Estimation of Spatially Correlated Errors in Vehicular Collaborative Navigation with Shared GNSS and Road-Boundary Measurements

摘要

In collaborative navigation, users determine their positions by fusing their own sensor data with data shared by other users via a common communication network. This paper proposes a collaborative navigation algorithm that shares GNSS and camera data to enable estimation and removal of spatially correlated GNSS errors. In principle, this algorithm could serve as the basis for a mobile, ad hoc GNSS augmentation system that achieves levels of accuracy comparable with a conventional Ground Based Augmentation System (GBAS), but without requiring a fixed reference station. In particular, such a mobile augmentation system has great potential for future automotive applications, such as automated driving.