Sub-meter scale Node Positioning using Hybrid Time-Angle Measurements in an Asynchronous V2X Communication Network

An accurate and robust positioning of nodes under 1m is a crucial aspect for future vehicular network applications involving location and context aware communication. In this paper, a novel hybrid range-angle based localization algorithm is proposed to achieve sub-meter scale positioning of multiple user nodes in a time-asynchronous V2X communication network. A closed-form solution based on hybrid asynchronous time and angle measurements is formulated using Cartesian-spherical coordinate relationship which combinedly estimate the 3-dimensional location and clock parameters i.e., clock skew and clock offset of all user nodes. Simulation results examines the performance analysis of the proposed method and confirms its optimality under various network scenarios. The proposed method achieves sub-meter node localization by maintaining clock frequency and phase synchronization accurately upto 10ppb and 10ns, respectively.