Syed Ali Kazim, Nourdine Aït Tmazirte, Juliette Marais, COSYS-LEOST, University Gustave Eiffel, IFSTTAR, University Lille, France; Avag Tsaturyan, M3Systems, Belgium

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Abstract:

Localization function for an advanced intelligent transport system, such as an autonomous vehicle, must ensure various operational requirements such as safety, accuracy, availability and continuity of service, anytime, anywhere, at a reasonable cost. Global Navigation Satellite System (GNSS) have many advantages insofar as they present the most accessible technology to the user to determine its position with a certain accuracy without prior knowledge. However, in an environment where signal reception may not be optimal especially due to phenomena such as satellite blockage, multipath, intentional or unintentional interferences and spoofing, it becomes very challenging to meet all these requirements, especially those related to operational safety. The latter is measured by evaluating the integrity of the localization function. It can be evaluated through a Protection Level, which is calculated by the receiver to self-monitor its integrity, also called RAIM (Receiver Autonomous Integrity Monitoring). In the literature, integrity in presence of multipath and NLOS has been extensively investigated [1] as well interference detection and mitigation solutions [2]. However, the impact of interference presence and mitigation on integrity monitoring is not deeply addressed yet. In this study, we evaluate some key performance indicators (KPI’s) for GNSS users. These indicators will be evaluated for three different cases; 1) when no interference is applied and clean GNSS signals are processed. 2) In the presence of interference but without any mitigation technique. 3) After applying a mitigation technique at the pre-correlation level to filter the interference signal. The mitigation technique relies on state-of-the-art Notch filters provided by a Septentrio receiver. The interference signals are generated in the laboratory to produce disturbances in the GNSS band. Thus, and thanks to the a priori knowledge of the true position, it is possible to establish the Stanford diagrams for these cases. A deep analysis of performance in the presence and absence of interferences and in the presence and absence of a mitigation technique allows the first conclusions to be drawn on the evolution of accuracy, availability and operational safety indicators. The preliminary results reveal the importance of considering, from the design phase of the localization function, the possibility of dealing with this phenomenon, in particular in the measurement weighting model to use for enhanced performance.