Integrating DSRC and dead–reckoning for cooperative vehicle positioning under GNSS–challenged vehicular environments. (2015) - Liu, Jiang
As the fundamental information for describing the dynamic state of vehicles, vehicle position is a significant element for the cooperative vehicle infrastructure systems. Global navigation satellite system (GNSS) is considered as an effective approach for realising accurate and reliable vehicle positioning. To overcome the GNSS–challenged environments in urban areas, a low–cost cooperative vehicle positioning solution is proposed in this paper by exploring the capability of dedicated short range communication (DSRC) and dead reckoning (DR). The mechanism of DSRC–based cooperative positioning using the carrier frequency offset (CFO) observation is analysed. The Bayesian filtering scheme is employed for realising the information fusion of DSRC and DR, which promotes a DSRC/DR integration–based solution to compensate GNSS and achieve the desirable accuracy and availability. Results from a cooperative simulation platform show an encouraging performance stage of the proposed solution. Under the GNSS–challenged conditions, the accuracy and service availability are assured for supporting the cooperative vehicular applications.