Information fusion for localization within vehicular networks

Efatmaneshnik, M, Kealy, A, Balaei, A and Dempster, A 2011, 'Information fusion for localization within vehicular networks', Journal of Navigation, vol. 64, no. 3, pp. 401-416.


Document type: Journal Article
Collection: Journal Articles

Title Information fusion for localization within vehicular networks
Author(s) Efatmaneshnik, M
Kealy, A
Balaei, A
Dempster, A
Year 2011
Journal name Journal of Navigation
Volume number 64
Issue number 3
Start page 401
End page 416
Total pages 16
Publisher Cambridge University Press
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.
Subject Navigation and Position Fixing
Keyword(s) Cooperative positioning
DSRC
Kalman filter
Map matching
Vehicular networks
DOI - identifier 10.1017/S0373463311000075
Copyright notice © The Royal Institute of Navigation 2011
ISSN 0373-4633
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