A Single-Site Vehicle Positioning Method in the Rectangular Tunnel Environment

Due to the satellite signals are blocked, it is difficult obtain vehicle position in tunnels. We propose a single-site localization scheme for rectangular tunnel environment, where most satellite-based positioning methods can not provide required accuracy. In non-line-of-sight (NLOS) scenarios, we make use of reflection paths as assistants positioning. Specifically, first, virtual stations established based on actual geometrical structure tunnel. Second, direction-of-arrival (DOA) and time-of-arrival (TOA) information from two walls achieve Especially, Cramer-Rao lower bound (CRLB) joint TOA DOA NLOS propagations two-dimensional (2D) space derived. addition, algorithms with without filters, assess performance. line-of-sight (LOS) LOS path estimate location. First, base established. obtained information, different used Simulation results illustrate that proposed approach small root mean square error. The using filters improve accuracy, compared algorithm namely, two-stage weighted least squares (TSWLS) algorithm. Moreover, Unscented Particle Filter (UPF) achieves better accuracy than other (i.e., Kalman (UKF), Extended (EKF), TSWLS algorithms).