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You searched for +publisher:"Universidade Federal do Amazonas" +contributor:("Oliveira, Hor?cio Antonio Braga Fernandes de"). One record found.

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1. Lobo, Felipe Leite. Cooperative localization improvement in vehicular ad hoc networks.

Degree: 2020, Universidade Federal do Amazonas

In Vehicular Ad Hoc Networks (VANets), a precise localization system is a crucial factor for several critical safety applications. Even though the Global Positioning System (GPS) can be used to provide the position estimation of vehicles, it still has an undesired error that can increase even more in some areas, such as tunnels and indoor parking lots, making it unreliable and unfeasible for most critical safety applications. In this work, we present a new position estimation technique by two algorithms, the CoVaLID (Cooperative Vehicle Localization Improvement using Distance Information), which improves GPS positions of nearby vehicles and minimize their errors using Extended Kalman Filter (EKF) to perform Data Fusion of both GPS and distance information, and the COLIDAP that uses Particle Filter (PF). Our solution also uses distance information to assess the position accuracy related to three different aspects: the number of vehicles, vehicle trajectory, and distance information error. For that purpose, we use a weighted average method to put more confidence in distance information given by neighbors closer to the target.We implement and evaluate the performance of CoVaLID using realworld data, as well as discuss the impact of different distance sensors in our proposed solution. Our results clearly show that our algorithms are capable of reducing the GPS error by 63%, and 53% when compared to the state-of-the-art VANet LOCation Improve (VLOCI) algorithm.

Em redes veiculares ad hoc (VANets), um sistema de localiza??o preciso ? um fator crucial para v?rias aplica??es cr?ticas de seguran?a. Embora o Sistema de Posicionamento Global (GPS) possa ser usado para fornecer a estimativa de posi??o de ve?culos, ele ainda possui erros indesejados que pode aumentar ainda mais em algumas ?reas, como t?neis e pr?dios de estacionamento, tornando-o n?o confi?vel e invi?vel para a maioria aplica??es cr?ticas de seguran?a. Neste trabalho, apresentamos uma nova t?cnica de estimativa de posi??o atrav?s de dois algoritmos, o CoVaLID (melhoria de localiza??o de ve?culo cooperativa usando informa??es de dist?ncia), que melhora as posi??es de GPS de ve?culos pr?ximos e minimiza seus erros usando o Extended Kalman Filter (EKF) para executar a fus?o de dados de informa??es de GPS e dist?ncia, e o COLIDAP que utiliza filtro de part?culas (PF). Nossa solu??o tamb?m usa informa??es de dist?ncia para avaliar a precis?o da posi??o relacionada a tr?s aspectos diferentes: n?mero de ve?culos, trajet?ria do ve?culo e erro de informa??es de dist?ncia. Para esse fim, usamos um m?todo de m?dia ponderada para aumentar a confian?a nas informa??es de dist?ncia fornecidas pelos vizinhos mais pr?ximos do alvo. Implementamos e avaliamos o desempenho dos nossos algoritmos usando cen?rios do mundo real simulados, al?m de discutir o impacto de diferentes sensores de dist?ncia em nossa solu??o proposta. Nossos resultados mostram claramente que nossos algoritmos s?o capazes de reduzir o erro de GPS em 63% e 53% quando comparado ao algoritmo estado da arte…

Advisors/Committee Members: Oliveira, Hor?cio Antonio Braga Fernandes de,, Souto, Eduardo James Pereira,, Barreto, Raimundo da Silva,, Balico, Leandro Nelinho,

Subjects/Keywords: Data Fusion; Localization Systems; Vehicular Ad-hoc Networks; Distance Information; Precise Localization System; CI?NCIAS EXATAS E DA TERRA: CI?NCIA DA COMPUTA??O; Vehicular Ad-hoc Networks; Localization Systems; Data Fusion; Distance Information

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APA (6th Edition):

Lobo, F. L. (2020). Cooperative localization improvement in vehicular ad hoc networks. (Doctoral Dissertation). Universidade Federal do Amazonas. Retrieved from

Chicago Manual of Style (16th Edition):

Lobo, Felipe Leite. “Cooperative localization improvement in vehicular ad hoc networks.” 2020. Doctoral Dissertation, Universidade Federal do Amazonas. Accessed February 25, 2021.

MLA Handbook (7th Edition):

Lobo, Felipe Leite. “Cooperative localization improvement in vehicular ad hoc networks.” 2020. Web. 25 Feb 2021.


Lobo FL. Cooperative localization improvement in vehicular ad hoc networks. [Internet] [Doctoral dissertation]. Universidade Federal do Amazonas; 2020. [cited 2021 Feb 25]. Available from:

Council of Science Editors:

Lobo FL. Cooperative localization improvement in vehicular ad hoc networks. [Doctoral Dissertation]. Universidade Federal do Amazonas; 2020. Available from: