|Abstract:||A receiver autonomous integrity monitoring (RAIM) framework for autonomous ground vehicle navigation using ambient cellular signals of opportunity (SOPs) is developed. The developed framework considers a ground vehicle navigation exclusively with cellular long-term evolution (LTE) signals and an inertial measurement unit (IMU), without global navigation satellite system (GNSS) signals. A fault detection test is developed to deal with biased LTE pseudorange measurements and a horizontal protection level (HPL) calculation is derived. Experiments to evaluate the developed RAIM framework are presented for a ground vehicle navigating in an urban environment over a trajectory of 1.35 km. It is demonstrated that the RAIM framework detects and excludes biased pseudoranges, reducing the root mean-squared error (RMSE) by 49%.|
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
|Pages:||2456 - 2466|
|Cite this article:||
Maaref, Mahdi, Khalife, Joe, Kassas, Zak M., "Integrity Monitoring of LTE Signals of Opportunity-Based Navigation for Autonomous Ground Vehicles," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2456-2466.
ION Members/Non-Members: 1 Download Credit