Integrity in Multimodal Transport Applicationsguide-gnss.net/contenuguide/uploads/2015/07/... · Integrity in Multimodal Transport Applications Standards are on the Way . ... automated

Integrity in Multimodal Transport Applications

Standards are on the Way

An Appealing and catalyst Market…

08/07/2015 Ref.: 2

LBS & Multimodal : A Huge Market…

Source: GSA, GNSS Market report, Issue 4 Source: GSA, Bergh Insight

Also a driving market for other

applications

Drive the chipset manufacturer, And tomorrow Mass market chipsets may be the source for other applications

Appealing market, but still issues to solve…

08/07/2015 Ref.: 3

Dense Urban Environments

Indoor

Light coverage • Needs a high sensitivity receivers, since the signal is attenuated

• Causes a lot of troubles:

•Blocking situations : Not enough satellites received

•Multipath causing accuracy problems and also integrity problem when needed

•Attenuation problems

•Attenuated signals

•Interfered signals

• Blocking, sensitivity and multipath issues

Integration…

• To address these applications, needs to integrate a positioning system into a device….

•Hiden antenna, and poor antenna gain

•Interferences, ….

Larg

e v

arie

ty o

f e

nvi

ron

me

nts

Same performances, Integrated in a device

Smal

l D

evic

e

Not Only an issue of propagation…

08/07/2015 Ref.: 4

Interferences : A major threat for critical applications

Spoofing : Situation is even worse…

Integrity is a must… for applications development

08/07/2015 Ref.: 5

Integrity, Relaibility The key assets for Road applications booming

Smart Integrity

Signal distorsion detection

(Correlation, CCC)

Multi Sensors Fusion

PVT techniques(RAIM-Like)

AGNSS Server (SLP/GMLC)

Road

LBS Tomorrow

Billing in LBS…

Location based charging

A large variety of applications

08/07/2015 Ref.: 6

Various applications….And various needs…

Emergency Services Car Accident Reconstruction

Fleet & goods Management

ADAS C-ITS

RUC PAYD

Not a single “Position” Integrity need…

The QoS is considered through an overall

approach…

08/07/2015 Ref.: 7

From the receiver to the application

…Supported by needed Test bed to assess new concepts validity

It needs second standardization process…

08/07/2015 Ref.: 8

GNSS chipset

Positioning Terminal

Localization System

The Solution can not rest only a mere GNSS receiver, but shall be

integrated in a whole localization system

Application

Why do we need Standards?

08/07/2015 Ref.: 9

Chipsets market is driven by

LBS,

Very efficient and integrated

chipset,

but closed…

Large Variety of applications,

Requiring to get access to low

layer interface

AB

I Res

earc

h 2

01

0

A Gap in very strong

standardisation area

From LBS to Aviation

A huge markets that could benefits from accessing low layers interfaces to build ad hoc

solutions, with specific needs…

A new standards

Group created

ETSI, TC-

SES/SCN (Sat. Navigation and

Communication)

• Objective:

• Standardise a location system (Features, interfaces and performances),

including hybrid positioning devices

• Place GNSS at the centre of the system

• Define needs and technologies for multi modal applications

• Standards developed under TC-SES/SCN can be seen as a basis for other groups

TC-SESGNSS Technology Standards

TC-SESGNSS MOPS

A new GNSS-oriented standardisation group created at ETSI and in CEN TC5 WG1

With consistence towards other

standardisation bodies

The overall methodology

08/07/2015 Ref.: 11

Identification of features to be standardized

Standardization of the

architecture of a reference

location system

Standardization of the minimum

performances and associated Tests

procedures

Standardization of the logical

interfaces between sensors

•Reinforced standards location performances

• Availability (Indoor)

• Accuracy

•Integrity

• Even in bad reception conditions

•Spoofing detection

• Detect spoofing on open signals

•Interference and Jamming robustness

•Architecture definition

• - Define the reference architecture to provide/implement the identified features

• Multi-sensor architecture

• GNSS

• Inertial sensors

• Networks elements

• …

•Define the minimum required performances for each of the identified architecture

• Define a set of conditions

• Define the associated performances

•Define the test procedures for the whole location system

• For each feature, based on the defined architecture

•Define the interfaces between sensors

• Allows to build system based on open building blocks

•Define/propose protocol specification on AM interface

Publication of

TR 101 593 (10/2012)

Addressed by Mutlipart

TS 103 246

Example of compatible implementation : A wide

range of technologies Type of application End user Location system Application module Value added service

Road charging State / Minitries of

transports

fleet of On-Board Units, equipped with positioning module, distributed over

the target road users.

Billing server collecting OBU positions and

building billing information

Possibility to apply road charges with no infrastructure.

Car navigation Driver Positioning (using GNSS,

inertial and odometer measurements)

Navigation application, providing guidance

visualization to driver Road navigation

Precision farming Farmers Distributed RTK solution,

with reference station and positioning modules, PPP

Harvest scheduling application, providence

guidance signal to automated farming

vehicles

Autonomous and efficient harvesting

Ride sharing Carsharing aficionados

Fleet of On-Board Units, equipped with positioning module, distributed over

participating cars.

Car sharing application collecting OBU positions and building appropriate

scheduling

Possibility to achieve simple and efficient car

sharing

Transaction synchronization

Trading company

GNSS sensors restituting GNSS time for single time

reference

Stock exchange trading application, using

provided GNSS time as time reference.

Global synchronization of assets worldwide.

House arrest monitoring Penitentiary authorities

Monitoring wristlet, reporting position when

prisoner steps out of constrained area

Central server collecting alarms reported by

wristlets

House arrest remote monitoring means

Integrity

High Accuracy

(PPP)

Indoor

Timing

Need from ETSI TC-SES group

• Positioning in Terrestrial applications – Need for improved performance

– Growing use of complex systems, multi-sensors

– GNSS Hybridization needed

• Standardization work aimed by TSG

– Define a location system standard, complying with a wide range of technical domains, in particular those not benefiting from an extensive standard

– Create location system minimum performance standard, architecture dictionary and test standards, available to market actors and other std bodie

• Already achieved – Definition of GNSS-based Location System architecture

Standardisation Overall approach

08/07/2015 Ref.: 14

• Work flow formalized through 5 Work Items

Standardization of GNSS-Based Location Systems (GBLS) • DTS/SES-00368 : Location system Functional Requirements TS 103 246 part 1

• DTS/SES-00331 : Reference architecture TS 103 246 part 2

• DTS/SES-00332 : Minimum performance requirements TS 103 246 part 3

• DTS/SES-00348 : Data exchange protocols TS 103 246 part 4

• DTS/SES-00349 : Test specifications TS 103 246 part 5

Part 1 Functional

Requirements

Part 2 Reference

Architecture

Part 3 Performance

Requirements

Part 4 Data exchange

Protocols

Part 5 Performance Test

Specification

To be approved before end 2015

Overall architecture (Level 2 architecture - 103 246 )

08/07/2015 Ref.: 15

GBLS Reference Architecture

• From functional requirements

• Defines GBLS logical architecture composed of:

– Positioning module:

• Sensor management

• Localization module

• I/F to Application

– Central Facility (optional):

• Central management

• I/F to Application

TS Part 2 available at: http://www.etsi.org/deliver/etsi_ts/103200_103299/10324602/01.01.01_60/ts_10324602v010101p.pdf

Overall architecture (Level 3 Architecture – TS 103 246 )

08/07/2015 Ref.: 16

A multi sensors architecture, and complex hybridization layers

Data Exchange Protocol (TS 103 248)

GBLS Data Exchange Protocol

Identification and definition of

needed information to be

exchanged to enable location

related-data computation

For both internal interfaces

(“core” interface), and external

interface (towards external

application module)

Propose a non-mandatory

protocol description at logical

level (OSI “application” layer, #7)

External

Interface

Internal

Interface

Performance Requirements - TS 103 246

08/07/2015 Ref.: 18

Environments & Use cases

Set of reference performances

Horizontal Accuracy

Vertical Accuracy

Availability of required accuracy

Precise GNSS time restitution

Time-to-first-fix

Position Authentication

Interference Localization

Robustness to Interference

GNSS denied survival

GNSS Sensitivity

Position Integrity Protection Level

Position Integrity Time-to-Alert (TTA)

Environment type

Open area

Rural area

Suburban

Urban

Asymmetric area

Industrial area

Static

Dynamic

Considering also Failures, & external threats

Multipath conditions

• Extension of 3GPP specifications (TS 34.172) • With various levels of MP

Environments definition : Overall approach

08/07/2015 Ref.: 19

Initial relative Delay [m]

Carrier Doppler frequency of tap [Hz]

Code Doppler frequency of tap [Hz]

Relative mean Power [dB]

0 Fd Fd / N 0

X Fd - 0.1 (Fd-0.1) /N Y

NOTE: Discrete Doppler frequency is used for each tap.

Masking conditions

Define sky conditions All along a trajectory

Interference conditions

Define interferences level, And types of interferences

Spoofing Conditions

Only threats already described in literacy…

Masking Conditions

08/07/2015 Ref.: 20

Open Skyplot

Ligth Masking

Dense Masking

Urban Canyon

Asymetric Visibility

Blocking

Covered Area, GNSS+Telco Cut-off zone Perfo req. applicable

Multipath conditions

08/07/2015 Ref.: 21

• Simple model, identical to 3GPP one

– To tests GNSS behavior with respect to specific threats

– With various delays depending on the constellation, signals

Initial relative Delay [m]

Carrier Doppler frequency of tap

[Hz]

Code Doppler frequency of tap

[Hz]

Relative mean Power [dB]

0 Fd Fd / N 0

X Fd - 0.1 (Fd-0.1) /N Y

NOTE: Discrete Doppler frequency is used for each tap.

Multipath level Low Med High

System Signals X [m] Y [dB] Y [dB] Y [dB]

Galileo

E1 125 [tbd] -4.5 [tbd]

E5a 15 [tbd] -6 [tbd]

E5b 15 [tbd] -6 [tbd]

GPS/Modernized GPS

L1 C/A 150 [tbd] -6 [tbd]

L1C 125 [tbd] -4.5 [tbd]

L2C 150 [tbd] -6 [tbd]

L5 15 [tbd] -6 [tbd]

GLONASS G1 275 [tbd] -12.5 [tbd]

G2 275 [tbd] -12.5 [tbd]

Interference conditions

08/07/2015 Ref.: 22

EMI level NI

Low -200 dBW/Hz

Medium -195 dBW/Hz

High -185 dBW/Hz

Several types of Interferences

Pulsed Interference Continuous Interference

Wide Band Narrow band Chirp White Noise CW

Several levels

Use cases depending on environment type

08/07/2015 Ref.: 23

Operational environment

type

Masking conditions Multipath Level

Interference level

Magnetic conditions

Telco beacons distribution

Polar plot Zone Atten

Open Area Open sky

x1 0 dB

Null Null Nominal Rural

distribution x2 [tbd]

(total)

Rural Area Light masking

x1 0 dB

Low Low Nominal Rural

distribution x2 Total

x3 10 dB

Suburban Area Dense

masking

x1 0 dB

Medium Low Nominal Suburban

distribution x2 Total

x3 Total

Urban Area Urban Canyon x1 0 dB

High Medium Degraded Urban

distribution x2 Total

Asymmetric

Area

Asymmetric

visibility

x1 15 dB

High Medium Degraded Urban

distribution x2 Total

x3 Total

Industrial Area Dense

masking

x1 0 dB

High High Degraded Suburban

distribution x2 Total

x3 Total

Spoofing Conditions

08/07/2015 Ref.: 24

Only literacy-based spoofing risk taken into account

1. Direct spoofed GNSS signal introduction 2. Shadowed spoofed GNSS signal

introduction

1. Erroneous PSR measurement; 2. Erroneous time estimates; 3. Erroneous estimates of the position (for

both static of moving scenario).

Several types of attacks

Spoofing Testing

08/07/2015 Ref.: 25

Moving terminal

Several use cases…

Scenario identifier

Attack class

Number of spoofed

PRNs

TSP range (dBW)

Misleading information

category

Error model Model value

range

M-1 Shadow All(1) [-144.5 -140.5] Estimated Time Ramp [2-20] ns/s(2)

M-2 Shadow 4 [-148.5 -144.5] PSR measurement Ramp [3.5-6.5] m/s

M-3 Shadow 4 [-148.5 -144.5] Estimated Position Ramp [1-7.5] m/s(2)

M-4 Direct 4 to 12(3) [-142.5 -137.7] Estimated Time step

function [5-60] s

M-5 Direct 4 to 12(3) [-142.5 -137.7] Estimated Position step

function [0.1-10] km

Conclusion

• A new positioning standardization initiative has been pushed forward based on

– The EC M/496 mandate

– An industrial momentum

• It covers

– multimodal applications

– Multi-sensors devices with a GNSS core (GNSS based positioning terminals)

• It targets to

– Define the interfaces between sensors to ease proprietary positioning engine development

– Define new type of performances for such devices (Integrity, spoofing detection, etc…)

– Define minimum performances for each type of applications, depending on various classes of sensors

– Define a tests suite for GNSS based positioning terminals

• The work done aims at being coordinated with other groups (3GPP, OMA, CEN/CENELEC, etc…)

Rel-1 will be frozen in Q4 2015 Everybody is invited to contribute at ETSI

Backup

08/07/2015

A critical Application : Ecotaxe

08/07/2015 Ref.: 28

• An already operational solution

– GNSS RUC Solution of TAS applied to the

French Ecotaxe project

– Mastering the performance of the

complete collect chain

– Supported by a strong standardization

activity

A critical Application : Ecotaxe, based on full

hybridized solution

08/07/2015 Ref.: 29

• TAS already develops GNSS-based hybrid location systems demonstrating that GNSS can meet the expectations, provided a specific technological know-how.

High availability

Integrity or Confidence level even in dense urban environments

Built-in Spoofing detection

Interference mitigation and localisation

Solution based on deep hybridisation scheme,

Provides Integrity indicators

Technological trend: illustration (Cont’d)

15/03/2012

Confidence level supplied with hybridization and appropriate algorithms.

Spoofing detection, see ION 2011, Authentication of GNSS Position: An Assessment of Spoofing Detection Methods, Y. Bardout, TAS-F