Implementation of MATLAB libraries and related technical documents for Accurate Positioning in Intelligent Transport System

Abstract

A proof-of-concept project was started in the JRC in early 2014 to investigate and design a framework to improve positioning accuracy in Intelligent Transport Systems (ITS) on the basis of the IMU sensors. In the first phase of the project, a theoretical framework was defined and described in Report EUR 27042 EN. This technical report describes in detail the technical solution adopted to implement the theoretical framework as a MATLAB library providing dedicated functionalities to apply for an Accurate Positioning in Intelligent Transport System (which is the second phase of the project). The mathematical framework developed in the first phase of the project has been implemented into a working and self-standing MATLAB library. The MATLAB library is composed by three functional blocks: the Extended Kalman Filter, the vehicle’s status estimation module and the Particle Filter. The MATLAB library is capable of ingesting data in batch or real-time fashion. It elaborates the acquired data and displays the results by means of easy to understand graphs. It interoperates with the OpenStreetMap maps to provide georeferenced results. The report describes the main modules of the MATLAB library, how they are connected and how they must be used. The report also describes the testing scenarios and the results of the tests. Finally, the technical report provides recommendations on the future developments of this MATLAB library. The MATLAB implementation and the report have been completely produced by ARES2T. Gianmarco Baldini has only defined the operational scenarios and the requirements.