Relative Positioning and Velocity Estimation Using V2V Delay and Doppler Information

In this paper, we investigate a relative positioning technique using the vehicle-to-vehicle communication signal. Specifically, we use the delay and Doppler information provided by the channel impulse response. Since the geometry of the vehicles has a direct impact on the delay and Doppler frequency, it is possible to deduce the relative positions of the vehicles. This particular relationship can be exploited by using prolate spheroidal coordinates. By doing an algebraic analysis in this coordinate system closed form solutions for delay and Doppler frequency can be derived. The delay and Doppler information is then used to determine the relative position similar to using the bearing and distance to a lighthouse in marine navigation or distance measuring equipment (DME) and VHF omnidirectional radio range (VOR) in aeronautical navigation.