Enhancing GNSS-based vehicle positioning using DSRC and a nonlinear robust filter under the connected vehicles environment

Abstract

The concept of IOV (Internet of Vehicles) is capable of ensuring the safety and efficiency in road transportation by using wireless communication among the vehicles and the infrastructure facilities. Precise and real-time positioning of vehicles in the road net is of great significance for many intelligent functions and applications. In this paper, we expand the capability of Dedicated Short Range Communication (DSRC) devices to enhance the GNSS (Global Navigation Satellite System) for vehicle positioning. By utilizing the Huber-based M-estimation technique, an improved robust cubature filter is proposed with a novel approach for real-timely updating the measurement covariance, and a strategy for tuning the filter parameter is designed to improve the adaptability. Simulation results with specific tools show that the robustness and estimation precision of information fusion for positioning can be improved under the uncertain measurement and operating conditions. © 2014 Springer International Publishing Switzerland.