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Volume 31Issue 5
Oct. 2022
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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2022> 31(5): 464-472
Jiaqi Wang, Lina Wang. A Multi-Vehicle Cooperative Localization Method Based on Belief Propagation in Satellite Denied Environment[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2022, 31(5): 464-472. doi: 10.15918/j.jbit1004-0579.2022.029
Citation: Jiaqi Wang, Lina Wang. A Multi-Vehicle Cooperative Localization Method Based on Belief Propagation in Satellite Denied Environment[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2022, 31(5): 464-472.doi:10.15918/j.jbit1004-0579.2022.029
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A Multi-Vehicle Cooperative Localization Method Based on Belief Propagation in Satellite Denied Environment

doi:10.15918/j.jbit1004-0579.2022.029

  • School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China

Funds:This work was supported by the National Natural Science Foundation of China (No. 61701020) and the Scientific and Technological Innovation Foundation of Shunde Graduate School, USTB (No. BK19BF009).
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  • Author Bio:

    Jiaqi Wangreceived the B.E. degree from the School of Information Engineering, Tianjin University of Commerce, Tianjin, China, in 2018. He is currently pursuing an M.E. degree in the School of Computer and Communication Engineering, University of Science and Technology Beijing, China. His current research interests include sensor fusion and positioning technology

    Lina Wangwas born in 1977. She received the M.S. and Ph.D. degrees in communication and information systems from Harbin Institute of Technology in 2001 and 2004, respectively. From 2010 to 2012, she was involved in post-doctoral research at University of Science and Technology Beijing, where she is currently a Professor in the Department of Communication Engineering, School of Computer and Communication Engineering. Her research interests include space communications, resource allocation algorithms, satellite positioning algorithms, and rateless code

  • Corresponding author:wln_ustb@126.com
  • Received Date:2022-03-15
  • Rev Recd Date:2022-04-15
  • Accepted Date:2022-04-28
  • Publish Date:2022-10-31
    Abstract
  • The global navigation satellite system (GNSS) is currently being used extensively in the navigation system of vehicles. However, the GNSS signal will be faded or blocked in complex road environments, which will lead to a decrease in positioning accuracy. Owing to the higher-precision synchronization provided in the sixth generation (6G) network, the errors of ranging-based positioning technologies can be effectively reduced. At the same time, the use of terahertz in 6G allows excellent resolution of range and angle, which offers unique opportunities for multi-vehicle cooperative localization in a GNSS denied environment. This paper introduces a multi-vehicle cooperative localization method. In the proposed method, the location estimations of vehicles are derived by utilizing inertial measurement and then corrected by exchanging the beliefs with adjacent vehicles and roadside units. The multi-vehicle cooperative localization problem is represented using a factor graph. An iterative algorithm based on belief propagation is applied to perform the inference over the factor graph. The results demonstrate that our proposed method can offer a considerable capability enhancement on localization accuracy.
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