International Global Navigation Satellite Systems Association
IGNSS Symposium 2018
Colombo Theatres, Kensington Campus, UNSW Australia
7 – 9 February 2018
Cramér Rao Bound Analysis for Cooperative
Positioning in Intelligent Transportation Systems
Jelena Gabela
University of Melbourne, Melbourne, Australia
jgabela@student.unimelb.edu.au
Salil Goel
RMIT University, Melbourne, Australia
salil.goel@rmit.edu.au
Allison Kealy
RMIT University, Melbourne, Australia
allison.kealy@rmit.edu.au
Mark Hedley
CSIRO Data61, Australia
Mark.Hedley@data61.csiro.au
Bill Moran
University of Melbourne, Melbourne, Australia
wmoran@unimelb.edu.au
Simon Williams
RMIT University, Melbourne, Australia
simon.williams@rmit.edu.au
ABSTRACT
With the development of Intelligent Transport Systems (ITS), requirements
for better integrity, accuracy, and availability are becoming important due to
the increasing safety implications of these systems. Thus, development of a
positioning solution that satisfies ITS requirements has been a relevant
challenge for years. The past decade has witnessed the development of ITS
with an emphasis on sensor integration. In recent years, a significant amount
of work has been done in the domain of cooperative positioning where it has
been demonstrated that sharing of information between nodes in a network is
beneficial, especially in GNSS denied environments. An ITS cooperative
positioning system comprises multiple dynamic nodes (e.g. cars) and static
nodes (e.g. infrastructure), each of which is equipped with multiple sensors
for positioning and relative range measurements. In cooperative positioning,
nodes assist each other in positioning by sharing information about themselves
and relative information with respect to neighbouring nodes. Posterior Cramér
Rao Bounds (PCRB) is a standard method for evaluating the best theoretical
performance of a positioning system. This paper derives the PCRB for
cooperative positioning in a dynamic ITS and demonstrates the use of the
