Collaborative Position and Orientation Tracking in mmWave Vehicular Systems Exploiting V2I and V2V Links

In this paper, we provide a collaborative position tracking solution exploiting the parameters of vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) links to significantly improve the localization accuracy of the vehicles in the group that are in non-line-of-sight (NLOS) conditions. We assume a group size of three vehicles and unknown orientation and clock offsets among the vehicles. The vehicles with a line-of-sight (LOS) channel to the base station (BS) act as anchors and are localized through V2I geometric localization, while the other vehicles in the group are considered targets and are localized via sidelink channel parameters. An additional Kalman filter (KF) stage is considered for vehicle position tracking. The proposed methods are evaluated based on realistic simulations of the channels in urban canyon areas considering a single BS scenario, where vehicles frequently enter and exit NLOS situations. Simulation results indicate that orientation offset estimation errors remain below 0.05°, while clock offset estimation errors are under 10ns. The average localization accuracy is 0.2 m, with errors ≤ 0.7 m for 90% of the cases.