The interest in the field of telecommunications has increased over the past ten years, particularly in exploring potential applications involving connections between vehicles (V2V), or vehicles to everything (V2X), and vice versa. This interest results in increased R&D process spending in this field. Because of the desire to create a logistic system that is ever more efficient, dynamic, and secure, this kind of connections are being studied so much. In reality, it is obvious that advancements in telecommunications play a crucial part in forging such an atmosphere. By clearly referring to pedestrians, infrastructure, roads, and cars, I mean all the actors involved, the deployment of these solutions might enable the sharing of a great deal of information through all of them. The widespread Global Navigation Satellite System (GNSS) technology might not be able to provide positioning solutions that are up to the challenging requirements, which might allow wireless positioning techniques based on Fifth Generation (5G) cellular networks to play a promising role in positioning systems. This work proposes a novel localization algorithm based on the fusion of different available technologies in order to obtain a certain precision in localizing vehicles. The hybridization between GNSS, 5G TDoA (Time Difference of Arrival) and IMU sensor is used to obtain the vehicle’s position estimates, thanks to a fitted for purpose tracking filter, considering an Interactive Multiple Model (IMM). Essentially, the aim is to realize a hybrid integration of the 5G network architecture, based on actual base station installation sites, with the visibility of GNSS satellites in a particular geographic area. The Line-Of-Sight (LOS) conditions of the accessible satellites and cellular links are established by utilizing a threedimensional (3D) city map of the area, employing an elevation mask and a ray tracing based method, after producing a realistic dynamic trajectory for the vehicle.
L’interesse nel campo delle telecomunicazioni è cresciuto nell’ultimo decennio, in particolare nell’esplorare le potenziali applicazioni che coinvolgono le connessioni tra veicoli (V2V), o veicoli a tutto, e viceversa. Questo interesse si traduce in un aumento degli investimenti di ricerca e sviluppo in questo settore. A causa del desiderio di creare un sistema logistico sempre più efficiente, dinamico e sicuro, questi tipi di connessioni sono molto studiati. Ovviamente i progressi nelle telecomunicazioni svolgono un ruolo cruciale nella creazione di tale panorama. Riferendosi chiaramente ai pedoni, alle infrastrutture, alle strade e alle automobili, ovvero tutti gli attori coinvolti, la distribuzione di queste soluzioni potrebbe consentire la condivisione di una grande quantità di informazioni attraverso tutti loro. La diffusa tecnologia GNSS potrebbe non essere in grado di fornire soluzioni di posizionamento che soddisfino i requisiti alquanto impegnativi, il che potrebbe consentire alle tecniche di localizzazione wireless basate sulle reti cellulari 5G (Quinta Generazione) di svolgere un ruolo promettente nei sistemi di posizionamento. Questo lavoro di tesi propone un nuovo algoritmo di localizzazione basato sulla fusione di diverse tecnologie disponibili al fine di ottenere una certa precisione nel localizzare i veicoli. L’ibridizzazione tra GNSS, 5G TDoA (Time Difference of Arrival) e sensore IMU viene utilizzata per ottenere le stime di posizione del veicolo, grazie a un filtro di tracciamento creato per lo scopo, considerando un Modello Multiplo Interattivo (IMM). In sostanza, l’obiettivo è realizzare un’integrazione ibrida dell’architettura di rete 5G, basata sui siti di installazione delle stazioni di base reali, con la visibilità dei satelliti GNSS in una particolare area geografica. Le condizioni di Line-Of-Sight (LOS) dei satelliti accessibili e dei collegamenti cellulari sono stabilite utilizzando una mappa tridimensionale (3D) della zona, impiegando una maschera di altitudine (elevation mask) e un metodo basato sul raggio di tracciamento (ray tracing), dopo aver prodotto una traiettoria dinamica realistica per il veicolo.
Hybrid vehicular localization algorithms using 5G technology and IMU sensors
VELLUCCI, MARCO
2021/2022
Abstract
The interest in the field of telecommunications has increased over the past ten years, particularly in exploring potential applications involving connections between vehicles (V2V), or vehicles to everything (V2X), and vice versa. This interest results in increased R&D process spending in this field. Because of the desire to create a logistic system that is ever more efficient, dynamic, and secure, this kind of connections are being studied so much. In reality, it is obvious that advancements in telecommunications play a crucial part in forging such an atmosphere. By clearly referring to pedestrians, infrastructure, roads, and cars, I mean all the actors involved, the deployment of these solutions might enable the sharing of a great deal of information through all of them. The widespread Global Navigation Satellite System (GNSS) technology might not be able to provide positioning solutions that are up to the challenging requirements, which might allow wireless positioning techniques based on Fifth Generation (5G) cellular networks to play a promising role in positioning systems. This work proposes a novel localization algorithm based on the fusion of different available technologies in order to obtain a certain precision in localizing vehicles. The hybridization between GNSS, 5G TDoA (Time Difference of Arrival) and IMU sensor is used to obtain the vehicle’s position estimates, thanks to a fitted for purpose tracking filter, considering an Interactive Multiple Model (IMM). Essentially, the aim is to realize a hybrid integration of the 5G network architecture, based on actual base station installation sites, with the visibility of GNSS satellites in a particular geographic area. The Line-Of-Sight (LOS) conditions of the accessible satellites and cellular links are established by utilizing a threedimensional (3D) city map of the area, employing an elevation mask and a ray tracing based method, after producing a realistic dynamic trajectory for the vehicle.| File | Dimensione | Formato | |
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Hybrid Vehicular Localization Algorithms using 5G Technology and IMU Sensor.pdf
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https://hdl.handle.net/10589/210412