Skip to main content
SpringerLink
Log in

Two Stage Integration of GPS, Kinematic Information, and Cooperative Awareness Messages Using Cascaded Kalman Filters

  • Conference paper
  • First Online:
Recent Trends in Information and Communication Technology (IRICT 2017)

Part of the book series: Lecture Notes on Data Engineering and Communications Technologies ((LNDECT,volume 5))

  • 2241 Accesses

Abstract

Availability of accurate and continuous positioning information is a fundamental requirement for Vehicular Ad Hoc Networks. However, existing positioning approaches does not fulfill the required accuracy of many VANET’s applications and services. Integrating GPS with vehicles’ kinematic information (GPS/DR) is widely suggested for vehicular positioning. In many cases where the GPS is unavailable or instable for long time, this integration resulted in inaccurate positioning. Recently, cooperative positioning (CP) based on vehicle-to-vehicle (V2V) communication have been proposed as an alternative for GPS/DR in many ad hoc networks. Even though, CP needs high communication to achieve the required accuracy, which is not guaranteed in VANET harsh environment. In this paper, two-stage integration algorithm is proposed to ensure continuous and accurate positioning information. The proposed algorithm integrates GPS and kinematic sensors measurements, as well as neighboring mobility information based on two cascaded Kalman filters (KF). The first KF is used to integrate GPS information with kinematic sensors measurements (dead reckoning). Meanwhile, the second KF is used to integrate the results of the first KF with the neighboring mobility information. Results show that the proposed algorithm outperformed the conventional integration algorithm in terms of positioning accuracy under the tested scenario.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Alam, N., Dempster, A.G.: Cooperative positioning for vehicular networks: facts and future. IEEE Trans. Intell. Transp. Syst. 14(4), 1708–1717 (2013)

    Article  Google Scholar 

  2. WHO: 10 facts on global road safety (2013). http://www.who.int/features/factfiles/roadsafety/en/. Accessed 4 Dec 2015

  3. Williams, B.M., Guin, A.: Traffic management center use of incident detection algorithms: findings of a nationwide survey. IEEE Trans. Intell. Transp. Syst. 8(2), 351–358 (2007)

    Article  Google Scholar 

  4. Boukerche, A., et al.: Vehicular ad hoc networks: a new challenge for localization-based systems. Comput. Commun. 31(12), 2838–2849 (2008)

    Article  Google Scholar 

  5. Ghafoor, K., et al.: Beaconing approaches in vehicular ad hoc networks: a survey. Wirel. Pers. Commun. 73(3), 885–912 (2013)

    Article  MathSciNet  Google Scholar 

  6. Liu, K., et al.: Improving positioning accuracy using GPS pseudorange measurements for cooperative vehicular localization. IEEE Trans. Veh. Technol. 63(6), 2544–2556 (2014)

    Article  Google Scholar 

  7. Golestan, K., et al.: Localization in vehicular ad hoc networks using data fusion and V2V communication. Comput. Commun. 71, 61–72 (2015)

    Article  Google Scholar 

  8. Zhang, Y., Chong, K.T.: An GPS/DR navigation system using neural network for mobile robot. Int. J. Precis. Eng. Manuf. 15(12), 2513–2519 (2014)

    Article  Google Scholar 

  9. Alam, N., Kealy, A., Dempster, A.G.: An INS-aided tight integration approach for relative positioning enhancement in VANETs. IEEE Trans. Intell. Transp. Syst. 14(4), 1992–1996 (2013)

    Article  Google Scholar 

  10. Lee, E.-K., Oh, S.Y., Gerla, M.: RFID assisted vehicle positioning in VANETs. Pervasive Mob. Comput. 8(2), 167–179 (2012)

    Article  Google Scholar 

  11. Rohani, M., Gingras, D., Gruyer, D.: A novel approach for improved vehicular positioning using cooperative map matching and dynamic base station DGPS concept. IEEE Trans. Intell. Transp. Syst. 17(1), 230–239 (2016)

    Article  Google Scholar 

  12. Amundson, I., Koutsoukos, Xenofon D.: A survey on localization for mobile wireless sensor networks. In: Fuller, R., Koutsoukos, Xenofon D. (eds.) Mobile Entity Localization and Tracking in GPS-less Environnments: Second International Workshop, MELT 2009, Orlando, FL, USA, pp. 235–254. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  13. Boukerche, A., et al.: Localization systems for wireless sensor networks. IEEE Wirel. Commun. 14(6), 6–12 (2007)

    Article  Google Scholar 

Download references

Acknowledgments

This work is supported by the Ministry of Higher Education (MOHE) and Research Management Centre (RMC) at the Universiti Teknologi Malaysia (UTM) under Fundamental Research Grant (FRGS) (VOT R.J130000.7828.4F809). We also would like to express our appreciation to Malaysian International Scholarship Department (MIS-MOHE) for sponsoring the first author.

Author information

Authors and Affiliations

  1. Information Assurance and Security Research Group, Faculty of Computing, Universiti Teknologi Malaysia, 81310, Skudai, Johor, Malaysia

    Fuad A. Ghaleb, Anazida Zainal & Faisal Saeed

  2. Faculty of Engineering and Information Technology, Taiz University, 6803, Taiz, Yemen

    Murad A. Rassam

Authors
  1. Fuad A. Ghaleb
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Anazida Zainal
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Murad A. Rassam
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Faisal Saeed
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Anazida Zainal .

Editor information

Editors and Affiliations

  1. Faculty of Computing Information Systems Department, Universiti Teknologi Malaysia, Johar, Skudai, Malaysia

    Faisal Saeed

  2. Faculty of Computing Information Systems Department, Universiti Teknologi Malaysia, Johar, Skudai, Malaysia

    Nadhmi Gazem

  3. Department of Computer Science and Engineering, SOA University, Bhubaneswar, Odisha, India

    Srikanta Patnaik

  4. Faculty of Computing, ISSI Research Lab, University of Technology Malaysia, Skudai, Malaysia

    Ali Saleh Saed Balaid

  5. Faculty of Computing, University of Technology Malaysia, Skudai, Malaysia

    Fathey Mohammed

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG

About this paper

Cite this paper

Ghaleb, F.A., Zainal, A., Rassam, M.A., Saeed, F. (2018). Two Stage Integration of GPS, Kinematic Information, and Cooperative Awareness Messages Using Cascaded Kalman Filters. In: Saeed, F., Gazem, N., Patnaik, S., Saed Balaid, A., Mohammed, F. (eds) Recent Trends in Information and Communication Technology. IRICT 2017. Lecture Notes on Data Engineering and Communications Technologies, vol 5. Springer, Cham. https://doi.org/10.1007/978-3-319-59427-9_19

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-59427-9_19

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59426-2

  • Online ISBN: 978-3-319-59427-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation