A DSRC Enhanced RAIM Method using Grid-based Local GNSS Observation Quality Models

Jiang Liu, Bai-gen Cai, De-biao Lu, Jian Wang

Abstract:	Satellite-based positioning using both the global and local GNSS signals is becoming a very attractive technique to provide desirable localization precision and services to Cooperative Intelligent Transportation System (C-ITS). Integrity monitoring has been concerned in many C-ITS applications, especially some specified safety-critical services and applications. However, conventional Receiver Autonomous Integrity Monitoring (RAIM) methods would be constrained under challenged observing environment. Specific observations from DSRC (Dedicated Short Range Communication) using IEEE 802.11p protocols, like the range-rates between cooperative vehicles, make it possible of enhancing the measurements from the GNSS receiver and enabling integrity monitoring even under constrained GNSS satellite observing conditions. This paper aims at enhancing conventional RAIM method using DSRC range-rate measurement and grid-based local GNSS observation quality models. A virtual pseudo-range establishment strategy for the practically invisible satellites is proposed by using DSRC CFO (Carrier Frequency Offset) data and the road map database. A dynamic measurement weighting method for FDE (Fault Detection and Exclusion) is presented with grid-based local observation quality models derived by curve fitting techniques. The proposed RAIM solution is tested with field data and simulations. Raw data collection in a local campus area is utilized to establish the practical local GNSS observation quality models. Simulations are carried out with specific software tools to generate GNSS and DSRC observations coordinately for RAIM according to the proposed solution under different limited GNSS observation conditions. The results illustrate that the DSRC-enhanced RAIM solution using grid-based local GNSS observation quality models is capable of achieving the high available and effective fault detection, identification and exclusion even with limited GNSS measurements, which is significant for trustworthy positioning in many next generation C-ITS applications.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	2340 - 2351
Cite this article:	Liu, Jiang, Cai, Bai-gen, Lu, De-biao, Wang, Jian, "A DSRC Enhanced RAIM Method using Grid-based Local GNSS Observation Quality Models," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2340-2351. https://doi.org/10.33012/2018.15950
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