UHF RFID-Based Vehicle Navigation on Straight Unpaved Road Reinforced with Geocell

Visibility on roads can be poor during winters owing to snowstorms and other factors. Optical devices, including Light Detection and Ranging devices, are ineffective under whiteout conditions. Moreover, buildings, trees, and other obstacles reduce the accuracy of the Global Positioning System. Therefore, we investigate vehicle navigation using an Ultrahigh Frequency Radio Frequency Identification (RFID) system. This study extends a previously developed RFID-based navigation system for paved roads to unpaved roads. Unpaved roads, particularly those in mountainous or forested areas, can become unstable because of weather conditions and present unique challenges regarding the stability of RFID tags. We use geocells to provide road stability and maintain the RFID tags at the ideal position and attitude. We insert RFID tags into polyvinyl chloride pipe holders and attach them to geocells. We also use the vehicle heading angle from the inertial navigation system (INS). In some areas, the INS is disturbed and shows incorrect direction. We utilize the RFID tag reading history to improve vehicle positioning accuracy by compensating for errors in the INS. Applying this correction reduces the average deviation from the lane center. Driving experiments are conducted on a straight unpaved road, and good results are obtained. These results validate the robustness of the proposed vehicle navigation system, which combines an RFID system with a geocell, providing insights into its successful implementation on unpaved roads.