GPS pseudorange and Cramer Rao Lower Bound assisted cooperative vehicular localization

Accurate vehicular localization is important for various cooperative vehicle safety (CVS) applications such as collision avoidance, turning assistant, etc. In this paper, the Cramer Rao Lower Bound (CRLB) of a weighted least squares and double difference based distance detection algorithm is derived and a Cramer Rao lower bound based satellite selection method is proposed to increase the accuracy of the algorithm. As demonstrated in the experiment results, by selecting the group of satellites with the least Cramer Rao lower bound of the power function (d)^k of the detected distance d, the accuracy of the distance detection could have a more than 40% improvement, and the average distance error can be decreased to be as low as two meters.