| Summary: | Positioning integrity is crucial for Intelligent
Transport Systems (ITS) applications. In this article, a
method is presented for prediction of GNSS positioning integrity for ITS journey planning. This information, in addition to other route information, such as distance and
time, can be utilized to choose the safest and economical route. We propose to combine the Advanced Receiver
Autonomous Integrity Monitoring (ARAIM) technique, tailored for ITS, with 3D city models. Positioning is performed
by GNSS Real-Time Kinematic (RTK) method, which can
provide the accuracy required for ITS. A new threat model
employed for computation of the protection levels (PLs) for
RTK positioning is discussed. Demonstration of the proposed approach is performed through a kinematic test in
an urban area in Tokyo. The comparison between the prediction method and the actual observations show that the two estimates close satellite geometry and PLs. The method produced PLs that bounds the actual position errors all the time and they were less than the preset alert limit.
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