An Efficient GPS-Free Vehicle Localization Algorithm Using Single Roadside Unit and Receiver

Accurate vehicle localization is critical for connected and autonomous vehicles of the future. But it is challenging, especially in global positioning system (GPS) denied or urban environments. In this paper, we propose an efficient GPS-free vehicle localization algorithm by exploiting vehicle-to-infrastructure communications. It is an on-board odometer and inertial measurement unit (IMU) assisted and single roadside unit (RSU) based approach. The available RSU position, speed vector and distance information between the RSU and vehicle are formulated as an over-determined system of linear equations. The linear least squares method is then utilized to estimate the vehicle position in a computationally efficient manner.

[1]  Giuseppe Ricci,et al.  A Localization Algorithm Based on V2I Communications and AOA Estimation , 2017, IEEE Signal Processing Letters.

[2]  Fredrik Gustafsson,et al.  The Future of Automotive Localization Algorithms: Available, reliable, and scalable localization: Anywhere and anytime , 2017, IEEE Signal Processing Magazine.

[3]  F. Gustafsson,et al.  Mobile positioning using wireless networks: possibilities and fundamental limitations based on available wireless network measurements , 2005, IEEE Signal Processing Magazine.

[4]  Antonio Alfredo Ferreira Loureiro,et al.  A Roadside Unit-Based Localization Scheme to Improve Positioning for Vehicular Networks , 2016, 2016 IEEE 84th Vehicular Technology Conference (VTC-Fall).

[5]  Azzedine Boukerche,et al.  Vehicular Ad Hoc Networks: A New Challenge for Localization-Based Systems , 2008, Comput. Commun..

[6]  Yasmine A. Fahmy,et al.  High Accuracy GPS-Free Vehicle Localization Framework via an INS-Assisted Single RSU , 2015, Int. J. Distributed Sens. Networks.

[7]  Seibum Choi,et al.  Vehicle Velocity Observer Design Using 6-D IMU and Multiple-Observer Approach , 2012, IEEE Transactions on Intelligent Transportation Systems.

[8]  Erik G. Ström,et al.  Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning , 2015, 2015 International Conference on Computing, Networking and Communications (ICNC).

[9]  Chia-Ho Ou.  A roadside unit-based localization scheme for vehicular ad hoc networks , 2014, Int. J. Commun. Syst..

[10]  Hing-Cheung So,et al.  Linear Least Squares Approach for Accurate Received Signal Strength Based Source Localization , 2011, IEEE Trans. Signal Process..

[11]  Andrew G. Dempster,et al.  Differences in RSSI readings made by different Wi-Fi chipsets: A limitation of WLAN localization , 2011, 2011 International Conference on Localization and GNSS (ICL-GNSS).

[12]  Yasmine A. Fahmy,et al.  Two-way TOA with limited dead reckoning for GPS-free vehicle localization using single RSU , 2013, 2013 13th International Conference on ITS Telecommunications (ITST).

[13]  Fakhri Karray,et al.  Vehicle localization in VANETs using data fusion and V2V communication , 2012, DIVANet@MSWiM.

[14]  Kritika Jain,et al.  TLST: Time of Arrival Based Localization and Smart Tunnel concept in VANETs , 2016, 2016 3rd International Conference on Signal Processing and Integrated Networks (SPIN).