Cooperative Positioning in C-V2X networks

Cooperative Positioning in C-V2X networks In the arising development of Intelligent Transportation Systems (ITS), the need for a precise and accurate vehicular positioning system is needed. Traditional Global Navigation Satellite Systems (GNSS) such as GPS do not meet the requirements of many safety ITS applications like collision avoidance or positioning at lane level, which need to rely on a very accurate positioning system, due to their limited availability, continuity and accuracy in challenging, harsh urban environments with high buildings and limited sky visibility. Among the numerous Cooperative Positioning (CP) solutions proposed in literature to address this problem, a novel approach has been proposed based just on raw GNSS pseudorange measurements in order to estimate the Inter Agent Range (IAR) between two peers in Non-Line-Of-Sight (NLOS) conditions. Performances of this method will be assessed with a simulation-based approach focusing on the delay between the aid request and the actual receipt of the information from the aiding peer, exploiting the 4G LTE cellular network infrastructure. SimuLTE is used as a simulator for the network, based on the simulation framework provided by OMNeT++, and coupled with SUMO (Simulation of Urban MObility).