Angle-of-Arrival Assisted GNSS Collaborative Positioning

For outdoor and global navigation satellite system (GNSS) challenged scenarios, collaborative positioning algorithms are proposed to fuse information from GNSS satellites and terrestrial wireless systems. This paper derives the Cramer-Rao lower bound (CRLB) and algorithms for the angle-of-arrival (AOA)-assisted GNSS collaborative positioning. Based on the CRLB model and collaborative positioning algorithms, theoretical analysis are performed to specify the effects of various factors on the accuracy of collaborative positioning, including the number of users, their distribution and AOA measurements accuracy. Besides, the influences of the relative location of the collaborative users are also discussed in order to choose appropriate neighboring users, which is in favor of reducing computational complexity. Simulations and actual experiment are carried out with several GNSS receivers in different scenarios, and the results are consistent with theoretical analysis.