Evaluating GNSS Navigation Availability in 3-D Mapped Urban Environments

This research project aims to achieve a future urban environment where people and self-driving cars coexist together while guaranteeing safety. To modify the environment, our first approach is to understand the limitations of GPS/GNSS positioning in an urban area where signal blockages and reflections make positioning difficult. For the evaluation process, we assume reasonable integrity requirements and calculate navigation availability along a sample Chicago urban corridor (State Street). We reject all non-line-of-sight (NLOS) that are blocked and reflected using a 3-D map. The availability of GPS-only positioning is determined to be less than 10% at most locations. Using four full GNSS constellations, availability improves significantly but is still lower than 80 % at certain points. The results establish the need for integration with other navigation sensors, such as inertial navigation systems (INS) and Lidar, to ensure integrity. The analysis methods introduced will form the basis to determine performance requirements for these additional sensors.