View article

The employment of GNSS for the navigation of autonomous ground vehicles has so far been applied to mining operations in Australia. Autonomous systems enable the development of navigation strategies such as global path-planning and path optimization for vehicle fleets, thereby lowering overall carbon emissions. Furthermore, autonomous ground vehicle operations can significantly improve safety ratings by eliminating human error arising from stress, fatigue and boredom. Widespread use of GNSS-based autonomous vehicles for ground operations is presently hindered by stringent safety regulations. This places strict integrity requirements on GNSS receivers, which must be able to detect GNSS signal errors and faults, and alert the navigation system in a timely manner. An integrity augmentation system is presented in this paper that can detect GNSS error sources and faults, and alert the navigation system of …