Vehicle Localization in GNSS-Denied Environments
This chapter discusses possible information sources and methods to fuse the available information to achieve a certain level of tracking precision. It explains the plausible information sources that may aid in vehicular localization. The chapter considers on-board sources, and examines external sources including from the wireless infrastructure as well as from other vehicles. Radar provides distances from objects in their field of view. The likelihood of range measurements from side-scan radars is given by considering the fact that the measured range might be from a known guardrail or from the vehicles in possible adjacent lanes. The assumption of a global navigation satellite system -denied scenario is situational in most cases. Pseudo-range measurements from sharing collected global navigation satellite system (GNSS) data in GNSS-denied environments. The wireless communication between vehicles, and between vehicles and related wireless networks’ base stations/infrastructure can be a source of information for the purpose of localization.