Cooperative Localization Enhancement through GNSS Raw Data in Vehicular Networks

The evolution and integration of communication networks and positioning technologies are evolving at a fast pace in the framework of vehicular systems. The mutual dependency of such two capabilities can enable several new cooperative paradigms, whose adoption is however slowed down by the lack of suitable open protocols, especially related to the positioning and navigation domain. In light of this, the paper introduces a novel vehicular message type, namely the Cooperative Enhancement Message (CEM), and an associated open protocol to enable the sharing of Global Navigation Satellite Systems (GNSS) raw measurements among connected vehicles. The proposed CEM aims at extending existent approaches such as Cooperative Awareness Messages (CAM) and Collective Perception Messages (CPM) by complementing their paradigms with a cooperative enhancement of the localization accuracy, precision, and integrity proposed by state-of-the-art solutions. Besides the definition of CEMs and a related protocol, a validation of the approach is proposed through a novel simulation framework. A preliminary analysis of the network performance is presented in the case where CEM and CAM transmissions coexist and are concurrently used to support cooperative vehicle applications.