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Published on 4 January 2024


Hardware and software platform for designing and evaluating vehicle-localization solutions​​​​

Vehloc is Leti’s localization solution designed to support the next generation of Intelligent Transport System (ITS) applications and services. It includes:​​​

  • Ground truth: tactical-grade navigation unit with associated post-proces​sing software providing centimeter-level accuracy.
    • Dual-frequency RTK-GNSS receiver, Dual antenna for true heading and fusion with tactical grade IMU
    • Position accuracy: 2 cm / attitude accuracy: 0.03 deg​​
  • Target platform: a flexible embedded platform for vehicle localization that integrates:
    • Standard and high-accuracy GNSS receivers
    • Consumer and tactical grade IMU​​​
    • An impulse radio-ultra-wideband (IR-UWB) transceiver
  • Localization algorithms: advanced navigation and localization algorithm libraries
    • State-of-the-art GNSS-IMU loose & tight coupling fusion
    • Cooperative algorithms, including GNSS, IMU and IR-UWB*​​​​​
​​What's new? ​​

A complete vehicle test platform, including a ground-truth system ​
  • Hardware comes with extensive know-how to carry out in-the-field performance tests and related metrology tasks. This includes database management, performance-indicator selection and automated algorithm optimization.​​

Flexibility and modularity of validation procedures

  • ​Localization scenarios can be recorded in log files for consumer metrics and high-end components. Fusion algorithms can then be fine-tuned offline.
  • Sensor choice and dimensioning may be selected based on application performance specifications and final product implementation constraints.
  • Multiple levels of cooperative deployment are supported, from pure standalone to vehicle-to-vehicle (V2V) in VANETs or even vehicle-to-infrastructure (V2I) (with various infrastructure densities).

Unique possibility to evaluate most innovative localization approaches and advanced technologies in a realistic vehicular context, such as:

  • ​Accurate V2V/V2I IR-UWB ranging under representative mobility
  • Context-aware multi-sensor fusion
  • V2V/V2I cooperation

What’s Next?

Future developments will include:​

  • Localization-oriented optimization of ITS messages and protocols, anticipating the emergence of new vehicular wireless communication standards
  • Application of the most demanding location-based features of autonomous driving (e.g., cooperative mapping, decentralized fleet control and platoon/group coordination, trajectories synchronization…) ​
  • Extension to other emerging localization and navigation fields: smart road, drone and fleets of drones ​


Experience in the field: ​​

  • Radio-based localization 5 PhDs, 65 conference papers, 5 journal articles, 15 patents​​
  • Fusion-based hybrid localization 3 PhDs, 17 conference papers, 3 journal articles, 4 patents​​
  • Sensor-based localization 5 PhDs, 6 confere​nce papers, 2 journal articles, 25 patents​


Vehloc accelerates positioning and navigation-system product design from algorithm development to implementation, relying on highly flexible online/offline validation. ​

It helps explore advanced cooperative or hybrid data-fusion systems suitable for harsh operating environments, such as:​

  • Assisted or autonomous driving​​​
  • Infrastructure requirements and associated algorithms for vulnerable road users’ (VRU) safety
  • Localization and navigation resilience under GNSS outage (e.g., deep urban canyons)​​​ ​

CEA-Leti’s solution helps generate test vectors and databases for evaluation purposes with respect to “ground truth” and relative benchmarks of advanced fusion algorithms.
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