摘要：It is important to know the key problem of the emerging intelligent transportation systems –relative position, especially in the collision warning and speeds advisory. However, the commercial Global Satellite Navigation Systems (GNSS) receiver cannot up to the standard of these purpose. Fortunately, using Cooperative Positioning (CP) techniques to share the GNSS measurements between vehicles can largely improve the performance of relative positioning in a vehicular ad hoc network (VANET). But in urban environments, the reduced quality or complete unavailability of GNSS measurements challenge the effectiveness of any CP algorithm. In this paper, a new improved tight CP technique is proposed which adds the measurements from low cost inertial sensors. In the enhanced CP method proposed here, vehicles communicate their GPS measurements and inertial measurement unit (IMU) data, and each vehicle fuses local GPS and IMU measurements and those of the neighbours. Experimental results show that the new tight integration CP method can enhance the relative positioning in low GPS coverage environment, such as in very dense urban areas and tunnels.
关键词：Cooperative Positioning; GNSS; inertial navigation sensors; tight ; integration; vehicular ad hoc network
