Real-Time Single-Frequency Precise Point Positioning for Connected Autonomous Vehicles: A Case Study over Brazilian Territory

Intelligent Transportation Systems (ITS) and Connected Autonomous Vehicles (CAV) are extremely active areas of research, which have attracted the attention of users, companies, and development agencies worldwide. The Global Navigation Satellite System (GNSS) is a main enabling technology, as ITS/CAV applications are fundamentally dependent on precise positioning systems. Among the recent GNSS technology advances that have allowed high accuracy to be achieved is Real-Time Precise Point Positioning (RT-PPP). Even though the Real-Time Service (RTS) of the International GNSS Service (IGS) provides various correction streams for RT-PPP deployment, some of them (e.g., those associated with ionospheric delays) still have limited accuracy. This has motivated local organizations and research institutes to deploy their own RT-PPP products, based on a denser regional network of GNSS Continuously Operating Reference Stations (CORS). The purpose of this work is to evaluate the performance of a recently established regional ionosphere RT-PPP product, from the Argentine University of La Plata (UNLP), which serves all of South America, with extensions to the Caribbean and Antarctica Peninsula. The main contributions of the work are: we show that RT-PPP using UNLP products outperforms RT-PPP using products exclusively from IGS-RTS; we benchmark positioning strategies, such as Post-Processed PPP (PP-PPP) and Relative Global Positioning System (RGPS); and, demonstrate the ability of Brazilian RT-PPP users employing Single-Frequency (SF) GPS code measurements and UNLP ionosphere products to achieve the CAV lane-level specification (i.e., 1-meter horizontal positioning accuracy at 95% probability). The article includes results from both static and moving experimental tests.