论文标题
自动驾驶汽车5G辅助定位的性能分析
Performance Analysis for Autonomous Vehicle 5G-Assisted Positioning in GNSS-Challenged Environments
论文作者
论文摘要
已知独立的全球导航卫星系统（GNSS）可以在开放的天空条件下提供几米的定位精度。当某些GNSS卫星的视线（LOS）路径被阻塞时，例如在Urban Canyons或Underground隧道中，这种准确性可能会大大下降。为了克服这个问题，一般方法通常是通过使用其他专用子系统来增强GNSS系统，以帮助掩盖晦涩的LOS产生的差距。最近在5G中定位引起了一些关注，这主要是由于有可能使用5G信号和基础设施提供CM级准确性，从而有效地施加了额外的成本。在本文中，我们根据可实现的位置和速度误差界限研究了GNSS和5G定位的杂交。我们专注于卫星可见性受环境几何形状限制的方案，而GNSS和5G定位系统无法单独执行或提供了极大的误差。
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are obstructed, e.g., in urban canyons or underground tunnels. To overcome this issue, the general approach is usually to augment GNSS systems with other dedicated subsystems to help cover the gaps arising from obscured LOS. Positioning in 5G has attracted some attention lately, mainly due to the possibility to provide cm-level accuracy using 5G signals and infrastructure, effectively imposing no additional cost. In this paper, we study the hybridization of GNSS and 5G positioning in terms of achievable position and velocity error bounds. We focus on scenarios where satellite visibility is constrained by the environment geometry, and where the GNSS and 5G positioning systems fail to perform individually or provide a prohibitively large error.
