Experimental Evaluation of Cooperative Relative Positioning for Intelligent Transportation System

<div>Experiment setup: two <svg height="9.21094pt" id="M117" style="vertical-align:-0.2129908pt" version="1.1" viewbox="-0.0498162 -8.99795 11.5092 9.21094" width="11.5092pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M822 650H589L583 622C660 617 677 607 674 561C672 534 664 481 647 390L600 137H596L273 650H126L120 622C176 620 194 615 207 594C221 571 225 557 214 504L161 257C141 166 129 112 121 85C108 42 83 30 29 28L23 0H260L266 28C193 33 173 42 176 89C178 122 186 172 202 255L256 527H259L583 -8H612L690 390C708 481 720 535 728 558C744 603 756 619 816 622L822 650Z" id="g113-79"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="839" vert-adv-y="839"></glyph.data></g></svg>-receivers and two <svg height="9.21094pt" id="M118" style="vertical-align:-0.2129908pt" version="1.1" viewbox="-0.0498162 -8.99795 9.98608 9.21094" width="9.98608pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="727" vert-adv-y="727"></glyph.data></g></svg>-receivers on car 1, one <svg height="9.21094pt" id="M119" style="vertical-align:-0.2129908pt" version="1.1" viewbox="-0.0498162 -8.99795 11.5092 9.21094" width="11.5092pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M822 650H589L583 622C660 617 677 607 674 561C672 534 664 481 647 390L600 137H596L273 650H126L120 622C176 620 194 615 207 594C221 571 225 557 214 504L161 257C141 166 129 112 121 85C108 42 83 30 29 28L23 0H260L266 28C193 33 173 42 176 89C178 122 186 172 202 255L256 527H259L583 -8H612L690 390C708 481 720 535 728 558C744 603 756 619 816 622L822 650Z" id="g113-79"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="839" vert-adv-y="839"></glyph.data></g></svg>-receiver and one <svg height="9.21094pt" id="M120" style="vertical-align:-0.2129908pt" version="1.1" viewbox="-0.0498162 -8.99795 9.98608 9.21094" width="9.98608pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="727" vert-adv-y="727"></glyph.data></g></svg>-receiver on car 2. Two cars are driven in a platoon in urban areas with buildings on roadsides.</div>

International Journal of Navigation and Observation

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Figure 2

Figure 2: Experimental Evaluation of Cooperative Relative Positioning for Intelligent Transportation System 