Integrity Monitoring of LTE Signals of Opportunity-Based Navigation for Autonomous Ground Vehicles

Abstract

2016. Currently, he is a postdoctoral research fellow at the University of California, Riverside and a member of the Autonomous Systems Perception Intelligent and Navigation (ASPIN) Laboratory. His research interests include opportunistic perception, distributed estimation, and real-time systems. Joe Khalife is a Ph.D. student at the University of California, Riverside and a member of the ASPIN Laboratory. He received a B.E. in Electrical Engineering and an M.S. in Computer Engineering from the Lebanese American University (LAU). From 2012 to 2015, he was a research assistant at LAU. His research interests include opportunistic navigation, autonomous vehicles, and software-defined radio.

Pseudorange measurement outlier detection for navigation with cellular signals

“…Despite the promise of SOPs as a reliable and accurate sensing modality, their integrity has not been fully studied. An initial work on integrity monitoring for SOP-based navigation was conducted in L A T E X [3]. This paper extends the work in L A T E X [3] by developing an autonomous measurement outlier detection and exclusion method for cellular long-term evolution (LTE) SOPs due to two main sources of errors: line-of-sight (LOS) blockage and short multipath delays.…”

“…An initial work on integrity monitoring for SOP-based navigation was conducted in L A T E X [3]. This paper extends the work in L A T E X [3] by developing an autonomous measurement outlier detection and exclusion method for cellular long-term evolution (LTE) SOPs due to two main sources of errors: line-of-sight (LOS) blockage and short multipath delays. Experimental results are presented validating the efficacy of the proposed method for a ground vehicle navigating in an urban environment (downtown Riverside, California) over a trajectory of 1.4 km.…”

Multi-Constellation Software-Defined Receiver for Doppler Positioning with LEO Satellites

“…An opportunistic positioning method using LTE downlink signals was designed, also, a Software-Defined Receiver (SDR) was implemented for extracting and tracking the pseudorange rate measurement from LTE signals in [ 3 ]. Likewise, the integration of LTE signals and Inertial Measurement Unit (IMU) was considered in a navigation framework for ground autonomous vehicles [ 4 ]. SOP-aided Inertial Navigation Systems (INS) have experimented in various GNSS-challengeable positioning applications.…”

Case study of Bayesian RAIM algorithm integrated with Spatial Feature Constraint and Fault Detection and Exclusion algorithms for multi‐sensor positioning

“…Maaref et al. (2018) propose a system based on cellular long‐term evolution (LTE) signals and IMU (without GNSS) for integrity monitoring in urban environments. The absence of GNSS in their system is valid in terms of applicability of the system in the complex urban environment where GNSS signals are sparse.…”

“…(2020); Maaref et al. (2018); El‐Mowafy et al. (2020) propose and implement different FDE methods for the purpose of integrity monitoring.…”