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This white paper, entitled "Better use of Global Navigation satellite Systems for safer and greener transport", explains the role of positioning systems in transportation and the necessity to correctly assess their performance. This document introduces the fundamentals of positioning systems with a particular focus on Global Navigation Satellite Sy...
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... On intelligent vehicles, cameras are of high interest when used independently or, preferably, hybridized with GNSS, because, they are frequently equipping more new vehicles and, therefore, can provide valuable information at a very low additional cost. Finally, lidar can be an attractive technology for positioning due to its high accuracy in ranging, wide area view, and low data-processing requirements [60]. ...
This article provides an overview of the use of inertial and visual sensors and discusses their prospects in the Arctic navigation of autonomous vehicles. We also examine the fusion algorithms used thus far for integrating vehicle localization measurements as well as the map-matching (MM) algorithms relating position coordinates with road infrastructure. Our review reveals that conventional fusion and MM methods are not enough for navigation in challenging environments, like urban areas and Arctic environments. We also offer new results from testing inertial and optical sensors in vehicle positioning in snowy conditions. We find that the fusion of Global Navigation Satellite System (GNSS) and inertial navigation systems (INSs) does not provide the accuracy required for automated driving, and the use of optical sensors is challenged by snow covering the road markings. Although extensive further research is needed to solve these problems, the fusion of GNSS, INSs, and optical sensors seems to be the best option due to their complementary nature.
... 10: GNSS Trilateration(Peyret et al., 2015) True range multilateration is a mathematical technique to calculate the position of a moving or a stationary object fundamentally by finding the intersection of a series of spheres. Using multiple ranges from spatially-separated known points, another point in space can be calculated. ...
... At the technology level, accuracy, integrity, continuity and availability are the main parameters to capture the performance of a navigation system (Ochieng et al., 2003). Accuracy refers to the statistical distribution of position errors, velocity errors or speed errors (Peyret et al., 2015). Integrity is defined as the ability of a system to provide timely and valid warnings if the position errors exceed a certain alarm limit (Ochieng et al., 2003). ...
Road User Charging (RUC) is designed to reduce congestion and collect revenue for the maintenance of transportation infrastructure. In order to determine the charges, it is important that appropriate Road User Charging Indicators (RUCI) are defined. This paper focusses on Variable Road User Charging (VRUC) as the more dynamic and flexible compared to Fixed Road User Charging (FRUC), and thus is a better reflection of the utility of the road space. The main issues associated with VRUC are the definition of appropriate charging indicators and their measurement. This paper addresses the former by proposing a number of new charging indicators, considering the equalization of the charges and marginal social cost imposed on others. The measurement of the indicators is addressed by a novel data fusion algorithm for the determination of the vehicle state based on the integration of Global Navigation Satellite Systems (GNSS) with Dead Reckoning (DR) and road segment information. Statistical analyses are presented in terms of the Required Navigation Performance (RNP) parameters of accuracy, integrity, continuity and availability, based on simulation and field tests. It is shown that the proposed fusion model is superior to positioning with GPS only, and GPS plus GLONASS, in terms of all the RNP parameters with a significant improvement in availability.
... More specifically, the paper is organized as follows: first the state of the art of the positioning in the automotive field is recalled in Section II. Then, the SDR technology is presented as one of the most promising to assess the performance and to design new [11] positioning architectures. Hereafter, the approaches to assess the GNSS receiver performance are discussed in Section III. ...
In the modern automotive industry, the wide variety
of Intelligent Transport System (ITS) services needs a positioning
unit. The core of such unit is a Global Navigation Satellite
System (GNSS) receiver hybridized or assisted by other sensors or
data. In harsh environments, such as urban scenarios, the testing
and performance assessment of these terminals is of paramount
importance for ITS applications. In fact such environments are
very challenging for the GNSS core unit. This paper proposes
some test procedures suitable to assess the performance of GNSS
receivers, as part of an hybridyzed positioning unit, in urban
scenarios. The benefits of a GNSS receiver based on the Software
Defined Radio (SDR) technology is exploited by presenting a set
of results obtained on field tests.
... In this direction, SaPPART is concerned with the study of error models applying to GNSS position in an effort to translate KPI defined at service level into positioning requirements. A key milestone of this effort is the dissemination of a 'White Paper' to explain key features of GNSS technology in transport and to deliver key messages to the ITS community in a simple and concise way [39]. Within the framework of SaPPART a number of intelligent transport systems and their performance considering GNSS performance are investigated, including RUC, ecall and ISA. ...
Global navigation satellite systems (GNSS) has become a kind of positioning standard due to the high penetration rate of this technology on mass market intelligent transportation systems (ITS) applications. However, this positioning technique remains a real challenge for very demanding ITS services which require continuity and a specific accuracy of the data. This study reports on a practical and methodological approach for the evaluation of the GNSS and multi-sensors positioning and attitude of vehicles in real life conditions. Test scenarios have been set up with several positioning sensors mounted on a vehicle for the collection of raw data on different road sections. The measurement of a high quality reference trajectory with an accuracy of several centimetres allows to estimate position accuracy under different environmental conditions. The authors will show in detail the results and identify some typical situations (e.g. sub-urban environment) where the quality of positioning parameters is reduced to several metres instead of dm and may impact the level of ITS services, e.g. road user charging or safety applications. This study results from the methodology developed in the satellite positioning performance assessment for road applications COST Action on the performance assessment of positioning terminals for ITS.
... Various applications in the field Intelligent Transportation Systems (ITS) need to know the position of the vehicle of interest [1]. The conventional positioning solution is to utilize Global Navigation Satellite Systems (GNSS) which is well known to independently deliver an accuracy in the order of 5 meters in benign reception conditions, i.e., with a sky view unobstructed by tall buildings or other obstacles. ...
... The analysis in the following sections focuses on the 1 In addition to the GNSS antennas, there were other antennas mounted on the roof of the vehicle. Their possible mutual interference has not been investigated. ...
The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision.
Global Navigation Satellite Systems (GNSS) is becoming one of the main components supporting Intelligent Transport Systems (ITS) and value-added services in road transport and personal mobility. The use of GNSS is expected to grow significantly due to improvements in positioning performance, with positive impacts such as: finding the optimal route; improving traffic and travel efficiency as well as safety and security; reducing congestion and optimizing fuel consumption. The deployment of mission critical applications needs high reliability in the positioning information. However, the positioning reliability is not easy to achieve because of the heterogeneous quality of the GNSS signal, which is highly influenced by the road environment and the operational scenario of the application. It is important to understand the requirements and performance GNSS can achieve for various road transport applications. This paper is presenting the SaPPART COST Action on the Satellite Positioning Performance Assessment for Road Transport. It introduces the goal and the framework of the Action with the research programme and some related activities dedicated to dissemination and supporting standardisation working groups.
