Mobile ad-hoc communication in machine swarms for relative positioning based on GNSS-raw data exchange

The increasing automation of mobile working machines and the progressive use of more than one machine up to machine swarms for cooperative tasks demands information about the relative position between the machines as well as between the machines and their attachments. This is especially necessary and important when carrying out tasks on distributed machines in a formation. Examples for application are parallel harvesting process in agricultural business or the cooperative search for survivors after a snow slide or e.g. an earthquake in urban scenarios. Moreover, it is very important to ensure relative position information in case of partial failure or a poor reception of the GNSS receiver, for example to avoid the collision between the machines.