An automated driving system is a complex combination of various technologies and a fully autonomous vehicle needs an accurate, reliable, redundant and continuous positioning solution from GNSS. However, facing occlusions and multipath effects in urban canyons, tunnels, forests and other challenging environments, the positioning performance would be affected severely and up to now, there are no acceptable solutions in the harsh scenarios . On the other hand, V2X communication has emerged as a promising candidate to cope with the problems of autonomous navigation, allowing vehicles to share information with other vehicles, pedestrians and infrastructure among others. Driven by the development of V2X communication technology, Collaborative Positioning (CoPos) provides an alternative solution to stand-alone positioning. CoPosrefers to a group of users sharing their raw GNSS measurements and measuring the local ranges with their neighboring users to accomplish positioning. CoPos can improve the positioning performance such as availability, continuity, and accuracy . Apart from GNSS measurement, a precise local range measurement is essential to achieve a better performance of CoPos. For almost a decade, multi-sensors to determine local ranges have been available in vehicles, for example, a prototype of fully autonomous vehicles is proposed in  using 3D laser scanners to obtain an accurate position of the surrounding environment.