典型文献
A Multi-Vehicle Cooperative Localization Method Based on Belief Propagation in Satellite Denied Environment
文献摘要：
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 posi-tioning 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 coopera-tive 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 uti-lizing 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 capa-bility enhancement on localization accuracy.
文献关键词：
中图分类号：
作者姓名：
Jiaqi Wang;Lina Wang
作者机构：
School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China
文献出处：
引用格式：
[1]Jiaqi Wang;Lina Wang-.A Multi-Vehicle Cooperative Localization Method Based on Belief Propagation in Satellite Denied Environment)[J].北京理工大学学报（英文版）,2022(05):464-472
A类：
Denied
B类：
Multi,Vehicle,Cooperative,Localization,Method,Based,Belief,Propagation,Satellite,Environment,global,navigation,satellite,system,GNSS,currently,being,used,extensively,vehicles,However,signal,will,faded,blocked,complex,environments,which,lead,decrease,positioning,accuracy,Owing,higher,precision,synchronization,provided,sixth,generation,6G,network,errors,ranging,technologies,can,effectively,reduced,At,same,terahertz,allows,excellent,resolution,range,angle,offers,unique,opportunities,multi,localization,denied,This,paper,introduces,cooperative,method,In,proposed,location,estimations,are,derived,by,lizing,inertial,measurement,then,corrected,exchanging,beliefs,adjacent,roadside,units,problem,represented,using,graph,An,iterative,algorithm,propagation,applied,perform,inference,over,results,demonstrate,that,our,considerable,capa,bility,enhancement
AB值：
0.625707
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