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In the context of Vehicular Ad Hoc NETworks (VANETs), we investigate the problem of range-based Cooperative Localization (CLoc), which combines absolute position information from on-board Global Navigation Satellite System (GNSS) with relative distance measurements to fellow mobile vehicles, for instance based on Impulse Radio - Ultra WideBand (IR-UWB). CLoc accuracy usually suffers from poor Geometric...
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