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Furthermore, the authors propose a method to increase the robustness of cooperative algorithms based on the estimated position covariance matrix. In particular, the proposed approach assures a faster estimation convergence and improved accuracy while lowering computational complexity and network traffic. Finally, the authors tested the sensitivity of the implemented positioning algorithms through the ST in two different scenarios, first in presence of high level of pseudorange noise and then in presence of a malicious peer in the P2P network.<\/p>","DOI":"10.4018\/jertcs.2012070105","type":"journal-article","created":{"date-parts":[[2012,12,11]],"date-time":"2012-12-11T11:30:23Z","timestamp":1355225423000},"page":"67-87","source":"Crossref","is-referenced-by-count":2,"title":["A Simulation Tool for Real-Time Hybrid-Cooperative Positioning Algorithms"],"prefix":"10.4018","volume":"3","author":[{"given":"Francesco","family":"Sottile","sequence":"first","affiliation":[{"name":"Istituto Superiore Mario Boella, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mauricio A.","family":"Caceres","sequence":"additional","affiliation":[{"name":"Istituto Superiore Mario Boella, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maurizio A.","family":"Spirito","sequence":"additional","affiliation":[{"name":"Istituto Superiore Mario Boella, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"jertcs.2012070105-0","unstructured":"L3Nav. 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