A highly-reliable combined positioning method for vehicle in urban complex environments

For the shortages of the existing vehicle positioning technologies, a method combining radio frequency identification (RFID) positioning technology with extended kalman filter (EKF) algorithm to realize the vehicle positioning in urban complex environments is proposed. The preliminary noise-contained position information based on RFID positioning is fused with steering wheel angle and wheel speed information and then EKF algorithm is used to eliminate the noise for achieving the accurate, real-time, reliable positioning information. Simulated results show that RFID positioning method can locate the vehicle well and EKF algorithm is able to eliminate the noise effectively for reducing the position estimation error by about 50%. The problem that accurate, real-time, reliable positioning when GPS signals are obstructed for a long time in urban complex environments is solved using the proposed methodology.