Reliable Positioning and Journey Planning for Intelligent Transport Systems. Advanced Energy Management, Modelling and Control for Intelligent and Efficient Transport Systems

Abstract

Safety and reliability of Intelligent Transport Systems applications require positioning accuracy at the sub-meter level with availability and integrity above 99%. At present, no single positioning sensor can meet these requirements in particular in the urban environment. Possible sensors that can be used for this task are first reviewed. Next, a suggested integrated system of low-cost Real-time Kinematic (RTK) GNSS, Inertial Measurement Units (IMU) and vehicle odometer is discussed. To ensure positioning integrity, a method for fault detection in GNSS observations and computation of the Protection Levels (PL) that bound the position errors at a pre-set risk probability of the integrated sensors are presented. A case study is performed for demonstration. Moreover, to save energy, reduce pollution, and to improve economy of the trip, proper journey planning is required. A new approach is introduced using 3D city models to predict the route with the best positioning integrity, availability and precision for route selection among different possible routes. Practical demonstration shows that effectiveness of this method. Finally, the potential of using the next generation SBAS for ITS applications was tested using kinematic tests carried out in various environments characterized by different levels of sky-visibility that may affect observations from GNSS.