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Related Experiment Video

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Vehicle Localization Using Doppler Shift and Time of Arrival Measurements in a Tunnel Environment.

Rreze Halili1, Noori BniLam1, Marwan Yusuf2

  • 1IMEC-IDLab, University of Antwerp, Sint-Pietersvliet 7, 2000 Antwerp, Belgium.

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Summary

This study introduces a new algorithm for accurate in-tunnel vehicle localization using LTE-V communications. The Extended Kalman Filter approach improves positioning accuracy compared to traditional methods, enhancing Cooperative Intelligent Transport Systems (C-ITS).

Keywords:
C-ITSGNSSRFlocalizationtunnel

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Area of Science:

  • Intelligent Transport Systems
  • Wireless Communications
  • Localization Algorithms

Background:

  • Cooperative Intelligent Transport Systems (C-ITS) require precise vehicle location data.
  • Global Navigation Satellite System (GNSS) struggles with reliable positioning in tunnels.
  • Existing Vehicle-to-Infrastructure (V2I) communication offers a potential solution.

Purpose of the Study:

  • To develop and evaluate an algorithm for accurate in-tunnel vehicle localization.
  • To leverage the LTE-V communication channel for acquiring location information.
  • To compare the performance of Extended Kalman Filter (EKF) and Kalman Filter (KF) for this application.

Main Methods:

  • Utilized Doppler shift and Time of Arrival measurements from V2I communications.
  • Implemented an algorithm exploiting the LTE-V frequency band for in-tunnel positioning.
  • Conducted comparative analysis using EKF on Doppler shift and KF on Doppler shift and Time of Arrival.

Main Results:

  • The Extended Kalman Filter (EKF) demonstrated superior performance over the individual Kalman Filter (KF).
  • EKF reduced the average estimation error by 10 meters in tunnel environments.
  • Algorithm accuracy is influenced by radio frequency (RF) channel conditions and environmental data.

Conclusions:

  • The proposed V2I-based localization algorithm effectively provides in-tunnel vehicle positioning.
  • EKF is a more suitable filtering method for this specific localization task.
  • This solution enhances the capabilities of C-ITS for tunnel traffic monitoring.