Accurate and reliable vehicle positioning has been widely recognized as an important issue in intelligent transportation systems (ITS). Multi-vehicle cooperative positioning (CP) is an effective method for improving the Global Navigation Satellite System (GNSS) positioning, especially in complex urban environments. Many researches have been conducted for estimating the CP performance, where the impact of the CP scale has been a vital issue in most of these researches. However, the impact of introducing a new vehicle into a system has not been analyzed rigorously in theory, especially when the measurements of this new vehicle are degraded. In this paper, we verify that introducing a new vehicle into the CP system will improve CP performance from the perspective of Cramer-Rao lower bound (CRLB) by a series of theoretical analyses. Meanwhile, we also point out that the actual CP result may degrade when we introduce a vehicle with large measurement noises, this difference in CRLB and CP result might be caused by the inaccurate estimation of the weighting matrix. Numerical simulation and field tests are conducted and the results verify our findings.


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    Title :

    On the Node Impact for Multi-Vehicle Cooperative Positioning Based on CRLB Analysis


    Contributors:
    Zhao, Hongbo (author) / Chen, Yiming (author) / Yin, Zeqi (author) / Hu, Shan (author)


    Publication date :

    2024-09-24


    Size :

    7511327 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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