Cooperative Positioning in Vehicular Networks using Angle of Arrival Estimation through mmWave

In this paper, we present a novel cooperative positioning (CP) technique to improve localization accuracy in vehicular environments. The proposed method uses position information obtained from the Global Positioning System (GPS) and Angle-of-Arrivals (AoAs) between the nodes estimated using Millimeter wave (mmWave) V2X communication and MUSIC algorithm. We propose two methods to improve the positioning accuracy: pairwise cooperation and angular Multi-dimensional scaling (AMDS). Simulation results show that the proposed methods outperform other CP methods in the literature.