Cooperative Localization

Kooperative Lokalisierung

Sebastian Papierok

Delphi Deutschland GmbH

Content

Motivation

Basic Working Principle

System Overview

Results

Conclusions

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Motivation

• The exchange of perception data is useless without a

‚precise‘ and inexpensive positioning system

• Precise positioning systems contribute to safety

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Why Relative Positioning?

Global Coordinates

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Why Relative Positioning?

Relative Coordinates

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Working Principle

GPS Error Sources

Satellite position, satellite clock, and receiver clock error

Ionospheric, tropospheric, and multipath effects

Other errors

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Normal GPS

Error Sources

Working Principle

GPS Error Sources

Satellite position, satellite clock, and receiver clock error

Ionospheric, tropospheric, and multipath effects

Other errors

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Normal GPS Cooperative Localization

Error Sources Error Sources

Message: Correlated errors have low impact in

relative coordinates

Working Principle

Direct difference of two positions

• Satellites for estimation unknown

• Fuse output of different algorithms?

• Impact on relative error?

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Working Principle

Low level sensor data fusion

• Exchange of GPS raw data

between the vehicles

• Determine common satellites

• Process pseudorange measurements

• Calculate satellite positions

• Estimate GPS position

• Calculate relative vector

• Data fusion with other data

(e.g. velocity, yaw rate)

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System Overview

Navigation Data

• Satellite orbit information

Observation Data

• Receiver sampling time

• Satellite number

• Carrier-phase measurement

• Pseudorange measurement

• Doppler measurement

• Signal strength

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Vehicles equipped with

Raw data GPS, GPS ground truth, V2V communication

Hardware Testsetup

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Cooperative

Localization CLM CLM

Results

GPS Position A

GPS Position B

Model A

Model B

Model B + relative Vector

t=1

t=5

t=9 t=14

t=17

t=1

t=5

t=9

t=14

t=17

B

A

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51.23551.2355 51.23651.2365

7.158

7.1585

7.159

7.1595

7.16

7.1605

51.23551.2355 51.23651.2365 51.23751.2375 51.2387.1575

7.158

7.1585

7.159

7.1595

7.16

7.1605

7.161

Results

GPS Position A

GPS Position B

Model A

Model B

Model B + relative Vector

t=1

t=8

t=15

t=22

t=29

t=1

t=8

t=15

t=22

t=29

B

A

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Conclusions

Innovations

• Usage of raw data GPS receivers

• Exchange of GPS raw data via V2V communication

• Elimination of systematical errors

Challenges

• Complex hardware architecture

• Synchronisation

• Effective information transfer

Future Directions

• Test different fusion algorithms

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Thank You

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