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                <title xml:lang="en">Performance assessment of GNSS pseudorange differencing for relative train positioning</title>
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                <term xml:lang="en">Cooperative Positioning</term>
                <term xml:lang="en">Pseudorange Differencing</term>
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              <p>Due to the limited braking performance of trains, resilient train localization is a crucial feature in railway collision avoidance systems. Currently, this function relies on heavy track infrastructures that could be replaced with lightweight Global Navigation Satellite System (GNSS). Cooperative positioning, particularly pseudorange differencing, may encounter the requirements and reliability required in railway applications, thus facilitating the penetration of GNSS technology into a typical GNSS-reluctant field. This paper aims to assess the performance of this approach in relation to potential error sources such as multipath, range, and velocity through simulation scenarios in a railway environment. In order to isolate the effect of those factors, a statistical study is carried out where scenarios are repeatedly simulated with only one changing factor. A horizontal method and relative velocity estimation using pseudorange differencing are tested alongside ordinary single and double differencing. Performance comparison with absolute position differencing reveal no significant accuracy loss across any scenario.</p>
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