Analysis of Real-Time Hybrid-Cooperative GNSS-Terrestrial Positioning Algorithms

Abstract

This chapter analyzes some hybrid and cooperative GNSS-terrestrial positioning algorithms that combine both pseudorange measurements from satellites and terrestrial range measurements based on radio frequency communication to improve both positioning accuracy and availability. A Simulation Tool (ST) is also presented as a viable tool able to test and evaluate the performance of these hybrid positioning algorithms in different scenarios. In particular, the ST simulates devices belonging to a Peer-to-Peer (P2P) wireless network where peers, equipped with a wireless interface and a GNSS receiver, cooperate among them by exchanging positioning aiding data in order to enhance the overall performance. Different hybrid and cooperative algorithms, based on Bayesian and least squares approaches proposed in the literature, have been implemented in the ST and simulated in different simulation scenarios including the vehicular urban one. Moreover, all these algorithms are compared in terms of computational complexity to better understand their feasibility to achieve a real-time implementation. Finally, the sensitivity of the hybrid and cooperative algorithms when pseudorange measurements are affected by large noise and in presence of malicious peers in the P2P network is also assessed by means of the ST.