Research On Autonomous Integrity Monitoring Method For Vehicle Positioning Based On Vehicle-to-vehicle Cooperation

Vehicle positioning is the key fundamental issue in the research and application of future cooperative ITS(Intelligent Transportation System).Considering the challenge of implementing satellite positioning in the complex urban road environment,the introduction of autonomous integrity monitoring method for vehicle positioning based on vehicle-to-vehicle cooperation is of great significance.In the vehicle-to-vehicle coordinated mode,in addition to wireless information transmission capabilities,DSRC(Dedicated Short-Range Communication)can further provide ranging rate observation information,which provides assistance to vehicle positioning and autonomous integrity monitoring to overcome the impact of complex urban road environment for the GNSS(Global Navigation Satellite System)applications.This thesis takes full account of the complicated and time-varying satellite signal observational characteristics in urban road environment,and presents an autonomous integrity monitoring method for vehicle positioning based on vehicle-to-vehicle cooperation.It uses DSRC observation information to assist in the implementation of HPL(Horizontal Protection Level)estimation and fault detection,breaks the limitation of the conventional RAIM(Receiver Autonomous Integrity Monitoring)method in terms of satellite visibility conditions,and can continuously,reliably detect,identify and exclude satellite observations with faults in the case of limited satellite observations so as to provide an important guarantee to implementation for accurate and trustworthy vehicle positioning.The main research work in this thesis includes:(1)The principle of GNSS positioning method and DSRC-enabled collaborative positioning method are analyzed.Based on the design of a GNSS/DSRC integrated positioning scheme,the system model and observation model are constructed.(2)The principle of residual-based and innovation-based RAIM methods is analyzed.According to the GNSS/DSRC integrated positioning process,the frame of an enhanced RAIM based on DSRC observation is established by using an innovation variance-based strategy.(3)An autonomous integrity monitoring method for vehicle positioning based on vehicle-to-vehicle cooperation is proposed.By employing DSRC observation information,the detedmination method of autonomous integrity monitoring availability is designed and the corresponding fault detection,identification and exclusion strategies are proposed.And the fault detection and identification results are used to adjust the vehicle positioning integrated logic dynamically,to achieve continuous and trustworthy vehicle positioning.Combining the proposed integrity monitoring methods and corresponding application strategies,field experiments and simulations have been carried out respectively.The error model of DSRC observational is established through field experiments.Based on this,a variety of scenarios are designed to simulate vehicle operating and satellite signal observing conditions,and simulation experiments verify the performance of autonomous integrity monitoring method for vehicle positioning based on vehicle-to-vehicle cooperation and its impact on the positioning performance.The related impact factors are also further discussed.The results obtained in this thesis provide an effective solution to overcome the constraint of satellite signal observation conditions in urban operation environment,and make it possible to ensure the continuous monitoring of the integrity status with limited satellite signal visibility and to use the available navigation satellite observations for the decision-making in vehicle positioning.It will provide important support for the deep utilization of satellite positioning technology and the realization of trustworthy vehicle positioning for the future cooperative ITS.