Details
| Original language | English |
|---|---|
| Title of host publication | 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) |
| Pages | 1455 - 1466 |
| Number of pages | 12 |
| ISBN (electronic) | 979-8-3315-2317-6 |
| Publication status | Published - 28 Apr 2025 |
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
ASJC Scopus subject areas
- Engineering(all)
- Aerospace Engineering
- Engineering(all)
- Automotive Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Materials Science(all)
- Electronic, Optical and Magnetic Materials
- Physics and Astronomy(all)
- Instrumentation
- Mathematics(all)
- Control and Optimization
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2025 IEEE/ION Position, Location and Navigation Symposium (PLANS). 2025. p. 1455 - 1466.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Contributions to Velocity Integrity for Autonomous Navigation in Urban Environments
AU - Kulemann, Dennis
AU - Schön, Steffen
N1 - Publisher Copyright: © 2025 IEEE.
PY - 2025/4/28
Y1 - 2025/4/28
N2 - 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.
AB - 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.
KW - GNSS
KW - integrity
KW - urban navigation
KW - velocity alert limit
UR - http://www.scopus.com/inward/record.url?scp=105009207146&partnerID=8YFLogxK
U2 - 10.1109/plans61210.2025.11028388
DO - 10.1109/plans61210.2025.11028388
M3 - Conference contribution
SN - 979-8-3315-2318-3
SP - 1455
EP - 1466
BT - 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)
ER -