Collaborative navigation in V2I network based on Chan-Taylor joint iterative algorithm

The positioning accuracy of moving vehicle based on GNSS will be affected significantly in urban valley. The traditional INS/GNSS integrated navigation system collaborating with vehicle to infrastructure(V2I) is a new way to improve the positioning performance of vehicles under the environment of crowed building groups. In this paper, UWB is integrated with the INS/GNSS system. Then the Chan-Taylor algorithm is introduced to provide higher relative positioning results and fused with the integrated navigation system. Simulation results show that the proposed INS/GNSS/UWB collaboration system based on Chan-Taylor algorithm improves the positioning precision significantly in the situation that GNSS lose a lock in crowed environments.