UWB Based Relative Planar Localization with Enhanced Precision for Intelligent Vehicles

Along with the rapid development of advanced driving assistance systems for intelligent vehicles, essential functions such as forward collision warning and collaborative cruise control need to detect relative positions surrounding vehicles. This paper proposes a planar localization system based on ultra-wideband (UWB) ranging technology. Three UWB modules are installed top each vehicle. Because limited space vehicle roof compared error, traditional triangulation method leads significant positioning errors. Therefore, an optimal algorithm combining homotopy Levenberg–Marquardt is first proposed enhance precision. The triangular side lengths directed area introduced constraints. Secondly, sensor error self-correction presented further improve accuracy. Finally, we carry out simulations experiments show that in this significantly improves position orientation precision both pure fusion integrated dead reckoning.