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

2. 2 2 Berlin, 2008-12-10Cooperative systems workshop Outline 1.The importance of positioning in cooperative systems –Position is needed everywhere –Positioning is a very challenging task –GNSS is absolutely central, but not enough 2.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 3.Cooperative positioning for cooperative systems –“Cooperative” = use of the infrastructure in the positioning/map-matching process –Infrastructure: could be physical or virtual (digital) 4.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 5.Conclusion

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

4. 4 4 Berlin, 2008-12-10Cooperative 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. 5 5 Berlin, 2008-12-10Cooperative 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. 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

7. 7 7 Berlin, 2008-12-10Cooperative systems workshop Absolute position is never used at the end… GNSS sensor Proprioceptive sensor 1 Proprioceptive sensor 2 Sensor data fusion X, Y, Z, V… D d  /dt  H You are here, on this segment, at this abscissa !... Digital road database Map-matching Position on the map Relevant attributes of the road segment You are here !...

8. 8 8 Berlin, 2008-12-10Cooperative systems workshop Integrity mechanism Acccuracy (error RMS) Integrity (probability to remain inside the yellow circle) 8 cm 18 cm 10cm 20cm High accuracy but no integrity Low accuracy but with integrity 99 % 100 %

9. 9 9 Berlin, 2008-12-10Cooperative systems workshop Interest of integrity for ADAS System available System unavailable Protection level Misleading information !… True error Alarm limit

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

11. 11 Berlin, 2008-12-10Cooperative 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. 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 indicator Emap-matching: an innovative step towards lane-level positioning

13. 13 Berlin, 2008-12-10Cooperative systems workshop General architecture of on-board POMA positioning services Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS-EGNOS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 2c LCPC (Livic) LCPC (SMI) UTC DLR Alcatel Office (Toulouse) L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) L4b Router PC Host PC Map Data Hybrid PVT, Errors Pos.rel. to Map 5 6 L6 Hybrid PVT, Integrity, Errors Position rel. to Map, Confidence PPS sync. GPS Time L5L8 L7 L9 L11 Time Stamp Infrastructure based positioning modules (WLAN, WSN) Infrastructure based positioning L11

14. 14 Berlin, 2008-12-10Cooperative systems workshop “EGNOS inside” Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 2c LCPC (Livic) LCPC (SMI) UTC DLR Alcatel Office (Toulouse) L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) L4b Router PC Host PC Map Data Hybrid PVT, Errors Pos.rel. to Map 5 6 L6 Hybrid PVT, Integrity, Errors Position rel. to Map, Confidence PPS sync. GPS Time L5L8 L7 L9 L11 Time Stamp Infrastructure based positioning modules (WLAN, WSN) Infrastructure based positioning L11

15. 15 Berlin, 2008-12-10Cooperative systems workshop “EGNOS inside”: architecture Egnos Inside Server GPRS EGNOS Inside Receiver Application VehiclePlatform (Toulouse Site) GPS Raw Data (Pseudo Range…) EGNOS Data (Corrections) Filtered Position + Horizontal Protection Level 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.

16. 16 Berlin, 2008-12-10Cooperative 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. 17 Berlin, 2008-12-10Cooperative systems workshop Hybrid positioning Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 2c LCPC (Livic) LCPC (SMI) UTC DLR Alcatel Office (Toulouse) L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) L4b Router PC Host PC Map Data Hybrid PVT, Errors Pos.rel. to Map 5 6 L6 Hybrid PVT, Integrity, Errors Position rel. to Map, Confidence PPS sync. GPS Time L5L8 L7 L9 L11 Time Stamp Infrastructure based positioning modules (WLAN, WSN) Infrastructure based positioning L11

18. 18 Berlin, 2008-12-10Cooperative systems workshop Hybrid positioning: Interactive Multiple Model Simple linear models for specific dynamics GPS Data CA CT CV past ego position Prediction for CA model : C onstant A cceleration : C onstant T urning : C onstant V elocity : C onstant A cceleration : C onstant T urning : C onstant V elocity

19. 19 Berlin, 2008-12-10Cooperative systems workshop Hybrid positioning: a continuous solution Blue: Hybrid solution Green: EGNOS only

20. 20 Berlin, 2008-12-10Cooperative systems workshop WLAN positioning: a support to hybrid positioning Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 5 6 2c LCPC (Livic) LCPC (SMI) UTC L6 DLR Alcatel Office (Toulouse) L5L8 L7 L9 L11 L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) WLAN-based position L4b Router PC Host PC RSSI Measurements at known locations WLAN Infrastructure Position Algorithm WLAN On Board RSSI Measurements L13 6a GPS Time Stamp Supply RSSI L11 (RSSI, Exact Loc.) L13 Calibration Module Supply Position L7 External

21. 21 Berlin, 2008-12-10Cooperative systems workshop WLAN positioning: basic principles RSSI Measurer WLAN Positioning Vehicle Position Two steps: 1.Off-line Calibration 2.On-board Localization (fingerprinting) RSSI: Received Signal Strength Intensity WLAN localization System works as a backup system to GPS in regions critical for GPS.

22. 22 Berlin, 2008-12-10Cooperative systems workshop WLAN-based: preliminary tests results ErrLoc_Mean: ~ 6 m ErrLoc_Std: ~ 7 m ErrLoc_RMS: ~ 9 m Performance without hybrid and map-matching modules 251 points were computed, using 89 different Access Points (APs) Average number of APs / point = 8 (after filtering)

23. 23 Berlin, 2008-12-10Cooperative systems workshop Map-matching after hybrid positioning Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 2c LCPC (Livic) LCPC (SMI) UTC DLR Alcatel Office (Toulouse) L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) L4b Router PC Host PC Map Data Hybrid PVT, Errors Pos.rel. to Map 5 6 L6 Hybrid PVT, Integrity, Errors Position rel. to Map, Confidence PPS sync. GPS Time L5L8 L7 L9 L11 Time Stamp Infrastructure based positioning modules (WLAN, WSN) Infrastructure based positioning L11 map-matched candidates (up to 10) vehicle estimated pose (position + heading) timestamp for every candidate: - longitudinal accuracy - confidence (likelihood)

24. 24 Berlin, 2008-12-10Cooperative systems workshop MM Longitudinal accuracy and confidence * Accuracy 0.4 0.3 0.2 0.1 Confidence indicator attached to each segment

25. 25 Berlin, 2008-12-10Cooperative systems workshop Emap-matching: an innovative step towards lane-level positioning Time stamped DR Sensor Data EGNOS Data Collection & Translation EGNOS Receiver L1 GPS Receiver EGNOS/PVT Computation Hybrid Position Computation DR Sensors L1/L2 GPS Receiver Raw data EGNOS Messages Geosat Data Flow Precise relative & absolute Position, + Error PVT, Integrity, Sat PV, UERE Processed Data Sensor Data Sensor Module Hybrid PVT + EMAP Computation Alcatel L3L1 L2 1 1 1 L1 Physical Interface Logical Interface L5 2b 3 L4 2c LCPC (Livic) LCPC (SMI) UTC DLR Alcatel Office (Toulouse) L7 Sensors Computation Module within POMA 1 Time Stamp PPS Sync SAPOS Module 2c L4aL1 Internet access Optional local Reference Data 4 Map Matching L14 (PVT = Position, Velocity, Time) L4b Router PC Host PC Map Data Hybrid PVT, Errors Pos.rel. to Map 5 6 L6 Hybrid PVT, Integrity, Errors Position rel. to Map, Confidence PPS sync. GPS Time L5L8 L7 L9 L11 Time Stamp Infrastructure based positioning modules (WLAN, WSN) Infrastructure based positioning L11 Emap Data

26. 26 Berlin, 2008-12-10Cooperative systems workshop Emap-matching: a unique process for positioning and accurate map-matching GNSS sensor Proprioceptive sensor 1 Proprioceptive sensor 2 Sensor data fusion X, Y, Z, V… D d  /dt  H You are here, on this segment, at this abscissa !... Digital road database Map-matching Position on the map Relevant attributes of the road segment You are here !...

27. 27 Berlin, 2008-12-10Cooperative systems workshop Emap-matching: a unique process for positioning and accurate map-matching GNSS sensor Proprioceptive sensor 1 Proprioceptive sensor 2 Sensor data fusion and map-matching D d  /dt Enhanced digital road database: Emap on this lane You are here, on this segment, at this abscissa, on this lane !... Position on the map Relevant attributes of the road segment X, Y, Z, V…

28. 28 Berlin, 2008-12-10Cooperative systems workshop Emap-matching: particle filter using map constraints Particle generation State propagation model Correction 1: geometrical and topological constraints EGNOS measurement Segment m Corrected estimated state Corrected particle set Composite state vector: Correction2: weights modification DR measurements

29. Conclusion

30. 30 Berlin, 2008-12-10Cooperative systems workshop Conclusion ModuleStatus EGNOS inside RT final version operational, under evaluation Hybrid positioning RT final version operational, under evaluation Map-matching RT final version operational, under evaluation WLAN positioning Lab prototype OK RT version under development and integration Emap-matching Off-line Matlab prototype OK RT version under development and integration 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 ???

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