1、BS EN 16803-1:2016Space Use of GNSS-basedpositioning for road IntelligentTransport Systems (ITS)Part 1: Definitions and system engineeringprocedures for the establishment andassessment of performancesBSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06BS EN 16803-1:2016
2、BRITISH STANDARDNational forewordThis British Standard is the UK implementation of EN 16803-1:2016.The UK participation in its preparation was entrusted to TechnicalCommittee ACE/68, Space systems and operations.A list of organizations represented on this committee can beobtained on request to its s
3、ecretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2016. Published by BSI Standards Limited 2016ISBN 978 0 580 87857 2ICS 49.140Compliance with a British Standard cannot
4、confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 31 October 2016.Amendments/Corrigenda issued since publicationDate Text affectedBS EN 16803-1:2016EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 16803-
5、1 October 2016 ICS 49.140 English version Space - Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) - Part 1: Definitions and system engineering procedures for the establishment and assessment of performances Espace - Utilisation de la localisation base sur les GNSS pour les
6、 systmes de transport routiers intelligents - Partie 1: Dfinitions et procdure dingnierie systme pour ltablissement et la vrification des performances Raumfahrt - Anwendung von GNSS-basierter Ortung fr Intelligente Transportsysteme (ITS) im Straenverkehr - Teil 1: Definitionen und Systemtechnikverfa
7、hren fr die Festlegung und berprfung von Leistungsdaten This European Standard was approved by CEN on 1 July 2016. CEN and CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard
8、without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN and CENELEC member. This European Standard exists in three official versions (English, French, German). A versi
9、on in any other language made by translation under the responsibility of a CEN and CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CEN and CENELEC members are the national standards bodies and national electrotechni
10、cal committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia,
11、Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2016 CEN/CENELEC All rights of exploitation in any form and by any means reserved worldwide for CEN national Members and for CENELEC Members. Ref. No. EN 16803-1:2016 EBS
12、 EN 16803-1:2016EN 16803-1:2016 (E) 2 Contents Page European foreword . 3 Introduction 4 1 Scope 6 2 Terms and definitions . 7 3 Description of the generic architecture of a Road ITS System based on GNSS . 13 4 Definition of performance metrics for positioning terminals . 16 5 Operational scenarios
13、23 6 Sensitivity Analysis 27 7 PVT error models . 31 Annex A (informative) positioning performance metrics rationale . 34 A.1 General . 34 A.2 Performance metrics 34 A.2.1 Accuracy metrics 34 A.2.2 Integrity metrics . 35 A.2.2.1 Integrity Risk . 35 A.2.2.2 Protection Level Performance . 36 A.2.3 Ava
14、ilability metrics . 36 A.2.4 Timing Performance metrics . 37 A.3 Introduction to Performance Requirements . 39 Bibliography . 42 FIGURES Figure 1 The two main components of a Road ITS system 4 Figure 2 Logic of the overall performance management approach . 5 Figure 3 Generic performance allocation p
15、rocess . 6 Figure 4 Generic architecture of a Road ITS system . 14 Figure 5 Sensitivity analysis general principle 28 Figure 6 Illustration of randomly generated degraded trajectories 31 Figure 7 Conformity assessment of PVT error models 33 Figure A.1 Examples of Horizontal Accuracy requirements and
16、 positioning terminals fulfilling or not the requirements 40 Figure A.2 Accuracy related performance Classes for a given scenario 41 BS EN 16803-1:2016EN 16803-1:2016 (E) 3 European foreword This document (EN 16803-1:2016) has been prepared by Technical Committee CEN-CENELEC/TC 5 “Space”, the secret
17、ariat of which is held by DIN. This European Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by April 2017, and conflicting national standards shall be withdrawn at the latest by April 2017. Attention is drawn to
18、the possibility that some of the elements of this document may be the subject of patent rights. CEN shall not be held responsible for identifying any or all such patent rights. This document has been prepared under a mandate given to CEN by the European Commission and the European Free Trade Associa
19、tion. EN 16803, Space Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) consists of the following parts: Part 1: Definitions and system engineering procedures for the establishment and assessment of performances Part 21: Performance assessment tests of GNSS-based positioning
20、 terminals Part 31: Security aspects of performance assessment tests According to the CEN-CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark,
21、 Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. 1In preparation. B
22、S EN 16803-1:2016EN 16803-1:2016 (E) 4 Introduction The civil applications of geopositioning are undergoing exponential development. The latest market analysis for the GNSS systems shows 2 major fields of application which, all together, practically share the whole of the market: intelligent Transpo
23、rt Systems (ITS), mainly in the Road ITS domain; location Based Services (LBS), accessible on smartphones and tablets. When a Road ITS system needs GNSS positioning, which is the case for most of them, there is the question of the choice of the type of terminal or of its minimum performances which a
24、re necessary to satisfy the systems final requirements at user level. To meet these requirements, the system includes a processing module called Road ITS application which uses the outputs (PVT = Position-Velocity-Time) of a GNSS-based positioning terminal (GBPT) to provide the service with a given
25、End-to-end performance. Consequently, this latter depends on the quality of the positioning outputs, which are highly variable with respect to the operational conditions of the system, but also on the performance of the Road ITS application itself. Figure 1 represents the breakdown of a Road ITS sys
26、tems into its 2 main components. Figure 1 The two main components of a Road ITS system The main Road ITS systems concerned by this issue are: GNSS-based Road User Charging systems (road, parking zone, urban); localized emergency calls (eCall); electronic tachograph; taximeter; regulated freight tran
27、sport systems (hazardous substances, livestock, etc.); “Pay-as-you-drive” insurance; road management systems, traffic information systems; advanced Driver Assistance Systems (ADAS); etc. Some Road ITS systems are considered as “safety critical”, because their failure may cause human death or injury
28、and others are “liability critical”, because they include financial or regulatory aspects. In some cases, their development is subject to an official certification/homologation process. BS EN 16803-1:2016EN 16803-1:2016 (E) 5 Particularly for those systems, there exists a strong need to be able to p
29、rove they do meet their End-to-end performance requirements related to positioning, but, presently, there is no standard that supports such certification process. The performance management approach proposed in this European Standard is based on a classical system engineering approach and is a suppo
30、rt for engineers facing the problem of handling the performances of a Positioning-based road ITS system all along the system development. This overall performance management approach can be summarized as follow: Figure 2 Logic of the overall performance management approach The starting point of any
31、performance management of a Positioning-based road ITS system should be the definition and clear statement of the E2E performances which are targeted by the system to design and/or test, as expressed by the customer. In the context of this European Standard, the system breakdown into components is t
32、he one that has been introduced above: The GNSS-based positioning terminal (GBPT) The Road ITS application The interface between these two components is assumed to be the PVT information, together with some auxiliary information, for instance Integrity information if the GBPT is designed to support
33、this kind of feature. Performance requirements are generally stated as requirements on the outputs of a given system component, assuming that the other components feeding it with input information do respect their own performance requirements. BS EN 16803-1:2016EN 16803-1:2016 (E) 6 Hence, the perfo
34、rmance allocation of the E2E performances between the system components should follow the general scheme below. Figure 3 Generic performance allocation process The performance requirements of the Road ITS application are actually the same ones as the system E2E performance requirements, but expresse
35、d under the condition that the GBPT respects certain performances requirements. NOTE Depending on the application, performance requirements may need to be put only on the position output or only on the velocity output by the GBPT. Due to the specificities of GNSS performances, which have to be defin
36、ed statistically and which are highly dependent on the operational conditions, margins should be planned in the performance allocations, in order to allow the system to meet its performance requirements, even when, in certain conditions, one of its component does not strictly meet its own requiremen
37、ts. 1 Scope EN 16803-1 addresses the final stage of the performance management approach, i.e. the assessment of the whole Road ITS system performance equipped with a given GBPT, using the Sensitivity analysis method. EN 16803-1 addresses the assessment of GBPT performance, since it identifies and de
38、fines the positioning performance features and metrics to be used in the definition of the GBPT performance requirements. This EN gives definitions of the various items to be considered when specifying an Operational scenario and provides a method to compare finely two environments with respect to t
39、heir effects on GNSS positioning performance. This EN gives definition of the most important terms used all along the document and describes the architecture of a Road ITS system based on GNSS as it is intended in this standard. This EN does not address: BS EN 16803-1:2016EN 16803-1:2016 (E) 7 the p
40、erformance metrics to be used to define the Road ITS system performance requirements, highly depending on the use case and the will of the owner of the system; the performance requirements of the various kinds of Road ITS systems; the tests that are necessary to assess GBPT performances (field tests
41、 for this purpose will be addressed by EN 16803-22and EN 16803-32). 2 Terms and definitions For the purposes of this document, the following terms and definitions apply. 2.1 General terms 2.1.1 digital map Digital description of the road network and of a certain number of attributes assigned to the
42、elements of this network Note 1 to entry: Takes the form of a geo-referenced database at the data processing level. 2.1.2 epoch time at which a GNSS measurement is made 2.1.3 GNSS Global Navigation Satellite Systems general acronym designating satellite positioning systems 2.1.4 GPS Global Positioni
43、ng System name of the GPS-Navstar American satellite positioning system 2.1.5 ITS Intelligent Transport Systems systems applying information, communication and positioning technologies to the transport domain 2.1.6 navigation action of leading a vehicle or pedestrian to a given destination, by calcu
44、lating the optimal trajectory and giving guidance with reference to this trajectory and its real time position 2.1.7 navigation message data transmitted by the GNSS satellites and necessary for the position computation 2In preparation. BS EN 16803-1:2016EN 16803-1:2016 (E) 8 2.1.8 performance global
45、 characterisation of the quality of the service provided by a system. Note 1 to entry: The performance is generally composed of several given performance features of given outputs of the system and measured by using given metrics. 2.1.9 performance class domain delimited by 2 boundaries for a given
46、performance metric 2.1.10 performance feature given characteristic used to qualify and quantify the service provided by a system EXAMPLE: Accuracy for a Positioning system. 2.1.11 Performance metric precise definition of the means of measuring a given performance feature of a given output of a syste
47、m EXAMPLE: An Accuracy metric can be the median value of an error sample acquired during a given test following a given protocol. 2.1.12 positioning action of determining the position of a mobile object or a person 2.1.13 Pseudo-range measurement, by the GNSS receiver, of the distance between a sate
48、llite antenna and the receiver antenna, biased by the error due to the difference between the satellite clock and the receiver clock Note 1 to entry: Belongs to the category of Raw measurements. 2.1.14 SBAS Satellite Based Augmentation System regional augmentation system of complete satellite system
49、s EXAMPLE GPS or GLONASS are examples for regional augmentation systems. Note 1 to entry: In Europe, EGNOS is the regional SBAS system 2.1.15 trajectory series of time-stamped positions (and possibly speeds) of a mobile object BS EN 16803-1:2016EN 16803-1:2016 (E) 9 2.2 Specific terms 2.2.1 application quantity quantity produced by the Road ITS application, from which an End-to-end performance can be calculated Note 1 to entry: This quantity is normally deducted from a set of positions (and/or speeds) pro
