Performance Assessment of Galileo High Accuracy Service (HAS) with Low-Cost GNSS/IMU Sensors in Urban Driving Environments

Ding Yi and Sunil Bisnath, Nacer Naciri, F. Javier de Blas, Roberto Capua

Abstract: 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.
Published in: Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023)
September 11 - 15, 2023
Hyatt Regency Denver
Denver, Colorado
Pages: 1403 - 1416
Cite this article: Yi, Ding, Bisnath, Sunil, Naciri, Nacer, de Blas, F. Javier, Capua, Roberto, "Performance Assessment of Galileo High Accuracy Service (HAS) with Low-Cost GNSS/IMU Sensors in Urban Driving Environments," Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023), Denver, Colorado, September 2023, pp. 1403-1416. https://doi.org/10.33012/2023.19320
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