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%.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.