Validation of Automotive GNSS Sensors with Aerial Imagery

Abstract

A new method for processes of calibration, validation and testing in the context of certification of automotive-grade GNSS receivers addressing the SAE-L3/SAE-L4 of automation under realworld conditions is presented. The method uses simultaneously acquired high-resolution aerialimages from a test vehicle which are precisely georeferenced with GCPs. The method generates a ground-reference trajectory of vehicles, which can be compared to the measured trajectory of the GNSS devices. For validation of the method, a test campaign was performed in Munich and surroundings. It was investigated how the quality of the GNSS sensors of the vehicle is influenced by the environment (Rural/Highway/Urban) and what added value the method provides. The method proved to be resilient and robust to situations when the GNSS accuracy degrades, even when RTK-GNSS-corrections are used, as local effects do not impact the method. The method provides high-precision (10cm) reference trajectories facilitating the calibration, validation, and testing of GNSS receivers.