Intervenant - date
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Standardization of performances of GNSS-based positioning
terminals for ITS applications at CEN-CENELEC/TC5
François Peyret (Ifsttar)ITS-W 2013
October 20123 Tokyo
Intervenant - date
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Outline
1. Context
2. Status of GNSS standardization in Europe
3. Rationale of the work done at CEN-CENELEC
1. Scope
2. Performance features, metrics and levels
3. PVT error models
4. Work program and deliverables
5. The SaPPART network
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Context
Global core GNSS market by segment
Cumulated revenues 2010-2020
(GSA: GNSS Market Report Issue 2, 2012)
The road market remains the largest one in terms of core GNSS market (revenues)
Road market includes:- PNDs and OBUs (100%)- Digital maps- GNSS chipsets in GNSS-
enabled smartphones used for navigation (10% in 2010, 30% in 2020)
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Market Barriers“According to you, in the ITS area, what are the major barriers to market for GNSS applications providers?”
Survey organized by SUNRISE project
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Need for new GNSS standards
Survey organized by SUNRISE project
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
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What kind of standards ?
Survey organized by SUNRISE project
1. Procedures to establish performances of ITS systems based on GNSS
2. Test procedures for evaluation of end-to-end performances of ITS systems
3. Definition of performance features and metrics of GNSS-based terminals
5. Test procedures for evaluation of GNSS-based terminal performances
4. Definition of possible architectures of GNSS-based terminals
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Active standardization groups in Europe
2. Test procedures for evaluation of end-to-end performances of ITS applications
1. Procedures to establish performances of ITS systems based on GNSS
3. Definition of performance features and metrics of GNSS-based terminals
4. Test procedures for evaluation of GNSS-based terminal performances
4. Definition of possible architectures of GNSS-based terminals
TC5/WG1
TC SES/SCN
M 496
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Scope
GNSS
Exclusion
Fusion
Quality indicators
computation
Lidar, video
UMTS, WiFi…
Odometer
IMU
SENSORS LOCALIZATION
POSITIONING TERMINAL
PR, Dopplers
Accelerations, Angular speeds
Travelled distance
Ranges to landmarks
Ranges to landmarks
SBAS
(WAAS)
Telecommunication system
Modem
Application module
Map-matching,
geofencing, integration…
APPLICATIONConfiguration
Position + std
Speed + std
Time + std
Pseudo-ranges + std
Carrier vehicle constraints
Digital map
Other users (collaborative localization)
Events (Geofencing)
Presence time
Position on a segment of the road network
Travelled distance
Differential networks
POSITIONING SYSTEM
Positioning-based road transport system
Central assistance
server
Application quantities
Assistance data
Corrections
Key Performance Indicators (KPIs) of the whole system
Performances of the Positioning terminal
Performances of the Application module
Intervenant - date
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Performance features & metrics
Feature Definition Metric
Position accuracy
Error between the position provided by the Positioning terminal, when this position is available, and the user's “true” position
Some percentiles of the cumulative distribution function of the error, established during a standardized test following a given Operational scenario
Position availability
Percentage of time during which the positioning terminal is capable to output a PVT (Position, Velocity, Time)
Number of epochs with a position output / total Number of epochs, established during a standardized test following a given Operational scenario
Position integrity (Protection level accuracy)
PL = threshold supposed to over bind the actual position error
Some percentiles of the cumulative distribution function of the Protection level, established during a standardized test following a given Operational scenario
Position integrity(Integrity risk)
IR = probability that the actual position error exceeds the PL(MI = Misleading information)
Percentage of the number of epochs classified MI, established during a standardized test following a given Operational scenario
Error (m)
95 %
75 %
50 %
25%
1 3 5 10 15 16
HPE Cumulative Distribution Function
100 %
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Performance classes
Error (m)
95 %
75 %
50 %
25%
1 5 10 15
HPE Cumulative Distribution Function
100 %
CCllaassss 33 CCllaassss 22 CCllaassss 11
Example of classes definition for the feature Horizontal Accuracy
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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PVT error models
Operational scenario
Application module
Metric
PVT Error model
Reference trajectory
"True" trajectory
"Degraded" trajectory
End-to-end performance (KPI)
"Degraded" application
quantity
"True" application quantity
++
The PVT Error models are necessary
for evaluation of end-to-end application
performance assuming a given
Positioning terminal and a given
Application module, in the case when a
performance defined by a very low
probability needs numerous simulation
tests to be validated
The degraded trajectories are played randomly in simulation as many times as necessary to assess the KPI
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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CEN-CLC TC5/WG1 work program
07/2013 – 10/2014 Part 1: System engineering procedures for the
establishment of performances of road transport systems based on GNSS.
10/2014 – 09/2014 Part 2: Assessment field tests for basic
performances of GNSS-based positioning terminals used in road transport
systems.
09/2014 – 09/2015 Part 3: Assessment field tests for security
performances of GNSS-based positioning terminals used in road transport
systems.
Use of geo-positioning services for navigation and localization applications
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Rese
SaPPART COST Action
RCI GSC
EOTR
TACOTGNSSmeter
SIGNATURE
GINAGIROADS
R&D projects
SUGAST
SAGITER
QualiSaR
Standardisation support projects
SaPPART
TC SES/SCN
CB5 – SGT APP 001
TC5/WG1
Standardisation groups
Research-oriented network
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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Thank you for your attention !I will be happy to answer to your questions…
IfsttarInstitut Français des Scienceset Technologies du Transportde l’Aménagementet des Ré[email protected]
Intervenant - date
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GNSS Performance standards in ITS development
User requirements analysis:E2E performances identification
GBPT Validation & acceptance tests or
GBPT certification
AM Validation & acceptance tests
System E2E performance
testing
System certification:compilation of previous design justification and
tests files
System development:• Application Module
development and tuning• GNSS-based positioning
terminal (GBPT) procurement
System design:• Application
Module (AM) prototyping
• E2E performances allocation between system components
2. Test procedures for evaluation of end-to-end performances of ITS systems
1. Procedures to establish performances of ITS systems based on GNSS
3. Definition of performance features and metrics of GNSS-based terminals
5. Test procedures for evaluation of GNSS-based terminal performances
4. Definition of possible architectures of GNSS-based terminals
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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SaPPART aims and objectives
Aim 1: framework for the definition of performance levels for GNSS-based terminals used
in ITS and personal mobility (PM) applications to support
standardisation initiatives
Aim 2: promotion of high-level educational and training
programmes in GNSS for ITS & PM
Aim 3: promotion of the use of GNSS (EGNOS & Galileo) in
ITS and PM domains
SaPPART
Deliverables
Action’s Instrument
s
White paper
Handbook on methodology
Guidelines for tests
Data sets for tests
Networking effect
STSMs
Training schools
Conferences
Website
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART
Intervenant - date
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SaPPART partnership
14 countries1 France2 Switzerland3 UK4 Spain5 Germany6 Austria7 Italy8 The Netherlands9 Sweden
10 Czech Republic11 Finland12 Turkey13 Croatia14 Denmark
Research
Industry
Public authorities
53 experts committed at the proposal stage
26
23
4
14 senior
12 junior
12 women / 53 = 22%
Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART