Abstract. Highly accurate reference vehicle trajectories are required in the automotive domain e. g. for testing mobile GNSS devices. Common methods used to determine reference trajectories are based on the same working principles as the device under test and suffer from the same underlying error problems. In this paper, a new method to generate reference vehicle trajectories in real-world situations using simultaneously acquired aerial imagery from a helicopter is presented. This method requires independent height information which is coming from a LIDAR DTM and the relative height of the GNSS device. The reference trajectory is then derived by forward intersection of the vehicle position in each image with the DTM. In this context, the influence of all relevant error sources were analysed, like the error from the LIDAR DTM, from the sensor latency, from the semi-automatic matching of the vehicle marking, and from the image orientation. Results show that the presented method provides a tool for creating reference trajectories that is independent of the GNSS reception at the vehicle. Moreover, it can be demonstrated that the proposed method reaches an accuracy level of 10 cm, which is defined as necessary for certification and validation of automotive GNSS devices.
A new method for calibration, validation aiming at certification of GNSS receivers used in the automotive industry addressing the levels 3 and 4 of automation under real world conditions is presented. The method uses simultaneously acquired high-resolution aerial image data, from a helicopter, which is precisely georeferenced with Ground Control Points. The method provides a reference trajectory for vehicles in GNSS critical areas, e.g., GNSS-denied type environments. The images obtained contain the vehicle's roof with the signalized GNSS receiver antenna. Together with a precise height model of the road surface, the absolute position of the GNSS receiver in world coordinates can be derived from the position in the image. The main results of a test campaign, performed in July 2021, using the method are presented. It was investigated how the quality of the GNSS sensors is influenced by the environment (Rural, Highway and Urban) and what added value the method provides. The method proved to be resilient and robust to situations where the GNSS position accuracy degrades, even when RTK is used, as local effects do not impact the new method. The method provides high-precision reference trajectories facilitating calibration, validation, and conformity testing. In this contribution the focus will be set on the validation and testing process leading to certification.
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