Contributions to Velocity Integrity for Autonomous Navigation in Urban Environments

verfasst von: Dennis Kulemann, Steffen Schön
Abstract: Precise and reliable velocity estimation is required for determining highly dynamic trajectories, as well as for autonomous navigation and collision avoidance. Using Doppler observations of Global Navigation Satellite Systems, the instantaneous and absolute velocity can be estimated at cm/s-level. Since the Doppler observations are less affected by multipath and non line-of-sight signal propagation effects than the code and carrier phase observations, they are especially useful for navigation in urban environments. To assess the trustworthiness of velocity information, the concept of integrity can be used. First approaches to bound the velocity error showed promising results even under challenging conditions, however up to now, no velocity alert limits have been defined.In this paper, we develop new alert limits for position, attitude and, especially for velocity, based on traffic statistics, the geometry of German roads and dimension of European vehicles. Due to the coupling of heading and velocity, the velocity alert limit is dependent on the speed itself, leading to a smaller influence of the velocity errors at higher speeds. In addition, we evaluate the capability of Kalman filter-derived protection levels to bound the position and velocity errors for a trajectory in an urban environment. The estimated position errors are bounded by the protection level in up to 70% of the epochs, while the velocity is bounded in more than 98% of the epochs. Furthermore, the velocity can still be estimated accurately, i.e. with an RMSE of 0.16 m/s even if the position errors are large with an RMSE of 2.93 m, which is due to its comparatively high robustness again multipath and non line-of-sight effects.
Organisationseinheit(en): Institut für Erdmessung
Typ: Aufsatz in Konferenzband
Seiten: 1455 - 1466
Anzahl der Seiten: 12
Publikationsdatum: 28.04.2025
Publikationsstatus: Veröffentlicht
Peer-reviewed: Ja
ASJC Scopus Sachgebiete: Luft- und Raumfahrttechnik, Fahrzeugbau, Elektrotechnik und Elektronik, Elektronische, optische und magnetische Materialien, Instrumentierung, Steuerung und Optimierung
Elektronische Version(en): https://doi.org/10.1109/plans61210.2025.11028388 (Zugang: Geschlossen)
: Details im Forschungsportal „Research@Leibniz University“

BibTeX

@inproceedings{8610296481254d258bbca2dd3bf0d172,
title = "Contributions to Velocity Integrity for Autonomous Navigation in Urban Environments",
abstract = "Precise and reliable velocity estimation is required for determining highly dynamic trajectories, as well as for autonomous navigation and collision avoidance. Using Doppler observations of Global Navigation Satellite Systems, the instantaneous and absolute velocity can be estimated at cm/s-level. Since the Doppler observations are less affected by multipath and non line-of-sight signal propagation effects than the code and carrier phase observations, they are especially useful for navigation in urban environments. To assess the trustworthiness of velocity information, the concept of integrity can be used. First approaches to bound the velocity error showed promising results even under challenging conditions, however up to now, no velocity alert limits have been defined.In this paper, we develop new alert limits for position, attitude and, especially for velocity, based on traffic statistics, the geometry of German roads and dimension of European vehicles. Due to the coupling of heading and velocity, the velocity alert limit is dependent on the speed itself, leading to a smaller influence of the velocity errors at higher speeds. In addition, we evaluate the capability of Kalman filter-derived protection levels to bound the position and velocity errors for a trajectory in an urban environment. The estimated position errors are bounded by the protection level in up to 70% of the epochs, while the velocity is bounded in more than 98% of the epochs. Furthermore, the velocity can still be estimated accurately, i.e. with an RMSE of 0.16 m/s even if the position errors are large with an RMSE of 2.93 m, which is due to its comparatively high robustness again multipath and non line-of-sight effects.",
keywords = "GNSS, integrity, urban navigation, velocity alert limit",
author = "Dennis Kulemann and Steffen Sch{\"o}n",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.",
year = "2025",
month = apr,
day = "28",
doi = "10.1109/plans61210.2025.11028388",
language = "English",
isbn = "979-8-3315-2318-3",
pages = "1455 -- 1466",
booktitle = "2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)",
}