Open AccessVehicles Positioning with the Fusion of Time of Arrival, Angle of Arrival and Inertial Measurements in the Extended Kalman Filter
Author(s) -
Grigoriy Fokin,
Andrei Vladyko
Publication year - 2021
Publication title -
trudy učebnyh zavedenij svâzi
Language(s) - English
Resource type - Journals
eISSN - 2712-8830
pISSN - 1813-324X
DOI - 10.31854/1813-324x-2021-7-2-51-67
Subject(s) - gyroscope , kalman filter , accelerometer , inertial navigation system , acceleration , inertial frame of reference , computer science , inertial measurement unit , inertial reference unit , extended kalman filter , gravimeter , control theory (sociology) , engineering , physics , aerospace engineering , computer vision , artificial intelligence , optics , interferometry , control (management) , classical mechanics , quantum mechanics , operating system
This work is devoted to the study of models and methods for improving posi-tioning accuracy in ultra-dense V2X/5G radio access networks for vehicles during maneuvers by combining range and angle primary measurements with measurements of inertial navigation systems in the extended Kalman filter. Onboard platformless inertial navigation system is represented by three-axis accelerometer and gyroscope modules. Integration of primary inertial measurements of acceleration and angular velocity with primary radio measurements of range and angle is carried out by converting the inertial coordinate system of the accelerometer and gyroscope into coordinate system of vehicle using quaternions. Secondary processing of inertial and radio measurements is carried out in the extended Kalman filter. The integration results show an increase in the accuracy of estimating the trajectory of a vehicle from several meters to one meter when turning at an inter-section.