Cooperative node positioning in vehicular networks using inter-node distance measurements

This paper presents a novel cooperative positioning (CP) method to increase localization accuracy in vehicular ad-hoc networks (VANET). The proposed method uses a semi-extended Kalman filter to fuse position data and distance information of nodes in the network. This paper also introduces a new distance measurement method using the time-difference-of-arrival in positive orthogonal codes. Simulation results show that the proposed method outperforms other cooperative positioning systems, both for low and high traffic densities.