Performance of particle filtering algorithm employed in dynamic cooperative positioning system

It is difficult for Global Navigation Satellite System (GNSS) to ensure its reliability in certain areas such as indoor environment, forest and canyon, etc. Cooperative positioning algorithms have been recently introduced to overcome the limitations of GNSS systems. In this paper, a new method employing Particle Filtering (PF) algorithm is proposed for cooperative positioning among dynamic agents and its performance is studied via several simulation experiments. It is impossible for a single agent to localize itself when lacking pseudorange information. Terminal nodes get pseudorange information from satellites and obtain terrestrial ranging data from other nodes so that its position and velocity can be estimated. Through simulation, this article is verified that the proposed algorithm can accurately estimate the position and the velocity of different nodes.