Integrity monitoring of a ground vehicle navigation system, utilizing multi-constellation global navigation satellite systems (GNSS) signals fused with ambient cellular signals of opportunity (SOPs) is considered. An advanced receiver autonomous integrity monitoring (ARAIM) framework is developed to detect and exclude multipath and non-line-of-sight errors. A method to conservatively predict the horizontal protection level (HPL) is proposed, utilizing ray-tracing and channel impulse response prediction in a three-dimensional (3D) building map of the environment. Simulation results are presented demonstrating the conservatively predicted HPL with different signals (GPS-only, GPS $+\mathbf{GLONASS},\mathbf { GPS+SOP }$, and $\mathbf{GPS}+\mathbf{GLONASS}+\mathbf{SOP})$. Experimental results are presented for a ground vehicle navigating a trajectory of 1380 m in an urban environment, showing the availability rates for GPS-only, $\mathbf{GPS} +\mathbf{GLONASS},\mathbf{GPS}+\mathbf{SOP}$, and $\mathbf{GPS} +\mathbf{GLONASS}+\mathbf{SOP}$ being 52.53%, 75.66%, 76.87%, and 80.72%, respectively.


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    Title :

    Ground Vehicle Navigation Integrity Monitoring for Multi-Constellation GNSS Fused with Cellular Signals of Opportunity


    Contributors:
    Jia, Mu (author) / Lee, Halim (author) / Khalife, Joe (author) / Kassas, Zaher M. (author) / Seo, Jiwon (author)


    Publication date :

    2021-09-19


    Size :

    1967000 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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