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.