基于V2X和UAV的车辆协同定位方法研究

Vehicle Cooperative Positioning Method Based on V2X and UAV

针对城市峡谷等全球导航卫星系统(GNSS)盲区中V2X定位方法定位连通性及定位精度较低问题,提出一种基于V2X和无人机(UAV)的车辆协同定位方法。该方法利用UAV与待定位车辆间的相对运动模型联立多组到达时间(TOA)方程,并以辅助节点为基准站利用距离差分法消除TOA的测距误差,从而对目标位置进行解算。同时利用联邦滤波器对V2X及UAV定位方法进行融合,进一步为待定位车辆提供连续、准确的位置服务。仿真结果表明,所提定位方法解决了车联网情况中V2X定位连通性较低的问题,且平均定位精度提升了10.7%,具有一定的应用价值。

Aiming at the problem of low positioning connectivity and positioning accuracy of the V2 X positioning method in the blind areas of the Global Navigation Satellite System(GNSS) in urban canyons and other areas, a vehicle coordinated positioning method based on V2 X and unmanned aerial vehicle(UAV) is proposed. This method uses the relative motion model between the UAV and the vehicle to be located to establish multiple sets of time-of-arrival(TOA) equations and uses the auxiliary node as the base station to eliminate the TOA ranging error by using the distance difference method to solve the target position. At the same time, the federated filter is used to integrate V2 X and UAV positioning methods to further provide continuous and accurate location services for vehicles to be located. The simulation results show that the proposed positioning method solves the problem of low V2 X positioning connectivity in the case of Internet of Vehicles, and the average positioning accuracy is improved by 10.7%,which has certain application value.