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The system proposed in this study relies on a WAVE P2P network, which is a proper standard to fit the vehicular environment wireless communications requests. Starting from the chance to exchange information given by this infrastructure, the possibility to improve the performance of a global navigation satellite system (GNSS) receiver based on a Kalman filter is considered. This improvement is obtained exploiting the external altitude measurements provided by other peers in the network, equipped with GNSS receivers. The topic of an altitude-aided system has been described in a previous work, that highlighted the need for a parameter that points out the effectiveness and the consistency of the computed aiding measurement, namely the altitude-aiding reliability index. A detailed analysis of this reliability index led to the development of an iterative algorithm to be used in the presence of three satellites and of a biased aiding, in order to overcome the issues related to this peculiar scenario, which is the main result of this work.