基于系统物理参数测量和几何关系的车辆定位
Vehicle Positioning Based on System Physical Parameter Measurement and Geometric Relations
张钰 1李毅2
作者信息
- 1. 山西职业技术学院电子与通信工程系,山西太原 030006
- 2. 山西财经大学信息学院,山西太原 030012
- 折叠
摘要
对采用可见光通信(Visible Light Communication,VLC)的车辆定位方法进行了研究,研究、分析并比较了4 种基于 VLC的车辆定位方法;基于假设的系统模型和接收到的 VLC信号数学模型,分析了每种方法所采用的 TX位置与系统物理参数的测量过程,利用这些参数与 TX位置之间的几何关系构成一个观测模型,获得车辆位置估计;基于 VLC定位方法的观测模型得到每种方法关于位置精度的 Cramer-Rao下界(Cramer-Rao Lower Bound,CRLB);在一般有限传播延迟、视距(Line of Sight,LoS)和加性高斯白噪声(Additive White Gaussian Noise,AWGN)的 VLC信道模型下,对于真实道路的避碰和列队行驶场景,仿真了每种方法的系统物理参数测量,并基于测量结果,对每种方法的定位精度的 CRLB进行了评价.
Abstract
Vehicle positioning methods using Visible Light Communication(VLC)are studied,and four methods based on VLC are studied,analyzed and compared.Firstly,based on the assumed system model and the received VLC signal mathematical model,the measurement process of TX position and system physical parameters adopted by each method are analyzed.An observation model is constructed using the geometric relations between these parameters and TX position to obtain vehicle position estimation.Then,the Cramer-Rao Lower Bound(CRLB)for each method in regard to position accuracy is obtained by the observation model based on VLC positioning method.Finally,under the VLC channel model with general finite propagation delay,Line of Sight(LoS)and Additive White Gaussian Noise(AWGN),the measurement of system physical parameters of each method is simulated for collision avoidance and platooning driving scenarios of real roads,and the CRLB of positioning accuracy for each method is evaluated based on the measurement results.
关键词
自主汽车驾驶/碰撞避免/列队行驶/可见光定位/观测模型/几何关系/定位精度/Cramer-Rao下界Key words
autonomous vehicle driving/collision avoidance/platooning driving/visible light positioning/observation model/geometric relation/positioning accuracy/CRLB引用本文复制引用
基金项目
全国统计科学研究重点项目(2022LZ14)
教育部人文社会科学研究规划基金(20YJA910004)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据