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The positioning accuracy of the existing vehicular Global Positioning System (GPS) is far from sufficient to support autonomous driving and ITS applications. To remedy that, leading methods such as ranging and cooperation have improved the positioning accuracy to varying degrees, but they are still full of challenges in practical applications. Especially for cooperative positioning, in addition to the performance of methods, cooperators may provide false data due to attacks or selfishness, which can seriously affect the positioning accuracy. By fully exploiting the characteristics of blockchain and edge computing, this paper proposes a vehicular blockchain-based secure and efficient GPS positioning error evolution sharing framework, which improves vehicle positioning accuracy from ensuring security and credibility of cooperators and data. First, by analyzing the GPS error, a bridge can be established between the …