Cooperative GNSS Localization in Urban Environments--Results from the CoVel Project

Reliable and accurate localization systems are a crucial requirement for modern Intelligent Transport Systems applications. While advanced systems which are based on dual-frequency GNSS-receivers with differential support are available, no sufficient low-cost solutions exist up to now. The CoVeL project aims to close this gap by introducing a sophisticated positioning algorithm which utilizes single-frequency off-the-shelf GPS-receivers in addition with corrections from EGNOS/EDAS, Vehicle-to-Vehicle communication and advanced map matching. Within this paper, final results of the CoVeL positioning algorithm generated from a comprehensive urban measurement campaign are presented. The test drive was performed with a fleet of six vehicles. It is shown that CoVeL is able to reach lateral lane-level accuracy when a good geometrical constellation of communicating vehicles is present. Furthermore, it is proven that the propose algorithm can efficiently exclude outliers. The paper concludes with a summary of the project results and indicates areas where further research is needed.