A Comparative Experimental Performance Assessment of RTK+OSNMA-Based Positioning for Road Vehicle Applications

To realize the societal need for greener, safer, and smarter mobility, ambitious technical challenges need to be addressed. With this aim, the H2020EU project ESRIUM investigates various aspects of highly accurate, reliable, and assured EGNSS localization information for road vehicles with a particular focus on automated vehicles. To analyze the achievable accuracy, reliability, and availability of multifrequency and multiGNSS massmarket receivers, we have conducted test drives under different GNSS reception conditions. In the tests, special focus was placed on using the Galileo Open Service Navigation Message Authentication (OSNMA) service, offering an additional feature for assured PVT (position, velocity, and time) information with respect to spoofing. We analyzed the performance of three Septentrio MosaicX5 receivers operated with different OSNMA settings. It could be shown that strict use of OSNMA provides very good positioning accuracy as long as sufficient suitable satellites are available. However, the overall performance suffers from a reduced satellite number and is therefore limited. The performance of a receiver using authenticated Galileo with GPS signals (final status of Galileo OSNMA) is very good for a massmarket receiver: 92.55% of the solutions had a 2D position error below 20 cm during 8.5 h of driving through different environments.