Cour

sePr
oject
Vehi
cle2Vehi
clecommuni
cat
ionorappl
i
cat
ionusi
ng5G

Name:
I
D:

Dat
e:4thAugust
2021

TABLEOFCONTENTS
1 INTRODUCTION ……………………………………………….
..
.
2 PROBLEM DEFI
NITI
ONANDRELEVANCE………………….

3 LITERATUREREVI
EW ANDEXSI
TINGSOLUTI
ONSOR
TECHNOLOGIES……………………………………………………

4 
  
  
 DEVELOPEDSOLUTI
ON ………………………………………

(
ITHASTOBEPRACTI
CAL)

5 RESULTSANDDI
SCUSSI
ON ……………………………………

CONCLUSI
ONSANDRECOMMENDATI
ONS……………………

REFERENCES…………………………………………………………

Vehi
cle2Vehi
clecommuni
cat
ionorappl
i
cat
ionusi
ng5G
 Connect
edCari
nthedev
elopmentofi
ndust
ri
alsol
uti
onsandt
heuseof5G

net
wor
ktechnol
ogi
esi
soneoft
hemosti
nter
est
ingandi
l
lust
rat
ivecases,
andnotonl
y

asanot
iceabl
emar
ket
ingandPRmov
e,butal
soasacommer
cial
exampl
eof

t
echnol
ogydev
elopment
. 
Inaddi
ti
on,
iti
sint
erest
ingt
oconsi
derConnect
edCart
hrough

t
hepr
ism oft
hedi
scussi
ont
hatunf
oldedatt
heendofl
asty
earont
heconceptof

i
ntr
oduci
ngf
if
thgener
ati
onnet
wor
ksi
nSaudi
Arabi
aandt
hedi
scussi
onofa

consor
ti
um t
ocr
eat
eani
nfr
ast
ruct
ureoper
ator
.Connect
edcart
echnol
ogyi
sanat
ural

ev
olut
ionoft
heaut
omot
ivemar
ket
,di
ctat
ingi
tsownr
equi
rement
stobot
hcar

manuf
act
urer
sandi
nsur
anceandt
elemat
icsoper
ator
s. 
Accor
dingt
otheexper
ts,
by

2022t
her
ewi
l
lbe2.
26mi
l
li
onconnect
edcar
sinSaudi
Arabi
a. 
Suchgr
owt
hpr
ospect
s

ar
epr
imar
il
yduet
othehi
ghdemandf
orConnect
edCarser
vicesamongcarowner
s,car

deal
ersandmanuf
act
urer
s.Demandf
oronboar
dcommuni
cat
ionandt
elemat
ics

ser
vicesi
sincr
easi
ng.
 Thi
sledt
otechnol
ogi
cal
dev
elopment
sai
medat“
impr
ovi
ngt
he

l
i
fe”i
nthecarf
ordr
iver
sandpassenger
s.Al
ready
,ver
ti
cal
all
i
ancesar
ebei
ngf
ormed

bet
weenequi
pmentdev
eloper
s,carmanuf
act
urer
sandt
elecom oper
ator
s. 
Wir
eless

v
ehi
cl
esar
ebei
ngt
est
edi
nav
ail
abl
enet
wor
ks,
andcommer
cial
usei
spl
annedf
ort
he

depl
oymentoff
ull
-scal
e5Gnet
wor
ks.
 

Technol
ogi
es

I
t'
snosecr
ett
hatConnect
edCart
echnol
ogi
eswi
l
lrequi
ret
hei
mpl
ement
ati
on

andsol
uti
onofal
lormostoft
het
askssetbyt
hedev
eloper
soft
hef
if
thgener
ati
on

communi
cat
iont
echnol
ogy
. 
Obv
iousl
y,t
hemaxi
mum dev
elopmentoft
hisgener
ati
on

shoul
dbeexpect
edatal
atest
agei
nthedev
elopmentoft
henet
wor
ksoft
hisst
andar
d,
whenhi
ghnet
wor
krel
i
abi
l
ity
,lowl
atency
,wi
decov
erageandhi
ght
ransmi
ssi
onr
ates

wi
l
lbeensur
ed.
 Thi
sisat
ypi
cal
exampl
efora5GuRLLC(
Ult
ra-
Rel
i
abl
eandLow-

Lat
ency
)net
wor
k.Thecommer
cial
i
zat
ionoft
het
ransi
ti
ont
oa5GuRLLCnet
wor
kwi
l
l

t
akepl
acei
nsev
eral
stages.
 Att
hecur
rentmomentofnet
wor
kdev
elopment
,tel
emat
ics,

i
nfor
mat
ionser
vicesandent
ert
ainmentar
eav
ail
abl
e(Fi
g.1)
. 
Wor
kisact
ivel
yunder
way

onpar
ti
alaut
omat
ion,
andatt
hel
astst
age,
ful
laut
omat
ionandsuchoppor
tuni
ti
esas

mov
ementi
nacar
avan,
recei
vi
ngt
elemet
ry,
adv
ancedandev
enr
emot
edr
ivi
ngwi
l
l

becomeav
ail
abl
e.

Fi
g. 
1

Howev
er,
ast
hei
ssuesar
eresol
vedandt
her
angeofappl
i
cat
ionoft
echnol
ogi
es
f
orconnect
ingcar
sisexpanded,
itwi
l
lbecomepossi
blet
otr
ansf
ert
hedev
eloped

t
echnol
ogi
cal
sol
uti
onst
oot
herar
easofpr
oduct
ionandser
vices,
forexampl
e,t
o

r
obot
icpr
oduct
ionort
elemedi
cine.
Thet
ransf
erofknowl
edge,
algor
it
hms,
sol
uti
onsand

t
echnol
ogi
esi
snotsomet
hingspeci
alandhasal
way
sbeenappl
i
edi
npr
act
ice.
 Ther
e

ar
emanyexampl
esoft
hemut
ual
inf
luenceofev
olv
ingdef
enseandci
vi
li
anknowl
edge

andt
echnol
ogy
. 
Forexampl
e,ont
het
heor
eti
cal
foundat
ionsoft
hedev
elopmentof

phasedant
ennaar
ray
sandr
adar
s,r
adi
oaccesst
echnol
ogi
esandant
ennadev
icesof

f
if
th-
gener
ati
onnet
wor
ks,
incl
udi
ngMI
MOt
echnol
ogi
es,
hav
ebeendev
eloped.
 The

appr
oachesandal
gor
it
hmsi
nsol
vi
ngt
het
hreatassessmentandt
argetdi
str
ibut
ion

sy
stem i
ntheAi
rFor
cear
eappl
i
cabl
einVehi
cle-
to-
vehi
cle(
V2V)
,Vehi
cle-
to-
pedest
ri
an

(
V2P)sy
stemsandsomeot
her
s.Al
ready30y
ear
sago,
onNov
ember15,
1988,
aful
l
y

aut
onomousf
li
ghtoft
heBur
anspacecr
aftbecamepossi
ble,
anddur
ingl
andi
ng,
the

aut
omat
icsi
ndependent
lymadet
heopt
imal
deci
sion.
 Her
eyoucandr
awananal
ogy

wi
thal
gor
it
hms,
sof
twar
eandsol
uti
onst
hatar
eal
readyappl
i
cabl
eonboar
dvehi
cles,

suchascr
uisecont
rol
,col
l
isi
onav
oidanceandemer
gencybr
aki
ngsy
stems,
tract
ion

cont
rol
syst
emsandant
i-
ski
dsy
stems,
dri
verassi
stancesy
stems,
etc.
Howev
er,
over

sev
eral
decades,
thecomput
ingpowerofdev
iceshasi
ncr
easedbysev
eral
order
sof

magni
tude,
incont
rastt
othepowerofcarengi
nes,
whi
chhasi
ncr
easedonl
ysev
eral

t
imes.
 I
mpl
ement
ati
onofsuchsol
uti
onshasbecomecommer
cial
l
yav
ail
abl
eand

af
for
dabl
eforawi
der
angeofconsumer
s,whi
chgi
vesconf
idencet
hatr
oadsaf
etycan

bet
rul
yimpr
ovedandcost
ssi
gni
fi
cant
lyr
educed.

Addr
essi
ngmanyoft
het
echnol
ogyi
ssuesi
ntheconnect
edcarcasewi
l
lal
l
ow

t
heset
echnol
ogi
est
obeappl
i
edt
oot
heri
ndust
ri
esaswel
l
.Theconnect
edcari
nter
act
s
wi
tht
heenv
ironmentandobj
ect
sthr
ought
henet
wor
k(Fi
g.2)
,ther
efor
e,sev
eral
lev
els

ofv
ehi
clei
nter
act
ion(
V2X)ar
edi
sti
ngui
shedi
nit
:car-car(
vehi
cle-
to-
vehi
cle-V2V)
,car

-i
nfr
ast
ruct
ure(
vehi
cl
e-t
o-i
nfr
ast
ruct
ure-V2I
)andv
ehi
cle-
to-
pedest
ri
an(
V2P)
. 
In

addi
ti
on,
vehi
cl
e-t
o-gr
id(
V2G)andv
ehi
cle-
to-
dev
ice(
V2D)sy
stemsar
epossi
ble.

Fi
g. 
2

Al
lV2Xcommuni
cat
ionsar
ebasedonD2Dcommuni
cat
ionst
echnol
ogy
,inot
her

wor
ds,
Dev
icet
oDev
icei
nter
act
ions.
 Theyar
eal
sospeci
fi
edf
orPr
oxi
mit
ySer
vices

(
ProSe)f
orbot
htheRel
ease12andRel
ease133GPPv
ersi
onsoft
hemobi
l
e

st
andar
d. 
TheD2Dpr
inci
plecanbeappl
i
edt
ovehi
clesr
eachi
ngspeedsofupt
o250km

/hwi
tht
hei
rhi
ght
raf
fi
cdensi
ty(
upt
oat
housandknot
s).
 Bot
hconf
igur
ati
onsuse

dedi
cat
edV2Vbandwi
dthaswel
lassat
ell
i
tegeol
ocat
ionf
ort
imesy
nchr
oni
zat
ion.

Vehi
cle-Vehi
cl
e(V2V)
 Awi
rel
esscommuni
cat
ionsy
stem t
hatal
l
owsv
ehi
clest
ocommuni
cat
ewi
th

eachot
heraboutt
het
raf
fi
csi
tuat
ionwi
thouthumani
nter
vent
ion.
 Thus,
Connect
edCar

wi
l
lbeabl
etor
ecei
vei
nfor
mat
ionaboutt
hespeed,
locat
ionandv
ari
ouspar
amet
ersof

anot
hercari
nreal
time.

Vehi
cle-I
nfr
ast
ruct
ure(
V2I
)

Awi
rel
esscommuni
cat
ionsy
stem t
hatal
l
owsv
ehi
clest
ocommuni
cat
ewi
thand

r
ecei
vei
nfor
mat
ionf
rom i
nfr
ast
ruct
ure(
forexampl
e,t
raf
fi
cli
ght
s,r
oadsi
gns,
etc.
).

Car-pedest
ri
an(
V2P)

TheConnect
edCarsy
stem,
thr
oughwhi
cht
hecarcani
nter
actwi
thpedest
ri
ans

i
nthei
mmedi
atev
ici
nit
y. 
Wit
hint
hef
ramewor
kofsuchi
nter
act
ion,
thecarel
ect
roni
cs

wi
l
lbeabl
etoi
dent
if
ythef
requencyr
angeofsmar
tphonesusedbypedest
ri
ans,
whi
ch

wi
l
lal
l
owassessi
ngt
hespeedanddi
rect
ionofmov
ementofamobi
l
egadgetand,

accor
dingl
y,apedest
ri
an.

Vehi
cle-dev
ice(
V2D)

Asy
stem t
hatal
l
owsav
ehi
clet
ocommuni
cat
ewi
thanyel
ect
roni
cdev
ice

connect
edt
othev
ehi
cl
eit
sel
f.

I
nSept
ember2016,
the3GPPconsor
ti
um compl
etedt
hef
ir
stphaseoft
he

st
andar
dizat
ionoft
heV2Xsetofser
vices.
 Thepr
ovi
sionsoft
hest
andar
dar
eincl
uded

i
nrel
ease14oft
he3GPPmobi
l
est
andar
d. 
Thef
inal
ver
sionoft
heCompl
eteduRLLC
(
LowLat
ency
,Hi
ghRel
i
abi
l
ity
)R16st
andar
disexpect
edi
n2019.Thi
sbecamean

addi
ti
onal
dri
verf
ort
hedev
elopmentoff
if
thgener
ati
onmobi
l
enet
wor
ksandan

i
ntel
l
igentt
ranspor
tsy
stem.

5GandWi
-Fi

Recent
ly,
thequest
ionoft
hef
utur
eofWi
-Fi
net
wor
ks,
thei
rappl
i
cat
ioni
ncompar
isonwi
th

t
hecapabi
l
iti
esof5Gnet
wor
ks,
hasbeenwi
del
ydi
scussed.
 Ont
heonehand,
thedev
elopmentofWi
-

Fi
standar
dsi
spr
oceedi
ngqui
tequi
ckl
yandi
npar
all
elwi
tht
heev
olut
ionofmobi
l
ecommuni
cat
ion

st
andar
ds.
 Li
ke5G,
Wi-
Fii
sdev
elopi
ngnotonl
yint
heusual
conv
ent
ional
1-6GHzr
ange.
 Al
ready

t
her
eisami
l
li
met
er-
wav
est
andar
d-802.
11ad-f
orhi
gh-
speedl
i
ne-
of-
sightcommuni
cat
ions.
 I
tis

bei
ngr
epl
acedbyt
he802.
11ayst
andar
d,i
nwhi
cht
het
heor
eti
cal
peakdat
atr
ansf
err
ater
eaches

176Gbps.
 Thenew802.
11ahst
andar
ddescr
ibescommuni
cat
ionsf
ort
heI
nter
netofThi
ngsi
nthe

900MHzband.
 802.
11acWav
e3and802.
11axwi
l
limpr
oveWi
-Fi
per
for
mancebysev
eral
timesov
er

t
henextt
wot
othr
eey
ear
s.I
tiscl
ear
lyseent
hatt
hei
deol
ogyofst
andar
dsdev
elopmenti
sver
y

cl
ose.
 

5Gcanwor
kbycombi
ningdi
spar
atef
requencybands(
andev
enusi
ngf
requencybands

si
mul
taneousl
ywi
thWi
-Fi
net
wor
ks)
,whi
chWi
-Fi
cannotdo.
 TheWi
-Fi
ideol
ogyl
acksasi
ngl
ecor
e

net
wor
k,whi
chi
sadi
sadv
ant
agewhenpr
ovi
dingasi
ngl
eint
egr
atedhi
ghl
yrel
i
abl
eser
vicewi
tha

guar
ant
eedqual
i
tyl
evel
(li
keSLAorNet
wor
kSl
i
cing)
.Inaddi
ti
on,
iti
snecessar
ytoconsi
dert
he

i
ssueofl
owl
atencyandr
esponsi
venessi
nthenet
wor
krequi
redf
orf
astmov
ingobj
ect
sthatcan

i
nter
actwi
theachot
her
,thesur
roundi
ngi
nfr
ast
ruct
ureandt
henet
wor
kforcasessuchas

Connect
edCar
,andnotj
ustt
hei
ssueoft
ransf
erspeedofl
argeamount
sofdat
a,asi
nWi
-Fi

net
wor
ks.Themor
ecel
l
s,t
hemor
eef
fi
cient
lyt
hespect
rum i
sused,
butatt
hesamet
imet
hecostof

t
henet
wor
kri
sesshar
plyandmanyt
echni
cal
dif
fi
cul
ti
esar
iset
hat5Gi
sbet
terabl
etocopewi
th.
 For

exampl
e,UpLi
nk/DownLi
nkDecoupl
i
ngt
echnol
ogy
,whi
chr
educest
henumberofcel
l
s.5Ghas

adv
ancedsi
gni
fi
cant
lyt
hroughMI
MOt
echnol
ogi
esandt
hef
ormat
ionofdi
ff
erentpat
hsf
ordat
a
st
reamsi
nspace.
 Asar
esul
t,t
henet
wor
kwi
l
lbeabl
etosi
mul
taneousl
yser
vemanymor
e

subscr
iber
s,i
.e.
,thecapaci
tyoft
henet
wor
kwi
l
lincr
ease.
 I
nvest
ment
sar
emadewher
ethebusi
ness

i
s. 
Ther
efor
e,suchnet
wor
ksar
edesi
gnedwi
thmaxi
mum economywhi
l
emai
ntai
ningaccept
abl
e

qual
i
ty,
usabi
l
ityandsecur
it
y. 
From t
hispoi
ntofv
iew,
inv
est
ingi
n5Gseemst
obemor
ereasonabl
e,

especi
all
yint
hel
ongt
erm,
thani
nWi
-Fi
.

Di
ff
icul
ti
esandl
egi
slat
ion

Howev
er,
ther
ear
eobst
acl
est
othedev
elopmentoft
heConnect
edCar

concept
. 
Fir
stofal
l
,thi
sist
hel
ackofal
egal
framewor
kregul
ati
ngt
hecommuni
cat
ion

ofcar
swi
thot
herr
oaduser
s. 
Anot
herpr
obl
em i
stheneedt
obui
l
da"
smar
t"

env
ironmenti
nwhi
chal
lobj
ect
s(t
raf
fi
cli
ght
s,i
nfor
mat
ionsi
gns,
etc.
)wi
l
lbeconnect
ed

t
othenet
wor
k,whenV2Xsy
stemswi
l
lwar
naboutt
hepr
esenceofacaront
hesi
deof

t
her
oadori
nthebl
i
ndzone,
aboutsuddenbr
aki
ngoraboutar
easwher
eroadwor
ksar
e

i
npr
ogr
ess.
Ther
ear
eal
readyexampl
esofi
ntegr
ati
onofcommuni
cat
ionsy
stemsi
nto

t
hei
rcar
sbyv
ari
ousaut
oconcer
ns.
 Butsomet
imesv
ehi
clesofdi
ff
erentmanuf
act
urer
s

cannoty
eti
nter
actwi
theachot
herduet
othel
ackofuni
for
m st
andar
ds.

TheUni
tedSt
ateshasal
readydev
elopedast
rat
egyf
ort
hedev
elopmentof

Connect
edCar
. 
TheDepar
tmentofTr
anspor
thaspubl
i
shedadocumenti
nthepubl
i
c

domai
nexpr
essi
ngi
tsi
ntent
iont
oobl
i
geaut
omaker
stoequi
pcar
swi
thV2V

communi
cat
ionf
rom 2023.
 Thef
ir
stv
ehi
cle-
to-
vehi
clei
mpl
ement
ati
onsshoul
dbegi
nin

2021.I
nthef
oreseeabl
efut
ure,
namel
yin2019,
theUSaut
hor
it
iespl
ant
opass

l
egi
slat
ionr
egul
ati
ngConnect
edCart
echnol
ogi
es.
 TheFCChasal
readyal
l
ocat
ed

f
requenci
est
othei
ndust
ryf
orbui
l
dingandscal
i
ngnat
ional
vehi
cle-
to-
inf
rast
ruct
ureand
v
ehi
cl
e-t
o-v
ehi
cl
esy
stems.
 ThecostofoneV2Vcommuni
cat
ionsy
stem i
sest
imat
edat

$250-
350.

Nol
essi
nter
est
ingi
stheexper
ienceofChi
na,
whi
chi
nrecenty
ear
scanr
ight
ful
l
y

beconsi
der
edoneoft
hepi
oneer
sint
hei
mpl
ement
ati
onoft
hese

t
echnol
ogi
es.
 Recent
ly,
adocumentwasr
eleased-Nat
ional
Connect
edCarI
ndust
ry

St
andar
dSy
stem Const
ruct
ionGui
de(
Gener
alr
equi
rement
s),
descr
ibi
ngt
hegener
al

conceptoft
hei
ntr
oduct
ionofConnect
edCari
nthecount
ry.
 Thepur
poseoft
he

documenti
stocoor
dinat
etheef
for
tsofv
ari
ousmi
nist
ri
esanddepar
tment
s,al
l
ocat
e

r
esponsi
bil
i
tiesanddef
inet
her
oleoft
hest
atei
nst
andar
dizat
ion,
accel
erat
ethe

dev
elopmentandi
mpl
ement
ati
onofappr
opr
iat
est
andar
dsf
orAdv
ancedDr
iver

Assi
stantSy
stems(
ADAS)
. 
Thedocumentdescr
ibest
hegoal
sandobj
ect
ivesi
nvar
ious

i
ndust
ri
es(
aut
omot
ive,
elect
roni
csandmi
croel
ect
roni
c,i
nfor
mat
ionand

t
elecommuni
cat
ions)
. 
Theneedt
oest
abl
i
shi
nter
indust
ri
all
i
nkscont
ri
but
ingt
othe

i
ndust
ri
aldev
elopmentofChi
naf
ort
henextf
ivey
ear
sisemphasi
zed.
 Mor
eov
er,
the

l
eadi
ngr
olei
nthi
sdocumenti
sassi
gnedt
othest
ate,
whi
ch,
basedonf
undament
aland

sci
ent
if
icr
esear
ch,
wil
lfor
mul
ateagener
alconceptf
ort
hedev
elopmentoft
hei
ndust
ry,

dev
elopandappr
oveappr
opr
iat
est
andar
ds.
 Howev
er,
int
hef
iel
dofi
nnov
ati
on,
thekey

r
olebel
ongst
oent
erpr
isest
hati
ntr
oduceandpr
omot
enewt
echnol
ogi
es.

Thedocumentset
sagoal
toappr
ovet
hebasi
cconceptandst
andar
dsby

2020.
 I
naddi
ti
on,
consi
der
abl
eat
tent
ioni
spai
dtoi
nfor
mat
ionsecur
it
yandt
hesecur
it
y

ofdat
aandnet
wor
ks.
Anot
heri
nter
est
ingdocumenti
ssuedbyt
heMi
nist
ryofI
ndust
ry

andI
ndust
ri
alTechnol
ogy
,theMi
nist
ryofPubl
i
cSecur
it
yandt
heMi
nist
ryofTr
anspor
t
andCommuni
cat
ions,
rel
easedi
nApr
il2018,
def
inest
hepr
ocedur
e,nor
msand

st
andar
dsf
ort
est
ingsmar
tconnect
edcar
s. 
Thedocumentconsi
stsofsi
xsect
ions

def
ini
ngr
esponsi
bil
i
tyi
ncaseofi
nci
dent
s,r
equi
rement
sforacar
,dr
iver
,roads,

i
nsur
ance,
etc.
Thet
ransf
eroft
echnol
ogi
esandal
gor
it
hmsi
nthel
egi
slat
ivear
eamaybe

i
nter
est
ingi
nourcount
ry,
especi
all
yinl
i
ghtoft
hedi
scussi
onoft
heconceptof5G

net
wor
ksdev
elopmentandt
hecr
eat
ionofani
nfr
ast
ruct
ureoper
atort
hatunf
oldedat

t
heendofl
asty
ear
.I
nSaudi
aAr
abi
a,asi
nthewor
ldasawhol
e,t
hedev
elopmentof

smar
troadsi
ssl
owi
ngdownt
hei
nconsi
stencyofpr
oject
s. 
Inaddi
ti
on,
closedpl
atf
orms

andsol
uti
onsar
eincompat
ibl
ewi
theachot
her
,whi
chdoesnotal
l
owt
ouni
tei
nter
est
ed

mar
ketpar
ti
cipant
sandf
orm asi
ngl
eef
fect
ivesy
stem.
 Suchi
nconsi
stencymayhav
ea

negat
ivei
mpactont
hei
mpl
ement
ati
onoft
hePr
ogr
am t
ocr
eat
econdi
ti
onsf
ort
he

count
ry'
str
ansi
ti
ont
othedi
git
aleconomy
,dev
elopedandappr
ovedi
n2017byt
he

Gov
ernmentoft
heSaudi
aAr
abi
anFeder
ati
on.
All
par
ti
cipant
sint
hecel
l
ulari
ndust
ry

agr
eet
hatf
if
thgener
ati
onnet
wor
ksr
equi
rer
adi
ofr
equencybandsi
nthr
eedi
ff
erent

r
anges:
bel
ow3GHz(
topr
ovi
dewi
decov
erage)
,3-
6GHz(
tocov
erandi
ncr
ease

net
wor
kcapaci
ty,
pri
mar
il
yinl
argeci
ti
es)andabov
e24GHz(
MW f
orl
argenet
wor
k

capaci
tyandspotcov
erage)
. 
Consi
stentwi
tht
hiscommonpat
ter
n,r
egul
ator
sinEur
ope

andmanyot
herr
egi
onsoft
hewor
ldar
eal
readyal
l
ocat
ingf
requenci
esi
nthe700MHz,

3.
4-3.
8GHzand26-
28GHzbands.
 I
nSaudi
aAr
abi
a,t
her
ear
epr
obl
emswi
thmostof

t
hel
i
stedr
anges.
 Thesenet
wor
ksandbandsar
eneededf
orent
ir
eindust
ri
es,
notj
ust

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ormobi
l
ephones(
Figur
e6)
.
Fi
g. 
3

5Gi
nSaudi
Arabi
a

Si
ncel
asty
ear
,thr
eev
ari
ant
soft
heconceptf
ort
hedev
elopmentoff
if
th-

gener
ati
onnet
wor
kshav
ebeendi
scussed.
 Twooft
hem pr
ovi
def
ort
heuseofnewand

exi
sti
ngr
adi
ofr
equencyr
anges:
thef
ir
sti
sthei
ndependentdev
elopmentofnet
wor
ks

byeachoft
heoper
ator
s(wi
tht
hej
ointuseofequi
pmentpl
acementsi
tes,
tower
s,f
iber
-

opt
iccommuni
cat
ionl
i
nes)
; 
thesecondi
sdev
elopmentont
hebasi
sofi
ntensi
vej
oint

useofact
ivenet
wor
kequi
pment
.Thet
hir
dopt
ionassumest
hedev
elopmentoft
he

net
wor
konl
yint
henewr
adi
ofr
equencyr
ange(
3.4-
3.8GHz)byasi
ngl
einf
rast
ruct
ure

oper
atorwi
thi
tssubsequentusebyot
heroper
ator
sonacont
ract
ual
basi
s.Thef
ir
st

opt
ioni
mpl
i
est
hel
argestt
otal
inv
est
ment
s:f
orr
adi
oaccessnet
wor
ksand

moder
nizat
ionoft
het
ranspor
tnet
wor
kfor5G.
 Howev
er,
thi
sopt
ioni
sexpect
edt
obe

t
hebesti
nter
msoft
hedev
elopmentofcompet
it
ionandi
nnov
ati
on,
thepr
esenceof
i
ncent
ivest
oimpr
ovet
hequal
i
tyofser
vices,
bet
termanagementoft
echnol
ogi
cal
and

pol
i
tical
risks.

Thesecondopt
ion,
simi
l
art
othemodel
ofj
ointdev
elopmentofLTEi
ntheSaudi

Ar
abi
aandassumi
ngshar
ingwi
tht
hej
ointuseofabout70%of5Gbasest
ati
onsbya

pai
rofoper
ator
s,wi
l
lrequi
ret
otal
cost
sint
hecr
eat
ionof5Gnet
wor
kinf
rast
ruct
ure

(
radi
oaccessandt
ranspor
tnet
wor
ks,
excl
udi
ngt
hecor
enet
wor
k).
 Thi
sopt
ionappear
s

t
obet
hebesti
nter
msofeconomi
cef
fi
ciency
,pr
ovi
sionoff
inanci
ngf
ori
nfr
ast
ruct
ure

dev
elopment
,speedofnet
wor
kdepl
oymentandser
vicepenet
rat
ion.

Thet
hir
dopt
ion,
whi
chi
nvol
vest
hecr
eat
ionofasi
ngl
einf
rast
ruct
ureoper
ator

andasi
ngl
e5G/I
MT-
2020net
wor
kint
he3.
4-3.
8GHzr
ange,
wil
lrequi
rei
nvest
ment
sof

atl
east470-
514USD.
 I
nthe5Gr
adi
oaccessnet
wor
kandt
het
ranspor
tnet
wor
k

(
excl
udi
ngcor
enet
wor
ks)
. 
Thi
sopt
ioni
schar
act
eri
zedbyahi
ghl
evel
ofcapi
tal

i
nvest
ment
sandoper
ati
ngcost
s,si
ncei
twi
l
lrequi
ret
hecr
eat
ionofal
arge-
scal
e

i
nfr
ast
ruct
ure(
communi
cat
ionl
i
nes,
sit
esf
orpl
aci
ngequi
pmentofbasest
ati
onsand

dat
acent
ers)
,aswel
last
hei
ntr
oduct
ionofI
Tsy
stemst
hatensur
etheoper
ati
onofa

si
ngl
e5Gnet
wor
k,whi
chmar
ketpl
ayer
sal
readyhav
e.Bui
l
dingf
if
th-
gener
ati
on

net
wor
ksi
snotanendi
nit
sel
f;i
tshoul
dleadt
oaccel
erat
edeconomi
cdev
elopmenti
n

v
ari
ousar
eas,
incl
udi
ngconnect
edcart
echnol
ogy
. 
Iti
son5Gt
echnol
ogi
est
hatnew

busi
nessesofv
ert
ical
indust
ri
eswi
l
lbebui
l
t,whi
ch,
fir
stofal
l
,wi
l
lhav
etol
eadt
oan

ear
lyr
etur
noni
nvest
mentandr
etur
noni
nvest
ment
.I
nadopt
ingt
heconcept
,iti
s
i
mpor
tantt
ofi
ndabal
ancebet
weendi
recti
nvest
menti
nfi
ft
hgener
ati
onnet
wor
ks,
the

possi
blecost
sof“
clear
ingf
requenci
es”andt
heexpect
edcost
sofv
ert
ical
indust
ri
esf
or

i
nvest
ment
sint
hedev
elopmentofan“
equi
pmentecosy
stem”(
prov
idedt
hati
tis

absenti
nexi
sti
ngopt
ions)
. 
Itmayt
urnoutt
hati
tispr
efer
abl
etomov
ewher
ether
eisa

r
eady
-made"
equi
pmentecosy
stem"
. 
Forexampl
e,t
her
eisal
readyequi
pmenti
nthe3.
4-

3.
8GHzand24.
26-
29.
5GHzbands.
 I
tisnoty
etcl
earwhet
hert
he4.
4-4.
99GHzbandwi
l
l

hav
ethest
atusofagl
obal
rangewi
thi
ntheI
nter
nat
ional
Tel
ecommuni
cat
ionUni
on,
as

t
her
eisnoconf
ir
mat
ionf
rom t
hel
eadi
ngv
endor
sthatt
heyar
ereadyt
opr
oduce

equi
pmentsuppor
ti
ngt
hisr
angei
nthenearf
utur
e.

Thepot
ent
ial
of5G-
MOBI
X

Agl
obal
mobi
l
itypr
oject

Pr
omot
edwi
thpubl
i
cfundsf
rom t
heEur
opeanCommi
ssi
onandt
hef
ramewor
k

oft
heHor
izon2020pr
ogr
am,
thi
spr
ojectt
hatcov
ers11count
ri
esand55st
rat
egi
c

par
tner
spr
oposest
oaccel
erat
einv
est
ment
sint
he5Gmobi
l
itysect
or,
def
ini
ngmul
ti
ple

casest
udi
es,
whi
chal
l
owt
oest
abl
i
sht
het
echni
cal
basesandcommer
cial
togener
ate

awi
denet
wor
kgl
obal
l
y.Amongt
hepl
aceswher
ethi
sConnect
edandAut
onomous

Cooper
ati
veMobi
l
ity(
CCAM)pr
ojecthasbegunt
obei
mpl
ement
ed,
ther
ear
eal
sot
wo

nat
ional
bor
dercr
ossi
ngs.
Thepr
ojecthasat
tract
edi
nter
nat
ional
att
ent
ion,
notonl
yfor

i
tsi
nnov
ati
vepr
oposal
andabi
l
ityt
oaccel
erat
ethepr
act
ical
appl
i
cat
ionsof5G

t
echnol
ogy
; 
butal
sobecauseofi
tsenor
mouseconomi
cpot
ent
ial
.Mobi
l
eNet
wor
k

Oper
ator
s(MNO'
s),
tel
ecommuni
cat
ionscompani
es,
admi
nist
rat
orsofr
out
es,
highway
s

andofcour
seOr
igi
nal
Equi
pmentManuf
act
urer
s(OEM'
s),
areseei
ngt
hegr
owi
ng
pot
ent
ial
thatt
hisi
nit
iat
ivecangener
atewi
thacommer
cial
per
spect
ive.

Gener
alobj
ect
ivesoft
hepr
oject

Gi
vent
hehi
ghcostt
hati
nvest
menti
nthi
scl
assoft
echnol
ogi
eswoul
drepr
esent

f
orani
nit
ial
phase,
theSaudi
Arabi
aappr
ovedi
n2018t
olauncht
he5G-
MOBI
Xpr
oject
,

seeki
ngt
oconsol
i
dat
ethebasest
hatal
l
owgener
ati
ngasaf
eandpr
ofi
tabl
emodel
of

aut
onomousandi
nter
connect
edmobi
l
ity
,taki
ngadv
ant
ageoft
hecapabi
l
iti
esof5G

t
echnol
ogy
.Thesespaces,
cal
l
ed'
5GCor
ri
dor
s',
bey
ondt
echnol
ogi
cal
andf
inanci
al

dev
elopment
,al
sohav
emul
ti
plel
ong-
ter
m soci
albenef
it
s.Amongt
hese,
saf
etr
avel

st
andsout
,thr
oughwhi
chi
tisi
ntendedt
oconsi
der
abl
yreducet
hei
nci
denceofmot
or

v
ehi
cl
eacci
dent
sont
her
oad.
Inaddi
ti
on,
ital
soseekst
ogener
atemor
eef
fi
cientt
ri
ps,

r
educi
ngt
otal
trav
elt
ime,
thr
oughcont
inuousandst
abl
edr
ivi
ng,
wit
htheabi
l
ityt
o

ant
ici
pat
edel
aysandot
hert
raf
fi
cinci
dent
s,t
hroughanaut
onomousandcoor
dinat
ed

r
esponsecapaci
ty.Att
hesamet
ime,
thi
sispar
tofef
for
tst
oreducet
heamountof

emi
ssi
onsi
nthe 
env
ironment
,wi
tht
heai
m ofcombat
ingpol
l
uti
onr
ates,
notonl
yin

Saudi
a,butal
soi
not
herr
egi
onsoft
hewor
ldwher
ethi
sty
peof
 emi
ssi
on 
i
sbei
ng

expl
ored.

I
tsappl
i
cat
ionasanaut
onomousdr
ivi
ngsy
stem wi
l
lal
soal
l
owdr
iver
stoaccess

mul
ti
plef
ormsofi
nfot
ainmentwhi
l
eont
her
oad.
Inaddi
ti
on,
ital
soopenst
hedoort
oa

br
oaderdev
elopmentofmobi
l
itypr
oposal
s;
 suchast
hosef
ort
heel
der
lyorpeopl
ewi
th

mobi
l
itypr
obl
ems.
Phot
o4.5Gt
echnol
ogycannotonl
ymov
ecar
ssaf
ely
,ital
soof
fer
sinf
otai
nment

opt
ionst
opassenger
s.

Usecases

I
nthi
sexpl
orat
ionphaseoft
hepr
oject
,var
ioususecaseshav
ebeent
est
ed,
wit
h

t
heai
m off
ine-
tuni
ngt
hemai
ncapabi
l
iti
esoft
hepr
oject
.

Joi
ningt
hel
ane

I
nthi
scase,
thewayi
nwhi
chanaut
onomousv
ehi
clej
oinsamai
nroadi
s

expl
ored;
 
Fort
his,
ascenar
iowi
thanaut
onomouscar
,aconnect
edcarandanot
hernot

connect
ed,
isanal
yzed,
mov
ingal
ongt
hemai
nlanes.
Fi
gur
e5.Expl
anat
orydi
agr
am oft
heLaneI
ncor
por
ati
onmaneuv
er.
 Sour
ce:
ES-
PTCBC.

Aut
onomousandconnect
edv
ehi
cles,
inaddi
ti
ont
oshar
ingi
nfor
mat
ionwi
th

eachot
her
,sendi
ttot
hei
rcor
respondi
ngMEC,
wit
hthehel
pofanear
by5Gant
enna,

whi
l
edat
afr
om non-
connect
edv
ehi
clesi
sint
erpr
etedt
hroughar
adari
ntendedf
ort
his

pur
pose.
Wit
hthi
sinf
ormat
ionf
rom t
heOBU(
On-
Boar
dUni
t)dev
icesoft
heconnect
ed

v
ehi
cl
esandt
heRSU(
RoadSi
deUni
t)oft
her
adar
,thecart
hatseekst
ojoi
nther
oad

canest
imat
ethet
raj
ect
ori
esandr
isksofcol
l
isi
on,
andi
fnecessar
ynecessar
y,adj
ust

y
ourspeedt
ogetuppr
oper
lyandsaf
ely
.

Ov
ert
aki
ng

I
nanot
herscenar
io,
thesi
tuat
ioni
sanal
yzedi
nwhi
chanaut
onomousv
ehi
cle,

whi
chi
sinadi
ff
icul
tsi
tuat
iont
oov
ert
ake,
isassi
stedwi
tht
hedat
aofanot
hert
ocar
ry

outt
hemaneuv
er.
Fi
gur
e6.Expl
anat
orydi
agr
am oft
heOv
ert
aki
ngmaneuv
er.
 Sour
ce:
ES-
PTCBC.

I
nthi
scase,
afi
rstaut
onomouscari
slocat
ed,
cir
cul
ati
ngi
nther
ightl
aneofa
r
oad,
wit
hbul
kyv
ehi
cl
esnotconnect
edi
nfr
ontandbehi
nd,
whi
chconsi
der
abl
yobst
ruct

i
tsv
isi
bil
i
ty.
Thesecondaut
onomouscart
hatci
rcul
atesi
nthel
eftl
ane,
atahi
gher

speed,
prov
idesdat
atot
heonei
nther
ightl
anet
oexpr
esst
hesi
tuat
ionoft
her
oad,

showi
ngt
henecessar
ysaf
etyel
ement
ssot
hatt
hel
att
ercanmaket
hedeci
siont
o

changel
aneandov
ert
aki
ng,
ifpossi
ble.

HDmappi
ng

I
nthi
scase,
anaut
onomouscarr
ecei
vesi
nfor
mat
ionf
rom t
hecont
rol
cent
er

aboutawor
kont
her
oad.
Whenappr
oachi
ngt
hesect
or,
andaf
terv
eri
fyi
ngt
hati
tsmaps

donotcoi
nci
dewi
thwhati
tssensor
sar
erecei
vi
ng,
thecaraskst
hedr
ivert
oassume

manual
cont
rol
oft
hev
ehi
cle,
andbegi
nst
orecor
dthenewr
out
ewi
thi
tssensor
s,

whi
chwi
l
lbesentaf
tert
hewor
kaut
omat
ical
l
ytot
heCent
ral
.
Fi
gur
e7.Expl
anat
orydi
agr
am oft
heHDMappi
ng.
 Sour
ce:
ES-
PTCBC.

Notonl
ydoest
hecari
nquest
ionr
etur
ntoaut
onomousmodeaf
tert
his,
but

t
hankst
othi
supdat
e,i
tal
l
owst
hecont
rol
panel
tosendupdat
edi
nfor
mat
iont
othe

ot
herconnect
edv
ehi
clest
hatar
eappr
oachi
ng,
sot
hatt
heycancont
inuet
hei
rtr
ansf
er

aut
onomousl
y,wi
thoutmaj
orset
backs.
 I
nthi
sway
,iti
spossi
blet
ogener
ateamor
e

ef
fi
cientsy
stem,
whi
chal
l
owst
hatbymeansoft
hei
nfor
mat
ionf
rom t
hev
ehi
cles

t
hemsel
ves,
areal
-t
imemappi
ngoft
her
oadsi
tuat
ioncanbecr
eat
ed.
Thi
ssame

scenar
iohasal
sobeenpr
oposedt
hroughaconnect
edbus,
whi
ch,
alt
houghi
tdoesnot

dr
iveaut
onomousl
y,doeshav
eit
sownsensor
sandOBUs,
whi
chal
l
owt
hei
nfor
mat
ion

col
l
ect
edt
obesentt
otheCont
rol
Cent
er,
gener
ati
ngi
nthesamewayanupdat
eon

mappi
ngr
oadsi
tuat
ions.

I
tshoul
dbenot
edt
hatbei
ngconnect
edt
othe5Gnet
wor
k,i
tal
soal
l
owsi
ts

passenger
stoconnectwi
thgr
eatqual
i
tyt
hrought
abl
ets,
wher
etheycanenj
oyal
lki
nds

ofmul
ti
medi
acont
entwhi
l
etr
avel
i
ng.
Final
l
y,t
hisbusal
sohasa4Kcamer
ainst
all
edon

t
hewi
ndshi
eldt
hatwi
l
lal
l
owt
heCont
rol
Cent
ert
ovi
ewt
hesi
tuat
ionont
her
oadi
nreal

t
ime.

Pedest
ri
andet
ect
ionatashut
tl
ecr
ossi
ng

Anot
hercaset
hati
sbei
nganal
yzedi
sthesi
tuat
ionf
acedbyanaut
onomous

shut
tl
ecr
ossi
ngabr
idge,
inwhi
cht
her
eisnov
isi
bil
i
tyatei
therend,
wher
epedest
ri
ans

maycr
oss.
Fort
his,
theopt
ionofanappl
i
cat
iont
hatwoul
dwor
konpedest
ri
ans'
5G

mobi
l
es,
aswel
last
wopedest
ri
andet
ect
ionsy
stemsl
ocat
edatbot
hendsoft
hebr
idge,

i
sbei
ngexpl
ored.
 Thei
nfor
mat
ionobt
ainedbyt
heseopt
ionswi
l
lbesentt
otheMEC.
In
t
hisway
,theshut
tl
ecanant
ici
pat
eapossi
bler
iskofcol
l
isi
on,
andst
oporadj
usti
ts

mov
ementt
oav
oidanacci
dent
. 
Andofcour
se,
oncet
hepedest
ri
ani
snol
ongeront
he

samepat
hast
hev
ehi
cl
e,i
tresumesi
tsaut
onomousmar
ch.
Fi
gur
e8.Expl
anat
orydi
agr
am ofPedest
ri
anDet
ect
ionatashut
tl
ecr
ossi
ng.
 Sour
ce:
ES-

PTCBC.

Remot
eDr
ivi
ng

Thi
scasei
scar
ri
edoutont
hesamebr
idgei
nthepr
evi
ousexampl
e,onl
ynowt
he

shut
let
hati
smaki
ngi
tsr
out
eaut
onomousl
yfi
ndsanobst
acl
eint
hemi
ddl
eoft
he

br
idgeandi
tst
opsbydet
ect
ingt
heobst
acl
ewi
thi
tssensor
sinacont
rol
l
edway
.Af
tera

f
ewseconds,
ift
heobst
acl
eremai
ns,
theShut
tl
ewi
l
lsendanot
if
icat
iont
otheCont
rol

Cent
eraboutt
hei
nci
dent
. 
Whent
heCont
rol
Cent
err
ecei
vest
hisnot
if
icat
ion,
itwi
l
lbe

abl
etot
aker
emot
econt
rol
oft
heshut
tl
etobeabl
etoov
ercomet
heobst
acl
e.Oncet
his

i
sdone,
theaut
onomousmodei
sreact
ivat
edandt
heshut
tl
ecancont
inuei
tsr
out
e

aut
onomousl
y.
Fi
gur
e9.Expl
anat
orydi
agr
am ofRemot
eDr
ivi
ng.
 Sour
ce:
ES-
PTCBC.

Mai
ntechnol
ogi
cal
adv
ancespr
oposedbyt
hepr
oject

Amongt
hebenef
it
sthatt
hepr
ojectr
aises,
ist
hehomol
ogat
ionoft
echnol
ogi
es

andpr
ocesses.
 I
ncaseswher
ebor
dercr
ossi
ngswi
th5Gcor
ri
dor
sar
ebei
ngexpl
ored,

t
echni
cal
issuesar
ebei
ngr
efi
nedt
ogener
ateast
andar
dthatof
fer
sanopt
imal

conf
igur
ati
ont
hatal
l
owsf
orast
abl
eandsaf
etr
ansi
ti
on.
Ofcour
se,
fort
his,
mul
ti
ple

admi
nist
rat
iveandev
enpol
i
tical
procedur
eshadt
obecar
ri
edoutatt
hesamet
ime,
so,

despi
tet
het
echni
cal
compat
ibi
l
ity
,ithasbeenoneoft
hegr
eat
estchal
l
engest
hati
s

gener
ati
ngani
mpor
tantpr
ecedent
,wi
thav
iewt
oapl
anofgl
obal
int
egr
ati
on.
Dur
ingt
he

pr
oject
,theyar
eal
soexper
iment
ingwi
thv
ari
ousf
requenci
es,
seeki
ngt
ofi
ndanopt
imal

bal
ance,
whi
chal
l
owscont
inuousconnect
ivi
tyi
nreal
time.

Li
kewi
se,
twor
oami
ngscenar
iosar
ebei
nganal
yzed,
seeki
ngt
ocl
ari
fyt
hebest

opt
ionf
orV2X(
vehi
cl
e-t
o-ev
ery
thi
ng)ser
vices;
 
par
ti
cul
arl
ythr
ought
wosy
stems:
Local

br
eakoutandHomer
out
ing.
Thel
ocal
breakout
,inaddi
ti
ont
oof
fer
inggood

expandabi
l
ity
,isanopt
imal
sol
uti
onf
orwheny
ouhav
ear
educedl
atency
; 
alt
hough

connect
ivi
tyi
nter
rupt
ionshav
ebeenexper
iencedf
oraf
ewseconds.
Ont
heot
herhand,

i
nhomer
out
ing,
ther
eisbet
tercont
inui
tyi
ntheser
vices,
despi
tewhi
cht
hel
atency

i
ncr
easespr
opor
ti
onal
l
ytot
hedi
stancewi
tht
hel
ocal
net
wor
k.Fr
om t
hispr
oject
,

i
mpor
tantadv
ancesar
eal
sobei
ngmadewi
thr
espectt
othe5Gr
adi
onet
wor
k,whi
chi
s

hel
pingt
ogener
ateamor
eef
fi
cientopt
imi
zat
ioni
nthei
nter
pret
ati
onofdat
a.I
naddi
ti
on,

t
het
echnol
ogi
cal
equi
pmenti
naut
onomousandconnect
edcar
sisr
ecei
vi
nghi
ghl
y

usef
uldat
aforbet
terper
for
mancet
hrought
hese5Gcor
ri
dor
s,whi
chi
swhyt
heyar
e

consi
der
ingt
hepossi
bil
i
tyofsi
gni
fi
cant
lyi
mpr
ovi
ngmobi
l
ityonr
oads.
I
ntegr
atednav
igat
ional
gor
it
hm f
oraut
onomousv
ehi
cleswi
th5Gt
echnol
ogy

I
nrecenty
ear
s,i
nter
esti
nthedev
elopmentofaut
onomousv
ehi
cleshasgr
own,

duet
othepossi
bil
i
tiest
heyof
ferf
ort
hef
ulf
il
lmentofmi
ssi
onsi
npl
acesofdi
ff
icul
t

access,
ort
asksofr
econnai
ssance,
super
visi
onandsur
vei
l
lance;
 
studyofecosy
stems,

i
naddi
ti
ont
otr
adi
ti
onal
appl
i
cat
ionsi
nthemi
l
itar
yfi
eld.
 I
naut
omobi
l
eindust
ry,

i
mpor
tantappl
i
cat
ionsar
erepor
ted,
suchasaer
ial
phot
ogr
ammet
ry,
preci
sion

agr
icul
tur
e,wher
etheycombi
neaer
ial
andl
andv
ehi
cles.
 Thedev
elopmentofnav
igat
ion

sy
stemsandal
gor
it
hmsi
sar
elev
antar
eat
hatat
tr
act
smanyr
esear
cher
s, 
duet
othe

needt
oaccur
atel
yest
imat
etheposi
ti
onandor
ient
ati
onateachi
nst
antoft
ime.
 Ther
e

ar
enumer
ouspr
oduct
sont
hei
nter
nat
ional
mar
ketwi
tht
heabi
l
ityt
opr
ovi
denav
igat
ion

sol
uti
ons,
butt
heyar
emost
lypr
opr
iet
arycodeandi
naccessi
bleduet
othei
rhi
ghcost
s.

Aut
onomousv
ehi
clest
ypi
cal
l
yrel
yont Gl
he  obalPosi
ti
oni
ngSy
stems 
(GPS)t
o

pr
ovi
deposi
ti
onandspeedi
nfor
mat
ionf
ornav
igat
ion.
 I
tsusehasbeenwi
del
yst
udi
ed

i
nrecenty
ear
s. 
Ther
ear
esi
tuat
ionsi
nwhi
chGPSi
snotav
ail
abl
e,duet
oint
erf
erence,

shi
eldi
ngormul
ti
pat
hef
fect
s,si
gnal
ref
lect
ion,
alway
sdependi
ngont
henav
igat
ion

medi
um.
 Lowsampl
i
ngf
requencyi
sapr
obl
em t
hataf
fect
stheav
ail
abi
l
ityofnav
igat
ion

i
nfor
mat
ionf
orcont
rol
act
ionsont
hev
ehi
cle.
 I
nanot
hersense,
thedev
elopmentoft
he

t
echnol
ogyofmi
cro-
elect
ro-
mechani
cal
syst Mi
ems( cr
o-el
ect
romechani
calsy
stems,

MEMs)hasmadepossi
blet
heconst
ruct
ionofi
ner
ti
alsensor
sandi
ner
ti
al

measur
ementuni
t I
s(ner
ti
alMeasur
ementUni
ts 
),i
ncr
easi
ngl
ycheaperandf
ast
er.
 The

(
iner
ti
alnav
igat
ionsy
st I
ems ner
ti
alNav
igat
ionSy
stems,
INS)
,al
thought
heyhav
ehi
gh

sampl
i
ngr
ates,
andhi
ghav
ail
abi
l
ity
,thenav
igat
ionsol
uti
onwi
tht
hist
echnol
ogy
di
ver
gespol
ynomi
all
yint
imef
ort
hesuccessi
vei
ntegr
ati
onofmeasur
ementer
ror
s,and

i
naccur
aci
esi
nthei
nit
ial
condi
ti
ons.

Thei
ntegr
ati
onoft
heset
wot
echnol
ogi
esi
sver
ypopul
art
omut
ual
l
ymi
ti
gat
e

t
hei
rdef
ici
enci
es,
andguar
ant
eegr
eat
erpr
eci
sioni
nnav
igat
ion.
 I
ntegr
atednav
igat
ion

t
echnol
ogyal
l
owst
hef
usi
onofmul
ti
plei
nfor
mat
ionsour
cest
oincr
easenav
igat
ion

pr
eci
si
on.
 Sev
eral
aut
hor
shav
econt
ri
but
edt
othedev
elopmentofi
ntegr
atednav
igat
ion

al
gor
it
hms,
wit
hami
nimal
setofsensor
stomai
ntai
nlow-
costcondi
ti
ons.
 Fort
his

i
ntegr
ati
on,
theKal
manf
il
terandi
tsext
ensi
onshav
ebeenused,
themostr
elev
ant

opt
imal
stochast
icest
imat
iont
ool
.

I
nal
owl
atencyi
ntegr
atednav
igat
ionsol
uti
oni
spr
oposedt
hatsol
vest
he

def
ici
enci
esoft
heExt
endedKal
manFi
l
teri
nthef
aceofst
rongnon-
li
near
it
ies,
and

measur
ement
swi
thhi
ghnoi
sel
evel
s;
 Todot
his,
itusesat
ight
lycoupl
edf
usi
on

schemebet
weenadi
ff
erent
ial
GPSandanI
NS,
whi
chi
nvol
vesaccessi
ngt
hecodeof

t
hei
ner
ti
almeasur
ementuni
t.
 I
n,af
usi
onschemebasedont
heExt
endedKal
manFi
l
ter

i
spr
oposed,
wit
hthepecul
i
ari
tyofest
imat
ingt
hedr
if
tint
hegy
roscope,
thr
ought
heuse

ofmagnet
omet
ersandaPIcont
rol
l
er.
 I
tal
soachi
evescompensat
ionf
orer
ror
sint
he

hor
izont
alchannel
oft
henav
igat
ionsy
stem usi
ngadapt
ivesi
gnal
s;
 Ont
heot
herhand,

f
ori
tsoper
ati
on,
itr
equi
rest
hei
ncor
por
ati
onofabar
omet
er,
whi
chmakest
hesol
uti
on

mor
eexpensi
ve.
 Fori
tspar
t,
 i
nthedesi
gnofanExt
endedKal
manFi
l
tert
hati
ntegr
ates

I
NS/GPSi
naf
lexi
blewaywi
thr
espectt
othei
ntegr
ati
onphi
l
osophyi
s

pr
esent
ed.
 Compar
ethemet f
hodsofeedback  f
and or
war
d f
ori
ntegr
ati
on,
whose

concl
usi
oni
nfav
oroft f
he eedback 
met
hods 
i
susedi
nthi
swor
k. 
Eval
uat
ethepr
oposal
wi
thr
eal
dat
aobt
ainedwi
thi
ner
ti
alsensor
sandGPS.
 Ont
heot
herhand,

magnet
omet
ersar
enoti
ncl
udedt
oimpr
ovet
heest
imat
ionoft
heheadi
ng.
 Thewor
k

pr
esent
edi
npr
oposesacompar
isonbet
weent
heExt
endedKal
manFi
l
terand

t Unscent
he  ed 
Kal Fi
man  l
ter
.,usedf
ort
hef
usi
onbet
weenI
NSandGPS,
wit
hanon-

l
i
neardy
nami
cmodel
,andav
ect
orofst
atescomposedoft
hel
i
nearspeedsi
ntheNor
th

andEastdi
rect
ions,
andt
her
ateofchangeoft
heheadi
ngangl
e. 
Rol
landpi
tchangl
es

ar
enotest
imat
ed,
nori
shei
ght
. 
Thi
ssol
uti
oni
snotgener
ali
zabl
etoot
heraut
onomous

v
ehi
cl
est
hatr
equi
remor
einf
ormat
ionaboutt
henav
igat
ionpar
amet
ers.

I
nCuba,
thedev
elopmentoft
heset
echnol
ogi
esbegani
ntheacademi
cfi
eld,

f
undament
all
ybyt
heAut
omat
ion,
Robot
icsandPer
cept
ionGr
oupoft
heCent
ral

Uni
ver
sit
yofLasVi
l
las(
GARP)
,inconj
unct
ionwi
tht
heNav
alResear
chand

Dev
elopmentCent
er(
CIDNAV)
. 
Thedev
elopmentofaut
opi
l
otsf
oraut
onomous

under
wat
erandaer
ial
vehi
cleshasbeensetasanobj
ect
ive,
wit
himpor
tantr
esul
ts,

exposedi
nthewor
ks.
 Howev
er,
thesensor
sav
ail
abl
efort
hesedev
elopment
sar
e

commer
cial
range,
closedsour
ce,
consi
der
edl
owcost
,unr
eli
abl
e,noi
sy.
 

Anal
gor
it
hm i
sther
efor
erequi
redt
hatal
l
owst
hepr
eci
seest
imat
ionoft
he

nav
igat
ionpar
amet
ersf
rom t
her
awmeasur
ement
sofami
nimum setofsensor
s,wi
th

l
ow-
costt
echnol
ogy
. 
Thi
sar
ti
clepr
esent
sanav
igat
ionsol
uti
ont
hati
sbasedont
heuse

oft
heExt
endedKal
manFi
l
terf
ort
hef
usi
onofi
nfor
mat
ionbet
weeni
ner
ti
alsensor
s,

magnet
omet
ers,
andGPSasext
ernal
ref
erence,
toest
imat
etheor
ient
ati
on,
posi
ti
on

andspeedofanaut
onomousv
ehi
cle.
 Apecul
i
ari
tyoft
hepr
oposal
ist
hemodul
ari
ty

achi
evedbysepar
ati
ngt
heor
ient
ati
onest
imat
efr
om t
heposi
ti
on.
 Thef
undament
al
equat
ionsoft
hei
mpl
ement
ati
onoft
heExt
endedKal
manFi
l
terar
eaddr
essedbot
hfor

t
heest
imat
ionoft
heor
ient
ati
onandf
ort
hef
usi
onofI
NSwi
thGPS.
 Thi
spr
oposal
was

i
mpl
ement
edandexecut
edi
nMat
lab.

Comput
ermet
hodol
ogy

Fr
amewor
ks

Accor
dingt
o(Cast
il
lo,
2012)af
rameofr
efer
encei
saCar
tesi
ansy
stem oft
hree

or
thogonal
axesor
ient
edi
naposi
ti
veway
,wi
thi
tsor
igi
ninsomepoi
ntofi
nter
estf
or

t
henav
igat
ionoft
hev
ehi
cle.
 Theposi
ti
on,
speedandor
ient
ati
on,
aswel
last
he

di
ff
erent
ial
equat
ionst
hatr
elat
ethesepar
amet
ersf
ornav
igat
ion,
hav
eav
ect
orf
orm,

whi
chr
equi
rest
hei
rrepr
esent
ati
onwi
thr
espectt
oacer
tai
nfr
ameofr
efer
ence.
 The

f
ramewor
ksofi
nter
estf
ort
hiswor
kar
edescr
ibedbel
ow:

Body
-cent
eredr
efer
ence 
fr
ame:
The 
body
 fr
ame(
 b-
fr
ame 
)isnon-
iner
ti
al,

or
igi
nat
esf
rom t
hev
ehi
cle'
scent
erofmass,
andi
sal
i
gnedwi
tht
hev
ehi
cle'
saxesof

r
otat
ion.

TheEul
erangl
est
hatdescr
ibet
her
otat
ionoft
hev
ehi
clear
e:r
oll
,pi
tchandy
aw,

t
her
otat
ionsaboutt
heX,
YandZaxesr
espect
ivel
y.

Nav
igat
ionr
efer
ence 
fr
ame:
The 
nav
igat
ion 
fr
ame(
 n-
fr
ame 
)or
igi
nat
esf
rom t
he

l
ocat
ionoft
henav
igat
ionsy
stem,
atanar
bit
rar
ypoi
ntont
heEar
th'
ssur
face.
 I
tsaxes

ar
eal
i
gnedi
nthedi
rect
ionsNor
th-East-Down(
towar
dst
hecent
eroft
heEar
th)
.

Nav
igat
ionsol
uti
onpr
oposal
 Ani
ntegr
atednav
igat
ionst
rat
egyi
spr
oposedbasedont
hef
usi
onof

measur
ement
sfr
om l
ow-
costi
ner
ti
alsensor
s,GPS 
  asanext
ernal
sour
ceofi
nfor
mat
ion,

andt
hecompl
ementofmagnet
omet
erst
oimpr
ovet
heest
imat
ionoft
heheadi
ng(
yaw

angl
e).
 

Theaccel
erat
ion  andangul
arv
eloci
ty 
measur
ement
s 

f
rom t
hei
ner
ti
alsensor
sar
econdi
ti
onedi
nthe"
Signal
fil
ter
ing"bl
ock.
 Wi
tht
hese

measur
ement
sandt
hemagnet
omet
err
eadi
ngs  ,
theor
ient
ati
on 

oft
hev
ehi
cl
enecessar
yfori
ner
ti
almechani
zat
ion 
i
sest
imat
ed 
,wher
ethe

di
ff
erent
ial
equat
ionsofnav
igat
ionar
enumer
ical
l
ysol
ved.
 AKal
manExt
endedFi
l
ter

est
imat
est
heer
rori
nposi
ti
onandspeed  ,
wit
hthehel
pof

t
hemeasur GPS 
ementofa  recei
ver
 

.
 Wi
tht
hiser
rort
heposi
ti
onandspeed

cal
cul
atedi
nmachi
ningar
ecor
rect
ed.
 Thi
sconf
igur
ati
onf
ort
hei
ntegr
atednav
igat
ion

i
sknowni
nthel
i
ter
atur
easf
eedbackschemeor
 f
eedback,
wit
hwhi
chi
tispossi
blet
o

mi
ti
gat
ethedi
ff
icul
ti
esofnav
igat
ingexcl
usi
vel
ywi
thoneoranot
hersour
ceof

i
nfor
mat
ion.

Thenextf
ewsect
ionsdescr
ibet
hecomponent
soft
hesol
uti
on.

Si
gnal
condi
ti
oni
ng

Thenoi
synat
ureofl
ow-
costi
ner
ti
alsensor
soft MEMs 
he  type 
suggest
susi
nga

f
il
ter
ingmechani
sm t
oel
i
minat
epar
toft
henoi
sepr
esenti
nthemeasur
ement
s. 
To
achi
evet
hisend,
ali
nearKal
manf
il
teri
ndi
scr
etet
imei
spr
oposed,
whosef
unct
ioni
sto

opt
imal
l
yest
imat
ethesi
gnal
sfr
om accel
eromet
ersandgy
roscopes.

TheKal
manf
il
terhast
wost
ages:
predi
cti
onandcor
rect
ion.

Thepr
edi
cti
onst
age:

Thecor
rect
ionst
age:

Fort
hisappl
i
cat
ion,
thev
ect
orofst
atesi
sdef
inedas 

,
whosecomponent
sar
etheest
imat
edsi
gnal
sfr
om

accel
eromet
ersandgy
roscopes.
 Themat
ri
xoft
hesy
stem i
s A 
= I
  x 
6  6,
andt
heout
put

mat
riC 
x  I
=  
6 x 
6.Themat
ri P 
ces  P 
-and  +ar
erespect
ivel
ythecov
ari
anceoft
heer
rori
n

t
hepr
edi
cti
onandi
nthecor
rect
ionst
age.
 Q 
i
sthecov
ari
ancemat
ri
xoft
heer
rori
nthe

model
.Kk 
  i
stheKal
manpr
ofi
tmat
ri
x, R 
and  i
sthecov
ari
ancemat
ri
xoft
heer
rori
nthe

measur
ement
s. 
Fori
tspar
t,t
hev
ect
or I
tisbui
l
tbyt
aki
ng
t
her
eadi
ngsdi
rect
lyf
rom t
hei
ner
ti
alsensor
s.

Thechar
act
eri
sti
csoft
hemat
ri A 
ces  C 
and  ,
eachnewest
imat
eisbasedont
he

est
imat
eoft
hepr
evi
ousmomentundert
heef
fectoft
hecor
rect
ionf
act
orK 
  .

St
andar
ddev
iat
ionsoft
hesensor
sar
eobt
ainedf
rom dat
asheet
soft
he

manuf
act
urer
,andusedt
ofor
mthecov
ari
ancemat
ri
xoft
hemeasur
ementer
ror
 R 
.

Wi
tht
hef
il
ter
edsi
gnal
sfr
om t
heaccel
eromet
ersandgy
roscopes 

,
int
hecur
rentsampl
i
ngper
iod,
thev
ehi
cleor
ient
ati
oni
s

est
imat
ed,
asapr
evi
ousst
ept
oiner
ti
almechani
zat
iont
oobt
aint
henav
igat
ion

par
amet
ers.

Or
ient
ati
onest
imat
ionbasedonquat
erni
ons

Thi
sst
ageconsi
stsofest
imat
ingt
her
otat
ionmat
ri
x t
hatdescr
ibest
he

or
ient
ati
onoft
hev
ehi
cle,
necessar
yfort
hest
ageofi
ner
ti
almechani
zat
ion.
 Sev
eral

aut
hor
shav
epr
oposedal
ter
nat
ivesf
ort
hist
ask,
giv
ent
hei
mpossi
bil
i
tyofadequat
ely

est
imat
ingt
heor
ient
ati
ononl
ywi
tht
hei
ntegr
ati
onoft
heangul
arv
eloci
ty,
measur
ed

wi
thi
nexpensi
vegy
roscopes.
 Amongt
hem,
proposedacompl
ement
aryf
il
terbasedon

t
hedescendi
nggr
adi
entmet
hod,
whi
chmanagest
ocor
rectt
hemagnet
omet
er

measur
ement
sint
hepr
esenceofmagnet
icdi
stur
bances.
 I
nanExt
endedKal
manFi
l
ter

desi
gnedt
oest
imat
etheor
ient
ati
onwaspr
oposed,
star
ti
ngf
rom t
heki
nemat
icsoft
he

r
otat
ionbasedonquat
erni
ons,
andt
henwi
tht
hemeasur
ement
soft
heaccel
eromet
ers

andmagnet
omet
ers,
cor
rect
ingt
heest
imat
ionoft
heheadi
ng.
 Thesepr
oposal
swer
e
t
akeni
ntoaccountbecauset
heyar
ebasedonquat
erni
onal
gebr
a,t
headv
ant
agesof

whi
char
eext
ensi
vel
ydi
scussed.
 Themai
nequat
ionst
oest
imat
eor
ient
ati
onar
e

det
ail
edbel
ow,
fol
l
owi
ngt
hedev
elopment
sof
.

Pr
edi
cti
onst
age 
:Equat
ions3and4makeupt
hepr
edi
cti
onst
age.
 Thev
ect
or 

i
sapur
equat
erni
ont
hatcont
ainst
hemeasur
ementoft
he

gy
ros;
  i
sther
ateofchangeoft
heor
ient
ati
on,
  t
heest
imat
edor
ient
ati
on

i
sthesampl
i
ngt
i k 
mes  k 
-1and  r
espect
ivel
y.
 I
tissuggest
edt
orev
iew(
Roger
s,2003)

f
ort
hedef
ini
ti
onofal
gebr
aicoper
ati
onswi
thquat
erni
ons.

Cor
rect
ionst
age:

Thecor
rect
ionoft
hequat
erni
onest
imat
edi
nthepr
evi
ousst
epi
sdoneby

mul
ti
ply
ingf
ir
stbyaquat
erni
ont
hatcor
rect
sther
oll
andpi
tchcomponent
s,andt
henby

anot
herquat
erni
ont
hatcor
rect
stheheadi
ngcomponent
. 
Fort
his,
themeasur
ement
sof

accel
eromet
ersandmagnet
omet
ers,
prev
iousl
ynor
mal
i
zed,
areused.

r
epr
esent
sthedev
iat
ionoft
hegr
avi
tyv
ect
orest
imat
ed 
 obt
ainedonr
otat
ingt
heaccel
erat
ionv
ect
oroft
hef
ramebodyt
o
T
nav
igat
ionf
rame,
wit
hrespectt
othev
ect
oroft
ruegr
avi
tyg 
  =[
0 ,
 
0 ,
 
1]  
. 
Tocal
cul
atei
t,

t
her
otat
ionmat
ri
xbasedont
hequat
erni
oni
sused  accor
dingt
otheequat
ions:

Fr
om equat
ion7,
fol
l
owi
ngt
hedev
elopmentpr
oposed,
thesol
uti
oni
sobt
ained:

Si
ncet
hisest
imat
eiscont
ami
nat
edbyhi
ghf
requencynoi
se,
ani
nter
pol
ati
on
T
met
hodi
sappl
i
edt
otheuni
tquat
erni qI
on   
=[ ,
1 
  ,
0 
  ,
0 
 0]
   
. 
Itwi
l
lhav
etwoexpr
essi
ons,

dependi
ngont
hev
alueoft
her
eal
par
toft
hequat
erni
on  :

Wher
ethepar
amet
erα 
  ∈[
0 ,
 
1]i
sthef
il
tercut
offf
requency
,Ω 
  i
stheangl
e

bet
weent
hepur
euni
tquat
erni
on,
andt
he  ,
obt
ainedf
rom t
hescal
arpr
oduct

bet
weenbot
hquat
erni
ons,
accor
dingt
o10.
 Att
heendoft
hispr
ocess,
iti
snecessar
ytonor
mal
i
zet
hequat
erni
onobt
ainedi
n

t
hef
orm expr
essedi
n11.

Toobt
aint
hequat
erni
on  ,
proceedi
nasi
mil
armanner
. 
Themeasur
ement

oft
hemagnet
omet
ers  i
srot
atedt
othe 
nav
igat
ionf
ramet
oobt
ain

t
hev
ect
or 
theni
tisr
otat
edt
othehal
fpl xz 
ane  ,accor
dingt
osy
stem 12b.

I
nthi
swayt
hequat
erni
on  descr
ibesonl
yoner
otat
ionar
oundt Z 
he  axi
s ,

al
i
gnedwi
tht X 
he  axi
s i
naposi
ti
vedi
rect
ionwi
thmagnet
icnor
th.

Fr
om equat
ion12b,
equat
ion13i
sobt
ainedasasol
uti
on:
 Wher
e β 
set
sthecut
offf
requencyf
ort
hef
il
ter
.ΩM 
  i
stheangl
ebet
weent
heuni
t

quat
erni
on,
andt
he  ,
obt
ainedf
rom t
hescal
arpr
oductbet
weent
hem,
accor
ding

t
o15.

Thequat
erni
onmustbenor
mal
i
zedt
oper
for
mthecor
rect
ion:
 

Af
tert
heor
ient
ati
onhasbeenest
imat
edandcor
rect
ed  ,
it

onl
yremai
nst
oobt
aint
her
otat
ionmat
ri
xrequi
redf
ormachi
ning,
andt
oobt
aint
her
oll

angl
es(
 φ 
),pi
tch(
 θ 
)andheadi
ng(
 ψ 
),r
espect
ivel
y,asexpr
essedat16and17.
 Equat
ionsf
ori
ner
ti
almechani
zat
ion

T T
Thev
ect
or r
s n 
=[ ,
λ,h 
]   v
and n 
=[v
 N,
vE,
vD 
]  
areexpr
essedi
nthe

nav
igat
ionf
r ϕ 
ame,
  i
slat
it λ 
ude,
  i
slongi
tude,
expr
essedi
ndegr
ees, hi
and  s 
hei
ght
,in

met
ers.
 Di
ff
erent
ial
equat
ions18aand18bar
eexpr
essedi
nthenav
igat
ionf
rame:

wher
e   
i
sther
otat
ionmat
ri
x
b
ev
aluat
edi
ntheest
imat
edor
ient
ati f
on,
    
ist
hev
ect
oroft
hef
il
ter
edaccel
erat
ions.
 The

Car
tesi
anpr
oducti
sthecor
rect
ionoft
heef
fectoft
heCor
iol
i
sfor
ce,
andt
he

expr
essi
onst
hev
ect
ors  ar
erespect
ivel
ythespeedofr
otat
ionoft
heEar
thi
n

t
henav
igat
ionf
rame,
andt
heangul
arspeedcausedbyt
her
otat
ionoft
henav
igat
ion
f
ramewi
thr
espectt
otheEar
th,
accor
dingt
oequat
ions19and20:

wher
e  i
sthespeedofr
otat
ionoft
heEar
th.

Thedi
stur
bancemet
hodi
susedt
oanal
yzet
heer
rori
niner
ti
al

mechani
zat
ion.
 Fort
heposi
ti
on,
aft
eri
ntegr
ati
on,
expr
essi
on21showst
heexi
stenceof

aner
rori
nthecal
cul
ati
onper
for
med.
 Theni
nequat
ion22t
hedy
nami
csoft
heposi
ti
on

er
rori
sst
ated,
whi
chal
sodependsont
heer
rori
nspeed.

Wher
e,t
hemat
ri Fr
ces  r
  Fr
and  v
 ar
edet
ail
edbel
ow:
 Thesamehappenswi
thspeed:

Themat
ri
ces26aand26bar
erespect
ivel
y:

wher
e  y
 γ 
0ist
heEar
th'
sgr
avi
tyat
 h 
=0.

Fr
om nowon,
thef
usi
onst
rat
egywi
l
lbeaddr
essedt
ocor
rectt
hev
ehi
cle'
sspeed

andposi
ti
onest
imat
ion.

Kal
manExt
endedFi
l
terEquat
ionsf
orI
NS/GPSFusi
on

Thi
sfusi
onst
rat
egyi
mpl
i
est
aki
ngi
ntoaccountnon-
li
near
it
iesi
nthenav
igat
ion

equat
ions,
aswel
last
henat
ureoft
hedi
stur
bancespr
esenti
nthe

measur
ement
s; 
ther
efor
etheExt
endedKal
manFi
l
terdesi
gni
schosen.

St
art
ingf
rom def
ini
ngt
hest
atet
obeest
imat
ed  ,
as

t
hemeasur
ementoft
heer
rorbet
weent
heposi
ti
onandspeedmeasur
ement
soft
he
I
NSandt
heGPS,
thef
il
terpr
edi
cti
onst
agei
sdef
inedwi
thequat
ions27aand27b.

Wher
e Φ 
i
sthest
atet
ransi
ti
onmat
ri
x,whi
chi
sobt
ainedf
rom t
hedi
scr
eti
zat
ion

oft
hemat
ri
x  .

Thi
sist
hemat
ri
xthatdescr
ibest
hedy
nami
csoft
heer
rori
nposi
ti
onand

v
eloci
ty,
accor
dingt
othedev
elopmentpr
oposed.
 Φ 
i
scal
cul
atedbyt
aki
ngt
hef
ir
st

t
hreet
ermsoft
heTay
lorser
ies.

I
nthecor
rect
ionst
age:

Fr
om t
hisequat
iont
heout
putmat
riHkst
x  andsout
 ,
 Themeasur
ementv
ect
ori
smadeupoft
hedi
ff
erencebet
weent
heout
putoft
he

i
ner
ti
alsol
uti
on,
andt
hei
nfor
mat
iont
hatcomesf
rom t
heGPS.
 Themodi
fi
cat
ionof

mul
ti
ply
ingt
hedi
ff
erencesi
nlat
it
udeandl
ongi
tudebyt
her
adi
ioft
heEar
thi
sadopt
ed,

gi
vent
hatt
heyar
eexpr
essedi
nradi
ans,
theyar
esmal
lnumber
sthatcangener
ate

numer
ical
inst
abi
l
ityi
nthef
il
terexecut
ion.
 

Fi
nal
l
y,t
hest
atev
ect
orandt
hecov
ari
ancemat
ri
xar
eupdat
ed.

Resul
tsanddi
scussi
on

Thi
ssol
uti
onwasi
mpl
ement
edi
nMat
labf
orsi
mul
ati
onandev
aluat
ion

pur
poses.
 Thedat
arecor
dedf
rom anexper
imentcar
ri
edoutbyGARPandCI
DNAVi
n

2014wasused.Thenav
igat
iondat
awasobt
ainedwi
thanI
MUMt
i-
G,f
rom t
he

manuf
act
urer
 Xsens,
aboar
dtheHRC400under
wat
eraut
onomousv
ehi
cle.
 Rawdat
a

f
rom accel
eromet
ers,
gyr
oscopes,
andmagnet
omet
erswer
etakenont
het
hreeaxes
(
accel
erat
ion,
angul
arv
eloci
ty,
andmagnet
icf
iel
dint
ensi
ty)
. 
Asr
efer
encev
alues,
the

Eul
erangl
est
hatdescr
ibet
heor
ient
ati
onoft
hev
ehi
clecal
cul
atedbyt
heI
MUwer
e

t
aken,
aswel
last
hei
nfor
mat
iononposi
ti
onandspeedobt
ainedf
rom t
heGPS,

expr
essedi
nlat
it
ude,
longi
tude,
hei
ght
,andt
hespeedi
nthet
hreeaxes.
 Thei
nit
ial

v
alues​
oft
heor
ient
ati
onangl
eswer
etakenf
rom t
her
efer
ence.
 Thei
nit
ial
val
ues​
f
or

posi
ti
onandspeedwer
etakenf
rom t
hei
nit
ial
GPSr
eadi
ngs.

Ther
esul
tsobt
ainedi
nthecondi
ti
oni
ngoft
hei
ner
ti
alsi
gnal
sal
l
owedt
oachi
eve

agr
eat
erst
abi
l
ityi
ntheest
imat
ion.
 Anadequat
elev
elofat
tenuat
ionoft
henoi
se

pr
esenti
nthei
nst
rumentsi
gnal
sisachi
eved.
 I
nst
abi
l
ityper
sist
sint
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ghwayCodebet
terandr
eactf
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egener
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ir
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communi
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m Ev
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oxi
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Ser
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ensi
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aycanbe

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etr
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rust
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mat
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ulf
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ti
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cat
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cles.

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er,
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yconceptandt
hecent
ral
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ofsecur
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it
yofi
nfor
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ransmi
ssi
oni
nIEEE802.
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 Ther
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secur
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rongl
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rust
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f
utur
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3GPP(
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nfr
ast
ruct
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basedcommuni
cat
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Thear
easwher
eLTEneedst
obei
mpr
ovedar
edi
scussedbel
ow.

1.Asmor
euser
sincr
easei
nthemobi
l
ecommuni
cat
ionar
ea,
thedel
ayal
soi
ncr
eases.
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exampl
e,i
thasbeenpr
ovent
hati
n(Phan,
Rembar
z,&Sor
ies,
Oct
ober2011)
,LTE

t
echnol
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,thecapaci
tyl
i
mitofev
entt
ri
ggermessagesf
oral
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oxi
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elyI
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icesi
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enddel
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t
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igi
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l
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gnedf
orbr
oadbandt
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fi
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tmaynot

al
way
sopt
imi
zet
ransmi
ssi
onf
orsmal
lamount
sofdat
atr
ansmi
ssi
on.
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str
ansl
ates

i
ntosub-
opt
imal
usageofr
adi
oresour
ces.
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osuppor
tal
arge
 numberofv
erysmal
ldat
apacket
s. 
Thi
scanl
eadt
othr
eepot
ent
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probl
emsi
n

t
radi
ti
onal
cel
l
ulardesi
gns:
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codi
ng,
(ii
)resour
cegr
anul
ari
tyand(
ii
i)cont
rol

andchannel
est
imat
ionov
erhead.
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npar
ti
cul
ar,
thet
ypi
cal
cont
rol
andchannel

est
imat
ionbecomev
eryi
nef
fi
cientduet
othesesmal
ldat
apacket
s.

3.Themai
npr
obl
em i
nmanyaut
omot
iveusecasesi
sthei
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oduct
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aysunt
ilt
he

act
ual
pay
loadcanbet
ransmi
tt
ed.
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andom accesspr
ocessi
samul
ti
-st
age

pr
otocol
incl
udi
ngsev
eral
messagesi
ntheupl
i
nkanddownl
i
nk.
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thoughsi
mpl
i
fyi
ng

exi
sti
ngLTEpr
ocedur
escanpr
ovi
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it
s,atl
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e-t
ransmi
ssi
onand

onedownl
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nkf
eedback(
random accessr
esponse)wi
l
lal
way
srequi
ret
ight

sy
nchr
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heupl
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efer
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loadt
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ail
abl
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e-

t
ransmi
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1Mzhbandwi
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sshar
edbyal
luser
soft
he

samemobi
l
ecommuni
cat
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t,r
egar
dlessoft
hei
rappl
i
cat
ion,
orf
ormanypur
poses

(
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ti
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resy
nchr
oni
zat
ionofdat
atr
ansmi
ssi
on,
handov
er,
andr
adi
oli
nkf
ail
ure)

r
est
ore)
. 
Ther
efor
e,t
hedesi
gnoft
hepr
e-t
ransmi
ssi
onpar
tmustconsi
dermany

const
rai
ntsi
ntheexpect
eddel
aypr
opagat
ionandDoppl
erpr
opagat
ion,
whi
chl
i
mit
sthe

spect
rum ef
fi
ci
encyunderphy
sical
random access(
PRACH)condi
ti
ons.
 Ther
efor
e,

scal
abi
l
itymaybecomeani
ssue.
 I
fthenumberofuser
sineachmobi
l
ecommuni
cat
ion

cel
li
ncr
eases,
addi
ti
onal
del
aysar
egener
atedbecauseofr
andom accessf
ail
ureor

bl
ocki
ngt
hatwi
l
loccur
. 
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l
isi
onr
atewi
l
lincr
easeast
hespeedi
ncr
easesast
he

numberofdev
icesi
ncr
eases,
andt
her
andom accesschannel
(RACH)pr
obl
em i
s

conf
igur
abl
e. 
Forexampl
e,assumi
ngat
ypi
cal
PRACHconf
igur
ati
onwi
thev
eryt
imi
ng

f
rame,
64-
bitav
ail
abl
epr
e-t
ransmi
ssi
onand30mspacketar
ri
val
int
erv
ali
neachmobi
l
e

communi
cat
ioncel
lwi
th1000user
s,t
hecol
l
isi
onpr
obabi
l
ityi
sal
mostcer
tai
n
(
99.
97%)
. 
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ti
on,
mor
eandmor
erandom accessr
esponses(
56bi
tsperuser
)li
mit

t
heov
eral
ldownl
i
nkcapaci
ty.

Concl
usi
on

Fort
hef
ull
andopt
imal
impl
ement
ati
onandconst
ruct
ionoff
if
th-
gener
ati
on

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wor
ks,
itwi
l
lbenecessar
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esour
cesandef
for
tsnotonl
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ator
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hest
atei
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o

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requencyr
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ceandpr
epar
ingt
her
egul
ator
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amewor
k,butal
soofal
li
nter
est
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ketpar
ti
cipant
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obabl
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ti
onal
assessmentbyal
lmar
ketpar
ti
cipant
sof

pot
ent
ial
inv
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ment
sandt
hepossi
bil
i
tiesofappl
yi
ngt
hewor
ldexper
iencei
n

adapt
ati
onandt
ransf
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echnol
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it
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ofi
ndt
heopt
imal

bal
ancei
sneeded.
 Ref
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