{"id":"https://openalex.org/W4411086212","doi":"https://doi.org/10.1109/twc.2025.3575159","title":"Robust Bayesian Cooperative Positioning for Intelligent Vehicles Using GNSS and V2V Range Measurements","display_name":"Robust Bayesian Cooperative Positioning for Intelligent Vehicles Using GNSS and V2V Range Measurements","publication_year":2025,"publication_date":"2025-06-06","ids":{"openalex":"https://openalex.org/W4411086212","doi":"https://doi.org/10.1109/twc.2025.3575159"},"language":"en","primary_location":{"id":"doi:10.1109/twc.2025.3575159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2025.3575159","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100673739","display_name":"Yongqing Wang","orcid":"https://orcid.org/0000-0003-1164-0137"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongqing Wang","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1164-0137","affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017789105","display_name":"Quanzhou Yu","orcid":"https://orcid.org/0000-0002-7250-4254"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quanzhou Yu","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7250-4254","affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078548395","display_name":"Yuyao Shen","orcid":"https://orcid.org/0000-0003-1505-3423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuyao Shen","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1505-3423","affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.396,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83959931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"24","issue":"11","first_page":"9777","last_page":"9790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9789000153541565,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7796717882156372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7075949311256409},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.6334747076034546},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5051947236061096},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.4641159176826477},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4559328258037567},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42416155338287354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30103564262390137},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.24942460656166077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12566307187080383},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10216930508613586}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7796717882156372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7075949311256409},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.6334747076034546},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5051947236061096},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.4641159176826477},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4559328258037567},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42416155338287354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30103564262390137},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.24942460656166077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12566307187080383},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10216930508613586}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/twc.2025.3575159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2025.3575159","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3509733561","display_name":null,"funder_award_id":"62371044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4393613356","display_name":null,"funder_award_id":"2024YCXZ006","funder_id":"https://openalex.org/F4320335843","funder_display_name":"Beijing Science and Technology Planning Project"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335843","display_name":"Beijing Science and Technology Planning Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1963913656","https://openalex.org/W1991762554","https://openalex.org/W2060321527","https://openalex.org/W2105077725","https://openalex.org/W2327669095","https://openalex.org/W2339549509","https://openalex.org/W2474296258","https://openalex.org/W2741858421","https://openalex.org/W2900722887","https://openalex.org/W2914078744","https://openalex.org/W2977982730","https://openalex.org/W2984365536","https://openalex.org/W2997478763","https://openalex.org/W2998114618","https://openalex.org/W3004051486","https://openalex.org/W3004916130","https://openalex.org/W3016511875","https://openalex.org/W3096432621","https://openalex.org/W3110306732","https://openalex.org/W3171419071","https://openalex.org/W3202375294","https://openalex.org/W3212440979","https://openalex.org/W4206528899","https://openalex.org/W4214635538","https://openalex.org/W4226239849","https://openalex.org/W4226454000","https://openalex.org/W4285183763","https://openalex.org/W4311617910","https://openalex.org/W4312559884","https://openalex.org/W4318038591","https://openalex.org/W4323338686","https://openalex.org/W4361804142","https://openalex.org/W4376166839","https://openalex.org/W4377298394","https://openalex.org/W4379538705","https://openalex.org/W4382677684","https://openalex.org/W4385324661","https://openalex.org/W4391454429","https://openalex.org/W4391936215","https://openalex.org/W4392901619","https://openalex.org/W4394585822","https://openalex.org/W4396523458","https://openalex.org/W4396712804","https://openalex.org/W4402833803"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3197004465","https://openalex.org/W2998303370","https://openalex.org/W4389860168","https://openalex.org/W2525440477","https://openalex.org/W2201305964","https://openalex.org/W2374813830","https://openalex.org/W3103057830","https://openalex.org/W1494365804","https://openalex.org/W3033650053"],"abstract_inverted_index":{"GNSS-based":[0],"cooperative":[1,73,120],"positioning":[2,19,60,74,121,186],"offers":[3],"advantages":[4],"such":[5],"as":[6],"high":[7],"accuracy,":[8],"robustness,":[9],"and":[10,38,54,87,130,146,164,192,213],"availability,":[11],"making":[12],"it":[13],"highly":[14],"effective":[15],"in":[16,24,34,85,149],"enhancing":[17],"the":[18,29,100,103,110,118,140,161,181,200],"performance":[20],"of":[21,102,127,143],"intelligent":[22],"vehicles":[23],"urban":[25,35,177],"environments.":[26],"Due":[27],"to":[28,81,156,189,196,205],"complex":[30],"signal":[31],"propagation":[32],"conditions":[33],"settings,":[36,208],"GNSS":[37,86],"inter-vehicle":[39],"measurements":[40],"often":[41],"include":[42],"uncertainties":[43,49,84],"caused":[44],"by":[45,106],"non-ideal":[46],"factors.":[47],"These":[48,90],"introduce":[50,78],"anomalous":[51,197],"measurement":[52,131],"biases":[53],"noise":[55],"with":[56,99],"unknown":[57,83],"characteristics,":[58],"degrading":[59],"accuracy.":[61],"To":[62],"address":[63],"this":[64,66],"issue,":[65],"paper":[67],"proposes":[68],"a":[69,150],"robust":[70,119,195],"distributed":[71,151],"Bayesian":[72,112],"algorithm.":[75],"We":[76,133],"first":[77],"latent":[79,91,147],"variables":[80,92,148],"characterize":[82],"V2V":[88],"measurements.":[89,198],"are":[93,167],"modeled":[94],"using":[95,173],"Gaussian-Gamma":[96],"conjugate":[97],"distributions,":[98],"shape":[101],"distribution":[104],"determined":[105],"hyperparameters.":[107],"Based":[108],"on":[109],"Variational":[111],"(VB)":[113],"theory,":[114],"we":[115],"then":[116],"decompose":[117],"problem":[122],"into":[123],"an":[124],"alternating":[125],"estimation":[126],"vehicle":[128,144],"states":[129,145],"uncertainties.":[132],"derive":[134],"message-passing-based":[135],"closed-form":[136],"solutions":[137],"for":[138],"updating":[139],"variational":[141],"posteriors":[142],"manner,":[152],"allowing":[153],"all":[154],"parameters":[155],"be":[157],"estimated":[158],"algebraically.":[159],"Additionally,":[160],"computational":[162,211],"complexity":[163,212],"communication":[165,214],"overhead":[166],"also":[168],"analyzed.":[169],"Performance":[170],"evaluation":[171],"results":[172],"datasets":[174],"from":[175],"real":[176],"environments":[178],"show":[179],"that":[180],"proposed":[182,201],"algorithm":[183,202],"achieves":[184],"higher":[185],"accuracy":[187],"compared":[188],"existing":[190],"methods":[191],"is":[193,203],"more":[194],"Furthermore,":[199],"insensitive":[204],"nominal":[206],"parameter":[207],"featuring":[209],"low":[210],"overhead.":[215]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-14T23:14:49.485078","created_date":"2025-10-10T00:00:00"}