GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
GNSS for INnovative road Applications
ITS Europe 2011, Lyon06-09/06/2011
INTRODUCTION
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
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GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
INTRODUCTION (I) GINA: EC funded project through FP7 call 1, coordinated by GSA authorities
GINA: R&D project in the GALILEO applications area building up on the results from previous projects such as ADVANTIS, GIROADS, etc…
GINA key points: Collaborative Project 2 years length 2.2 M€ (~1.3 M€ funded) 12 partners from 7 EU countries
Objetivos proyecto GINA: Context and market Analysis RUC application demonstrator at nationwide scale Disemmination efforts contributing to
GNSS introduction in the electronic payment for infrastructure use
It is intended as another step to bring forward the real use of GNSS systems and EGNOS/GALILEO in the ITS road domain applications.
Methods, definitions and results achieved could lead closer to mass market introduction of these applications in the road domain.
ITS Europe, Lyon (France)
X Congreso ITS España, MadridCompany’s
logo06-09/06/2011 Page 4
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
INTRODUCTION (II) Las bases de una aplicación de EFC/RUC basada en un sistema GNSS serian las siguientes:
GP0
GP1 GP2
GP3
GP4
GP5
1 EFC application geographic extent 2 Charging zones & tariffs definition
Toll
Colle
ctor
Serv
ice P
rovi
der
3 Charging areas detection and distance estimation
1 OBU EFC + VAS
ProtectionLevel
Error
2 Calculo PVT + PLs
ITS Europe, Lyon (France)
FOTs GINA
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
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FOTS GINA Real Implementation of demonstrator for EFC+VAS application based in GNSS technologies
Nationwide scope (The Netherlands) Real users driving in real life situations Performance measured against User real requirements (Dutch ABvM scheme) Several different tests and analyses carried out
Technical, operational and market goals analysis in the different features provided by the system
GNSS based EFC/RUC applications performance demonstration Value Added services (VAS) provision running in the same platform that main EFC module GNSS performance for RUC+VAS applications validation Added value provided by EGNOS (GALILEO) and complementary technologies such as INS (CANBUS),
Integrity provision with respect to GNSS solution GNSS systems evaluation methodology analysis
Descripción de los test a realizar y principales características de los mismos
FOTs Vehicles Length Drivers VAS Reference System CANBUS Analysis Scenarios
End 2 End trials 100 6 months Real Volunteers (ARVAL) Yes No No High Level
features
Different non controlled scenarios
Exhaustive trials 2 4-5 weeks GINA project controlled drives No Yes Yes
Exhaustive GNSS features performance
Project defined
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
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FOTS GOALSExhaustive End 2 End trials
Geo-Objects Detection
GNSS performance
Distance performance
Charging performance
Position Accuracy
Integrity Risk
PLs availability/size
Distance Accuracy
Correct/Incorrect Detection
Distance accuracy effect
Charging accuracy
Charging performance
Charging Integrity
Application performance against ABvM user requirements
Final users feedback with regar to application performance and invoices
OBU peformance evaluation for different Geobjects & scenarios
VAS implementation over an EFC application
Definition methods
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
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FOTS DEFINITION KEY POINTS
E2E tests are focused in high level peformance for an EFC+VAS application based in GNSS technologies Volunteers drive normally with their OBUs installed and check system performance and charging through a web
portal Volunteers feedback used for mass market application viability analysis Raw GNSS and EGNOS enhanced GNSS configuration tested
1. GNSS based OBU 2. Nationwide area 3.Geobjects definition
GNSS challenging routes1. GNSS based OBU 2. GNSS Reference System 4. Geobjects Definition
Exhaustive tests focused in GNSS features performance and user requirements from real tolling scheme. GNSS reference system used for measuring OBU results against well known truth Routes covered defined to present GNSS challenging situations agaisnt known GNSS flaws Geobjects defined present different areas, cordons, segments, etc.. Up to 4 configurations tested :GNSS (G), GNSS+EGNOS (E), GNSS+CANBUS (C), GNSS+CANBUS+EGNOS (A)
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
FOTs RESULTS
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
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RESULTS: DISTANCE/POSITION
Absolute Position Error Relative Travelled Distance Error
Data results show that distance accuracy errors are very low for 50th percentil with values below 0.33% for all the configurations.
Configurations making use of CANBUS odometer shows the best performance with values below 0.05% for 50th percentil and under 0.23% for 95th percentil.
Configurations making use of CANBUS odometer show the best result for all the different scenarios tested, without performance degradation in dense urban environments, with no big contribution to position accuracy as expected
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
X Congreso ITS España, MadridCompany’s
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RESULTS: GEOBJECTS
Defined Alternatie Geobjects present far worse results with regard to Official defined ones
Increased number of non-detected Geobjects events
Over 50% of the distance traveled not computed in these Geobjects
Geobjects definition methodology is a key point for a GNSS based RUC system performance
Narrow Geo-objects segments (<0.5km) considered as alternative against other more in line with road topology in the charging areas were evaluated
“Official” Geobjects were detected with a 100% success rate
0% geo-objects (official and alternatives) wrongly identified
Total missed distance in “official” geobjects below 1.64%
Wrong Distance traveled in these geobjects under 0.1% of the real value del geoobject
Official Geobjects Alternative Geobjects
Variable DefinitionNo-detection
Wrong Geobject Identification
Where GEOOBJECT_X = 0 TRUTH_GEOOBJECT_X = 1 or
Where GEOOBJECT_X = 1 TRUTH_GEOOBJECT_X = 0
Key requirement for a RUC
system
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
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RESULTS: CHARGING PERFORMANCE
2 different methods for distance calculation analysed Distance between 2 consecutive positions for all the geobject and mean value calculation at the end Distance between first position detected in the geobject and
first position after leaving it.
2nd method employed shows better results for undercharing
Overcharging events 0% for the two methods analyzed
Results compliant with user requirements from a real RUC scheme
Configuration
Method C: GPS+CANBUSA: GPS+CANBUS+
EGNOS
G: GPS
E: GPS+
EGNOS
Main -0.74% -0.74%-
0.66%
-0.65%
Alternative -0.57% -0.57%
-0.44%
N/A
Charging Relative Error for the different geobjects and OBU configurations
ABvM requirements compliant!!
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
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RESULTS: MOTORWAY SECTION
Absolue Position Accuracy Error Absoluto HPL size values
Global data analysis was customized for a set of data in GNSS non challenging scenarios to measure EGNOS system performance (using current Civil Aviation defined MOPS)
GNSS+EGNOS configuration performance in this scenario were the best from all the configurations tested with regard to position accuracy. For 95th percentil position accuracy error was <3 meters an <6 meters for the rest.
Horizonal Protection levels (HPL) values for the GNSS+EGNOS configuration provided Integrity with values under 15 meters for the 99th percentil (Integrity risk related set to 3x10e-4)
Charging Errors in the motorway sections were between -0.07% and -0.15% for all the journeys and between 0.21% and 0.38% for the 95th percentil
Relative Charging error
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
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RESULTS: End To End Results
E2E trials data analysis currently not finished, but some preliminary results available
System Performance in normal scenarios show satisfactory results for both GNSS only, and in particular, for GNSS+EGNOS configuration
TTFF, availability or continuity figures, together with HPL values are within accepted margins for an operational system
Final Users feedback and opinion with regard to the system to be added to the final report results sistema
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
CONCLUSIONS
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS
X Congreso ITS España, MadridCompany’s
logoPage 16
CONCLUSIONS There is a current interest from the different public authorities within the EU and from the market in the road
domain with regard to RUC applications introduction in Europe at nationwide level Global Navigation Satellite systems presents great benefits compared to existing technologies for Electronic Toll
collect schemes due to flexibility and low cost for big road networks. But some currently existing GNSS flaws are still hampering the mass introduction. Integrity features provision seems to be most promising way to overcome these weaknesses.
GINA system makes use at its core of the suggested solution architecture, the use of GNSS based on Integrity features provision to be use as user safe against undesirable overcharges
GINA project shows exhaustive analysis of system perfomance through wide scale demonstrations together with results analyses compared between the different tested configurations making use of an advanced GNSS/INS system for increased performance.
GINA makes use of the best definition methodologies available for RUC systems to increase GNSS features performance in terms of system configurations avialable and geobjects definition, that are key points for maximum system performance.
Results from the exhaustive test campaing from Vehicle I clearly shows the trust and viability of using GNSS based system for RUC applications, with the configurations tested stressing the idea of GNSS+INS combined technologies as base of the system. INS (CANBUS) used configurations achieved the best resuts in terms of distance calculation that is the base for the charge to be applied to the users.
The final conclusions from the GINA project are in line with the idea of a RUC application based in a GNSS technology coupled with INS solution, using Integrity provision and odometer for: Different RUC possible schemes both discrete and dynamic Different road environment scenarios such as urban or interurban. No mapmatching techniques or map charts required Thin Low cos OBUs are fitted for the proposed system Minimum performance requirements are met by the system All the different OBU choices are available, thin, thick or smart. Real requirements from defined nationwide schemes such as ABvM from the Netherlands are met by the
system Assesing of the potential benefits and weak points for European GNSS systems in order to make them ready
for European road domain market applications
GINA – GNSS FOR INNOVATIVE ROAD APPLICATIONS: THE ADOPTION OF EGNOS/GALILEO FOR ROAD USER CHARGING AND VALUE ADDED SERVICES FOR THE ROAD SECTOR. TRIALS AND RESULTS ITS Europe, Lyon (France)
06-09/06/2011
Thank You!!
Jose Maria Martin Bobis – [email protected]
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