Cooperative positioning is promising to provide stable and precise location information for vehicular ad-hoc networks (VANETs). However, its performance is severely degraded by the non-line-of-sight (NLOS) ranging measurements due to blockages from buildings and vehicles. In this paper, a three-dimensional (3D) geographical information enhanced cooperative localizer (3D GIE-CL) is proposed for VANETs with time-of-arrival (TOA) ranging measurements from mixed lineof- sight (LOS) and NLOS links. At every iteration, it firstly judges the NLOS due to buildings (NLOSb) and NLOS due to vehicles (NLOSv) based on geographical information and current estimations of vehicles positions. Secondly, after removing the judged NLOS measurements, it updates the positions estimations by a 3D generalized approximate message passing (GAMP) CL, which handles the cooperative positioning problem by treating it as a generalized linear mixing one, and then resolving the latter by GAMP with importance sampling mechanism to evaluate the mean-and-variance messages involving TOA measurements. Finally, 3D GIE-CL will iterate between the above NLOS identification and 3D cooperative localization until convergence is reached. Simulation results show that 3D GIE- CL handles the NLOS problem successfully. It provides the state-of-theart positioning performance and approaches to its performance upper bound under oracle link-type information.
Three-Dimensional Cooperative Positioning in VANETs with LOS/NLOS Ranging Measurements
2019-09-01
1325366 byte
Conference paper
Electronic Resource
English
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