A Novel Method for Multi-Vehicle Cooperative Positioning Based on TDOA/FDOA

In future 6G vehicular networks, precise positioning is essential for improving communication quality and efficiency. This paper proposes a novel TDOAIFDOA-based cooperative localization method among multiple vehicles. By selecting anchor vehicles within the range of the base station and utilizing their received echo information, this method enables efficient and low-latency positioning. First, based on a defined variable selection criterion, a subset of vehicles with optimal locations is chosen. Using the echo signals generated by inter-vehicle communication, the method jointly predicts the motion parameters of target vehicles. A time-delay Doppler approach based on matched filtering is employed to estimate the reflected echo information for dynamic vehicle cooperation, ultimately assisting the base station in achieving directional communication with the target vehicles. Results show that under specified noise conditions, the proposed V2V cooperative localization achieves performance close to the CRLB lower bound, with deviations between 0 and 0.8. This method offers a new approach to directional communication in vehicular networks, particularly suited for high-dynamic, high-concurrency large-scale vehicle communication in complex traffic environments.