A Novel GNSS Fault Detection and Exclusion Method for Cooperative Positioning System

Roadside Units-Enabled Cooperative Localization Scheme for Autonomous Vehicles Under Gnss-Denied Environments: Methodology and Demonstration

“…As depicted in Fig. 3 (a), using C-V2X communications, the OBU mounted on a vehicle sends messages periodically to all surrounding network nodes such as vehicles, infrastructure and pedestrians to provide and update information about itself [26], [42]. For instance, the vehicle can broadcast sensor data like GNSS positions through Cooperative Awareness Message (CAM), which is defined by ETSI and usually used in Europe [50], or Basic Safety Message (BSM), which is defined by SAE International and typically used in the U.S. [51].…”

“…Additionally, it can solve non-line-of-sight (NLOS) issues related to on-board perception sensors at a relatively low cost [5], [17], [23]. The fundamental principle of this localization approach involves measuring physical quantities of V2X channel state information, such as time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA), and received signal strength (RSS) [23]- [26]. There are two main contenders for V2X technologies: dedicated short-range communication (DSRC) and cellular vehicle-to-everything (C-V2X) [27], [28].…”

Factor Graph Weight Particles aided Distributed Underwater Cooperative Positioning Algorithm

“…Some researchers have mentioned the problem of abnormal inter-node ranging and ranging data loss in rangebased CP methods. To solve the problem of abnormal internode ranging, some fault-tolerant CP methods are proposed based on fault detection and exclusion (FDE) algorithm [26][27][28]. However, the availability of inter-node ranging will decline severely if numerous abnormal measurements are removed.…”