title: A Tightly-Coupled GPS/INS/UWB Cooperative Positioning Sensors System Supported by V2I Communication.
abstract: This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm.
authors.affiliation: School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China. wjianhuance@163.com.
authors.forename: Jian
authors.initials: J
authors.lastname: Wang
authors.affiliation: Nottingham Geospatial Institute, The University of Nottingham, Nottingham NG7 2TU, UK. gis_gaoyang@163.com.|Sino-UK Geospatial Engineering Centre, The University of Nottingham, Nottingham NG7 2TU, UK. gis_gaoyang@163.com.
authors.forename: Yang
authors.initials: Y
authors.lastname: Gao
authors.affiliation: School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China. zengkeli@cumt.edu.cn.
authors.forename: Zengke
authors.initials: Z
authors.lastname: Li
authors.affiliation: Nottingham Geospatial Institute, The University of Nottingham, Nottingham NG7 2TU, UK. xiaolin.meng@nottingham.ac.uk.|Sino-UK Geospatial Engineering Centre, The University of Nottingham, Nottingham NG7 2TU, UK. xiaolin.meng@nottingham.ac.uk.
authors.forename: Xiaolin
authors.initials: X
authors.lastname: Meng
authors.affiliation: Department of Civil Engineering, University of Nottingham, Ningbo 315100, China. craig.hancock@nottingham.edu.cn.
authors.forename: Craig M
authors.initials: CM
authors.lastname: Hancock
keywords: GPS; INS; Robust Kalman Filter; UWB; V2I; cooperative positioning