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Title: A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks
Authors: Zhang, G 
Wen, W 
Hsu, LT 
Issue Date: 2018
Source: 2018 IEEE/ION Position, Location and Navigation Symposium, PLANS 2018, Monterey, CA, USA, 23-26 April 2018, p. 1465-1472
Abstract: Global Navigation Satellite System (GNSS) is essential for autonomous driving by providing absolute positioning solutions. However, the performance of GNSS measurement is significantly degraded in urban areas, due to the severe multipath and non-line-of-sight (NLOS) effects. To ensure the operation safety of autonomous driving applications, the GNSS localization performance is required to improve. In this study, a novel vehicle-to-vehicle (V2V) based cooperative localization algorithm with double-layers of consistency check (CC) is developed. GNSS pseudorange measurements of the ego-vehicle and surrounding vehicles conduct the first-layer of CC independently to exclude the multipath-biased measurement and obtaining their absolute positions. Then, the survived GNSS measurement and the absolute positions of each vehicles are shared in between, and further applied with double difference (DD) technique to obtain an accurate relative position between the surrounding vehicles. The second-layer CC is conducted during the GNSS DD-based relative positioning, to exclude the multipath and NLOS effects more comprehensively. Finally, the absolute and relative positions of surrounding vehicles are cooperated to optimize the final position of all participating vehicles. By the both simulation and real experimental results, the proposed algorithm is able to mitigate the multipath effect and significantly improve the accuracy of GNSS localization solutions to fulfill the safety requirements for autonomous driving.
Keywords: Autonomous driving
Cooperative localization
Double difference
ISBN: 978-1-5386-1647-5
DOI: 10.1109/PLANS.2018.8373540
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication Zhang, G., Wen, W., & Hsu, L. T. (2018, April). A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks. In Position, Location and Navigation Symposium (PLANS), 2018 IEEE/ION (pp. 1465-1472). IEEE is available at
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