Geometry-Based Cooperative Localization for Connected Vehicle Subject to Temporary Loss of GNSS Signals

Onboard GNSS signal loss is a challenging issue for automated vehicles during driving in urban areas due to the effects of tall and dense buildings, flyovers, tunnels, and vegetation. To improve the vehicle localization accuracy when GNSS signals temporarily lost, this paper proposes a Geometry-based cooperative localization method (GCL) for the Internet of Vehicles. The vehicle position is estimated using mathematical geometry information, including vehicle dynamics and road shapes, which could reduce the environment-aware position constraint of cooperative localization. The relocation approach is enabled by communicating with neighboring vehicles to attenuate GNSS signal loss on localization-based services. The efficiency and scalability of GCL are evaluated in different driving conditions. The results showed that GCL achieved better localization performance than the state-of-the-art techniques in shorter and longer GNSS signal loss situations. The experimental results demonstrated the capabilities and effectiveness of the proposed algorithm to handle typical GNSS signal loss driving scenarios.