Cooperative Positioning for Urban Environments based on GNSS and IEEE 802.11p

Future positioning systems for automated driving rely on high accuracy and integrity which need to be ensured not only for rural environments but rather for urban scenarios. Current absolute positioning methods based on Global Navigation Satellite System (GNSS) only do not meet the required accuracies for automated driving. This paper therefore discusses multi-step approaches from Single Positioning to Cooperative Positioning using data from low-cost single-frequency receiver only. For this a self-developed positioning algorithm including Single Positioning and Double Differencing Positioning is integrated. This white-box approach ensures the required adaptivity in terms of positioning by the possibility of weighing or removing single satellite observations depending on the surroundings respectively environment models. Further, a cooperative measurement scenario with two single-frequency receivers was set up. There, a static base station was generating Radio Technical Commission for Maritime Services (RTCM3) correction data that has been transmitted via IEEE 802.11p within a RawITS message out of the ETSI ITS G5 standard for Vehicle-to-Vehicle (V2V) communication. On rover-side the correction data was applied to the positioning solution. All positioning methods are evaluated and compared to a reference solution. The transmission of RTCM3 correction data was realized practically and applied in real-time with an update rate of 1Hz.