Multivehicle 3D Cooperative Positioning Algorithm Based on Information Geometric Probability Fusion of GNSS/Wireless Station Navigation

With the rapid development of large urban agglomerations and the increasing complexity of urban roads, the high-precision positioning of vehicles has become the cornerstone for the application of vehicle core technologies such as automatic driving. The real-time positioning accuracy of satellite navigation is easily affected by urban canyons, and its stability is poor; thus, how to use the information of the internet of vehicles to achieve satellite navigation fusion has become a difficult problem of multivehicle cooperative positioning. Aiming at this problem, this paper proposes a multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation (MVCP-GW), which creatively converts various navigation source information into an information geometric probability model, unifies navigation information time–frequency parameters, and reduces the impact of sudden error. Combined with the Kullback–Leibler algorithm (KLA) fusion method, it breaks off the shackles of the probabilistic two-dimensional model and achieves multivehicle three-dimensional cooperative positioning. Compared with the existing cooperative positioning algorithms in the performance of accuracy stability, applicability, obstruction scenarios, and physical verification, the simulation results and physical verification show that the MVCP-GW algorithm can effectively improve real-time vehicle positioning and the stability of vehicle positioning, as well as resist the impact of obstructed environments.