertial Sensing Technologies. Preprints 2020, 2020090037 (doi: 10.20944/preprints202009.0037.v2). Roberts, S.; Meng, X.; Xu, C.; Wang, X.; Cui, Y.; Ye, G.; Bonenberg, L. CoDRIVE – Delivering High Accuracy, Ubiquitous Positioning Through Combined Radio Navigation and Inertial Sensing Technologies. Preprints 2020, 2020090037 (doi: 10.20944/preprints202009.0037.v2).

Abstract

The CoDRIVE solution builds on R&D in the development of connected and autonomous vehicles (CAVs). The mainstay of the system is a low-cost GNSS receiver integrated with a MEMS grade IMU powered with CoDRIVE algorithms and high precision data processing software. The solution integrates RFID (radio-frequency identification) localisation information derived from tags installed in the roads around the University of Nottingham. This aids the positioning solution by correcting the long-term drift of inertial navigation technology in the absence of GNSS. The solution is informed of obscuration of GNSS through city models of skyview and elevation masks derived from 360-degree photography. The results show that predictive intelligence of the denial of GNSS and RFID aiding realises significant benefits compared to the inertial only solution. According to the validation, inertial only solutions drift over time, with an overall RMS accuracy over a 300 metres section of GNSS outage of 10 to 20 metres. After deploying the RFID tags on the road, experiments show that the RFID aided algorithm is able to constrain the maximum error to within 3.76 metres, and with 93.9% of points constrained to 2 metres accuracy overall.

Subject Areas

GNSS; RFID; obscuration, augmentation, radio-navigation

Comments (1)

Comment 1
Received: 3 September 2020
Commenter: Simon Roberts
Commenter's Conflict of Interests: Author
Comment: Update to authors details. I only added myself as the author when submitting the paper.
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