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A. Hasnur-Rabiain, A. Kealy, N. Alam, A. Dempster, C. Toth, D. Grejner-Brzezinska, V. Gikas, C. Danezis, G. Retscher:
"Cooperative Positioning using GPS, Low-cost INS and Dedicated Short Range Communications";
Talk: ION Pacific PNT 2013, Honolulu, Hawaii, USA (invited); 2013-04-22 - 2013-04-25; in: "ION Pacific PNT 2013", (2013), 11 pages.

Cooperative Positioning (CP) techniques in vehicular ad hoc networks rely primarily on measurements from the Global Positioning System (GPS) to deliver measurements or positions that describe the location of individual vehicles. In urban environments, the reduced quality or complete unavailability of GPS measurements challenge the effectiveness of any CP algorithm. In this paper we propose the fusion of measurements from low cost inertial sensors as a means of improving the CP algorithm when GPS is unavailable. This paper presents results obtained from a practical experiment coordinated under the International Association of Geodesy (IAG) - Commission 4 and the International Federation of Surveyors (FIG) Commission 5, in which ranging information derived from Dedicated Short Range Communications (DSRC) hardware is combined with low-cost GPS and INS measurements communicated between vehicles. The experimental configuration sensors used and data analysis are detailed in this paper as well as preliminary results obtained from the CP algorithm implementation. These results indicate strong promise for the proposed fusion approach showing significant improvements over standalone GPS/INS integration technique.