Title: On message filtering for cooperative localisation of vehicles in an urban environment

Authors: A. Bais; Y. Morgan

Addresses: University of Regina, 3737 Wascana Parkway, Regina, SK, S4S 0A2, Canada ' University of Regina, 3737 Wascana Parkway, Regina, SK, S4S 0A2, Canada

Abstract: In this paper we present cooperative localisation of vehicles within an urban environment using short-range radio communication technologies such as Dedicated Short Range Communication (DSRC) and IEEE 802.11 (WiFi) etc. In our application environment vehicles are moving along streets and the geometric combination that they form is mostly degenerate for the purpose of position estimation. We explore different scenarios where incorporation of information received from all other vehicles might be suboptimal for the purpose of position estimation. We calculate a confidence measure based on the geometric configuration of different sub-groups of vehicles and propose that the position estimates from each sub-group be weighted accordingly to arrive at the final estimate. Simulation results illustrate that the proposed method can effectively filter out degenerate configurations and achieve considerable performance gain over standard averaging of position estimates.

Keywords: geometric dilution of precision; message filtering; cooperative localisation; vehicle to vehicle communications; short range positioning; multilateration; vehicle localisation; urban environments; position estimation; short-range radio communications; dedicated short range communication; DSRC; IEEE 802.11; wifi; confidence measures; geometric configurations; simulation.

DOI: 10.1504/IJHVS.2014.057828

International Journal of Heavy Vehicle Systems, 2014 Vol.21 No.1, pp.42 - 55

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 14 Oct 2013 *

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