Bayesian Cooperative Localization With NLOS and Malicious Vehicle Detection in GNSS-Challenged Environments

Owing to the inter-vehicle non-line-of-sight (NLOS) measurement and malicious attack in global navigation satellite system (GNSS) challenged environment, the vehicle position precision is seriously damaged. In order to improve the vehicle position accuracy, we propose a new Bayesian cooperative localization scheme which tackles this problem by combining the vehicle position measurements and inter-vehicle distance measurements. In the proposed scheme, an abnormal vehicle detection algorithm (AVDA) is presented to eliminate the impacts of NLOS and malicious attack. Simulation results demonstrate that the proposed scheme can achieve excellent localization performance in the presence of NLOS and malicious attacks. Based on these results, the abnormal and normal detection rates of AVDA are approximate and the root mean square error (RMSE) is reduced to the sub-meter level. The performances of the proposed scheme are also verified in real environmental conditions by using the simulation of urban mobility (SUMO).