Leg-Per - Lidar-Enhanced Gnss Positioning Error Reduction

Internet of things (IoT) is a promising research area, with many applications in smart home devices but also in vehicular communication and self-driving vehicles. Using this technology, vehicles are able to establish P2P connections in order to share information, improving road security and reliability against accidents due to road and traffic conditions. IoT and vehicle technologies are strongly dependent on positioning, which in outdoor environments is normally determined using satellite systems like GPS and GLONASS. However, the precision is not very reliable due to multipath issues and when the sky visibility is limited, like in urban canyons. In this paper we present LEG-PER - LiDAR-enhanced GNSS positioning error reduction, a new methodology which improves satellite-based systems accuracy using a combination of V2V and an elastic graph generated by the vehicles in the area using LiDAR-determined distances.