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 andGeometric Relations

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。

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.