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A hardware verification platform integrating roadside sensing units, connected test vehicles, and 5G-vehicle-to-everything communication is constructed to achieve distributed cooperative positioning analysis of urban intersections. The results show that the proposed fusion model exhibits the best overall performance in intersection cooperative positioning, with a root mean square error of only 0.15 m, significantly lower than both single algorithms and the spatiotemporal attention model. The geometric accuracy attenuation factor is as low as 1.8, the effective cooperative gain reaches 60%, and the positioning coverage rate reaches 98%. However, experimental results under ring-topology, high-density congestion, and communication failure scenarios indicate a noticeable performance degradation, suggesting that the robustness of the proposed method is limited under extreme network conditions. The integrated design of \u201cmathematical model analysis - dynamic feature extraction - vehicle-road cooperative fusion\u201d can effectively achieve a leap in intersection positioning accuracy from single-vehicle intelligence to group collaboration, providing key technical support for reliable perception of smart intersections and connected autonomous driving.<\/jats:p>","DOI":"10.1371\/journal.pone.0358244","type":"journal-article","created":{"date-parts":[[2026,9,24]],"date-time":"2026-09-24T17:38:03Z","timestamp":1790271483000},"page":"e0358244","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":0,"title":["Improving the accuracy of distributed cooperative positioning at urban intersections based on mathematical analysis and robust filtering"],"prefix":"10.1371","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-1455-8240","authenticated-orcid":true,"given":"Dan","family":"Liu","sequence":"first","affiliation":[{"name":"Heilongjiang Open University","place":["Harbin, China"],"department":["Personnel Department"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhen","family":"Zeng","sequence":"additional","affiliation":[{"name":"Heilongjiang Open University","place":["Harbin, China"],"department":["Teaching Department"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ting","family":"Li","sequence":"additional","affiliation":[{"name":"Heilongjiang Open University","place":["Harbin, China"],"department":["Personnel Department"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"340","published-online":{"date-parts":[[2026,9,24]]},"reference":[{"issue":"1","key":"pone.0358244.ref001","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TIV.2024.3395783","article-title":"A survey of collaborative perception in intelligent vehicles at intersections","volume":"1","author":"X Gao","year":"2024","journal-title":"IEEE Trans Intell Veh"},{"key":"pone.0358244.ref002","first-page":"147","article-title":"Traffic signals and cooperative trajectories at urban intersections: leveraging visible light communication for implementation","author":"G Galv\u00e3o","year":"2024","journal-title":"Proc SPIE"},{"issue":"10","key":"pone.0358244.ref003","doi-asserted-by":"crossref","first-page":"17522","DOI":"10.1109\/TITS.2024.3512618","article-title":"A vehicle path planning and prediction algorithm based on attention mechanism for complex traffic intersection collaboration in intelligent transportation","volume":"26","author":"Y Li","year":"2025","journal-title":"IEEE Trans Intell Transport Syst"},{"key":"pone.0358244.ref004","doi-asserted-by":"crossref","unstructured":"Charef A, Jarir Z, Quafafou M. 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