Many of the safety related applications that can be facilitated by Dedicated Short Range
Communications (DSRC), such as vehicle proximity warnings, automated braking (e.g. at level
crossings), speed advisories, pedestrian alerts etc., rely on a robust vehicle positioning capability such
as that provided by a Global Navigation Satellite System (GNSS). Vehicles in remote areas, entering
tunnels, high rise areas or any high multipath/ weak signal environment will challenge the integrity of
GNSS position solutions, and ultimately the safety application it underpins. To address this challenge,
this paper presents an innovative application of Cooperative Positioning techniques within vehicular
networks. CP refers to any method of integrating measurements from different positioning systems
and sensors in order to improve the overall quality (accuracy and reliability) of the final position
solution. This paper investigates the potential of the DSRC infrastructure itself to provide an intervehicular
ranging signal that can be used as a measurement within the CP algorithm. In this paper,
time-based techniques of ranging are introduced and bandwidth requirements are investigated and
presented. The robustness of the CP algorithm to inter-vehicle connection failure as well as GNSS
dropouts is also demonstrated using simulation studies. Finally, the performance of the Constrained
Kalman Filter used to integrate GNSS measurements with DSRC derived range estimates within
a typical VANET is described and evaluated.
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