Conditional Path Planning for Collaborative GNSS Positioning

This work explores how cooperative GNSS positioning can be embedded into path planning so that navigation decisions also account for positioning quality. This method operates by formulating an optimization problem where the objective function not only includes traditional parameters–such as distance and time–but also incorporates a metric for cooperative positioning benefits. This dual objective enables the algorithm to dynamically adapt to the conditions of the environment and the status of the Global Navigation Satellite System (GNSS) signals, ensuring that the selected path meets both navigational and cooperative positioning goals. Simulations in urban canyons, tunnels, and random cluttered environments show that the method lowers positioning errors.