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This paper presents an algorithm for improving navigation performance of an Unmanned Aerial Vehicle (UAV) in GPS-challenging environments, which exploits aiding measurements from one or more cooperative UAVs flying under full GPS coverage. In particular, sensor fusion is based on an Extended Kalman Filter that integrates measurements from onboard inertial sensors and magnetometers, available GPS pseudoranges,...
Cooperative driving improves vehicle safety and the driving experience by adapting the vehicle performance to the surrounding traffic. Communication of accurate and timely information obtained from multiple in-vehicle sensors, other vehicles and nearby infrastructure is essential to guarantee the robustness and reliable performance of the cooperative driving system. However, processing the information...
This paper addresses the challenge of vehicle selection in a Vehicular Ad-hoc Network (VANET) used to assist vehicles with limited satellite visibility in urban environments. In [1], we proposed a Non-Range cooperative positioning system which uses pseudoranges from only one assisting vehicle at any given time. However, many vehicles are within the communication zone of the target vehicle especially...
Road intersections are considered to be bottlenecks for urban transportation whose impacts are longer travel times and wasted human resources. In this paper we focus on vehicle to vehicle communications (V2V) that allow exchanging data between vehicles. Considering that vehicles are controlled by drivers (not autonomous), we do not pretend to take control of them, nor is the goal to avoid collision...
This paper presents a method for localizing a land vehicle using low cost MEMS IMU sensors and a terrain map in global positioning system (GPS) denied environment. Previous attempts to localize a vehicle based on terrain information used a tactical grade IMU which is not cost-effective on a commercial scale. On the other hand, MEMS sensors are very cheap but cannot provide accurate attitude estimation...
As urban living environment is becoming more and more complex; the road condition is becoming worse because of heavy traffic, increase of traffic accidents and high ratio of empty vehicles. It increases the cost of transportation and wastes time of vehicle movement. In highly populated Countries like India, during accidents, people lose their lives due to unavailability of proper medical facilities...
Campus bus service has been introduced in hope to ease students and campus community to move around, but the service has been unreliable. More importantly, the position of the bus at a given time cannot be tracked, making it even more challenging to estimate the time of arrival. In this work, a low-cost campus bus tracker is proposed by selectively using WiFi proximity technique and GPS information,...
How to enhance the communication efficiency and quality on vehicular networks is one critical important issue. While with the larger and larger scale of vehicular networks in dense cities, the real-world datasets show that the vehicular networks essentially belong to the complex network model. Meanwhile, the extensive research on complex networks has shown that the complex network theory can both...
Autonomous vehicles require accurate position at all times in different environments at an affordable price. This accurate position can only be achieved when combining multiple positioning methods. One of these methods is presented in this paper: positioning based on a Global Navigation Satellite System (GNSS) to obtain absolute position. This solution should be at an affordable price with sub-meter...
We present a system to detect incidents causing traffic congestion in the road network by analyzing real-time GPS data. These data are collected from tracking devices installed in the vehicles or from drivers' smartphones. After positioning the GPS coordinates on the road map, the system assigns a traffic state to each road segment based on the velocities of vehicles, and generates alerts for incident...
Insufficient intersection management is one of the top congestion causes. Intersection performance enhancement requires its usage data and statistics, such as vehicle queue lengths, waiting times, etc. Intelligent Transportation Systems (ITS) provide transportation researchers and engineers with access to such data. However, the majority of the state of the art ITS are expensive, hard to maintain...
Vehicular network applications are emerging to bring many benefits to the users during their journey. However, the design and deployment of such applications require studies that provide insightful information about the network formed by vehicles. To this end, in the last years researchers have been characterizing real mobility traces collected from taxis equipped with GPS devices. However, these...
In present time due to increase in number of kidnapping and road accident cases, parents always worry about their children. This paper recommends a SMS based solution which assists parents to track their children location in real time. To track the location GPS module is used and to identify the identity of the child a RFID card is used which is in built in the system. Whenever a child boards a bus,...
Developing countries like India needs a significant improvement in infrastructure such as Roads or Highways. Construction of these highways is a costly affair, which can't be invested by the government alone. Normally Public private partnerships are made to construct such a huge projects. The money spent on these projects can be regained by collecting toll from the passengers who use the roads. The...
VANETs) that provides a vehicle with data about 1-hop neighboring vehicles. Data provided by this service can be used to support safety applications, such as the efficient selection of forwarders for safety messages and dissemination of early warnings to drivers about potential dangers of the road. This paper discusses the limitations of the beaconing service in providing vehicles with safety-related...
In this paper we present a multi-round contention based medium access control (MAC) protocol VMR-MAC to overcome the slot-wastage problem in vehicular ad hoc networks (VANETs). Vehicular nodes in a two-hop set (THS) could acquire more than one time slot in a frame interval and the whole slot resource is almost uniformly allocated to the users through the round-by-round contention. Moreover, at the...
With digital maps of the transport network and realtime traffic updates, today's navigation services provide good quality routes in the major route level. Once entering the last mile near the destination, they unfortunately can be ineffective and, instead, local drivers often have a better understanding of the routes there. Given the deep penetration of 3G/4G mobile networks, drivers are now well...
Cooperative Intelligent Transportation Systems (C-ITS) are key component of the future road traffic management system. To evaluate and analyze the reliability of various applications supported by C-ITS, realistic performance metrics are required. Such metrics serve as a performance indicator and help in tuning the wireless transmission parameters to maintain required quality of service. The essential...
In this work navigation algorithm based on open source software package RTKLIB with dead reckoning is presented. RTK mode allows improving the positioning accuracy using data from a base station. RTK functionality may be limited in conditions of poor visibility of satellites and there may be breaks navigation solutions. In these cases dead reckoning (DR) system allow to provide navigation for some...
In this paper, we focus on designing an efficient routing method in Vehicle Delay Tolerant Networks (VDTNs) without centralized infrastructures. Current routing methods either have limited routing efficiency or need the help of centralized infrastructures to improve the routing performance, which is deviated from the goal of building VDTNs without centralized infrastructures. In this paper, we propose...
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