cooperative high accuracy location (c-halo), benefit-cost study, nationwide, its focus, 2011, uc...

INSTITUTE OF TRANSPORTATION STUDIES UNIVERSITY OF CALIFORNIA, BERKELEY High Accuracy Location Based Services Cost Benefit Study: Final Report Adam Goodliss Christian Manasseh Venkatesan Ekambaram Raja Sengupta

Adib Kanafani Kannan Ramchandran Research Report UCB-ITS-WP-2010-1

March 2011

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SKYTEL note: ATLIS Wireless, the operats support LLC for Skybridge Spectrum Foundation and supporting LLCs in large part funded and intiated this report. This is labelled "final" but accordiing to the authors to SkyTel, some adjustments and further peer review are still taking place (as of 5.10.2011).

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ATLIS Wireless LLC is the operations support company for: Skybridge Spectrum Foundation, Telelsaurus Holdings GB LLC, Intelligent Transportation & Monitoring Wireless LLC, V2G LLC, Environmentel LLC, and Verde Systems LLC of Berkeley California (together sometimes called "SKYTEL" such as on Scribd).

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Adjustments in text above may be made (SkyTel suggest) with regard to adverse affects of RF multipath, even where sufficient satellite view is available. Highly reliable and decimeter(s) level accuracy in urban core environments will require multiple GPS-GNSS augmentation methods, it appeas. Even when the quality of service may be achieved by ordinary operation of GNSS plus certain augmentation, for the most critical safety and flow purposes, redudancy is highly desirable. SkyTel believes that for C-HALO in urban core areas for accuracy (and everywhere for redundancy) for critical ITS, GPS-GNSS augmentation is likely to need: (1) N-RTK natiowide, as the foundation. (Even where other wide area augmentation is possible now, and perhaps less expensive initially, N-RTK is more accurate and the combine benefits will justify the increased accuracy and redundancy. Like increased data bandwitdh is most always quickely put to use and justified, similarly, increased locartion accuracy will likely also be quickly used and cost justified. Both are "game changes" in fundamental industry and society. (2) Further augumentation with one or more of: (a) Ultra Wide Band, (b) INS and (c) on-road markers, on-vehicle lidar and sensing, (d) Meteor Burst Communications precising timing and location techniques (not yet proven, but core components demonstratred), and (e) vehicle to vehicle cooperation in improving and checking accuracy, where the vehicles with best accuracy correct others, and each can determine relative position of others (e.g., see http://www.scribd.com/doc/45875691/Distributed-High-Accuracy-Peer-To-Peer-Localization-in-Mobile-Multipath-Environments-Kannan-Venky-UC-Berkeley . ,

warrenhavens

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Accuracy Requirements% Transmission% Min

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Units%(Y/N)% (Y/N)% (m)% (Event/Periodic)% (Hz)% (msec)% (m)%

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Stop Sign Violation Warning" Y" Y" 1" P" 10" 100" 250"

Curve Speed Warning*" Y" Y" 1" P" 1" 1000" 200"

Emergency Electronic Brake Lights*" Y" Y" 1" E" 10" 100" 300"

Adv. Warning Info/Weather & Road Conditions"

" " " " " " "

Approaching Emergency Vehicle Warning" Y" Y" 5" E" 1" 1000" 1000"

Emergency Vehicle Signal Preemption" Y" Y" 5" E" N/A" 1000" 1000"

SOS Services"Y" Y" 25" E" 1" 1000" 400"

Post-Crash Warning" Y" Y" 1" E" 1" 500" 300"

In-Vehicle Signage" Y" Y" 5" P" 1" 1000" 200"

Work Zone Warning" Y" N" N/A" P" 1" 1000" 300"

In-Vehicle Amber Alert" Y" N" N/A" E" 1" 1000" 250"

Safety Recall Notice" Y" N" N/A" E" N/A" 5000" 400"

JIT Repair Notification" N" N" N/A" E" N/A" N/A" 400"

Low Parking Structure Warning" Y" Y" 5" P" 1" 1000" 100"

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Location Services

Necessary%



Required Range%


Wrong Way Driver Warning" Y" Y" 1" P" 10" 100" 500"

Low Bridge Warning" Y" Y" 5" P" 1" 1000" 300"

V2V Road Feature Notification" Y" Y" 5" E" 2" 500" 400"

Cooperative Glare Reducation" N" Y" 1" P" 1" 1000" 400"

Instant Messanging" N" N" N/A" E" N/A" 1000" 50"

Vehicle-Based Road Condition Warning" Y" Y" 25" E" 2" 500" 400"

Visibility Enhancer" Y" Y" 1" P" 2" 100" 300"

Road Condition Warning" Y" N" N/A" E" 1" 1000" 200"

Highway Merge Applications" " " " " " " "

Highway Merge Assistant" Y" N" N/A" P" 10" 100" 250"

Intelligent On-Ramp Metering" N" N" N/A" E" 1" 1000" 100"

Blind Merge Warning" Y" N" N/A" P" 10" 100" 200"

Left Turn Assistant*" Y" Y" 1" P" 10" 100" 300"

Stop Sign Movement Assistance*" Y" Y" 1" P" 10" 100" 300"

Pedestrian Crossing Information" Y" Y" 1" P" 10" 100" 200"

Collision Warning Applications" " " " " " " "

Pre-Crash Sensing*" Y" Y" 1" E" 50" 20" 50"

Cooperative Forward Collision Warning*" Y" Y" 1" P" 10" 100" 150"

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Location Services

Necessary%



Required Range%


Cooperative Collision Warning" Y" Y" 1" P" 10" 100" 150"

Highway/Rail Collision Warning" Y" Y" 1" E/P" 1" 1000" 300"

Intersection Collision Warning" Y" Y" 1" P" 10" 100" 300"

Adapative Headlight Aiming" Y" Y" 1" P" 1" 1000" 200"

Adaptive Drivetrain Management" N" Y" 5" P" 1" 1000" 200"

Lane Change Warning*" Y" Y" 1" P" 10" 100" 150"

Blind Spot Warning" Y" Y" 1" P" 10" 100" 150"

Corridor Management" " " " " " " "

Cooperative Vehicle-Highway Automation System"

Y" Y" 5" P" 50" 20" 100"

Cooperative Adaptive Cruise Control" Y" Y" 5" P" 10" 100" 250"

Intelligent Traffic Flow Control" N" Y" 5" E" 1" 1000" 250"

Free-Flow Tolling"N" Y" 1" E" N/A" 50" 50"

Private Applications" " " " " " " "

Enhanced Route Guidance & Navigation" N" Y" 1" E" N/A" 1000" 200"

Point of Interest Notification" N" Y" 5" P" 1" 1000" 400"

Map Downloads & Updates" N" N" N/A" E/P" 1" 1000" 400"

GPS Correction"N" N" N/A" P" 1" 1000" 400"

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(AA&+.53!2!V!E,'1!2'150#15,+!20#5%'! !E>1C%("#E%8>=1.%V'1-'"%-#%5.>E%9##.C1++R% Adam, my answers to your questions below are in Red David J. Beiter, PE /SIT, Transportation Engineer 2 ODOT Office of Aerial Engineering and Surveying 1602 West Broad St, Columbus, Ohio 43223 Voice: (614)-275-1372 FAX: (614)-275-1673 e-mail: [email protected] Adam Goodliss <[email protected]> 10/20/2010 11:59 AM

To <[email protected]> cc Subject Re: RTK/CORS Network Cost Information UC Berkeley Research

Dave, Thanks so much for getting back to me. I just want to clarify what you wrote to make sure I understand you correctly, and then ask a couple questions to follow up. From your summary, I understand the base towers cost ~$2K fully loaded (installation, crew, fixed cost, etc.) and the mount cost fully loaded, if put on a building, cost $500. This does not include the receiver or antenna. The $2k and $500.00 cost detailed was for materials only, labor costs are not figured in Follow up questions: Are there any estimated maintenance costs of such a system? Are the on a per tower basis? Maintenance is a fairly low cost, the only "normal" maint items are the battery back-ups that are replaced every 2 yrs approx

$150.00 / station. Am I correct in assuming that the receiver is what is used by the end user? The end user is therefore responsible

for the cost of this equipment and any data plan necessary. For the rovers, yes. Each base (CORS) has a GPS receiver and antenna, and yes the end users are required to pay for their own data plan.

What is the antenna’s purpose? Are those the responsibility of the end user or the DOT? The antenna is the device that collects the GPS signal, each CORS has one. These are the responsibility of the DOT

Do you have any range of costs for receivers and antennas? I am assuming the range may be significant depending on what brand and function it is meant to serve. A high end GNSS receiver and antenna (Geodetic Grade) (Like what we have on our stations) will run around $18k

How many users are on your system currently? How long has it been operational? Is there an industry (agriculture, construction, etc.) that dominates the network? We currently have 964 users on our system. It has been operational since 2004. Our users are, in order of prevalence : Surveyors, Agricultural, GIS users, Construction machine control. Surveyors are, right now our biggest users but the Ag market has come on strong in that last few years and I expect it to be our biggest user in the near future.

Adam, if you have any further questions, or need clarification, just let me know or give me a call Thanks DJB

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Again, thanks for the timely response. Look forward to hearing from you soon. Cheers, Adam On 10/18/10 5:29 AM, "[email protected]" <[email protected]> wrote: We built our Trimble VRS network completely in house, the Concrete monuments with foundations extending down at least 10' at 3' diameter cost us approximately $2000.00 each in materials, with a three man crew for 3 partial days. Our building mount stations cost about $500.00 in materials and only took us 1 day to complete with the 3 man crew. Please note that these costs do not include the receiver or antenna. If you need anything else, let me know Thanks DJB David J. Beiter, PE /SIT, VRS/CORS system Manager ODOT Office of Aerial Engineering and Surveying 1602 West Broad St, Columbus, Ohio 43223 Voice: (614)-275-1372 FAX: (614)-275-1673 e-mail: [email protected] Adam Goodliss <[email protected]> 10/14/2010 07:29 PM To Adam Goodliss <[email protected]>

Subject: RTK/CORS Network Cost Information - UC Berkeley Research

Hello, My name is Adam Goodliss and I am currently a graduate student, in transportation engineering, at the University of California, Berkeley. I have been working on a research project revolving around analyzing the costs and benefits of high accuracy location data with regards to intelligent transportation systems. You can find more information at this website, http://ucbchalo.wordpress.com/ <http://ucbchalo.wordpress.com/> . I have contacted you specifically due to your involvement with CORS/RTK networks. As part of our research we are looking into N-RTK solutions among others. I was wondering if you had additional cost details (most not available on your website) from an infrastructure/maintenance point of view, ie. the cost of a tower, installation cost, etc. Ultimately, I want to estimate the cost of implementing N-RTK networks of differing sizes and possibly on a national scale.

I also realize that you could have possibly worked with Trimble or Leica Geosystems so if they would be more suited to deal with this type of question please advise accordingly. If you do not have this information, but know someone within your organization that does I would greatly appreciate being put in touch with them.

Thanks in advance, and if you have additional questions please do not hesitate to be in touch via email or at 781.888.8033. -Adam

!E>1C%("#E%;-'='%Z1CC12>)%-#%5.>E%9##.C1++R% Adam, The Iowa network cost approximately $1.70 million, and it consists of 80 reference stations. Each reference station cost approximately $21,250 which included installation.

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In the first 1.75 years of operation it cost approximately $60,000 for equipment repairs and replacements due to lightning/power surges. Software and firmware upgrades run approximately $80,000/year. Let me know if you need any additional information. Regards, Steve Milligan Statewide RTN Coordinator 515-239-1981 515-290-2831 cell

From: Adam Goodliss <[email protected]> To: Milligan, Steven [DOT] Sent: Fri Oct 15 12:21:08 2010 Subject: Re: RTK/CORS Network Cost Information - UC Berkeley Research Steve, Thanks for the timely response. I appreciate any information you are able to share with me. -Adam On 10/15/10 6:47 AM, "Milligan, Steven [DOT]" <[email protected]> wrote:

Adam, I'm not in the office today, but I will get this information together and send it to you. Steve Milligan Statewide RTN Coordinator 515-239-1981 515-290-2831 cell

From: Adam Goodliss <[email protected]> To: Adam Goodliss <[email protected]> Sent: Thu Oct 14 18:19:09 2010 Subject: RTK/CORS Network Cost Information - UC Berkeley Research Hello, My name is Adam Goodliss and I am currently a graduate student, in transportation engineering, at the University of California, Berkeley. I have been working on a research project revolving around analyzing the costs and benefits of

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high accuracy location data with regards to intelligent transportation systems. You can find more information at this website, http://ucbchalo.wordpress.com/. I have contacted you specifically due to your involvement with CORS/RTK networks. As part of our research we are looking into N-RTK solutions among others. I was wondering if you had additional cost details (most not available on your website) from an infrastructure/maintenance point of view, ie. the cost of a tower, installation cost, etc. Ultimately, I want to estimate the cost of implementing N-RTK networks of differing sizes and possibly on a national scale. I also realize that you could have possibly worked with Trimble or Leica Geosystems so if they would be more suited to deal with this type of question please advise accordingly. If you do not have this information, but know someone within your organization that does I would greatly appreciate being put in touch with them. Thanks in advance, and if you have additional questions please do not hesitate to be in touch via email or at 781.888.8033. -Adam

cooperative high accuracy location (c-halo), benefit-cost study, nationwide, its focus, 2011, uc...

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