Hybrid Cooperative Positioning for Vehicular Networks

摘要: 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 neighbouring vehicles and onboard inertial systems (INS). By applying framework generalized approximate message passing (GAMP), complex CP problem is transformed into an iterative yet lower computational load process. In each iteration, time recurrence states initialization GAMP computation are conducted based on Kalman filter. The proposed guarantees overall performance multiple in scenario, improves robustness accuracy systems. Simulation results show that has better estimation than traditional algorithms, 20 times less best existing with equivalent accuracy.