Skip to main content Accessibility help
×
Home

Information Fusion for Localization Within Vehicular Networks

  • Mahmoud Efatmaneshnik (a1), Allison Kealy (a2), Asghar Tabatabei Balaei (a1) and Andrew G. Dempster (a1)

Abstract

Cooperative positioning (CP) is a localization technique originally developed for use across wireless sensor networks. With the emergence of Dedicated Short Range Communications (DSRC) infrastructure for use in Intelligent Transportation Systems (ITS), CP techniques can now be adapted for use in location determination across vehicular networks. In vehicular networks, the technique of CP fuses GPS positions with additional sensed information such as inter-vehicle distances between the moving vehicles to determine their location within a neighbourhood. This paper presents the results obtained from a research study undertaken to demonstrate the capabilities of DSRC for meeting the positioning accuracies of road safety applications. The results show that a CP algorithm that fully integrates both measured/sensed data as well as navigation information such as map data can meet the positioning requirements of safety related applications of DSRC (<0·5 m). This paper presents the results of a Cramer Rao Lower Bound analysis which is used to benchmark the performance of the CP algorithm developed. The Kalman Filter (KF) models used in the CP algorithm are detailed and results obtained from integrating GPS positions, inter-vehicular ranges and information derived from in-vehicle maps are then discussed along with typical results as determined through a variety of network simulation studies.

Copyright

Corresponding author

References

Hide All
Alam, N., Balaei, A. T., & Dempster, A. (2009, 1–3 December). Ranging with DSRC: Facts and Challenges. Paper presented at the International Global Navigation Satellite Systems Society IGNSS Symposium 2009 Holiday Inn Surfers Paradise, Qld, Australia.
Bernstein, D., & Kornhauser, A. (1996). An Introduction to Map Matching for Personal Navigation Assistants. Newark, New Jersey: TIDE Center.
Bétaille, D., & Bonnifait, P. (2000). Road Maintenance Vehicles Location using DGPS, Map-Matching and Dead-Reckoning: Experimental Results of a Smoothed EKF. Paper presented at the IAIN World Congress in Association with the U.S. ION 56th Annual Meeting, San Diego.
Blum, J. J., Eskandarian, A., & Hoffman, L. J. (2004). Challenges of Intervehicle Ad Hoc Networks IEEE Transactions On Intelligent Transportation Systems 5(4), 374–351.
Chen, Q., Jiang, D., Taliwal, V., & Delgrossi, L. (2006). IEEE 802.11 based vehicular communication simulation design for NS-2, Proceedings of the 3rd international workshop on Vehicular ad hoc networks. Los Angeles, CA, USA: ACM.
Chui, C. K., & Chen, G. (1987). Kalman Filtering with Real-Time Applications. Berlin Heidelberg: Springer-Verlag.
Costa, J. A., Patwari, N., & Alfred, O.Hero, I. (2006). Distributed weighted-multidimensional scaling for node localization in sensor networks. ACM Trans. Sen. Netw., 2(1), 3964.
Cox, T., & Cox, M. (1994). Multidimensional Scaling: Chapman & Hall.
Dellaert, F., Fox, D., Burgard, W., & Thrun, S. (1999). Monte Carlo localization for mobile robots. In Artificial Intelligence.
Doherty, L., Pister, K. S. J., & Ghaoui, L. E. (2001). Convex Position Estimation in Wireless Sensor Networks. Paper presented at the IEEE INFOCOM.
Efatmaneshnik, M., Balaei, A. T., & Dempster, A. G. (2009). A Channel Capacity Perspective on Cooperative Positioning Algorithms for VANET ION GNSS. Savannah, Georgia.
Greenfeld, J. S. (2002). Matching GPS Observations to Locations on a Digital Map. Newark: Department of Civil and Environmental Engineering, New Jersey Institute of Technology.
Gustafsson, F., & Gunnarsson, F. (2005). Mobile positioning using wireless networks: possibilities and fundamental limitations based on available wireless network measurements. Signal Processing Magazine, IEEE, 22(4), 4153.
Kealy, A., Scott-Young, A., & Collier, P. (2004). Improving Land Vehicle Safety Using Augmented Reality Technologies. Paper presented at the 4th International Symposium on Mobile Mapping Technology, Kunming, China.
Kealy, A., & Scott-Young, S. (2005). An Integrated Position and Attitude Determination System to Support Real-Time, Mobile, Augmented Reality Applications. Journal of Global Positioning Systems 4(1+2), 1226.
Parker, R., & Valaee, S. (2007a). Cooperative Vehicle Position Estimation. Paper presented at the Communications, 2007. ICC'07. IEEE International Conference on.
Parker, R., & Valaee, S. (2007b). Vehicular Node Localization Using Received-Signal-Strength Indicator. Vehicular Technology, IEEE Transactions on, 56(6), 33713380.
Savvides, A., Garber, W., Adlakha, S., Moses, R., & Srivastava, M. (2003). On the Error Characteristics of Multihop Node Localization in Ad-Hoc Sensor Networks. In Information Processing in Sensor Networks (pp. 555–555).
Tay, J. H., Chandrasekhar, V. R., & Seah, W. K. (2006). Selective Iterative Multilateration for Hop Count-Based Localization in Wireless Sensor Networks, Proceedings of the 7th International Conference on Mobile Data Management: IEEE Computer Society.
Taylor, G., Blewitt, G., Steup, D., Corbett, S., & Car, A. (2001). Road Reduction Filtering for GPS-GIS Navigation. Transactions in GIS, 5(3), 193207.

Keywords

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed