A V2X Integrated Positioning Methodology in Ultra-dense Networks

Qirui Liu, Rongke Liu, Zijie Wang, Lincong Han, John S. Thompson

Research output: Contribution to journalArticlepeer-review


Intelligent transport systems demand the provision of a continuous high-accuracy positioning service. However, a vehicle positioning system typically has to operate in dense urban areas where conventional satellite-based positioning systems suffer severe performance degradation. 5G technology presents a new paradigm to provide ubiquitous connectivity, where the vehicle-to-everything (V2X) communication turns out to be highly conducive to enable both accurate positioning and the emerging Internet of Vehicles (IoV). Due to the high probability of line-of-sight (LoS) communication, as well as the diversity and number of reference stations, the application of ultra-dense networks (UDN) in the vehicle-to-infrastructure (V2I) subsystem is envisaged to complement the existing positioning technologies. Moreover, the cooperative determination of location information could be enhanced by the vehicle-to-vehicle (V2V) subsystem. In this article, we propose a V2X integrated positioning methodology in UDN, in which the V2I, V2V and Inertial Navigation Systems (INS) are unified for data fusion. This formulation is an iterative high-dimensional estimation problem, and an efficient multiple particle filter (MPF)-based method is proposed for solving it. In order to mitigate the non-line-of-sight (NLoS) impact and provide a relatively accurate input to the MPF, we introduce an advanced anchor selection method using the geometry-based K-Means clustering (GK) algorithm based on the characteristics of network densification. Numerical results demonstrate that utilizing the GK algorithm in the proposed integrated positioning system could achieve 18.7% performance gains in accuracy, as compared with a state-of-art approach.
Original languageEnglish
Number of pages15
JournalIEEE Internet of Things Journal
Early online date26 Apr 2021
Publication statusE-pub ahead of print - 26 Apr 2021


  • Global navigation satellite system
  • Sensors
  • Position measurement
  • Internet of Things
  • Vehicle-to-infrastructure
  • Urban areas
  • Ultra-dense networks


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