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.
|Title of host publication||2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2021 Sep 19|
|Event||2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021 - Indianapolis, United States|
Duration: 2021 Sep 19 → 2021 Sep 22
|Name||IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC|
|Conference||2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021|
|Period||21/9/19 → 21/9/22|
Bibliographical noteFunding 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.
© 2021 IEEE.
All Science Journal Classification (ASJC) codes
- Automotive Engineering
- Mechanical Engineering
- Computer Science Applications