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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Full-Duplex Relay for Millimeter Wave Vehicular Platoon Communciations.

Sensors (Basel, Switzerland)ยท2020
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Extended Kalman Filter-Based Vehicle Tracking Using Uniform Planar Array for Vehicle Platoon Systems.

Jiho Song1, Seong-Hwan Hyun2,3

  • 1Department of Electrical and Electronic Engineering, Hanyang University, ERICA, Ansan 15588, Republic of Korea.

Sensors (Basel, Switzerland)
|April 13, 2024
PubMed
Summary

This study introduces an enhanced Kalman filter for precise vehicle tracking in platoons. The new method optimizes antenna placement and array partitioning to improve position estimation, especially for vehicles in challenging positions.

Keywords:
extended Kalman filtermillimeter wavevehicle platoon systemsvehicle trackingvehicle-to-infrastructure

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Area of Science:

  • Electrical Engineering
  • Computer Science
  • Robotics

Background:

  • Accurate vehicle tracking is crucial for intelligent transportation systems and vehicle-to-infrastructure (V2I) communication.
  • Existing tracking algorithms may struggle with the dynamic and cooperative nature of vehicle platoons.

Purpose of the Study:

  • To develop an advanced vehicle tracking algorithm tailored for uniform planar array layouts and vehicle platoon scenarios.
  • To optimize antenna array configuration and partitioning for enhanced tracking precision in V2I networks.

Main Methods:

  • An extended Kalman filter-based algorithm incorporating vehicle platoon characteristics.
  • A novel antenna placement strategy for optimal array configuration.
  • An array partitioning algorithm to divide the antenna array into sub-arrays.
  • Sharing of corrected error transition vectors among platoon vehicles.

Main Results:

  • The proposed antenna placement strategy optimizes array configuration for precise vehicle tracking.
  • The vehicle tracking algorithm improves position estimation by considering platoon state evolution.
  • Sharing error vectors enhances tracking for vehicles in unfavorable positions.
  • The array partitioning algorithm maximizes average tracking performance.

Conclusions:

  • The developed extended Kalman filter-based algorithm significantly improves vehicle position estimation in platoon scenarios.
  • The proposed antenna placement and array partitioning strategies are effective for enhancing V2I tracking performance.