Ground Vehicle Navigation Integrity Monitoring for Multi-Constellation GNSS Fused with Cellular Signals of Opportunity

Mu Jia, Halim Lee, Joe Khalife, Zaher M. Kassas, Jiwon Seo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Integrity monitoring of a ground vehicle navigation system, utilizing multi-constellation global navigation satellite systems (GNSS) signals fused with ambient cellular signals of opportunity (SOPs) is considered. An advanced receiver autonomous integrity monitoring (ARAIM) framework is developed to detect and exclude multipath and non-line-of-sight errors. A method to conservatively predict the horizontal protection level (HPL) is proposed, utilizing ray-tracing and channel impulse response prediction in a three-dimensional (3D) building map of the environment. Simulation results are presented demonstrating the conservatively predicted HPL with different signals (GPS-only, GPS +GLONASS, GPS+SOP , and GPS+GLONASS+SOP). Experimental results are presented for a ground vehicle navigating a trajectory of 1380 m in an urban environment, showing the availability rates for GPS-only, GPS +GLONASS, GPS+SOP, and GPS +GLONASS+SOP being 52.53%, 75.66%, 76.87%, and 80.72%, respectively.

Original languageEnglish
Title of host publication2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3978-3983
Number of pages6
ISBN (Electronic)9781728191423
DOIs
Publication statusPublished - 2021 Sep 19
Event2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021 - Indianapolis, United States
Duration: 2021 Sep 192021 Sep 22

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2021-September

Conference

Conference2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Country/TerritoryUnited States
CityIndianapolis
Period21/9/1921/9/22

Bibliographical note

Funding Information:
This work was supported in part by the U.S. Department of Transportation (USDOT) under Grant 69A3552047138 for the CARMEN University Transportation Center (UTC) and in part by the National Science Foundation (NSF) under Grant 1929965.

Publisher Copyright:
© 2021 IEEE.

All Science Journal Classification (ASJC) codes

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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