A collaborative method for positioning based on GNSS inter agent range estimation

The limited availability and the lack of continuity in the service of Global Positioning Satellite Systems (GNSS) in harsh environments is a critical issue for Intelligent Transport Systems (ITS) applications relying on the position. This work is developed within the framework of vehicle-to-everything (V2X) communication, with the aim to guarantee a continuous position availability to all the agents belonging to the network when GNSS is not available for a subset of them. The simultaneous observation of shared satellites is exploited to estimate the Non-Line-Of-Sight Inter-Agent Range within a real-time-connected network of receivers. It is demonstrated the effectiveness of a hybrid localization algorithm based on the the integration of standard GNSS measurements and linearised IAR estimates. The hybrid position estimation is solved through a self-adaptive iterative algorithm to find the position of receivers experiencing GNSS outages.