Infrastructure for Instantaneous Precise PositioningTodd Humphreys, Ken Pesyna, Daniel Shepard, Matthew Murrian, Collin Gonzalez, Tom NovlanDepartment of Aerospace Engineering and Engineering Mechanics, The University of Texas at AustinRadiosense LLC, Samsung Research AmericaD-STOP Smart Cities Symposium | April 1, 2016

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Solving the vehicle location problem is essential to ADAS (e.g., lane keeping) and fully automated cars

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AccurateReliableSecureEconomicalIts not easy: a vehicles location solution must be

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A ccurateR eliableS ecureE conomicalIts not easy: a vehicles location solution must be

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Instructive Comparison: UAV Carrier Landing

Reliable: Location solution only allowed to be unavailable once every 500k approaches in all weather conditions

Teslas location solution: far from reliable

Autopilot v7.1 fuses radar, camera, and acoustic sensors. If lane markings are covered by snow, autopilot follows car ahead, a risky proposition.

Googles location reliability much better

Google approach: locate vehicle within hand-curated 3D prior map based primarily on LIDAR

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Vision/LIDAR sensors and precise GNSS have different failure modes

featureless or periodic landscapesdense fog/dustlaser jammingheavy rainmultipath in urban environmentGNSS signal jammingVisionGNSSsignal blockagein urban canyonwhiteoutconditionssun blinding

Standard GPS/GNSS not accurate enough for lane keeping

Urmson (SXSW 2016)

Centimeter Accurate

Carrier Phase Differential GNSS Positioning

Dec. 2014: First successful RTK positioning solution with a smartphone antenna

Handheld RTK result with some signals passing through Kens body

Q: How close must reference station(s) be to ensure high-reliability instantaneous sub-decimeter positioning?

Corrections uncertainty is a highly nonlinear function of density. Floor due to multipath at mobile device reached only with < 20km inter-station distance.Empirical data drawn from 23 stations in existing high-density public reference network in California

UT-Samsung dense GNSS reference network in Austin, Texas, with site hosting courtesy of TxDOT

UT-Samsung dense GNSS reference network in Austin, Texas, with site hosting courtesy of TxDOT

UT-Samsung dense GNSS reference network in Austin, Texas, with site hosting courtesy of TxDOT

New types of Advanced Driver Assistance Systems (ADAS) Enabled by Precise Vehicle Positioning:Augmented reality windshieldAll-weather last moment lane keeping

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All-weather last-moment lane keeping: a virtual rumble strip and guard rail. Dual goals: (1) prevent road departure, (2) keep driver engaged

13 February 2016: 50-veh. pileup in Pennsylvania caused by snow squall

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Disruption of the RTK-Capable RX Market~$13k

~$600

~$500

~$150