Precise Positioning for Automotive with Mass Market GNSS Chipsets

Groot, Lance de; Infante, Eduardo; Jokinen, Altti; Kruger, Brett; Norman, Laura

doi:10.33012/2018.16003

Cited by 16 publications

(9 citation statements)

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“…Fortunately, multi-frequency, multi-constellation massmarket ASIL-certified GNSS chipsets are now available. Automotive-grade dual-frequency receivers were first showcased in 2018 [38] delivering decimeter positioning [39]. Major players in this space now include STMicroelectronics with its Teseo APP and Teseo V [38], u-blox with its F9 [40], and Qualcomm with its Snapdragon [41].…”

Section: G Mass-market Automotive Gnss Chipsetsmentioning

confidence: 99%

Developments in Modern GNSS and Its Impact on Autonomous Vehicle Architectures

Joubert¹,

Reid²,

Noble³

2020

Preprint

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This paper surveys a number of recent developments in modern Global Navigation Satellite Systems (GNSS) and investigates the possible impact on autonomous driving architectures. Modern GNSS now consist of four independent global satellite constellations delivering modernized signals at multiple civil frequencies. New ground monitoring infrastructure, mathematical models, and internet services correct for errors in the GNSS signals at continent scale. Mass-market automotive-grade receiver chipsets are available at low Cost, Size, Weight, and Power (CSWaP). The result is that GNSS in 2020 delivers better than lane-level accurate localization with 99.99999% integrity guarantees at over 95% availability. In autonomous driving, SAE Level 2 partially autonomous vehicles are now available to consumers, capable of autonomously following lanes and performing basic maneuvers under human supervision. Furthermore, the first pilot programs of SAE Level 4 driverless vehicles are being demonstrated on public roads.However, autonomous driving is not a solved problem. GNSS can help. Specifically, incorporating high-integrity GNSS lane determination into vision-based architectures can unlock lanelevel maneuvers and provide oversight to guarantee safety. Incorporating precision GNSS into LiDAR-based systems can unlock robustness and additional fallbacks for safety and utility. Lastly, GNSS provides interoperability through consistent timing and reference frames for future V2X scenarios.

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Section: G Mass-market Automotive Gnss Chipsetsmentioning

confidence: 99%

Developments in Modern GNSS and Its Impact on Autonomous Vehicle Architectures

Joubert¹,

Reid²,

Noble³

2020

Preprint

View full text Add to dashboard Cite

show abstract

“…These directly impact the continuity of the position solution which will be shown to be on the same order in the next section. 5.6´10 -2 1.3´10 -1 3.0´10 -1 5.1´10 -1 7.0´10 -1 9.9´10 -1 5.8´10 -1 2.4´10 -1 7.8´10 -2 4.6´10 -2 7 6.6´10 -2 1.5´10 -1 3.3´10 -1 5.3´10 -1 7.2´10 -1 9.9´10 -1 6.0´10 -1 2.6´10 -1 9.0´10 -2 5.4´10 -2 15 9.2´10 -2 2.0´10 -1 3.9´10 -1 5.8´10 -1 7.5´10 -1 9.9´10 -1 6.5´10 -1 3.1´10 -1 1.2´10 -1 7.5´10 -2 30 1.3´10 -1 2.6´10 -1 4.6´10 -1 6.4´10 -1 7.8´10 -1 9.9´10 -1 7.0´10 -1 3.8´10 -1 1.6´10 -1 1.1´10 -1…”

Section: Continuity and Outage Timesmentioning

confidence: 99%

Standalone and RTK GNSS on 30,000 km of North American Highways

Reid¹,

Pervez²,

Ibrahim³

et al. 2019

Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 201

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There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane determination (<1.5 meters), and determining where the vehicle is within the lane (<0.3 meters). This work examines the performance of Global Navigation Satellite Systems (GNSS) on 30,000 km of North American highways to better understand the automotive positioning needs it meets today and what might be possible in the near future with wide area GNSS correction services and multi-frequency receivers. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System which couples two survey grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. We assess on-road GNSS accuracy, availability, and continuity. Availability and continuity are broken down in terms of satellite visibility, satellite geometry, position type (RTK fixed, RTK float, or standard positioning), and RTK correction latency over the network. Results show that current automotive solutions are best suited to meet road determination requirements at 98% availability but are less suitable for lane determination at 57%. Multi-frequency receivers with RTK corrections were found more capable with road determination at 99.5%, lane determination at 98%, and highway-level lane departure protection at 91%.

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“…With the development of new GNSS signals, new GNSS constellations, and infrastructures, PPP with real-time Ambiguity Resolution (AR) is an attractive alternative to the differential GNSS positioning techniques (Collins 2008;Ge et al 2008;Laurichesse and Mercier 2007). The advent of dual-frequency mass-market GNSS chipsets with carrierphase measurement capability further enhances the PPP technique for autonomous driving applications (de Groot et al 2018;Murrian et al 2016; xAUTO technology 2017). Moreover, the integration of PPP with other technologies, such as an Inertial Navigation System (INS), can shorten the convergence/reconvergence time of the PPP solution and improve the positioning availability, making PPP more applicable, even in an urban environment (Gao et al 2017;Zhang and Gao 2008).…”

Section: Introductionmentioning

confidence: 99%

Vulnerabilities and integrity of precise point positioning for intelligent transport systems: overview and analysis

Wang

Rizos

et al. 2021

Satell Navig

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The implementation of Intelligent Transport System (ITS) technology is expected to significantly improve road safety and traffic efficiency. One of the key components of ITS is precise vehicle positioning. Positioning with decimetre to sub-metre accuracy is a fundamental capability for self-driving, and other automated applications. Global Navigation Satellite System (GNSS) Precise Point Positioning (PPP) is an attractive positioning approach for ITS due to its relatively low-cost and flexibility. However, GNSS PPP is vulnerable to several effects, especially those caused by the challenging urban environments, where the ITS technology is most likely needed. To meet the high integrity requirements of ITS applications, it is necessary to carefully analyse potential faults and failures of PPP and to study relevant integrity monitoring methods. In this paper an overview of vulnerabilities of GNSS PPP is presented to identify the faults that need to be monitored when developing PPP integrity monitoring methods. These vulnerabilities are categorised into different groups according to their impact and error sources to assist integrity fault analysis, which is demonstrated with Failure Modes and Effects Analysis (FMEA) and Fault Tree Analysis (FTA) methods. The main vulnerabilities are discussed in detail, along with their causes, characteristics, impact on users, and related mitigation methods. In addition, research on integrity monitoring methods used for accounting for the threats and faults in PPP for ITS applications is briefly reviewed. Both system-level (network-end) and user-level (user-end) integrity monitoring approaches for PPP are briefly discussed, focusing on their development and the challenges in urban scenarios. Some open issues, on which further efforts should focus, are also identified.

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Precise Positioning for Automotive with Mass Market GNSS Chipsets

Cited by 16 publications

References 0 publications

Developments in Modern GNSS and Its Impact on Autonomous Vehicle Architectures

Developments in Modern GNSS and Its Impact on Autonomous Vehicle Architectures

Standalone and RTK GNSS on 30,000 km of North American Highways

Vulnerabilities and integrity of precise point positioning for intelligent transport systems: overview and analysis

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