A Novel Array Calibration Method to Enhance Localization for Intelligent Vehicles

Vehicle localization plays an important role in effectively perceiving location information for intelligent vehicles. In this paper, a novel array calibration method for intelligent vehicle localization is proposed. Utilizing the stability of triangles, three identical GNSS localization receivers are placed at the three vertices of an equilateral triangle, and the centroid of the equilateral triangle is calculated as the position of the vehicle positioning receiver. A receiver array localization enhancement model for vehicle motion process, including linear and curved motion, is established. In the localization calculation process, by comparing the localization error of each receiver, the point with the smallest error is selected to reconstruct an equilateral triangle based on geometric relationships, and the position of the centroid point is recalculated to obtain the corrected position information. The proposed method is simulated and validated in both static and dynamic driving environments, and the experimental results showed that the method can effectively improve positioning accuracy.