A Method of Cooperative Localization for Multiple Moving Vehicles Based on Optimal Reference Points and Improved CSM

In order to improve the accuracy and reliability of vehicle localization in urban environment, an algorithm based on the multiple vehicles cooperative localization technique is proposed. In this paper, considering that the relative position between the vehicle to be localized and the reference vehicles have a profound effect on the accuracy, an improved computational method for geometric position factor is proposed to select the optimal group of reference vehicles from its neighbors. Then the position of the vehicle to be localized is computed by the relative distances from itself to the other optimal reference vehicles. For further improvement on the accuracy of the localization, an improved current statistical model with the variance of regulatory factor is exploited to correct the errors including those caused in the calculated locations. Some simulation experiments are shown to evaluate the effectiveness of the proposed method. The experimental results demonstrate our method can improve the accuracy of localization and reliability significantly.