International Global Navigation Satellite Systems Association
IGNSS Symposium 2018
Colombo Theatres, Kensington Campus, UNSW Australia
7 – 9 February 2018
Integrity Monitoring of Vehicle Positioning using
Cooperative Measurements under Connected
Vehicles Environments
Jiang Liu
School of Civil & Environmental Engineering, University of New South Wales, Australia
School of Electronic & Information Engineering, Beijing Jiaotong University, China
jiangliu@bjtu.edu.cn
Chris Rizos
School of Civil & Environmental Engineering, University of New South Wales, Australia
c.rizos@unsw.edu.au
Bai-gen Cai
School of Electronic & Information Engineering, Beijing Jiaotong University, China
bgcai@bjtu.edu.cn
ABSTRACT
“Trustworthy positioning” is an essential requirement for several safety
critical applications of next generation Intelligent Transportation Systems
(ITSs), such as automated vehicles and collision avoidance systems. To
achieve safe positioning, an information fusion architecture is required to
compensate for the drawbacks of GNSS (Global Navigation Satellite
System). Different from conventional solutions that integrate navigation
assistance sensors such as accelerators, gyroscopes and speedometers,
Doppler shift measurements from cooperative neighbourhood vehicles using
DSRC (Dedicated Short Range Communication) have shown great potential
for cooperative localization and GNSS integrity monitoring. However, the
combination of cooperative measurements (GNSS pseudo-range and DSRC
carrier frequency offset observables) to detect and exclude existing or
potential faults in GNSS is still a challenging issue. In this paper an integrity
monitoring method based on the comparison of observed and DSRC-enabled
virtual satellite pseudo-range observables is presented for a GNSS/DSRC
integrated system operating under connected vehicles environments. Use is
made of a road map to construct virtual satellite pseudo-range observables
using DSRC range-rates among cooperative vehicles, and the consistency
between real and simulated pseudo-ranges is employed in fault detection,
identification and exclusion. A system architecture is designed for a DSRC-
assisted integrity monitoring scheme. Discussions concerning DSRC range-
rate error characteristics are presented backed up by findings from the
simulation tests. The results demonstrate that the proposed method is capable
of realising cooperative integrity monitoring without relying on additional
navigation sensors.
