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Information Fusion for Localization Within Vehicular Networks

Published online by Cambridge University Press:  07 June 2011

Mahmoud Efatmaneshnik ,
Allison Kealy ,
Asghar Tabatabei Balaei  and
Andrew G. Dempster
Mahmoud Efatmaneshnik*
Affiliation:
(The University of New South Wales, School of Surveying and Spatial Information Systems)
Allison Kealy
Affiliation:
(The University of Melbourne, Department of Geomatics)
Asghar Tabatabei Balaei
Affiliation:
(The University of New South Wales, School of Surveying and Spatial Information Systems)
Andrew G. Dempster
Affiliation:
(The University of New South Wales, School of Surveying and Spatial Information Systems)
*
(Email:mahmoud.e@unsw.edu.au)
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Abstract

Cooperative positioning (CP) is a localization technique originally developed for use across wireless sensor networks. With the emergence of Dedicated Short Range Communications (DSRC) infrastructure for use in Intelligent Transportation Systems (ITS), CP techniques can now be adapted for use in location determination across vehicular networks. In vehicular networks, the technique of CP fuses GPS positions with additional sensed information such as inter-vehicle distances between the moving vehicles to determine their location within a neighbourhood. This paper presents the results obtained from a research study undertaken to demonstrate the capabilities of DSRC for meeting the positioning accuracies of road safety applications. The results show that a CP algorithm that fully integrates both measured/sensed data as well as navigation information such as map data can meet the positioning requirements of safety related applications of DSRC (<0·5 m). This paper presents the results of a Cramer Rao Lower Bound analysis which is used to benchmark the performance of the CP algorithm developed. The Kalman Filter (KF) models used in the CP algorithm are detailed and results obtained from integrating GPS positions, inter-vehicular ranges and information derived from in-vehicle maps are then discussed along with typical results as determined through a variety of network simulation studies.

Keywords

Cooperative positioningDSRCKalman filterMap matchingVehicular networks
Type
Research Article
Information
The Journal of Navigation , Volume 64 , Issue 3 , July 2011 , pp. 401 - 416
Copyright
Copyright © The Royal Institute of Navigation 2011

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