Robust and low complexity Bayesian data fusion for hybrid cooperative vehicular localization

  title={Robust and low complexity Bayesian data fusion for hybrid cooperative vehicular localization},
  author={Gia-Minh Hoang and Beno{\^i}t Denis and Jerome Haerri and Dirk T. M. Slock},
  journal={2017 IEEE International Conference on Communications (ICC)},
This paper addresses Particle Filter (PF)-based hybrid Cooperative Localization (CLoc) strategies consisting of fusing absolute position information from embedded Global Navigation Satellite System (GNSS) with relative distance-dependent estimates using Impulse Radio — Ultra WideBand (IR-UWB) technology. Such hybrid GNSS/IR-UWB CLoc yet cannot benefit from the high precision estimates from the IR-UWB due to the disparity between GNSS position and IR-UWB V2V ranging noises, leading to a… CONTINUE READING


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