Investigating of the Accuracy of Vehicles Mutual Positioning Using Smartphones

In this paper the analysis of usage raw GNSS observations (pseudoranges, doppler shift) in new generation Android smartphones for mutual vehicles positioning in real conditions is given. Usage of mutual positioning algorithms in this case is justified because measurements errors for two nearby situated objects in real conditions are correlated and can be compensated, which improves accuracy. Experiments with five moving vehicles were held. There were a several kind of maneuvers explored (oncoming traffic, turn, overtaking, etc.). Measurements obtained from smartphone from each vehicle have been stored and transmitted to each other vehicle via internet in real time in purpose to obtain mutual positioning estimations during maneuvering for each one. Time transmitting delay is measured and described in this paper. Comparison in precision in post processing between GNSS receivers measurements and smartphone estimations is given.