GPS World, October 2018
INTEGRITY MONITORING OF LTE SIGNALS OF OPPORTUNITY BASED NAVIGATION FOR AUTONOMOUS GROUND VEHICLES BY Mahdi Maaref Joe Khalife and Zak M Kassas University of California Riverside P roprietary receivers and navigation frameworks for autonomous ground vehicle AGV navigation with long term evolution LTE cellular signals demonstrate meter level accuracy with standalone LTE signals and lane level accuracy with LTE signals coupled with other sensors inertial and lidar As the number of systems that rely on cellular signals for navigation grows the need for monitoring the integrity of their navigation solution becomes essential This paper proposes a receiver autonomous integrity monitoring RAIM framework for AGV navigation with LTE signals of opportunity Experimental results evaluate the efficacy and accuracy of the proposed RAIM based fault detection and exclusion technique demonstrating a reduction of 22 in the position root mean squared error RMSE FIGURE 1 demonstrates the RAIM framework a When GNSS signals are unusable LTE signals are used for navigation and integrity measures are calculated b simulation results of downtown Riverside California where the black regions represent areas where multipath is expected to exceed 05 meters c experimental setup d environment and location of LTE towers and e experimental results showing severe multipath being autonomously detected and excluded The estimation error represents the difference between the ground truth from an RTK GNSSIMU system and our LTE IMU system More information available via www aspin ucr edu and www ion org publications browse cfm Figure 1 RAIM framework for LTE based navigation without GNSS signals Images Authors ADVERTISER INDEX COMPANIES FEATURED IN THIS ISSUE ADVERTISER PAGE S CAST NAVIGATION INSIDE FRONT COVER CHC NAVIGATION 45 EFFIGIS 41 EOS POSITIONING SYSTEMS 44 EVE ENERGY 9 HEMISPHERE GNSS INSIDE BACK COVER JAVAD 19 26 S3 LASER TECHNOLOGY 42 LIDAR USA 31 S5 NOVATEL BACK COVER NTLAB 13 NVS TECHNOLOGIES 47 PHASE ONE INDUSTRIAL 37 OROLIA 29 ADVERTISER PAGE S RACELOGIC 5 SBG SYSTEMS 39 SEPTENTRIO 11 SKYDEL 34 SPIRENT FEDERAL 7 SUZHOU FOIF CO 48 SWIFT NAVIGATION 33 TALEN X 8 TALLYSMAN 35 TELEORBIT 36 UNICORE COMMUNICATIONS 43 VECTORNAV TECHNOLOGIES 40 WINGTRA S12 OCTOBER 2018 WWW GPSWORLD COM GPS WORLD 49
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