V.B. Pudlovskiy1, A.P. Malyshev2, A.A. Chugunov3, S.V. Chernykh4, S.A. Serov5

1 Federal State Unitary Enterprise «Russian Metrological Institute of Technical Physics and Radio Engineering» (Moscow Region, Russia)

1–5 National Research University «Moscow Power Engineering Institute» (Moscow, Russia)

1 pudlovskiy@vniiftri.ru, 2 malyshevap99@gmail.com, 3 san4es_95@mail.ru, 4 ChernykhSVl@mpei.ru,

5 srv.28@yandex.ru

Navigation for unmanned vehicles in urban environments using only Global Navigation Satellite Systems (GNSS) signals doesn't provide the required accuracy and reliability due to the effects of satellite signal re-reflection, attenuation or blocking. Integration of GNSS receivers with other navigation aids, including local navigation systems (LNS), is used to provide «seamless» navigation and improve its reliability. An algorithm for the joint processing of GNSS signals and LNS based on ultra-wideband signals (UWB), which potentially allows achieving "seamless" vehicle navigation in urban areas, is proposed. According to the results of experimental data processing it was obtained that the maximum range between the receiver and the transmitter of UWB signals does not exceed 100 m, and the error of estimation of the relative coordinates of the vehicle using the proposed algorithm didn't exceed 1,5 m.

Pudlovskiy V.B., Malyshev A.P., Chugunov A.A., Chernykh S.V., Serov S.A. Filtering algorithm for estimating vehicle coordinates in the urban area using GNSS signals and ultra-wideband local navigation system. Achievements of modern radioelectronics. 2024. V. 78. № 1. P. 64–77. DOI: https://doi.org/10.18127/j20700784-202401-06 [in Russian]

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