High-Accuracy and Resilient GNSS Receiver for an Autonomous Vehicle

Filipe Carvalho, Ricardo Prata, Bruno Cardeira, Carlota Cardoso, Rui Nunes, and António Fernández

Abstract:	In this paper, the G3STAR GNSS receiver is described in the context of GAMMS, a Horizon 2020 project that aims at the development of a mapping robot for high-definition navigation map production, useful for the navigation systems of autonomous vehicles. An overview of the GAMMS project is provided and the role of the G3STAR receiver within the project is highlighted. This GNSS receiver is a Galileo-based receiver, making use of its Open Service features. These include the new Galileo services: the High Accuracy Service (HAS) and the Navigation Message Authentication service (OSNMA). In this paper, these Galileo features are described at a high level, with the main focus on their implementation on the receiver. Preliminary results are then shown and discussed. The G3STAR receiver is able to obtain and decode HAS messages from the Galileo E6-B signals, with the use of a GNSS constellation simulator tool. It is also able to process the OSNMA bits from live Galileo E1-B I/NAV messages and validate navigation data, including the handling of special OSNMA operations, namely chain renewals and public key revocations.
Published in:	Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024) September 16 - 20, 2024 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	316 - 332
Cite this article:	Carvalho, Filipe, Prata, Ricardo, Cardeira, Bruno, Cardoso, Carlota, Nunes, Rui, Fernández, António, "High-Accuracy and Resilient GNSS Receiver for an Autonomous Vehicle," Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024), Baltimore, Maryland, September 2024, pp. 316-332. https://doi.org/10.33012/2024.19752
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