GNSS High-Precision Augmentation for Autonomous Vehicles: Requirements, Solution, and Technical Challenges

Abstract

Autonomous driving is becoming a pivotal technology that can realize intelligent transportation and revolutionize the future of mobility. Various types of sensors, including perception sensors and localization sensors, are essential for high-level autonomous and intelligent vehicles (AIV). In this paper, the characteristics of different sensors are compared, and the application characteristics and requirements of AIV are analyzed in depth. These analyses indicate that: GNSS, as the unique localization sensor that can obtain an absolute position, can not only provide all-weather position and time information for internal multi-sensor fusion but also act as a standard spatiotemporal reference for all autonomous systems; Furthermore, AIVs aim to provide safety for a mass user base ranging from tens to hundreds of millions; for this, AIVs require a global wide-area and instantaneous precise positioning service with location privacy protection. Based on a “geometry-bound” description of road grade and vehicle size, it has been found that GNSS requirements in autonomous vehicles include decimeter-level positioning with the assurance of high integrity. Combined with high-integrity GNSS implementation in the civil aviation field, GNSS different technology routes, and commercial solutions, a state space representation (SSR)-based GNSS high-precision augmentation positioning solution for AIV is summarized and introduced. The solution can achieve instantaneous, precise positioning with high integrity in a wide area by utilizing passive positioning mode with location privacy protection. In addition, the research progress on key technologies in the solution and existing challenges is investigated in detail by reviewing a series of publications.

Architecture and Potential of Connected and Autonomous Vehicles

“…Advanced receivers, exploiting multi-frequency capabilities or augmentation systems can achieve accuracies in the order of centimetres with GPS or Galileo constellations. Low-cost and reliable receivers with accuracy in the order of decimetres are of primary interest for CAV applications [106]. Usually, the GNSS receiver power consumption is limited to a few watts, and as it is typically unique in an AV layout, its power consumption can be neglected.…”

Free-flow tolling system for expressway with fusion of 5G communication and high-precision positioning technology

“…At the same time, increasingly sophisticated high-precision positioning technologies are being used for lane-level positioning of vehicles and distribution of location information [12] , which supports the interconnection of smart vehicles and can assist in the auditing of travel paths [13] . At the same time, increasingly sophisticated high-precision positioning technologies are being used for lane-level positioning of vehicles and distribution of location information, which supports the interconnection of smart vehicles and can assist in the auditing of travel paths [14] .…”

The accuracy of vehicle position and heading angle improvement based on dual-antenna GNSS/INS/Barometer integration using extended Kalman filter

“…Self-driving is becoming a pivotal technology that can continuously measure vehicle information to realise autonomous navigation [1]. As research in the field of autonomous vehicles progresses, in addition to measure the accurate position, the real-time attitude of the vehicle is also crucial [2].…”