Vehicle Relative Positioning Using Velocity-Based GNSS Error Compensation
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Solution Overview
Problem
Conventional RTK techniques face challenges in maintaining accurate relative positioning between vehicles, especially when the leader vehicle serving as a reference station moves, leading to errors in communication and positioning accuracy, particularly for drones operating far from ground infrastructure.
Innovation Solution
A global positioning system that includes a follower vehicle with a correction message receiver and a relative positioning result calculator, which uses velocity information from the leader vehicle to compensate for errors caused by its movement, improving relative positioning accuracy by calculating corrected baseline vectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional RTK technique is used with a stationary reference station, then positioning accuracy is maintained, but the system cannot handle mobile leader vehicles serving as reference stations
Solution Approach 1:
The system transitions from a stationary reference station model to a dynamic mobile reference station model. The leader vehicle continuously moves while serving as the reference station, and the system dynamically updates the baseline vector calculations to account for the leader's motion, enabling RTK to function with mobile reference stations.
Solution Approach 2:
The system performs preliminary compensation for the leader vehicle's movement by calculating and applying correction values based on the leader's velocity information. This preliminary action accounts for the baseline vector change due to leader motion before the follower vehicle's position is calculated, preventing positioning errors.
2Ease of operation
If the leader vehicle moves continuously, then operational flexibility is improved, but error in relative position calculation increases
Solution Approach 1:
The system implements a feedback mechanism where the leader vehicle's velocity information is continuously fed back to the follower vehicle. This feedback allows the follower to compensate for the leader's movement in real-time, maintaining positioning accuracy despite continuous motion and operational flexibility.
Solution Approach 2:
The leader vehicle's velocity information acts as an intermediary parameter that mediates between the leader's motion and the relative position calculation. By introducing this intermediary variable, the system can account for the leader's movement and maintain accurate positioning without restricting operational flexibility.
3Device complexity
If correction message is transmitted at time t-dt, then data transmission is simplified, but baseline vector compensation for current time t becomes inaccurate
Solution Approach 1:
The system changes the parameter being transmitted from raw position data to velocity information. By transmitting velocity instead of position, the follower vehicle can calculate the leader's position at any time point, including the current time t, maintaining baseline vector accuracy while simplifying communication.
Solution Approach 2:
The leader vehicle transmits velocity information in advance that enables the follower to perform preliminary calculations for current time positioning. This preliminary transmission of velocity data allows the follower to compensate for time delays and calculate accurate baseline vectors for the current moment without complex real-time communication.
Data Source
AI summary
The present disclosure relates to a global positioning system for compensating for relative positioning errors between vehicles. A follower vehicle of the global positioning system includes a correction message receiver configured to receive correction message including velocity information about a leader vehicle and GNSS raw measurements of the leader vehicle from the leader vehicle, a relative positioning result calculator configured to calculate a relative positioning result between the leader vehicle and the follower vehicle based on the GNSS measurements of the leader vehicle, and a relative positioning result corrector configured to calculate a corrected relative positioning result through an operation based on the calculated relative positioning result and the velocity information about the leader vehicle.