Ground Vehicle Navigation Integrity Monitoring for Multi-Constellation GNSS Fused with Cellular Signals of Opportunity

Integrity monitoring of a ground vehicle navigation system, utilizing multi-constellation global navigation satellite systems (GNSS) signals fused with ambient cellular signals of opportunity (SOPs) is considered. An advanced receiver autonomous integrity monitoring (ARAIM) framework is developed to detect and exclude multipath and non-line-of-sight errors. A method to conservatively predict the horizontal protection level (HPL) is proposed, utilizing ray-tracing and channel impulse response prediction in a three-dimensional (3D) building map of the environment. Simulation results are presented demonstrating the conservatively predicted HPL with different signals (GPS-only, GPS
$+\mathbf{GLONASS},\mathbf { GPS+SOP }$
, and
$\mathbf{GPS}+\mathbf{GLONASS}+\mathbf{SOP})$
. Experimental results are presented for a ground vehicle navigating a trajectory of 1380 m in an urban environment, showing the availability rates for GPS-only,
$\mathbf{GPS} +\mathbf{GLONASS},\mathbf{GPS}+\mathbf{SOP}$
, and
$\mathbf{GPS} +\mathbf{GLONASS}+\mathbf{SOP}$
being 52.53%, 75.66%, 76.87%, and 80.72%, respectively.