Abstract: A method for communication within a co-operative system is provided. The co-operative system comprises a plurality of communication units, which are adapted to execute a group of tasks repeatedly in a repetition cycle: acquire raw data from at least one raw data collector, process the raw data into an information package, and broadcast of the information package. The repetition cycle lasts a predetermined time period from a start of a repetition cycle, and the at least one raw data collector collects data from a global navigation satellite system (GNSS). The raw data from the GNSS comprises a global timing signal, to which said communication units synchronize. A timing of said execution of tasks is dependent of said global timing signal. An individual acquisition time for acquiring raw data from the raw data collectors is set for each of the plurality of communication units.