GPS World, September 2018
ENHANCED NAVIGATION ROBUSTNESS SAFETY FOR AUTONOMOUS VEHICLES BY Sam Pullen Stanford University Jim Kilfeather Jim Goddard Tom Nowitzky Brinda Shah Wen Doong David Kagan and Kerry Greer Globalstar To be presented at ION GNSS 2018 G lobalstar is developing a Connected Car program for continuous worldwide service to vehicles via satellite and terrestrial communications links This combines PPP corrections provided globally by the second generation Globalstar low Earth orbit LEO constellation with local area corrections via LTE cellular signals in urban areas for connectivity anytime anywhere Both signals are broadcast at 24 GHz and include pilot channels used for ranging augmenting GNSS ranging and providing robustness against jamming and spoofing The program provides enhanced navigation via continuous augmentation of GNSS with data derived from ground based reference networks for sub meter accuracy and integrity bounds on navigation errors to probabilities as low as 10 9 per operation When this is combined with other on board sensors and data such as lidar radar optics and IMUs it will be possible to operate autonomously under almost all conditions with a very high degree of safety The key is combined use of PPP corrections globally and local area CDGNSS RTK corrections in high density urban regions where it is economically beneficial Both sets of augmentations are made available to vehicles The global Global and Local Augmentation in the Connected Car project approach on the left side of the figure is primary given its near worldwide coverage based on the LEO satellite network broadcasting corrections within its licensed communications spectrum at 24 GHz The P N modulated pilot component of the Globalstar satellite signals will be used for ranging to augment GNSS and provide additional robustness to RF interference or spoofing at GNSS frequencies The paper will be given at IONGNSS 2018 and later be available at www ion org publications browse cfm ADVERTISER INDEX COMPANIES FEATURED IN THIS ISSUE ADVERTISER PAGE S CAST NAVIGATION 5 CHC NAVIGATION 41 S3 COMNAV TECHNOLOGY 8 EVE ENERGY 49 GENEQ 47 HEMISPHERE GNSS S4 IFEN 9 INTERGEO 56 JACKSON LABS 15 JAVAD 19 26 S5 NOVATEL BACK COVER NVS TECHNOLOGIES 48 OROLIA 11 RACELOGIC INSIDE BACK COVER ADVERTISER PAGE S ROHDE SCHWARZ 37 SBG SYSTEMS 13 45 SEPTENTRIO 16 SKYDEL 33 SPIRENT FEDERAL 7 SWIFT NAVIGATION S6 SYNTONY GNSS 35 TALEN X 29 TALLYSMAN 39 TELEORBIT 40 TOPCON INSIDE FRONT COVER S7 UNICORE COMMUNICATIONS 31 VECTORNAV TECHNOLOGIES 17 WINGTRA S8 SEPTEMBER 2018 WWW GPSWORLD COM GPS WORLD 57
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