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In urban areas, the traditional GPS-based Integrity Monitoring (IM) techniques have limitations due to the presence of multipath and satellite blockage that degrades the available data redundancy. We address these urban challenges by exploiting the geographical diversity and added measurement redundancy available via a network of receivers. We propose a Distributed Cooperative (DC) Simultaneous Localization and Mapping (SLAM)-based IM algorithm to compute the position protection levels across a network of receivers. We utilize the UWB ranging and data received from the neighboring vehicles along with the GPS pseudoranges, vehicle dynamics and satellite ephemeris to perform cooperative Graph-SLAM in a distributed manner. For each vehicle, we simultaneously estimate the state vector of the vehicle, neighboring vehicles and GPS satellites via graph optimization. We then estimate the fault status …