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Towards an Integrity-Based GNSS Measurement Quality Model

for an In-Depth Understanding of Localization Dependability
Arne Geffert, Andreas Dodinoiu, Tianxiang Lan, Uwe Becker
Motivation

EN 5012X
Safety-related development in
an early design phase?
 formal system model for
[1]
simulation supports safety-
related design (accuracy)
 concept exists, but technical
realization unknown integrity
 safety of traffic (hazard rate)

PL
AL

AL
PE
November 2020 | Geffert et al. | ENC 2020 | slide 2
Agenda

Measurement Quality
PROFUND
Localization Dependability

Intermediate Results 
Conclusion and Further Research

November 2020 | Geffert et al. | ENC 2020 | slide 3

System under Consideration

GNSS
data fusion
IMU
trajectory fusion filter
odometer
integrity

…
monitoring
digital
map

[cf. 2, 3, 4]

November 2020 | Geffert et al. | ENC 2020 | slide 4

Use Case

How to ensure…
• accuracy?
• safety?

How to prove it?

LOS NLOS
multipath obscuration
[cf. 5]

November 2020 | Geffert et al. | ENC 2020 | slide 5

 Accuracy

........................................ ............ .................. ............

.. ........ ..... avail-
ability

trueness  x x  [cf. 2]

precision x  x  continuity

integrity

accuracy

[cf. 6] [following 7]
November 2020 | Geffert et al. | ENC 2020 | slide 6
Integrity
PL
≥
fusion AL
filter A
𝑥 avail-
ability

PL ≥ AL A
0 𝑥
continuity
1 0

integrity

protection level (PL) accuracy

alarm limit (AL)
[cf. 2] ground truth
measurement value [following 7]
November 2020 | Geffert et al. | ENC 2020 | slide 7
Integrity
PL
≥
fusion AL
filter A
𝑥 avail-
ability

PL ≥ AL A
0 𝑥
continuity
1 0

integrity

protection level (PL) accuracy

alarm limit (AL)
[cf. 2] ground truth
measurement value [following 7]
November 2020 | Geffert et al. | ENC 2020 | slide 8
Integrity
PL
≥
fusion AL
filter A
𝑥 avail-
ability

PL ≥ AL A
0 𝑥
continuity
1 0

integrity
integrity
matters
protection level (PL) accuracy
alarm limit (AL)
[cf. 2] ground truth
measurement value [following 7]
November 2020 | Geffert et al. | ENC 2020 | slide 9
Integrity-Based Measurement Quality Model
∆𝑦 PL
AL
measurement value

𝐴𝐿0

∆𝑥

−𝐴𝐿0

November 2020 | Geffert et al. | ENC 2020 | slide 10

 Integrity-Based Measurement Quality Model

∆𝑦 PL ∆𝑦
AL

𝐴𝐿0

∆𝑥 𝑡

−𝐴𝐿0

November 2020 | Geffert et al. | ENC 2020 | slide 11

 Integrity-Based Measurement Quality Model

∆𝑦 PL ∆𝑦
AL

𝐴𝐿0

∆𝑥 𝑡

−𝐴𝐿0

November 2020 | Geffert et al. | ENC 2020 | slide 12

 Integrity-Based Measurement Quality Model

∆𝑦 PL ∆𝑦
AL

𝐴𝐿0
2

∆𝑥 𝑡
t1
−𝐴𝐿0

November 2020 | Geffert et al. | ENC 2020 | slide 13

Integrity-Based Measurement Quality Model
∆𝑦 PL
AL
trustworthy state cf. paper

𝐴𝐿0
2
not trustworthy state 1 3

1 𝑡
2

safe state −𝐴𝐿0

trustworthy

not trustworthy

hazardous state safe

𝑡
hazardous
𝑡
November 2020 | Geffert et al. | ENC 2020 | slide 14
Integrity-Based Measurement Quality Model
∆𝑦 PL
AL
trustworthy state
5 6

𝐴𝐿0 3
2
not trustworthy state 1 3
1

1 𝑡
2

safe state −𝐴𝐿0

trustworthy

not trustworthy

hazardous state safe

𝑡
hazardous
𝑡
November 2020 | Geffert et al. | ENC 2020 | slide 15
Integrity-Based Measurement Quality Model
∆𝑦 PL
AL
trustworthy state
5 6 4

𝐴𝐿0 3
2
not trustworthy state 1 3
1
1

1 𝑡
2

safe state −𝐴𝐿0

trustworthy

not trustworthy

hazardous state safe

𝑡
hazardous
𝑡
November 2020 | Geffert et al. | ENC 2020 | slide 16
 Integrity-Based Measurement Quality Model trustworthy state
∆𝑦 ∆𝑦
PL μtrustworthy λtrustworthy
AL 4
5 6
not trustworthy state
𝐴𝐿0 2 1 3
3
1
1

∆𝑥
1
2
𝑡
-𝐴𝐿0
safe state
trustworthy
not trustworthy
safe 𝑡
hazardous μsafe λsafe
𝑡
𝑃(𝑡) hazardous state

1
November 2020 | Geffert et al. | ENC 2020 | slide 17 λsafe 𝑡
Agenda

Measurement Quality
PROFUND
Localization Dependability

Intermediate Results

Conclusion and Further Research

November 2020 | Geffert et al. | ENC 2020 | slide 18

Proving a Reasonable Degree of Safety: CSM

[8, zoomed, red rectangle added]

[8, yellow drawings added]
November 2020 | Geffert et al. | ENC 2020 | slide 19
Transferring Measurement Quality Into Dependability
reliability continuity

availability availability

safety
measurement
RAMSS quality
integrity

security

accuracy

maintain-
ability [cf. 2, 3, 9]

November 2020 | Geffert et al. | ENC 2020 | slide 20

PROFUND Approach
PROcess:
• technical process Dependability
• consequences of accident
FUNctionality: • dependability of function
• control function • dependability of
• implementation of control implementation
function [2]

PROFUND
 Petri Net-based modeling in style of PROFUND [10]

 extension: quasi-stochastic behaviour of sensor system

November 2020 | Geffert et al. | ENC 2020 | slide 21

Formalization of Measurement Quality modelling and
simulation in
Π-Tool [11]

November 2020 | Geffert et al. | ENC 2020 | slide 22

Agenda

Measurement Quality

Localization Dependability

Intermediate Results 
Conclusion and Further Research

November 2020 | Geffert et al. | ENC 2020 | slide 23

 PL
Petri Net Model
AL

AL
PE

MQ Dep 1/2

μtrustworthy λtrustworthy

=
μsafe λsafe

[cf. 5, 13, 14]

November 2020 | Geffert et al. | ENC 2020 | slide 24 NB: process control omitted to simplify the 3 nets
Monte Carlo Simulation

MQ

μtrustworthy λtrustworthy
trustworthy
= 3,6∙104 h-1 = 10-2 h-1

99.9 %
confidence level

μsafe λsafe

= 3,6∙104 h-1

Detailed results will be published soon [5]!

November 2020 | Geffert et al. | ENC 2020 | slide 25
Agenda

Measurement Quality

Localization Dependability

Intermediate Results

Conclusion and Further Research

November 2020 | Geffert et al. | ENC 2020 | slide 26

Conclusion and Outlook


 safety-related development for early design phases with the help of Petri Nets,
integrity-based GNSS measurement quality model
 Dependability needs integrity monitoring. Accuracy is necessary, but insufficient.
 estimate the required sensor quality for maintainig a dependable traffic process

 temporal correlation of GNSS measurement values (e.g. NLOS)

 differentiation hazard/harm, refine operationality and availability on the traffic level
 sensitivity analyses (Improving which λ𝑖 has the strongest effect?)

November 2020 | Geffert et al. | ENC 2020 | slide 27

Bibliography
[1] Railway applications - Communication, signalling and processing systems - Software for railway
control and protection systems. FprEN 50128:2011 E, 2011.
[2] Geffert, Arne; Dodinoiu, Andreas; Becker, Uwe: Multiperspektivischer Ansatz zur
domänenübergreifenden Formalisierung von Verlässlichkeit am Beispiel der fahrzeugautonomen
Ortung. Presentation, safe.tech 2019.
[3] Geffert, Arne; Dodinoiu, Andreas; Lan, Tianxiang; Rüdiger, Rasmus; Becker, Uwe: Formalization of
automation risks for dependability-based safeguarding of the nominal function. Conference paper,
9. Tagung Automatisiertes Fahren, München, 21.–22. November 2019,
https://mediatum.ub.tum.de/doc/1535147/1535147.pdf.
[4] Geffert, Arne; Lan, Tianxiang; Dodinoiu, Andreas; Becker, Uwe: Sicherheitsgerichteter,
simulationsbasierter Entwurf fusionierter Fahrzeugortungssysteme in frühen Phasen des
Entwicklungsprozesses. Presentation, POSNAV 2018.
[5] Dodinoiu, Andreas; Geffert, Arne; Lan, Tianxiang; Becker, Uwe: Petrinetzbasierte
Verlässlichkeitsanalyse einer sicherheitsrelevanten, bordautonomen Zugortung auf Grundlage von
PROFUND. at – Automatisierungstechnik. Methoden und Anwendungen der Steuerungs-,
Regelungs- und Informationstechnik. Unpublished, publishing expected in 2021.

November 2020 | Geffert et al. | ENC 2020 | slide 28

Bibliography
[6] Grasso Toro, Federico: Development of Intelligent GNSS-based Land Vehicle Localisation
Systems, Ph.D. dissertation, Dept. Mech. Eng., Tech. Univ. Braunschweig, Braunschweig, 2015.
https://www.iva.ing.tu-bs.de/webProjects/litDb/2.2/lit_showFullPublication.php?pdf=1190_Diss_Gra
ssoToro_Federico.pdf.
[7] Zhu, Ni; Marais, Juliette; Bétaille, David; Berbineau, Marion: GNSS Position Integrity in Urban
Environments: A Review of Literature, IEEE Transactions on Intelligent Transportation Systems,
vol. 19, no. 9, pp. 2762–2778, 2018. https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8
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[8] EUR-Lex: Commission Implementing Regulation (EU) No 402/2013 of 30 April 2013 on the
common safety method for risk evaluation and assessment and repealing Regulation (EC) No
352/2009 Text with EEA relevance, 2013. https://eur-lex.europa.eu/legal-
content/en/TXT/?uri=CELEX:32013R0402 (12/11/2020). Creative Commons Licence CC BY 4.0:
https://creativecommons.org/licenses/by/4.0/.
[9] Lu, Debiao: GNSS for Train Localisation Performance Evaluation and Verification, Ph.D.
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377/Diss_Lu_Debiao.pdf.
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Bibliography
[10] Slovák, Roman: Methodische Modellierung und Analyse von Sicherungssystemen des
Eisenbahnverkehrs, Ph.D. dissertation, Dept. Mech. Eng., Tech. Univ. Braunschweig,
Braunschweig, 2006. https://publikationsserver.tu-braunschweig.de/receive/dbbs_mods_00018016.
[11] Institute for Quality, Safety and Transportation: Π-Tool. http://www.iqst.de/?page_id=24.

[12] Walter, Todd; Hansen, Andrew; Enge, Per: Validation of the WAAS MOPS Integrity Equation.
http://web.stanford.edu/group/scpnt/gpslab/pubs/papers/Walter_IONAM_1999_WAAS_MOPS_Inte
grity_Validation.pdf (27/08/2020).
[13] Dodinoiu, Andreas; Geffert, Arne; Lan, Tianxiang; Becker, Uwe: Petrinetzbasierte
Verlässlichkeitsanalyse einer sicherheitsrelevanten, bordautonomen Zugortung auf Grundlage von
PROFUND. Conference paper. In: Jumar, Ulrich; Diedrich, Christian (ed.): EKA 2020,
Tagungsband der 16. Fachtagung Entwurf komplexer Automatisierungssysteme – Beschrei-
bungsmittel, Methoden, Werkzeuge und Anwendungen, 2020.
[14] Geffert, Arne; Dodinoiu, Andreas; Lettmann, Florian; Lan, Tianxiang; Becker, Uwe:
Szenariobasierte PROFUND-Analyse zur Absicherung der Ortungs-Sollfunktion von
automatisierten Straßenfahrzeugen. Presentation, safe.tech 2020.

November 2020 | Geffert et al. | ENC 2020 | slide 30

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Thank you for your attention!

We express our sincere thanks to Moritz Geweke, Christian Frohn, Anna-Lena Müller,
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