Experimental Evaluation of Collaborative Navigation Through Shared Motion Constraints During GNSS Outages

Hasan Kinatas and Mathieu Joerger

Peer Reviewed

Abstract:	Ground vehicles require reliable positioning for autonomous navigation, but Global navigation satellite systems (GNSS) signals face multiple threats including urban signal blockage, interference, and deliberate jamming attacks. During such outages, vehicle motion constraints can be used to reduce inertial measurement unit (IMU) drift in the cross-track direction, but unbounded in-track errors remain unaddressed. To address this limitation, we propose a collaborative navigation system where vehicles share motion constraints with each other. This approach allows one vehicle’s cross-track constraints to directly limit another vehicle’s unconstrained in-track positioning errors when trajectories are diverse. We implement a centralized error-state Kalman filter (ESKF) that fuses IMU data and motion constraints from multiple vehicles. The vehicles collaborate through inter-vehicle crosslinks to share constraint information across different trajectory directions. Using real-world driving data from two vehicles and synthetically generated inter-vehicle links from ground truth data, experimental validation demonstrates trajectory-dependent performance gains. For diverse trajectories, collaboration extends the overall resilience interval by up to 17 seconds for ”in which lane” navigation, and up to 7 seconds for ”where in lane” navigation. These findings highlight the effectiveness of inter-vehicle collaborative constraint-sharing in mitigating IMU drift during GNSS outages.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	1602 - 1623
Cite this article:	Kinatas, Hasan, Joerger, Mathieu, "Experimental Evaluation of Collaborative Navigation Through Shared Motion Constraints During GNSS Outages," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 1602-1623. https://doi.org/10.33012/2025.20276
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