Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous vehicles based on first principles. We begin with the safety integrity level, defining the allowable probability of failure per hour of operation based on desired improvements on road safety today. This draws comparisons with the localization integrity levels required in aviation and rail where similar numbers are derived at 10 -8 probability of failure per hour of operation. We then define the geometry of the problem, where the aim is to maintain knowledge that the vehicle is within its lane and to determine what road level it is on. Longitudinal, lateral, and vertical localization error bounds (alert limits) and 95% accuracy requirements are derived based on US road geometry standards (lane width, curvature, and vertical clearance) and allowable vehicle dimensions. For passenger vehicles operating on freeway roads, the result is a required lateral error bound of 0.57 m (0.20 m, 95%), a longitudinal bound of 1.40 m (0.48 m, 95%), a vertical bound of 1.30 m (0.43 m, 95%), and an attitude bound in each direction of 1.50 deg (0.51 deg, 95%). On local streets, the road geometry makes requirements more stringent where lateral and longitudinal error bounds of 0.29 m (0.10 m, 95%) are needed with an orientation requirement of 0.50 deg (0.17 deg, 95%).
He received his Ph.D. from Stanford in 1993 and has worked extensively on the Wide Area Augmentation System (WAAS). He has received the Thurlow and Kepler awards from the Institute of Navigation (ION). In addition, he is a fellow of the ION and has served as its president.
There has been resurgent interest in building low Earth orbiting (LEO) constellations of satellites on a new scale. Their aim is Internet for the world with plans for potentially thousands of satellites. Here, we explore how these LEO constellations can be utilized for navigation. Closer to Earth, LEO offers stronger signals, strengthening us against jamming and aiding in indoor and urban environments. Proximity is also its weakness, where satellites have a small Earth footprint requiring many to provide global coverage. We show that the strength of the Broadband LEO constellations is their numbers, where they offer threefold improvement in satellite geometry compared to navigation core-constellations today. This allows for relaxation of the signal-in-space user range error, while still matching the position accuracy of GPS. Coupled with the more benign radiation environment in LEO compared to GPS in medium Earth orbit, this enables a navigation payload designed using commercial-off-the-shelf components.
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