Hybrid Cooperative Positioning for Vehicular Networks

This paper proposes a hybrid cooperative positioning (CP) algorithm suitable for vehicular network applications which can fuse the measurements from global navigation satellites, ground stations, signals of opportunity, inter-node ranging from neighbouring vehicles and onboard inertial navigation sy...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology 2020-01, Vol.69 (1), p.714-727
Main Authors: Xiong, Jun, Cheong, Joon Wayn, Xiong, Zhi, Dempster, Andrew G., Tian, Shiwei, Wang, Rong
Format: Article
Language:English
Subjects:
Accuracy
Ad hoc networks
Algorithms
Approximate message passing
Computer simulation
Cooperative positioning
Distance measurement
Global navigation satellite system
Ground stations
Hybrid vehicles
Inertial navigation
Iterative methods
Kalman filter
Kalman filters
Message passing
Navigation satellites
Navigation systems
Onboard equipment
Receivers
Satellite broadcasting
Vehicular networks
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Summary:This paper proposes a hybrid cooperative positioning (CP) algorithm suitable for vehicular network applications which can fuse the measurements from global navigation satellites, ground stations, signals of opportunity, inter-node ranging from neighbouring vehicles and onboard inertial navigation systems (INS). By applying the framework of generalized approximate message passing (GAMP), the complex CP problem is transformed into an iterative yet lower computational load process. In each iteration, the time recurrence of navigation states and initialization of GAMP computation are conducted based on Kalman filter. The proposed algorithm guarantees the overall positioning performance of multiple vehicles in a hybrid navigation scenario, and improves the robustness and accuracy of CP navigation systems. Simulation results show that the proposed algorithm has better estimation accuracy than traditional CP algorithms, and has 20 times less computational load than the best existing algorithm with equivalent accuracy.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2019.2953687