Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments

This paper presents a robust method of processing GNSS data for vehicle localization in degraded signal environments where conventional receivers struggle to accurately position. The method relies on cooperation between receivers that use vector tracking, an advanced signal processing architecture for GNSS. Cooperation is performed through an EKF algorithm that can be employed for standalone or cooperative navigation by coupling stochastic receiver dynamics together. Simulation results are presented that demonstrate vehicle positioning is accurately achieved with cooperation under low C/N-0 ratio conditions where standalone vector tracking is not stable and improved by including more collaborating receivers to the algorithm. The simulation claims are validated experimentally with GPS test data from a four-vehicle platoon traveling on an interstate exchange that incurs signal blockages from bridges.