Cooperative Localization Improvement Using Distance Information in Vehicular Ad Hoc Networks

. 2019 Nov 28;19(23):5231. doi: 10.3390/s19235231

Algorithm 1 VLOCI algorithm.

while iteration < I do

transmitMessage(

\hat{p} i

) M contain received messages

for each item

M_{j}

in M do

{\hat{d}}_{i, j} = \frac{1}{D} \sum_{k = 1}^{D} t a k e D i s t M e a s (n_{j})

{\hat{x}}_{i}

{\hat{x}}_{j}

then

p_{i}^{j} = ({\hat{x}}_{i}^{j}, {\hat{y}}_{i}) = ({\hat{x}}_{j} - {\hat{d}}_{i, j}, 0)

else

p_{i}^{j} = ({\hat{x}}_{i}^{j}, {\hat{y}}_{i}) = ({\hat{x}}_{j} + {\hat{d}}_{i, j}, 0)

{\hat{x^{'}}}_{i} = \frac{\sum w (n_{k}) \cdot {\hat{x}}_{i}^{k}}{\sum w (n_{k})} \cdot {\hat{y^{'}}}_{i} = 0