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Cooperative Localization
Kooperative Lokalisierung
Sebastian Papierok
Delphi Deutschland GmbH
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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
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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 Cooperative Localization
Error Sources Error Sources
Message: Correlated errors have low impact in
relative coordinates
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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
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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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