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Cooperative positioning in CVIS

François PEYRET, LCPC francois.peyret@lcpc.fr Cooperative systems workshop and product launch 10 December 2008 Berlin. Cooperative positioning in CVIS. Outline. The importance of positioning in cooperative systems Position is needed everywhere Positioning is a very challenging task

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Cooperative positioning in CVIS

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  1. François PEYRET, LCPC francois.peyret@lcpc.fr Cooperative systems workshop and product launch 10 December 2008 Berlin Cooperative positioning in CVIS

  2. Cooperative systems workshop Outline The importance of positioning in cooperative systems Position is needed everywhere Positioning is a very challenging task GNSS is absolutely central, but not enough Which positioning ? Absolute position is never used at the end of the chain, but map-matched position A position without integrity indicator is very risky and even dangerous Cooperative positioning for cooperative systems “Cooperative” = use of the infrastructure in the positioning/map-matching process Infrastructure: could be physical or virtual (digital) The choices of CVIS "EGNOS inside": the accuracy and integrity of EGNOS + availability Hybrid positioning: the best we can expect from data fusion for absolute positioning WLAN positioning: a support to hybrid positioning Map-matching after hybrid positioning: a reliable map-matched position with confidence Emap-matching: an innovative step towards lane-level positioning Conclusion

  3. Position is needed everywhere Positioning is a very challenging task GNSS is absolutely central, but not enough The importance of positioning in cooperative systems

  4. Cooperative systems workshop Position is needed everywhere All CVIS, SAFESPOT and COOPERS applications are based upon the knowledge of the vehicle(s) position, most of the time in real time The position is useless without the map information, the real interesting information is the estimation on the vehicle position on the map

  5. Cooperative systems workshop Positioning is a very challenging task, GPS is not enough… • The apparently easy positioning performed by the standard navigation systems is misleading… • In reality, the quality of service of standard GPS in constrained environments is generally quite poor, although the global performance is really impressive • Quality of service = • Availability • Accuracy • Integrity

  6. Absolute position is never used at the end of the chain, but map-matched position A position without integrity indicator is very risky and even dangerous Which positioning ?

  7. Cooperative systems workshop Absolute position is never used at the end… Digital road database Position on the map Map-matching Relevant attributes of the road segment You are here, on this segment, at this abscissa !... You are here !... Sensor data fusion X, Y, Z, V… GNSS sensor l, f, H D Proprioceptive sensor 1 da/dt Proprioceptive sensor 2

  8. Cooperative systems workshop Integrity mechanism High accuracy but no integrity Low accuracy but with integrity 20cm 10cm Acccuracy (error RMS) 8 cm 18 cm Integrity (probability to remain inside the yellow circle) 100 % 99 %

  9. Cooperative systems workshop System available System unavailable Misleading information !… Alarm limit Protection level True error Interest of integrity for ADAS

  10. “Cooperative” = use of the infrastructure in the positioning/map-matching process Infrastructure: could be physical or digital Cooperative positioning for cooperative systems

  11. Cooperative systems workshop Cooperative positioning for cooperative systems GNSS alone is not enough Absolute position is useless cooperation with the infrastructure is mandatory Cooperation can be: Digital for the map-matching Physical and digital to help the basic positioning Use of geo-located landmarks in the environment Use of digital map information to constrain the data fusion (see Emap-matching further)

  12. "EGNOS inside": the accuracy and integrity of EGNOS + availability Hybrid positioning: the best we can expect from data fusion for absolute positioning WLAN positioning: a support to hybrid positioning Map-matching after hybrid positioning: a reliable map-matched position with confidence indicator Emap-matching: an innovative step towards lane-level positioning The choices of CVIS

  13. Cooperative systems workshop General architecture of on-board POMA positioning services 2b 2c 2c 6 5 4 1 1 3 1 1 L11 L2 L3 L1 L1 L11 L1 L4b L1 L8 L9 L7 L4 L7 L5 L6 L4a L14 L5 Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel Time Stamp Infrastructure based positioning modules (WLAN, WSN) EGNOS Receiver Precise relative & absolute Position, + Error Infrastructure based positioning Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation Hybrid PVT, Errors Pos.rel. to Map Hybrid PVT, Integrity, Errors EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching Position rel. to Map, Confidence EGNOS/PVT Computation Time stamped DR Sensor Data Raw data Router PC Map Data Sensor Module Host PC PPS Sync L1 GPS-EGNOS Receiver Time Stamp DR Sensors PPS sync. GPS Time Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  14. Cooperative systems workshop 2b 2c 2c 6 1 4 5 1 3 1 1 L11 L3 L1 L2 L1 L11 L1 L4b L1 L4 L9 L7 L8 L7 L5 L6 L4a L14 L5 “EGNOS inside” Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel Time Stamp Infrastructure based positioning modules (WLAN, WSN) EGNOS Receiver Precise relative & absolute Position, + Error Infrastructure based positioning Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation Hybrid PVT, Errors Pos.rel. to Map Hybrid PVT, Integrity, Errors EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching Position rel. to Map, Confidence EGNOS/PVT Computation Time stamped DR Sensor Data Raw data Router PC Map Data Sensor Module Host PC PPS Sync L1 GPS Receiver Time Stamp DR Sensors PPS sync. GPS Time Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  15. Cooperative systems workshop “EGNOS inside”: architecture Platform (Toulouse Site) Vehicle Broadcast of EGNOS message via mobile telecommunication is needed for urban application where the EGNOS satellite may be masked more than 60% of the time. GPS Raw Data (Pseudo Range…) EGNOS Inside Receiver Filtered Position + Horizontal Protection Level EGNOS Data (Corrections) GPRS Application Egnos Inside Server

  16. Cooperative systems workshop “EGNOS inside”: availability and SIS integrity • EGNOS brings: • Improved accuracy (differential, corrections) • Integrity of the Signal In Space (SIS) • “EGNOS inside” brings additionally: • The availability of the EGNOS signals, normally send by a geostationary satellite • The POMA module provides: • The Kalman filtered GPS+EGNOS solution of the U-Blox receiver • A GPS+EGNOS Least Mean Square solution, MOPS compatible, with an HPL (Horizontal Protection Limit) computation for integrity • a GPS-only Least Mean Square solution

  17. Cooperative systems workshop 2b 2c 2c 6 1 4 5 1 3 1 1 L11 L3 L1 L2 L1 L11 L1 L4b L1 L4 L9 L7 L8 L7 L5 L6 L4a L14 L5 Hybrid positioning Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel Time Stamp Infrastructure based positioning modules (WLAN, WSN) EGNOS Receiver Precise relative & absolute Position, + Error Infrastructure based positioning Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation Hybrid PVT, Errors Pos.rel. to Map Hybrid PVT, Integrity, Errors EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching Position rel. to Map, Confidence EGNOS/PVT Computation Time stamped DR Sensor Data Raw data Router PC Map Data Sensor Module Host PC PPS Sync L1 GPS Receiver Time Stamp DR Sensors PPS sync. GPS Time Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  18. Cooperative systems workshop Hybrid positioning: Interactive Multiple Model GPS Data CT Prediction for CA model CV CA past ego position : Constant Acceleration : Constant Turning : Constant Velocity Simple linear models for specific dynamics

  19. Cooperative systems workshop Hybrid positioning: a continuous solution Blue: Hybrid solution Green: EGNOS only

  20. Cooperative systems workshop WLAN positioning: a support to hybrid positioning 6a 2b 2c 2c 4 1 1 1 5 3 1 6 L7 L11 L1 L3 L1 L1 L2 L6 L7 L4b L4a L14 L4 L1 L5 L8 L7 L9 L5 L13 L13 Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel EGNOS Receiver WLAN-based position Precise relative & absolute Position, + Error Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation WLAN On Board RSSI Measurements L11 GPS Time Stamp EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching RSSI Measurements at known locations EGNOS/PVT Computation Supply RSSI (RSSI, ExactLoc.) Time stamped DR Sensor Data Raw data Router PC WLAN Infrastructure Position Algorithm Calibration Module Sensor Module Host PC PPS Sync L1 GPS Receiver Time Stamp DR Sensors Supply Position External Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  21. Cooperative systems workshop WLAN positioning: basic principles Two steps: • Off-line Calibration • On-board Localization (fingerprinting) WLAN localization System works as a backup system to GPS in regions critical for GPS. RSSI Measurer WLAN Positioning Vehicle Position RSSI: Received Signal Strength Intensity

  22. Cooperative systems workshop WLAN-based: preliminary tests results 251 points were computed, using 89 different Access Points (APs) Average number of APs / point = 8 (after filtering) Performance without hybrid and map-matching modules ErrLoc_Mean: ~ 6 m ErrLoc_Std: ~ 7 m ErrLoc_RMS: ~ 9 m

  23. Cooperative systems workshop 2b 2c 2c 1 4 1 1 5 6 3 1 L1 L7 L11 L8 L5 L6 L4b L14 L4a L3 L9 L7 L1 L1 L2 L1 L4 L5 L11 Map-matching after hybrid positioning Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel Time Stamp Infrastructure based positioning modules (WLAN, WSN) EGNOS Receiver Precise relative & absolute Position, + Error Infrastructure based positioning Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation Hybrid PVT, Errors Pos.rel. to Map Hybrid PVT, Integrity, Errors EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching Position rel. to Map, Confidence EGNOS/PVT Computation Time stamped DR Sensor Data • map-matched candidates (up to 10) • vehicle estimated pose (position + heading) • timestamp • for every candidate: • - longitudinal accuracy • - confidence (likelihood) Raw data Router PC Map Data Sensor Module Host PC PPS Sync L1 GPS Receiver Time Stamp DR Sensors PPS sync. GPS Time Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  24. Cooperative systems workshop Accuracy MM Longitudinal accuracy and confidence * 0.4 0.1 0.2 0.3 Confidence indicator attached to each segment

  25. Cooperative systems workshop 2b 2c 2c 1 4 1 1 5 6 3 1 L1 L7 L11 L8 L5 L6 L4b L14 L4a L3 L9 L7 L1 L1 L2 L1 L4 L5 L11 Emap-matching: an innovative step towards lane-level positioning Optional local Reference Data DLR SAPOS Module Internet access L1/L2 GPS Receiver Alcatel Office (Toulouse) Alcatel Time Stamp Infrastructure based positioning modules (WLAN, WSN) EGNOS Receiver Precise relative & absolute Position, + Error Infrastructure based positioning Geosat Data Flow LCPC (SMI) EGNOS Data Collection & Translation Hybrid PVT + EMAP Computation Hybrid PVT, Errors Pos.rel. to Map Hybrid PVT, Integrity, Errors EGNOS Messages LCPC (Livic) PVT, Integrity, Sat PV, UERE UTC Hybrid Position Computation Map Matching Position rel. to Map, Confidence EGNOS/PVT Computation Time stamped DR Sensor Data Emap Data Raw data Router PC Map Data Sensor Module Host PC PPS Sync L1 GPS Receiver Time Stamp DR Sensors PPS sync. GPS Time Sensors Processed Data Physical Interface (PVT = Position, Velocity, Time) Sensor Data Logical Interface Computation Module within POMA

  26. Cooperative systems workshop Digital road database Position on the map Map-matching Relevant attributes of the road segment You are here, on this segment, at this abscissa !... Emap-matching: a unique process for positioning and accurate map-matching You are here !... Sensor data fusion X, Y, Z, V… GNSS sensor l, f, H D Proprioceptive sensor 1 da/dt Proprioceptive sensor 2

  27. Cooperative systems workshop Emap-matching: a unique process for positioning and accurate map-matching Sensor data fusion and map-matching X, Y, Z, V… GNSS sensor D Proprioceptive sensor 1 da/dt Enhanced digital road database: Emap Proprioceptive sensor 2 Position on the map Relevant attributes of the road segment You are here, on this segment, at this abscissa, on this lane !...

  28. Cooperative systems workshop Segment m Emap-matching: particle filter using map constraints Particle generation DR measurements State propagation model Correction 1: geometrical and topological constraints EGNOS measurement Correction2: weights modification Composite state vector: Corrected particle set Corrected estimated state

  29. Conclusion

  30. Conclusion Development status • Next challenges: • lane-level positioning with Emap-matching and reliable EGNOS • use of integrity indicators at the application level • how to transform the present R&D POMA module into a commercial product ??? Cooperative systems workshop

  31. www.cvisproject.org Thanks for your attention…

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