Multivehicle 3D Cooperative Positioning Algorithm Based on Information Geometric Probability Fusion of GNSS/Wireless Station Navigation
Round 1
Reviewer 1 Report (Previous Reviewer 3)
The authors have reasonably addressed the reviewer's comments.
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval.
Finally, we would like to thank the referee again for taking the time to review our manuscript.
Reviewer 2 Report (New Reviewer)
This paper proposes a multi-vehicle cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation, which converts various navigation source information into an information geometric probability model, unifies navigation information time-frequency parameters, and reduces the impact of the sudden error. Unfortunately, I cannot recommend this paper for publication in its current state.
In the paper, three questionable aspects must be answered: i) What is the need for 3D positioning? ii) How do you guarantee real-time requirements? iii) How can the results obtained in this verification platform apply to real scenarios? Once all these major aspects are resolved in the proposal, the following must also be addressed.
Regarding the Introduction, the wording and flow of this Section and all the text need to be reviewed and improved. Multiple references are used in blocks without ever being mentioned distinctively. This fact makes question the suitability and proper use of them, e.g. [1-4], [11-13], [14-16], [17-19], and [31-32]. Contributions should be expressed more clearly and precisely. Subsequently, in the corresponding sections, each one of them must be reinforced, to highlight its validity.
Regarding the Section on Related Works, its content is partially redundant concerning the Introduction, these sections must be organized and structured harmonically. In this Section, the selection of the algorithms used for the comparison must be justified. In addition, it is recommended to include a table with the characteristics of the main algorithms, highlighting their strengths and weaknesses.
The System Model is not clear enough for me, leaving multiple questions and lacking depth, rather it seems like an introduction to the research problem.
Figures in an article or thesis should be sufficiently descriptive in content and caption so that they can be understood without reading the discussion text. None of the figures in the paper meet that condition.
The Proposal description should be more formal and clear, in terms of mathematical rigor and the main aspects to highlight, while some other developments could be treated as annexes.
The discussion of the results must be improved in terms of clarity and address the most relevant aspects, but fundamentally it must be organized in such a way that it allows the contributions and conclusions to be supported.
The current conclusions have not been fully supported by the research work.
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval. The responses to the reviewers’ comments are in attechment.
Author Response File: 
Author Response.pdf
Round 2
Reviewer 2 Report (New Reviewer)
Most of my comments were addressed and an improvement is reflected in the current version of the paper.
I recommend establishing that it is real-time in the context of the applications and services that this positioning algorithm supports. Since delay thresholds are not the same for all applications, the times in Figure 5(b) can be very short for some services and very long for others.
I recommend mentioning some practical applications in which the proposal presented can be effective and applicable.
I still recommend making the information in the captions of the figures more precise and complete.
I suggest that the responses to the reviewers also state the changes made to the document.
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval.
Author Response File: Author Response.pdf
This manuscript is a resubmission of an earlier submission. The following is a list of the peer review reports and author responses from that submission.
Round 1
Reviewer 1 Report
This paper proposes a fusion positioning method of satellite navigation and wireless base station based on information geometric probability, which can realize the three-dimensional cooperative positioning of multiple vehicles. This method realizes the unification of time-frequency parameters of navigation information by using the information geometric probability. Simulation results are provided to verify the effectiveness of the proposed algorithm. Overall, the topic is interesting, and the study is both complete and convincing. I have the following suggestions:
1. Abstract: It needs to be rewritten to present more clearly on the novelty of this paper.
2. Conclusion: The authors miss to present the potential limitations of their method and further improvements.
3. Please add some recent references about information geometry.
4. The format of references is not unified, which needs to be handled uniformly according to the requirements of the article.
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “ Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation ”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval. The specific replies are in the attachment
Author Response File: Author Response.pdf
Reviewer 2 Report
The authors propose a cooperative positioning method to achieve real-time, stable, robust and high-precision positioning for vehicular applications. Simulations were conducted by the authors to demonstrate the feasibility and the superiority of the proposed method. Indeed, the cooperative positioning methods are interesting and many related researches can be found recent years. However, the contributions and the innovations clarified by the authors are questionable.
1. Page 2, line 45 and 46: The authors declare that the KF is limited in terms of the computational complexity and
the real-time performance. however, KF is widely used in the existing positioning algorithms for real-time
applications.
2. Page 2 line 21: please given the full name of "KLA" before using the abbreviations.
3. Page 3 line 82: the authors declare that the convergence speed of the proposed method is faster than the other
three control groups. please indicate the improvement in the simulation results.
4. Page 3 line 92: why the cooperative communication needs accurate and reliable location information?
5. Page 11 line 310: please give the full name of these methods.
6. Page 11 line 312: it should be root mean squred error (RMSE) instead of MSE. otherwise, the unit of MSE
should be m^2. and it is better to use "evaluate" rather than "calculate" in this sentence.
7. Page 12 line 321: the positioning error of GNSS is excessively ideal. The performance of GNSS degrades
severely in urban canyons due to the Non-line-of-sight and multipath-affected signals. The measurement
noises are relatively large in this case.
8. Page 12 line 336: what does the term "coordination ability" mean?
9. Page 13 line Fig 4: it is better to simulate the data of vehicles by using the city simulation tools such as SUMO,
thus, the results may be more believable.
10. Page 14 Fig 5: the computational load will increase with the number of vehicles increasing. please given the
relationship between the computational load and the number of vehicles. it's better to make a balance between
the positioning accuracy and the complexity.
11. Page 15 line 408 to 411: these figures are inconsistent with the figures depicted in Fig 6. additionally, how to
evaluate the real-time performance in this section?
12. Page 14 line 402: how to simulate the sudden changes of the ranging information?
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “ Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation ”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval. The specific replies are in the attachment
Author Response File: Author Response.pdf
Reviewer 3 Report
In this paper, a fusion approach between the satellite position and the relative position is proposed. However, the motivation, the method, and the result are not well presented.
1. The introduction does not provide the motivation for selecting the proposed fusion approach.
2. The system model does not state which technologies are used or the key parameters.
3. The method is presented with many equations but the key ideas and the explanations are insufficient.
4. The simulation settings are highly unrealistic and the result in section 5.2 seems not to be relevant to the real-time requirement, one of the main arguing points.
5. There are many unexplained and inconsistent terminologies and notations throughout the paper.
Author Response
Thank you for your letter and for the reviewers’ comments concerning our manuscript entitled “ Multivehicle 3D cooperative positioning algorithm based on information geometric probability fusion of GNSS/wireless station navigation ”. These comments were valuable and helpful in revising and improving our paper. We studied the comments carefully and have made corrections that we hope will meet with your approval. The specific replies are in the attachment
Author Response File: Author Response.pdf
Round 2
Reviewer 3 Report
The authors have reasonably addressed the reviewer's comments.
