Robust Cooperative Localization of Intelligent Connected Vehicles based on Distributed State Estimation

Interferences such as multipath effects and signal shielding in complex urban scenes can cause unreliable GPS positioning results and packet loss in communications between intelligent connected vehicles (ICVS), resulting in unreliable positioning results for ICVS, which seriously affects the driving safety of ICVS. This paper proposes a robust positioning method that combines "packet loss detection-distributed collaborative positioning". Different from the traditional method that relies on absolute sensors to perceive the position of ICV, this method combines the relative distance and angle of the vehicle group to achieve packet loss detection in the communication ICVS and achieve high-precision positioning of ICVS without relying on absolute position. Finally, the method proposed in this paper is simulated and tested in the absence of GPS position and packet loss in ICVS communication. The experimental results show that this method can achieve high-precision positioning while accurately detecting packet loss in the communication process, ensuring high-precision positioning of ICVS in complex urban scenes.