Signal Processing - March 2017 - 62

Vehicle Senors
WSS

IMUs

Sensor Signals

GNSS Satellite
Sensors (GPS, ....)

Vehicle Model
Database Info

Wireless (Mobile
Phone, Wi-Fi, ...)

Position,
Orientation,
Velocity

Sensor Fusion Algorithms

Sensors: Camera,
Radar, Laser
Road Map
Information
Infrastructure
Database

Cloud Information, Dynamic Databases

Figure 2. An overview of positioning, orientation, and velocity estimation utilizing all available in-vehicle sensors, external databases, and cloud interaction.

canyons, and other areas where Gnss is problematic. If the satellite signal is only mitigated and pseudoranges are available multiple model filters and map constraints might be an option [24].
However, for the general case: indoor driving, long tunnels, and
multiple levels, the focus is on map-aided positioning without
satellite signals.
Localization must also be robust against jamming and
spoofing. Fleet management and theft tracking systems should
not rely on access to Gnss.

Devices
With tens of billions of connected devices around us, some of
them will be used in vehicles. There is, of course, a demand to
keep track of those devices. In some cases, the devices can be
connected to the car to take advantage of the sensor information

on the computer area network (Can) bus. However, there is no
standard for the protocol here, so making devices connect to
many original equipment manufacturer vehicles is a challenge;
i.e., there is also a need for completely stand-alone localization
algorithms. It will also be more common to transition from invehicle estimation to handheld devices.

Mapping
For positioning/localization, there could either be a priori
map information available, or it could be derived from sensor
data. usually, accurate vectorized maps of the road network
are available for vehicle positioning. This is the focus on the
applications described in this article. also, many landmarks
such as speed-limit signs, etc. could be considered known and
available in complementary databases.

(a)

(b)

Figure 3. There are different sensors in a modern vehicle that can detect potholes. (a) Reports from a fleet of vehicles from NIRA dynamics are sent to a
cloud database [23]. (b) since the potholes notion of position differs for natural reasons (based on gNss), clustering is needed in the cloud.

62

IEEE SIgnal ProcESSIng MagazInE

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March 2017

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Table of Contents for the Digital Edition of Signal Processing - March 2017

Signal Processing - March 2017 - Cover1
Signal Processing - March 2017 - Cover2
Signal Processing - March 2017 - 1
Signal Processing - March 2017 - 2
Signal Processing - March 2017 - 3
Signal Processing - March 2017 - 4
Signal Processing - March 2017 - 5
Signal Processing - March 2017 - 6
Signal Processing - March 2017 - 7
Signal Processing - March 2017 - 8
Signal Processing - March 2017 - 9
Signal Processing - March 2017 - 10
Signal Processing - March 2017 - 11
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Signal Processing - March 2017 - 20
Signal Processing - March 2017 - 21
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Signal Processing - March 2017 - 23
Signal Processing - March 2017 - 24
Signal Processing - March 2017 - 25
Signal Processing - March 2017 - 26
Signal Processing - March 2017 - 27
Signal Processing - March 2017 - 28
Signal Processing - March 2017 - 29
Signal Processing - March 2017 - 30
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Signal Processing - March 2017 - 33
Signal Processing - March 2017 - 34
Signal Processing - March 2017 - 35
Signal Processing - March 2017 - 36
Signal Processing - March 2017 - 37
Signal Processing - March 2017 - 38
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Signal Processing - March 2017 - 40
Signal Processing - March 2017 - 41
Signal Processing - March 2017 - 42
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Signal Processing - March 2017 - 45
Signal Processing - March 2017 - 46
Signal Processing - March 2017 - 47
Signal Processing - March 2017 - 48
Signal Processing - March 2017 - 49
Signal Processing - March 2017 - 50
Signal Processing - March 2017 - 51
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Signal Processing - March 2017 - 55
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Signal Processing - March 2017 - 58
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Signal Processing - March 2017 - 60
Signal Processing - March 2017 - 61
Signal Processing - March 2017 - 62
Signal Processing - March 2017 - 63
Signal Processing - March 2017 - 64
Signal Processing - March 2017 - 65
Signal Processing - March 2017 - 66
Signal Processing - March 2017 - 67
Signal Processing - March 2017 - 68
Signal Processing - March 2017 - 69
Signal Processing - March 2017 - 70
Signal Processing - March 2017 - 71
Signal Processing - March 2017 - 72
Signal Processing - March 2017 - 73
Signal Processing - March 2017 - 74
Signal Processing - March 2017 - 75
Signal Processing - March 2017 - 76
Signal Processing - March 2017 - 77
Signal Processing - March 2017 - 78
Signal Processing - March 2017 - 79
Signal Processing - March 2017 - 80
Signal Processing - March 2017 - 81
Signal Processing - March 2017 - 82
Signal Processing - March 2017 - 83
Signal Processing - March 2017 - 84
Signal Processing - March 2017 - 85
Signal Processing - March 2017 - 86
Signal Processing - March 2017 - 87
Signal Processing - March 2017 - 88
Signal Processing - March 2017 - 89
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Signal Processing - March 2017 - 91
Signal Processing - March 2017 - 92
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Signal Processing - March 2017 - 95
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Signal Processing - March 2017 - 98
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Signal Processing - March 2017 - 100
Signal Processing - March 2017 - 101
Signal Processing - March 2017 - 102
Signal Processing - March 2017 - 103
Signal Processing - March 2017 - 104
Signal Processing - March 2017 - 105
Signal Processing - March 2017 - 106
Signal Processing - March 2017 - 107
Signal Processing - March 2017 - 108
Signal Processing - March 2017 - 109
Signal Processing - March 2017 - 110
Signal Processing - March 2017 - 111
Signal Processing - March 2017 - 112
Signal Processing - March 2017 - 113
Signal Processing - March 2017 - 114
Signal Processing - March 2017 - 115
Signal Processing - March 2017 - 116
Signal Processing - March 2017 - 117
Signal Processing - March 2017 - 118
Signal Processing - March 2017 - 119
Signal Processing - March 2017 - 120
Signal Processing - March 2017 - 121
Signal Processing - March 2017 - 122
Signal Processing - March 2017 - 123
Signal Processing - March 2017 - 124
Signal Processing - March 2017 - Cover3
Signal Processing - March 2017 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201809
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201807
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201805
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201803
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_201801
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1117
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0917
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0717
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0517
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0317
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0117
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1116
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0916
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0716
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0516
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0316
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0116
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1115
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0915
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0715
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0515
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0315
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0115
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1114
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0914
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0714
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0514
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0314
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0114
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1113
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0913
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0713
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0513
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0313
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0113
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1112
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0912
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0712
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0512
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0312
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0112
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1111
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0911
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0711
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0511
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0311
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0111
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1110
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0910
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0710
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0510
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0310
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0110
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1109
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0909
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0709
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0509
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0309
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0109
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_1108
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0908
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0708
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0508
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0308
https://www.nxtbook.com/nxtbooks/ieee/signalprocessing_0108
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