Cooperative relative localization using Vehicle-To-Vehicle communications
Eric Richter, Marcus Obst, Robin Schubert, Gerd Wanielik · International Conference on Information Fusion · 2009
The estimation of a vehicle's dynamic state is one of the most fundamental data fusion tasks for Intelligent Transportation Systems. This paper presents a decentralized data fusion system, which estimates the relative position between traffic participants. For that, GPS pseudorange measurements and ego motion estimations are exchanged by Vehicle-To-Vehicle communications and incorporated by a relative motion model. Particle filtering is used for the tight coupled relative GPS/INS integration.