Precise position awareness is a fundamental requirement for advanced applications of emerging intelligent transportation systems,\nsuch as collision warning and speed advisory system. However, the achievable level of positioning accuracy using global navigation\nsatellite systems does not meet the requirements of these applications. Fortunately, cooperative positioning (CP) techniques can\nimprove the performance of positioning in a vehicular ad hoc network (VANET) through sharing the positions between vehicles.\nIn this paper, a novel enhanced CP technique is presented by combining additional range-ultra-wide bandwidth- (UWB-) based\nmeasurements. Furthermore, an adaptive variational Bayesian cubature Kalman filtering (AVBCKF) algorithm is proposed and\nused in the enhanced CP method, which can add robustness to the time-variant measurement noise. Based on analytical and\nexperimental results, the proposed AVBCKF-based CP method outperforms the cubature Kalman filtering- (CKF-) based CP\nmethod and extended Kalman filtering- (EKF-) based CP method.
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