GNSS-only Collaborative Positioning Among Connected Vehicles

Cooperative positioning is considered a key strategy for the improvement of localization and navigation performance in harsh contexts such as urban areas. Modern communication paradigms can support the exchange of inter-vehicle ranges measured from on-board sensors or obtained through Global Satellite Navigation System (GNSS) measurements. The paper presents an overview of the GNSS-only collaborative localization in the context of cooperative connected cars. It provides an experimental example along with new results about the tight integration of collaboratively-generated inter-vehicle relative measurements collected by a target vehicle by means of a double differentiation w.r.t. to a set of five aiding vehicles. An average improvement of the positioning accuracy of about 11% motivates the research effort towards multi-agent connected positioning systems.