Enhanced Safety Of Autonomous Driving By Incorporating Terrestrial Signals Of Opportunity

A receiver autonomous integrity monitoring (RAIM)-based frame- work for autonomous ground vehicle (AGV) navigation is developed. This framework aims to incorporate terrestrial signals of opportunity (SOPs) alongside GPS signals to provide tight horizontal protection level (HPL) bounds to enhance the safety of autonomous driving. The performance of the combined GPS-SOP system is analyzed. Simulation results show that the combined GPS-SOP system reduces the HPL significantly from a GPS-only system, particularly in poor user-to-satellite geometry conditions. It is also shown that adding SOPs is more effective in increasing RAIM availability as opposed to adding GNSS satellites. Experimental results show that the GPS-SOP system reduces the HPL by 44.77% from the HPL obtained by GPS-only.