Integrating Vision Derived Bearing Measurements with Differential GPS and UWB Ranges for Vehicle-to-vehicle Relative Navigation

摘要

In this paper Vehicle-to-Vehicle navigation isreviewed and the augmentation of between vehiclemoving base stations differential GPS with ultrawidebandrange measurements and vision derivedbearing measurements is proposed. A method forderiving bearing measurements from video data isintroduced theoretically and then demonstrated. Realdata collected with two vehicles driving on a citystreet in Calgary is then used to demonstrate themethod. The initial results show small errors in visionderived bearing measurements. The augmentation ofDGPS with vision derived bearingmeasurements and UWB range measurements showsan improvement in the horizontal navigation solutionprovided that the range and bearing measurementsare free from systematic errors.