Validating Vehicular Localization Indoor using UWB: Challenges and Solutions

Vehicle-to-Everything (V2X) expands the capabilities of vehicles with innovative applications. Localization plays a crucial role in V2X, with measurement accuracy as a fundamental property. Demonstrating this accuracy, however, is not straightforward, especially in indoor environments. Indeed, the inability to use global navigation satellite systems (e.g., GPS) indoor requires exploring alternate technologies. In this work, we present a reliable and accurate validation methodology to demonstrate the performance of V2X localization. An Ultra-Wide Band (UWB) localization technology is at the core of our validation infrastructure. Built around this is a complete system that supports data collection from multiple localization systems, ensures time synchronization across data samples, and provides a comprehensive analysis pipeline. We demonstrate this validation system in both outdoor and indoor environments. Our approach overcomes the challenges of indoor vehicular localization and provides a reliable and accurate way to evaluate the performance of V2X localization systems.