Achieving Reliable Intervehicle Positioning Based on Redheffer Weighted Least Squares Model Under Multi-GNSS Outages

Vincent Havyarimana, Zhu Xiao, Thabo Semong, Jing Bai, Hongyang Chen, Licheng Jiao

Research output: Contribution to journalArticlepeer-review


Achieving reliable intervehicle positioning is one of the most fundamental elements for many vehicular applications, including collision avoidance and autonomous driving. Vehicle position is generally provided by a global navigation satellite system (GNSS), which unfortunately suffers from inaccuracy to varying degrees in challenging environments, for example, GNSS outages. In this article, a reliable fusion technique, called non-Gaussian Redheffer weighted least squares (nGRWLSs), is proposed. This new approach highlights the intervehicle positioning estimation in multi-GNSS outage environments, such as complete, partial, and free GNSS pseudorange outages. The proposed method combines, on the one hand, the benefits of the Gaussian dynamical matrix principle and the Redheffer distribution function for the sparse property in complete GNSS pseudorange outages and, on the other hand, the use of the optimal window size to regulate the data flow generated by both the inertial navigation systems (INSs) and GNSS during a partial GNSS pseudorange outage. During the free GNSS pseudorange outage, the process ignores data from the INS, and instead, GNSS pseudorange information alone will be considered to compute the intervehicle positioning information. Consequently, weighted least squares is used as an intervehicle positioning estimator. To address the pseudorange uncommon and INS measurement noises, the generalized error distribution (GED) is used to estimate the non-Gaussian densities. Finally, road-test experiments are implemented to evaluate the consistency of the proposed approach. The experimental results show that the proposed nGRWLS can accurately estimate the intervehicle positioning under various conditions (free, partial, and complete GNSS pseudorange outages).

Original languageEnglish
Pages (from-to)1-12
Number of pages12
JournalIEEE Transactions on Cybernetics
Issue number2
Publication statusPublished - Aug 31 2021

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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