Advanced, 3D map aided (3DMA) GNSS simulations for NRTK performance prediction

authored by: Ali Karimidoona, Steffen Schön
Abstract: The navigation performance of autonomous vehicles is highly dependent on using signals from Global Navigation Satellite Systems (GNSS) which can provide very precise positioning solutions through real time kinematic (RTK) technique. However, the received GNSS signals are heavily affected by propagation in urban trenches, impacting significantly the integrity of the navigation solution, that may not fulfill the requirements for automated driving any longer. Thus, in order to design a trajectory planning tool, 3D map aided (3DMA) methods in conjunction with a GNSS channel model will improve our understanding of the signal propagation in this complex environment. Together with satellite positions from almanac and an intended user trajectory, it is the basis for realistic signal availability and error simulations and thus contribute to predict the expected navigation performance. We show that the signal availability in urban trenches and suburban areas is predicted with 90–95% accuracy for both code and phase observations, respectively. Furthermore, the median of the difference between measured and predicted carrier to noise density ratio (C/N₀) is around 2 dB-Hz for line-of-sight (LOS) situations. Double differenced (DD) observations as the main component in RTK positioning have a median difference between predicted and real DD residuals of 0.5–2 m for code and almost 7 mm for phase in LOS.
Organisation(s): Institute of Geodesy
Type: Article
Journal: GPS solutions
Volume: 30
ISSN: 1080-5370
Publication date: 10.09.2025
Publication status: Accepted/In press
Peer reviewed: Yes
ASJC Scopus subject areas: General Earth and Planetary Sciences
Electronic version(s): https://doi.org/10.1007/s10291-025-01962-1 (Access: Open)
: Details in the research portal "Research@Leibniz University"

BibTeX

@article{8ed9320947764a32b22e9d34020735ae,
title = "Advanced, 3D map aided (3DMA) GNSS simulations for NRTK performance prediction",
abstract = "The navigation performance of autonomous vehicles is highly dependent on using signals from Global Navigation Satellite Systems (GNSS) which can provide very precise positioning solutions through real time kinematic (RTK) technique. However, the received GNSS signals are heavily affected by propagation in urban trenches, impacting significantly the integrity of the navigation solution, that may not fulfill the requirements for automated driving any longer. Thus, in order to design a trajectory planning tool, 3D map aided (3DMA) methods in conjunction with a GNSS channel model will improve our understanding of the signal propagation in this complex environment. Together with satellite positions from almanac and an intended user trajectory, it is the basis for realistic signal availability and error simulations and thus contribute to predict the expected navigation performance. We show that the signal availability in urban trenches and suburban areas is predicted with 90–95% accuracy for both code and phase observations, respectively. Furthermore, the median of the difference between measured and predicted carrier to noise density ratio (C/N0) is around 2 dB-Hz for line-of-sight (LOS) situations. Double differenced (DD) observations as the main component in RTK positioning have a median difference between predicted and real DD residuals of 0.5–2 m for code and almost 7 mm for phase in LOS.",
keywords = "Double differenced observations, GNSS, Integrity monitoring, NRTK, Urban trenches",
author = "Ali Karimidoona and Steffen Sch{\"o}n",
note = "Publisher Copyright: {\textcopyright} The Author(s) 2025.",
year = "2025",
month = sep,
day = "10",
doi = "10.1007/s10291-025-01962-1",
language = "English",
volume = "30",
journal = "GPS solutions",
issn = "1080-5370",
publisher = "Springer Science and Business Media Deutschland GmbH",
number = "1",
}