| Input: |
| Positioning data of the target vehicle: |
| GPS(X, Y), WiFi(X, Y), CN(X, Y); |
| Positioning data of its neighbor: |
| GPSnei(X, Y), WiFinei(X, Y), CNnei(X, Y); |
| Distance between the target vehicle and its neighbor: D |
| Output: |
| Position estimation of the target vehicle: ; |
| Begin |
| if the positioning data and distance are available then |
| procedure FLM |
| if GPS(X, Y) = WiFi(X, Y) = CN(X, Y) then |
| set = = ; |
| else |
| compute s as (1); // the outlier rating |
| compute e as (2); // the absolute error |
| if s and e are not null then |
| compute w as (3); // the importance degree |
| if wx is less than th then |
| set wx = 0, //x is GPS, WiFi, and CN; |
| end if |
| end if |
| if , , and are not null then |
| compute Target(X, Y) as (5); // composite position: |
| end if |
| end procedure |
| end if |
| if w and Target(X, Y) are available then |
| procedure FKF |
| //iterate at each sampling time (T) |
| compute Cm(k) as (17); |
| compute R(k) as (18) with (31); |
| compute Q as (23); |
| compute Z(k) as (8); |
| compute as (15); |
| end procedure |
| end if. |
| Return |
| End |
