ADAS Enhanced by 5G Connectivity: Volumes 1 and 2

Narula, Lakshay; Wooten, Michael J; Murrian, Matthew J.; LaChapelle, Daniel M; Humphreys, Todd E.; University of Texas at Austin. Data-Supported Transportation Operations & Planning Center (D-STOP); University of Texas at Austin

Advanced Search

Select up to three search categories and corresponding keywords using the fields to the right. Refer to the Help section for more detailed instructions.

Search our Collections & Repository

Advanced Search
Custom Query

All these words:

For very narrow results

This exact word or phrase:

When looking for a specific result

Any of these words:

Best used for discovery & interchangable words

None of these words:

Recommended to be used in conjunction with other fields

Language:

Dates

Publication Date Range:

to

Document Data

Title:

Document Type:

Library

Collection:

Series:

People

Author:

Clear All

Query Builder

Query box

Clear All

For additional assistance using the Custom Query please check out our Help Page

i

ADAS Enhanced by 5G Connectivity: Volumes 1 and 2

2018-09-01
By Narula, Lakshay ; Wooten, Michael J ; Murrian, Matthew J. ; ...

[PDF-9.36 MB]

Select the Download button to view the document

This document is over 5mb in size and cannot be previewed

English

Details You May Also Like

Details:

Alternative Title:

ADAS Enhanced by 5G Connectivity [Project Title from Cover]
Creators:

Narula, Lakshay ; Wooten, Michael J ; Murrian, Matthew J. ; LaChapelle, Daniel M ; Humphreys, Todd E.

Narula, Lakshay ; Wooten, Michael J ; Murrian, Matthew J. ; LaChapelle, Daniel M ; Humphreys, Todd E. Less -
Corporate Creators:

University of Texas at Austin. Data-Supported Transportation Operations & Planning Center (D-STOP) ; University of Texas at Austin

University of Texas at Austin. Data-Supported Transportation Operations & Planning Center (D-STOP) ; University of Texas at Austin Less -
Corporate Contributors:

United States. Department of Transportation. Office of the Assistant Secretary for Research and Technology ; United States. Department of Transportation. University Transportation Centers (UTC) Program

United States. Department of Transportation. Office of the Assistant Secretary for Research and Technology ; United States. Department of Transportation. University Transportation Centers (UTC) Program Less -
Subject/TRT Terms:

[+]

Accuracy Automatic Vehicle Location CDGNSS Data Fusion Digital Mapping Error Analysis Low-cost RTK Positioning Position Fixing Sensor Fusion SLAM Urban Vehicular Positioning Vehicle Localization
Publication/ Report Number:

D-STOP/2018/139
Resource Type:

Tech Report
Geographical Coverage:

United States
Corporate Publisher:

University of Texas at Austin. Center for Transportation Research
Abstract:

Volume 1: This paper explores the limit of digital maps’ globally-referenced position accuracy when the mapping agents are equipped with low-cost Global Navigation Satellite System (GNSS) receivers performing standard codephase- based navigation, and presents a globally-referenced electro-optical simultaneous localization and mapping pipeline, called GEOSLAM, designed to achieve this limit. The key accuracy-limiting factor is shown to be the asymptotic average of the error sources that impair standard GNSS positioning. Asymptotic statistics of each GNSS error source are analyzed through both simulation and empirical data to show that sub-50-cm accurate digital mapping is feasible in the horizontal plane after multiple mapping sessions with standard GNSS, but larger biases persist in the vertical direction. GEOSLAM achieves this accuracy by (i) incorporating standard GNSS position estimates in the visual SLAM framework, (ii) merging digital maps from multiple mapping sessions, and (iii) jointly optimizing structure and motion with respect to time-separated GNSS measurements. Volume 2: A system developed for low-cost precise urban vehicular positioning is demonstrated to achieve a probability of correct integer fixing greater than 96.5% for a probability of incorrect integer fixing surely less than 2.3% and likely less than 1%. The results are achieved without any aiding by inertial or electro-optical sensors. Development and evaluation of the unaided GNSS-based precise positioning system is a key milestone toward the overall goal of combining precise GNSS, vision, radar, and inertial sensing for all-weather high-integrity precise positioning for automated and connected vehicles. All components have been tailored in their design to yield competent sub-decimeter positioning in the mobile urban environment. A performance sensitivity analysis reveals that navigation data bit prediction on the GPS L1 C/A signals is key to high-performance urban real-time kinematic (RTK) positioning.
Format:

PDF
Funding:

DTRT13-G-UTC58
Collection(s):

University Transportation Centers
Main Document Checksum:

[+]

urn:sha256:2715415a5095ff7105974ac6c18709a58d0267c7d151007c85130ed7f34b5866
Download URL:

https://rosap.ntl.bts.gov/view/dot/65957/dot_65957_DS1.pdf
File Type:

No Additional Files

More +

ADAS Enhanced by 5G Connectivity: Volumes 1 and 2

Details:

Supporting Files

You May Also Like