1. Intervenant - date 1 Standardization of performances of GNSS-based positioning terminals for ITS applications at CEN-CENELEC/TC5 François Peyret (Ifsttar) ITS-W 2013 October 20123 Tokyo

2. Intervenant - date 2 Outline 1.Context 2.Status of GNSS standardization in Europe 3.Rationale of the work done at CEN-CENELEC 1.Scope 2.Performance features, metrics and levels 3.PVT error models 4.Work program and deliverables 5.The SaPPART network Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

3. Intervenant - date 3 Context Global core GNSS market by segment Cumulated revenues 2010-2020 ( GSA: GNSS Market Report Issue 2, 2012) The road market remains the largest one in terms of core GNSS market (revenues) Road market includes: - PNDs and OBUs (100%) - Digital maps - GNSS chipsets in GNSS-enabled smartphones used for navigation (10% in 2010, 30% in 2020) Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

4. Intervenant - date 4 Market Barriers “According to you, in the ITS area, what are the major barriers to market for GNSS applications providers?” Survey organized by SUNRISE project Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

5. Intervenant - date 5 Need for new GNSS standards Survey organized by SUNRISE project Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

6. Intervenant - date 6 What kind of standards ? Survey organized by SUNRISE project 1. Procedures to establish performances of ITS systems based on GNSS 2. Test procedures for evaluation of end- to-end performances of ITS systems 3. Definition of performance features and metrics of GNSS-based terminals 5. Test procedures for evaluation of GNSS-based terminal performances 4. Definition of possible architectures of GNSS-based terminals Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

7. Intervenant - date 7 Active standardization groups in Europe 2. Test procedures for evaluation of end- to-end performances of ITS applications 1. Procedures to establish performances of ITS systems based on GNSS 3. Definition of performance features and metrics of GNSS-based terminals 4. Test procedures for evaluation of GNSS-based terminal performances 4. Definition of possible architectures of GNSS-based terminals TC5/WG1 TC SES/SCN M 496 Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

8. Intervenant - date 8 Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART Scope GNSS Exclusion Fusion Quality indicators computation Lidar, video UMTS, WiFi… Odometer IMU SENSORS LOCALIZATION POSITIONING TERMINAL PR, Dopplers Accelerations, Angular speeds Travelled distance Ranges to landmarks SBAS (WAAS) Telecommunication system Modem Application module Map- matching, geofencing, integration… APPLICATION Configuration Position + std Speed + std Time + std Pseudo-ranges + std Carrier vehicle constraints Digital map Other users (collaborative localization) Events (Geofencing) Presence time Position on a segment of the road network Travelled distance Differential networks POSITIONING SYSTEM Positioning-based road transport system Central assistance server Application quantities Assistance data Corrections Key Performance Indicators (KPIs) of the whole system Performances of the Positioning terminal Performances of the Application module

9. Intervenant - date 9 Performance features & metrics FeatureDefinitionMetric Position accuracy Error between the position provided by the Positioning terminal, when this position is available, and the user's “true” position Some percentiles of the cumulative distribution function of the error, established during a standardized test following a given Operational scenario Position availability Percentage of time during which the positioning terminal is capable to output a PVT (Position, Velocity, Time) Number of epochs with a position output / total Number of epochs, established during a standardized test following a given Operational scenario Position integrity (Protection level accuracy) PL = threshold supposed to over bind the actual position error Some percentiles of the cumulative distribution function of the Protection level, established during a standardized test following a given Operational scenario Position integrity (Integrity risk) IR = probability that the actual position error exceeds the PL (MI = Misleading information) Percentage of the number of epochs classified MI, established during a standardized test following a given Operational scenario Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

10. Intervenant - date 10 Performance classes Example of classes definition for the feature Horizontal Accuracy Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

11. Intervenant - date 11 PVT error models Operational scenario Application module Metric PVT Error model Reference trajectory "True" trajectory "Degraded" trajectory End-to-end performance (KPI) "Degraded" application quantity "True" application quantity + + The PVT Error models are necessary for evaluation of end-to-end application performance assuming a given Positioning terminal and a given Application module, in the case when a performance defined by a very low probability needs numerous simulation tests to be validated The degraded trajectories are played randomly in simulation as many times as necessary to assess the KPI Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

12. Intervenant - date 12 CEN-CLC TC5/WG1 work program 07/2013 – 10/2014  Part 1: System engineering procedures for the establishment of performances of road transport systems based on GNSS. 10/2014 – 09/2014  Part 2: Assessment field tests for basic performances of GNSS-based positioning terminals used in road transport systems. 09/2014 – 09/2015  Part 3: Assessment field tests for security performances of GNSS-based positioning terminals used in road transport systems. Use of geo-positioning services for navigation and localization applications Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

13. Intervenant - date 13 Rese SaPPART COST Action RCIGSC EOTR TACOT GNSSmeter SIGNATURE GINA GIROADS R&D projects SUGAST SAGITER QualiSaR Standardisation support projects SaPPART TC SES/SCN CB5 – SGT APP 001 TC5/WG1 Standardisation groups Research-oriented network Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

14. Intervenant - date 14 Thank you for your attention ! I will be happy to answer to your questions… Ifsttar Institut Français des Sciences et Technologies du Transport de l’Aménagement et des Réseaux francois.peyret@ifsttar.fr www.ifsttar.fr

15. Intervenant - date 15 GNSS Performance standards in ITS development User requirements analysis: E2E performances identification GBPT Validation & acceptance tests or GBPT certification AM Validation & acceptance tests System E2E performance testing System certification: compilation of previous design justification and tests files System development: Application Module development and tuning GNSS-based positioning terminal (GBPT) procurement System design: Application Module (AM) prototyping E2E performances allocation between system components 2. Test procedures for evaluation of end- to-end performances of ITS systems 1. Procedures to establish performances of ITS systems based on GNSS 3. Definition of performance features and metrics of GNSS-based terminals 5. Test procedures for evaluation of GNSS-based terminal performances 4. Definition of possible architectures of GNSS-based terminals Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

16. Intervenant - date 16 SaPPART aims and objectives Aim 1: framework for the definition of performance levels for GNSS-based terminals used in ITS and personal mobility (PM) applications to support standardisation initiatives Aim 2: promotion of high-level educational and training programmes in GNSS for ITS & PM Aim 3: promotion of the use of GNSS (EGNOS & Galileo) in ITS and PM domains SaPPARTSaPPART Deliverables Action’s Instruments White paper Handbook on methodology Guidelines for tests Data sets for tests Networking effect STSMs Training schools Conferences Website Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART

17. Intervenant - date 17 SaPPART partnership 14 countries 1France 2Switzerland 3UK 4Spain 5Germany 6Austria 7Italy 8The Netherlands 9Sweden 10Czech Republic 11Finland 12Turkey 13Croatia 14Denmark Research Industry Public authorities 53 experts committed at the proposal stage 26 23 4 14 senior 12 junior 12 women / 53 = 22% Context – Status of GNSS standardization – Scope – Features & metrics – PVT error models – Work program – SaPPART