Integrity Monitoring of LTE Signals of Opportunity-Based Navigation for Autonomous Ground Vehicles

Abstract

A receiver autonomous integrity monitoring (RAIM) framework for autonomous ground vehicle navigation using ambient cellular signals of opportunity (SOPs) is developed. The developed framework considers a ground vehicle navigation exclusively with cellular long-term evolution (LTE) signals and an inertial measurement unit (IMU), without global navigation satellite system (GNSS) signals. A fault detection test is developed to deal with biased LTE pseudorange measurements and a horizontal protection level (HPL) calculation is derived. Experiments to evaluate the developed RAIM framework are presented for a ground vehicle navigating in an urban environment over a trajectory of 1.35 km. It is demonstrated that the RAIM framework detects and excludes biased pseudoranges, reducing the root mean-squared error (RMSE) by 49%.