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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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 Réseauxfrancois.peyret@ifsttar.frwww.ifsttar.fr

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

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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