Performance Assessment of Galileo High Accuracy Service (HAS) with Low-Cost GNSS/IMU Sensors in Urban Driving Environments
Ding Yi, Sunil Bisnath, Department of Earth and Space Science and Engineering, York University; Nacer Naciri, JPL; F. Javier de Blas, European Union Agency for the Space Programme; Roberto Capua, Sogei SpA
Date/Time: Thursday, Sep. 14, 2:58 p.m.
Since January 2023, the Galileo High Accuracy Service (HAS) officially announced its initial service through the E6B signal (EUSPA, 2023). With the availability of HAS data, users worldwide can retrieve precise GPS+Galileo orbit and clock corrections, as well as satellite biases in real-time and free of charge. This trend has further boosted the development of GNSS receivers and mass-market applications, such as Intelligent Transportation Systems (ITS), precise agriculture, mobile mapping, etc. (EUSPA, 2020). While there has been a growing interest in assessing the performance of Galileo HAS PPP for civil applications, there has yet to be an investigation into the use of low-cost sensors with HAS corrections in urban driving environments. Therefore, the objective of this study is to evaluate the performance of HAS PPP in real-world driving conditions utilizing low-cost GNSS and IMU sensors. Through a series of four vehicle experiments, the findings from this research indicate that the low-cost HAS PPP solutions can yield comparable results to those obtained using CNES ultra-rapid products regarding 68th percentile errors. Furthermore, the inclusion of low-cost IMU can reduce performance disparities when utilizing CNES and HAS products, and the tightly-coupled HAS PPP/IMU is capable of providing 0.5 m horizontal overall rms across various tested environments.
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