TECHNISCHE Professorship of UNIVERSITÄT Communications Engineering CHEMNITZ Cooperative Localization Algorithms for Improved Road Navigation Eric Richter , M. Obst, V. Leonhardt, R. Schubert, N. Mattern, and G. Wanielik Chemnitz University of Technology, Germany Eric Richter 1 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization - Introduction GPS GPS … Sat. Sat. • Using smoothed pseudo range double differences or other sensors like radar or laser GPS • Intended to be used in Sat. automotive field (but not limited to it) • e.g. helps for lane precise localization Eric Richter 2 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Distributed Data Fusion - Example Eric Richter 3 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Distributed Data Fusion - Example … … Eric Richter 4 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Centralized Data Fusion – One way out Additional infrastructure needed! Central Data Fusion Unit Estimation Eric Richter 5 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Distributed Data Fusion – Covariance Intersection Eric Richter 6 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Distributed Data Fusion - Example Common Information Eric Richter 7 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Distributed Data Fusion – Removing Common Information • Data fusion of remote and local information considering common information Eric Richter 8 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – The System Eric Richter 9 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization –Network Topology Tree structured network architecture tracks the common information between two nodes … … … … … … … Eric Richter 10 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Estimated State • State space consists of the vehicle’s position and heading v x k • non-linear state transition o x k • Movement model Constant Turn Rate & Velocity (CTRV) o y k v y k Eric Richter 11 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Filter Technology • Particle filter represent an arbitrary PDF by samples drawn from it Eric Richter 12 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Filter Technology • judging particles on the measurement likelihood function • Kullback-Leibler divergence is used for resampling • keeps bandwidth low as the number of particles is adaptive to the current estimation Eric Richter 13 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Common Information and PF • Transformation of received distribution into local state space: S hifting the received distribution by the smoothed pseudo range double difference distribution • Converting one distribution into continuous representation for support equality Eric Richter 14 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Simulation Results Without communication With communication Eric Richter 15 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Cooperative Localization – Simulation Results RMSE for different number of communicating vehicles after 300 samples Eric Richter 16 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE UNIVERSITÄT Professorship of CHEMNITZ Communications Engineering Conclusion • Decentralized networks provide a scalable way of fusing information produced by moving groups of vehicles • Improved position estimates • Avoiding data incest by removing common information using a general method • Extendable by arbitrary sensors and further a priori knowledge (like maps) by using particle representations • Future work: Evaluation the proposed system with real data Eric Richter 17 11/14/08 eric.richter@etit.tu-chemnitz.de
TECHNISCHE Professorship of UNIVERSITÄT Communications Engineering CHEMNITZ Thank you www.carai.de Eric Richter 18 11/14/08 eric.richter@etit.tu-chemnitz.de
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