Accurate Satellite Based Vehicle Positioning with Low-Cost Components
| Reference number | |
| Coordinator | Scania CV Aktiebolag - REVM - Vehicle Management Controls |
| Funding from Vinnova | SEK 323 815 |
| Project duration | October 2014 - October 2015 |
| Status | Completed |
| Venture | Traffic safety and automated vehicles -FFI |
| End-of-project report | 2014-03950eng.pdf (pdf, 393 kB) |
Purpose and goal
The goal for the project was an accurate, satellite-based vehicle positioning system made by low cost units. The project was to evaluate whether the RTK-GNSS based on low-cost mono channel GNSS receivers along with existing Swepos surveying reference stations have sufficient positional accuracy for long range operation in speeds up to 80 km/h. The hardware was designed and built as planned. The precision goal was met with great margin as long as GNSS coverage was not interrupted longer than 45 m. The dead-reckoning of the truck position without satellite support requires future work.
Results and expected effects
The positional accuracy result was +/-5 cm at the worst, compared to the goal of +/-30 cm. This was stable as long as satellite loss were shorter than 45 m at a time. The desired outcome was 120 m tolerance for satellite interruption, which we see quite possible with a more accurate model of the vehicle and improvements of to the inertial navigation.
Approach and implementation
Good: The hardware was the part that worked best, because it was well tested before the thesis projects started. Our thesis workers had good access to assistance from Flowscape regular staff and the Scania expertise. Can be improved: In the end the project took more than double the anticipated number of man hours to complete. A dedicated test vehicle on the Flowscape premises in Kista would have simplified the work significantly. Ideally the issues surrounding the Swepos reference service should have been sorted out first, but it was unfortunately not possible in terms of this project.