An Efficient GPS-Free Vehicle Localization Algorithm Using Single Roadside Unit and Receiver

Accurate vehicle localization is critical for connected and autonomous vehicles of the future. But it is challenging, especially in global positioning system (GPS) denied or urban environments. In this paper, we propose an efficient GPS-free vehicle localization algorithm by exploiting vehicle-to-infrastructure communications. It is an on-board odometer and inertial measurement unit (IMU) assisted and single roadside unit (RSU) based approach. The available RSU position, speed vector and distance information between the RSU and vehicle are formulated as an over-determined system of linear equations. The linear least squares method is then utilized to estimate the vehicle position in a computationally efficient manner.