The rapid evolution of the automotive industry towards autonomous and connected vehicles, necessitates the development of highly accurate and reliable navigation systems. Precise Point Positioning (PPP) has emerged as a critical technology in this domain, potentially offering centimeter-level accuracy, which is a fundamental requirement for safe and efficient autonomous driving. The Galileo High Accuracy Service (HAS) is a key enabler for PPP, providing precise orbit and clock corrections, as well as satellite clock biases. This paper explores the innovative integration of Global Navigation Satellite System (GNSS) meta-signals with Galileo HAS corrections specifically tailored for the demanding automotive sector. Urban environments, characterized by dense buildings and complex geometries, pose significant challenges to GNSS reliability due to severe multipath effects. Wide-band modulations, such as the Galileo’s AltBOC signal, offer inherent multipath mitigation capabilities. However, the direct acquisition and processing of AltBOC signals demands specialized hardware, often incompatible with the cost, size, and power constraints of typical automotive receivers. The synthetic meta-signal approach allows reconstructing AltBOC measurements from sideband signals, effectively replicating the benefits of wide-band modulations without requiring additional hardware modifications. The implementation of the meta-signal approach is realized using the STMicroelectronics’ TESEO VI GNSS receiver, a triple-band multi-constellation platform. An ad-hoc firmware was developed to implement the meta-signal paradigm, incorporating Half-Cycle Ambiguity Resolution (HCAR) and a robust pseudorange jump detector. The PPP solution is built upon the JRC User Navigation Engine (JUNE), which features GNSS measurement pre-processing, cycle slip detection and correction. Navigation estimation is performed using an Extended Kalman Filter (EKF) exploiting uncombined code and carrier phase measurements within a PPP Single Difference algorithm. The EKF state vector includes receiver position, velocity and acceleration, tropospheric and ionospheric delays and carrier phase ambiguities. The Galileo HAS free service is used, and the corresponding orbit and clock corrections are applied to the raw measurements. Extensive tests were conducted in diverse automotive environments, to assess the performance of PPP integrating synthetic meta-signals with HAS corrections. Preliminary results demonstrate a reduction in code noise and achieve millimeter-level accuracy for reconstructed carrier phases. These findings underscore the potential of the meta-signal approach to enhance GNSS performance without requiring additional hardware modifications. This comprehensive evaluation of positioning accuracy and reliability provides valuable insights into the practical integration of meta-signals with Galileo HAS corrections for automotive applications.

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Enhancing Automotive Navigation with Meta-Signals and the Galileo High Accuracy Service

  • P. Zoccarato,
  • C. Gioia,
  • D. Borio,
  • D. Di Grazia,
  • F. Pisoni,
  • G. Gogliettino

摘要

The rapid evolution of the automotive industry towards autonomous and connected vehicles, necessitates the development of highly accurate and reliable navigation systems. Precise Point Positioning (PPP) has emerged as a critical technology in this domain, potentially offering centimeter-level accuracy, which is a fundamental requirement for safe and efficient autonomous driving. The Galileo High Accuracy Service (HAS) is a key enabler for PPP, providing precise orbit and clock corrections, as well as satellite clock biases. This paper explores the innovative integration of Global Navigation Satellite System (GNSS) meta-signals with Galileo HAS corrections specifically tailored for the demanding automotive sector. Urban environments, characterized by dense buildings and complex geometries, pose significant challenges to GNSS reliability due to severe multipath effects. Wide-band modulations, such as the Galileo’s AltBOC signal, offer inherent multipath mitigation capabilities. However, the direct acquisition and processing of AltBOC signals demands specialized hardware, often incompatible with the cost, size, and power constraints of typical automotive receivers. The synthetic meta-signal approach allows reconstructing AltBOC measurements from sideband signals, effectively replicating the benefits of wide-band modulations without requiring additional hardware modifications. The implementation of the meta-signal approach is realized using the STMicroelectronics’ TESEO VI GNSS receiver, a triple-band multi-constellation platform. An ad-hoc firmware was developed to implement the meta-signal paradigm, incorporating Half-Cycle Ambiguity Resolution (HCAR) and a robust pseudorange jump detector. The PPP solution is built upon the JRC User Navigation Engine (JUNE), which features GNSS measurement pre-processing, cycle slip detection and correction. Navigation estimation is performed using an Extended Kalman Filter (EKF) exploiting uncombined code and carrier phase measurements within a PPP Single Difference algorithm. The EKF state vector includes receiver position, velocity and acceleration, tropospheric and ionospheric delays and carrier phase ambiguities. The Galileo HAS free service is used, and the corresponding orbit and clock corrections are applied to the raw measurements. Extensive tests were conducted in diverse automotive environments, to assess the performance of PPP integrating synthetic meta-signals with HAS corrections. Preliminary results demonstrate a reduction in code noise and achieve millimeter-level accuracy for reconstructed carrier phases. These findings underscore the potential of the meta-signal approach to enhance GNSS performance without requiring additional hardware modifications. This comprehensive evaluation of positioning accuracy and reliability provides valuable insights into the practical integration of meta-signals with Galileo HAS corrections for automotive applications.