Hybrid GNSS/INS/UWB positioning for live demonstration assisted driving

In Cooperative Intelligent Transport Systems, precise and reliable positioning and navigation is a key feature for assisted or autonomous driving. This contribution presents experimental results from a pilot demonstration involving different stakeholders for assisted driving in a smart city scenario. A low-cost multi-sensor fusion positioning prototype which integrates GNSS, INS and UWB measurements, with communication capabilities has been deployed into a 5G communication architecture to test real-time positioning and communication capabilities in delay constraint/safety applications. A description of the prototype and experimental performance results are provided.Peer ReviewedPostprint (published version