Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Yin, Lu; Ni, Qiang; Deng, Zhongliang

doi:10.1109/tcyb.2019.2900312

Cited by 16 publications

(8 citation statements)

References 46 publications

(97 reference statements)

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“…Indeed, GNSS is not enough for the positioning in these critical scenarios [7]. Therefore, many other types of positioning methods, including inertial navigation, cellular positioning, and so on, are integrated with GNSS to overcome the shortages of it [8,9].…”

Section: Introductionmentioning

confidence: 99%

A GNSS/5G Integrated Three-Dimensional Positioning Scheme Based on D2D Communication

et al. 2022

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The fifth generation (5G) communication has the potential to achieve ubiquitous positioning when integrated with a global navigation satellite system (GNSS). The device-to-device (D2D) communication, serving as a key technology in the 5G network, provides the possibility of cooperative positioning with high-density property. The mobile users (MUs) collaborate to jointly share the position and measurement information, which can make use of more references for positioning. In this paper, a GNSS/5G integrated three-dimensional positioning scheme based on D2D communication is proposed, where the time of arrival (TOA) and received signal strength (RSS) measurements are jointly utilized in the 5G network. The density spatial clustering of application with noise (DBSCAN) is exploited to reduce the position uncertainty of the cooperative nodes, and the positions of the requesting nodes are obtained simultaneously. The particle filter (PF) algorithm is further conducted to improve the position accuracy of the requesting nodes. Numerical results show that the position deviation of the cooperative nodes can be significantly decreased and that the proposed algorithm performs better than the nonintegrated one. The DBSCAN brings an increase of about 50% in terms of the positioning accuracy compared with GNSS results, and the PF further increases the accuracy about 8%. It is also verified that the algorithm suits the fixed and dynamic condition well.

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Section: Introductionmentioning

confidence: 99%

A GNSS/5G Integrated Three-Dimensional Positioning Scheme Based on D2D Communication

et al. 2022

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“…Joint estimation of DOA and RD is conducted to solve the cooperative distributed localization problem. Additionally, Yin et al [29] propose a cooperative multisensor Edge Cloud Cooperative Localization (ECCL) method, which has relative distance and relative angle observations from neighbor nodes and absolute coordinate positioning systems (such as GPS) to obtain relevant information. A centralized cooperative fusion unit is built in the cloud to fuse the multiple localization information.…”

Section: Introductionmentioning

confidence: 99%

“…Although the information of DOA, RD, or DOA-RD is fused by filter algorithms in [23][24][25][26][27][28][29], the filter algorithms may not meet real-time localization performance because of the computational complexity. is paper investigates the fusion of DOA-RD information without filter algorithms to achieve the cooperative localization of CAVs in the flyover environment.…”

Section: Introductionmentioning

confidence: 99%

A Cooperative Positioning Method of Connected and Automated Vehicles with Direction-of-Arrival and Relative Distance Fusion

Wang

Jin

et al. 2022

Mathematical Problems in Engineering

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The rapid development of science and technology has created favorable conditions for Connected and Automated Vehicles (CAVs). Accurate localization is one of the fundamental functions of CAV to realize some advanced operations such as vehicle platooning. However, complicated urban traffic environments, such as the flyover, significantly influence vehicular positioning accuracy. The inability of CAV to accurately perceive self-localization information has become an urgent issue to be addressed. This paper proposed a novel cooperative localization method by introducing the relative Direction-of-Arrival (DOA) and Relative Distance (RD) into CAV to improve the localization accuracy of CAV in the multivehicle environment. First, the three-dimensional positioning error model of the host vehicle concerning adjacent vehicles in azimuth angle and pitch angle and intervehicle distances under the vehicle-to-vehicle communication was established. Second, two least-squares estimation algorithms, linear and nonlinear, are established to decrease the position errors by combining relative DOA and RD measurement information. To verify the proposed algorithm's effect, the PreScan-Simulink joint simulation is carried out. The results show that the host vehicle's localization accuracy by the proposed method can be improved by 25% compared with direct linearization. Besides, by combining relative DOA and relative RD measurement, the locating capability of the least-square-based nonlinear optimization method can be enhanced by 22%.

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“…placements of the nodes [7]- [9]. And it is costly to collect and maintain the fingerprint database as well [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Joint Uplink Power Allocation Method in Wireless Communication and Positioning Integrated System

et al. 2021

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With the development of wireless communication, there are usually both communication and positioning requirements. In our previous work, we studied the power allocation algorithm for positioning user (P-User) based on Multi-Scale Non-Orthogonal Multiple Access (MS-NOMA) downlink signal where all communication users (C-Users) have the same power. In the uplink case, the power allocation scheme for both C-User and P-User needs to be considered jointly as all C-Users may have different power. In this paper, we analyze the Quality of Service (QoS) and ranging accuracy based on the MS-NOMA signal by deriving their simple expressions. Then, a two stage joint iterative power allocation algorithm (JIPAA) is proposed. In the first stage, considering the QoS of C-User requirement and total power limitation, the power of P-Users is allocated to obtain optimal ranging performance. In the second stage, the power of C-Users is allocated to minimize the power consumption. With the iterative process, the optimal power of each C-User and P-User is calculated. The numerical results show that the proposed JIPAA algorithm dramatically promotes ranging accuracy under the same energy consumption.INDEX TERMS Multi-scale non-orthogonal multiple access (MS-NOMA), power allocation, quality of service (QoS), ranging accuracy.

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Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Cited by 16 publications

References 46 publications

A GNSS/5G Integrated Three-Dimensional Positioning Scheme Based on D2D Communication

A GNSS/5G Integrated Three-Dimensional Positioning Scheme Based on D2D Communication

A Cooperative Positioning Method of Connected and Automated Vehicles with Direction-of-Arrival and Relative Distance Fusion

Joint Uplink Power Allocation Method in Wireless Communication and Positioning Integrated System

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