Integrating Vision Derived Bearing Measurements With Differential Gps And Uwb Ranges For Vehicle-To-Vehicle Relative Navigation

In this paper Vehicle-to-Vehicle navigation is reviewed and the augmentation of between vehicle moving base stations differential GPS with ultra-wideband range measurements and vision derived bearing measurements is proposed. A method for deriving bearing measurements from video data is introduced theoretically and then demonstrated. Real data collected with two vehicles driving on a city street in Calgary is then used to demonstrate the method. The initial results show small errors in vision derived bearing measurements. The augmentation of DGPS with vision derived bearing measurements and UWB range measurements shows an improvement in the horizontal navigation solution provided that the range and bearing measurements are free from systematic errors.