RHINOS Railway High Integrity Navigation Overlay System. RHINOS Workshop. 21 st June 2017 Performance Analysis Activity R.

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1 RHINOS Railway High Integrity Navigation Overlay System RHINOS Workshop 21 st June 2017 Performance Analysis Activity R. Capua (Sogei)

2 Objectives Simulation and Analysis of High Precision and High Integrity positioning in the Rail Scenario for GNSS PVT only (No ERTMS) Simulation of SIS and Augmentation System Faults Design and Integration of a Performance Analysis Tool Performance Analysis Virtual Test Bed: Injection of Faults into raw data recorded by a GNSS Receiver installed On-Board and into Augmentation data Simulated Data Analysis performed through the RadioLabs GNSS3inSim

3 Participants Sogei: TAAN Network Control Centre developments, 2-Tiers FDE, Fault Generations RadioLabs: Performance Analysis Simulation developments University of Notthingam: Environmental Faults Simulation Ansaldo STS: Rail Sector requirements and review University of Pardubice: Fault Scenarios and Requirements Analysis

4 Performance Analysis Tools RadioLabs: Train Integrity Simulator (Virgilio) Sogei: 2-Tiers Sardinia ERSAT-EAV network raw data and Control Centre, SIS and LA fault generation, GNSS SDR and Spoofer University of Notthingam: Spirent Simulator

5 Extended Fault Tree Train position: UNKNOWN at the beginning of SOM < 1e-10/ 1 hr 1e-11/ hr Odometry Hazard Radio subsystem Hazard Communication among RBC, TALS GNSS OBU ETCS Core Hazard THR=2e-9 / 1 hr / train Balise / Loop Hazard cross talk (balise insertion) Virtual Balise Detection Hazard THR VB = 1e-9/ 1 hr 0.5e-9/ hr Ʃ 0.5e-9/ hr THR VB of 1e-9/ hr was derived according to SUBSET-088 under assumption that independent diagnosis during Start of Mission (SOM) is available (track circuits, axle counters) and thus hazard due to cross talk effect (detection of wrong virtual balise) ban be mitigated. LDS Start of Mission on parallel tracks is required (AL=3 m) Level 1 Level 2 Level 3 Track-side GNSS SIS/ augmentation failure and RBC contribution On-board Environmental anomalies and OBU function failures Level 4 5e-10/ hr Ʃ 5e-10/ hr Ʃ 0.25e-10/ hr RBC contribution to VB detection/ reporting failure 4.5e-10/ hr GNSS SIS/ augmen. failure 0.25e-10/ hr Track database excessive error 1e-10/ hr 2e-10/ hr 2e-10/ hr OBU contribution Excessive error Excessive error to VB detection due to multipath due to spoofing, failure EMI Level 5 2e-10/ hr 4.5e-10/ hr Ʃ 2e-10/ hr 0.25e-10/ hr 0.25e-10/ hr ~1e-6/ hr 2e-10/ hr & Augmen. syst. failure (PE>PL) SV faults Iono + tropo effects Multipath, spoofing Function A: ARAIM Function B Level 6 Function B must be based on different technology than ARAIM to achieve physical, functional and process independence.

6 Local Augmentation Architecture

7 Example of Extended Scenarios Definition

8 Simulation Architecture ERSAT-EAV

9 ERSAT-EAV Reference Station Network Architecture GRDNet Control Centre

10 ERSAT-EAV Reference Station Network ERSAT-EAV Final Review Meeting Sanluri Giovanni XIII Primary School Guspini Municipality Vallermosa Municipality Vallermosa Municipality Cagliari Tax Police

11 Virgilio Simulator GNSS RX GNSS RX RINEX RINEX GNSS RX GNSS RX RINEX RINEX RS GNSS 3InSim External tools RS TALS OBU Synthetic Observations Generator RS Track DB Track & Motion Model Generator Wall Clock Time Timing Simulated Time Logging

12 GRDNet RS and SIS Integrity Monitoring Reference Stations and SIS FDE through Real Time 2-Tiers (EDAS+Local Augmentation) algorithm (from ERSAT-EAV)

13 Sogei GNSS SDR Spoofing Simulation GPS/EGNOS Single-Frequency SDR Totally Software Signal Processing No FPGA, No Low Cost Receivers Front-End design & development Programming: C++, GPU, Parallel Programming C/N 0 monitoring Anti-Spoofing Real-time SDR running on Desktops, Notebooks and Tablets RTK through standard NTRIP/RTCM connection to a GNSS Network

14 Extended Local Augmentation Fault-Tree Signal

15 Fault Cases SIS Fault Ephemeris/Clock Faults Augmentation Faults RS Interferences Local Effects: Multipath Trees Interferences Communication Losses Multiple Failures Scenario n Single Fault Multiple Scenario 2 Single Fault Multiple Scenario 1 Single Fault Multiple Fault Fault Constellation x Faults Constellation x Constellation Sats x x Sats x Communication Sats x x Communication x Communication SBAS x SBAS SBAS LAAS x x LAAS x TAAN Human x x Human x Multipath x Spoofing x

16 RHINOS Railway High Integrity Navigation Overlay System Performance Analysis Results and Execution

17 Performance Analysis Test Scenarios Full Supervision/Nominal Operation Nominal Operation (Clear-Sky) SIS Failure simulation, Evil Waveform Ephemeris fault simulation Satellite Clock Error simulation

18 Open Sky Simulation %of epoch for System Unanailable % of epochs for System in Normal Operation % of epochs for System is in MI/HMI 0

19 Evil Waveform Evil Waveform simulation: Fault Free PRN compared to Digital and Analogic distortion on PRN code (generated through the Qascom Simulator)

20 Evil Waveform %of epoch for System Unanailable % of epochs for System in Normal Operation % of epochs for System is in MI/HMI 0

21 Ephemeris Fault generation

22 Clock Fault Generation

23 Ephemeris Fault Ephemeris Fault generated through GNSS SDR on satellite 12 %of epoch for System Unanailable % of epochs for System in Normal Operation % of epochs for System is in MI/HMI 0

24 Multiple Failures One satellite faulted every 240 s 3 GPS + 1 Galileo remaining at the end %of epoch for System Unanailable % of epochs for System in Normal Operation % of epochs for System is in MI/HMI 0

25 Presence of Spoofing %of epoch for System Unanailable % of epochs for System in Normal Operation % of epochs for System is in MI/HMI No Railway RAIM) PVT associated with HMI would be detected and discharged by ERTMS & Railway RAIM Spoofing signal generated by a Qascom simulator

26 Start of Mission Performance Analysis Start of Mission SoM (Simulated Data) Urban Area - Severe Shadowing Urban area - Severe Multipath Interferences (Spoofing) RTK positioning (start from position unknown)

27 Start of Mission RTK Positioning (Floating) RTK Floating Ambiguities Solution (Weak Multipath)

28 Start of Mission RTK Positioning (Fixed) Fixed Ambiguities Solution (Weak Multipath) %of epoch for System Unanailable 0 % of epochs for System in Normal Operation 100 % of epochs for System is in MI/HMI

29 Reference Stations Fault Monitoring Effective tools integrated for GNSS Local Augmentation and SIS FDE Performance Analysis (ERSAT-EAV) CAGR RS Fault RS 6 CTNB RIMS RS 5 GUSP RS 4 SANL RS 3 VALL RS 2 CAGR RS 1 VILL RS FDE

30 Conclusions Effective tools integrated for GNSS Local Augmentation and SIS FDE Performance Analysis Simulation Scenarios defined through GNSS data recorded from an On-Board GNSS receiver and simulated GNSS data Rail Operations Environmental Scenarios tested for the GNSS positioning only with several Faults (Ephemeris and Clock, Evil Waveforms, Interferences, Multiple Failures). No ERTMS functional blocks and Railway RAIM included 2-Tiers Algorithm is able to perform FDE for Single and Multiple Satellite Faults and Reference Stations Failures RTK Positioning Integrity Performances Evaluated in float and fixed ambiguity states Next step: Multipath impacts analysis

31 Thanks for the attention ION GNSS+ 2016