Positioning, location data and GNSS as solution for Autonomous driving Jarkko Koskinen, Heidi Kuusniemi, Juha Hyyppä, Sarang Thombre and Martti Kirkko-Jaakkola FGI, NLS
Definition of the Arctic 66 34 N Latitude (Arctic Circle - dashed blue circle), Northern extent of the treeline (solid black line), 10 Celsius July isotherm (solid red line) Reference: U.S. National Snow and Ice Data Center
Challenges for for positioning and navigation in arctic conditions Coverage of GNSS constellations and satellite- or land-based augmentation systems is not optimal Access to radio navigation (other than GNSS) and communications is limited Atmospheric modeling Availability and quality of maps Presence of ice and snow The challenge is to attain similar levels of navigation performance and reliability as in lower latitudes Source: Finnish Transport Agency
Challenges to Localization Visibility of satellites Most positioning satellites visible at lower elevation angles. SBAS satellites at level of horizon. No GNSS satellites are overhead in the Arctic (Ref: Tyler Reid, Stanford University) SBAS satellite visibility (Ref: Tyler Reid, Stanford University)
Challenges to Localization Underdeveloped infrastructure Low density of smart roads, HD maps, telecommunications, internet, built facilities, financial instruments, etc. are limiting factors to deployment of innovative, precise, and terrestrial positioning solutions Other factors Low population density reduces priority for infrastructure investments Rights of protected areas and indigenous populations Free-roaming wildlife difficult to estimate FGI s ARKKI research project addresses Arctic challenges Especially topical during the Finnish chairmanship of the Arctic Council Identify the most significant challenges: user survey and a seminar Propose a roadmap to recommend pan-arctic solutions
Positioning in Autonomous Driving No single positioning technology is sufficient for automated driving. Single technology approaches lacks the necessary accuracy and robustness for safety critical applications WE need several independent positioning methods Satellite positioning and inertial positioning Telecom network positioning Car sensors and HD-map positioning 6
Positioning and Mobility in ITS FGI is active in the EU COST action SaPPART, www.sappart.net
Level of Required Accuracy in Road Transportation trip travel information fleet management stolen vehicle recovery dynamic route guidance in-car navigation urban traffic control emergency call road user charging www.sappart.net Unit: meters collision avoidance restraint deployment intelligent speed adaptation automated highway lane control
Global Reference System Continents are moving a few cm/year. This affects on global reference systems because coordinates of stations are changing. With GNSS we are measuring in a global reference system. We get absolute positions on the globe. Reference system is three-dimensional. A reference system is realized with a global network of permanent geodetic observing stations. Stations defining the realization are on different continents
GNSS System Comparison GPS GALILEO GLONASS BeiDou First launch 1978 2011 1982 2007 Full Operational Capability 1995 2018-19 2011 2020 Number of satellites 32 30 31 35 Orbital planes 6 3 3 3 Access Scheme CDMA CDMA FDMA/CDMA CDMA Current Status 31 operational 20 operational / comissioning Single system accuracy ~ 5 m Department of Navigation and Positioning 24 operational 15 operational satellites, full coverage on Asia pacific region Vulnerable to interference, ionospheric disturbance etc.
Ships fooled in GPS spoofing attack suggest Russian cyberweapon Position shifted over 30 km
Benefits of the European GNSS - Galileo Galileo is the GNSS which will bring positioning and timing autonomy from GPS or GLONASS GALILEO benefits: increasing accuracy and reliability higher level of signal robustness anti-spoofing capabilities with signal authentication higher precision with Commercial Service and security with Public Regulated Service civilian governance
GNSS + Satellite-based Augmentation Provides real-time corrections and integrity for GNSS receivers Via signal-in-space (GEO satellites, e.g. European EGNOS) beneficial in the Arctic where GEO satellites are visible at low elevation angles EGNOS signal should be provided by HEO satellites (Ref: European GNSS Agency)
FinnRef-network of over 60 stations Current 20 FinnRef stations 21 new FinnRef stations 8 Co-operation stations 15 Data exchange stations Provide local correction data to GNSS receivers Assist in precise positioning using RTK, monitoring interference, etc.
Network positioning Super dense network can provide sub meter accuracy It allows cars to communicate in real time in order to help navigation, avoid collision and rush (machine to machine) Driver and passenger info / commercials Super expensive due to dense base station network 15
Car based sensor and HD-maps 16
Autonomous driving- Lidar vision Center of Excellence in Laser Scanning, FGI, NLS 17
Summarum Topical research projects at FGI ARKKI to Identify the most significant challenges to Arctic navigation (www.arkki-project.org) Arctic-PNT to validate Aurora Snowbox as a key infrastructure in Arctic PNT innovation (www.arctic-pnt.org) Center of Excellence in Laser Scanning (http://laserscanning.fi/) COMBAT 3D information in digitalization (www.pointcloud.fi) Technology for autonomous vehicles almost exists We can provide a solution with three independent positioning methods that will allow demanded absolute positioning accuracy relative accuracy is even higher If all methods co-exist vehicles can even work in challenging conditions HOWEVER There is still no solution for Legislative issues Responsibilities in case of accident Ethical dilemma of self driving cars (https://www.youtube.com/watch?v=ixiodyvfka0) 18
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Questions? (Ref: Qualcomm)