Error bound estimation of cooperative vehicle localization using an integrity concept

The cooperative vehicle localization using DSRC (Dedicated Short Range Communication) is of great significance in many future transportation applications. An overlay function of DSRC has been explored with vehicular communication and it is with great potentials to achieve accurate and reliable vehicle cooperative localization with assistance from the GNSS (Global Navigation Satellite System) receivers. In order to establish a solid foundation for emergent implementations of the connected vehicles scheme, an effective error bound strategy for filtering-based estimation in cooperative localization using the GNSS and DSRC needs to be concentrated to bridge the connection between localization and extended functions. In this paper, a tight-coupled architecture for integrating GNSS and DSRC is investigated to realize cooperative localization, and a corresponding error bound estimation method is addressed. Based on the integrity concept, a confidential interval-based strategy is presented to constrain the uncertainties in filter estimation, and the combination of space alignment calibration and the additional safety margin further enhances the capability of the presented solution. The simulation results demonstrate the potential for safety-related applications under the connected vehicular environments.