Standardization issues related to hybrid GNSS positioning

GNSS, for many very good reasons among which continuity, is hybridized for land positioning. Indeed, GNSS outages remain frequent in the core of modern cities, despite satellite multi-constellation inter-operating today. Urban positioning is known as a difficult problem, in which satellite measurements, if not occulted, suffer from multipath caused by the receiver local building environment. In Intelligent Transportation Systems and mobility in general, many solutions, applications, innovations rely on satellite positioning. Hybridization with inertial measurements, but also other proprioceptive sensors like odometer/podometer, as well as exteroceptive devices such as cameras, lidars, radars… enable advantages and drawbacks to complement each other leading to improved performances. In the automotive sector, where one’s location as well as that of many surrounding objects (infrastructure, other vehicles, pedestrians…) is a key technical component, standardization efforts have been initiated. This article will give an overview of which standards have been produced so far in terms of positioning performance, and will outline the specific issues raised by the performance assessment of hybridized GNSS positioning devices.