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Documente Cultură
VENKATESAN
EKAMBARAM
PhD
Student
Department
of
EECS
University
of
California
Berkeley
KANNAN
RAMCHANDRAN
Professor
Department
of
EECS
University
of
California
Berkeley
TABLE
OF
CONTENTS
EXECUTIVE
SUMMARY .....................................................................................3
NEED
FOR
HIGH
ACCURACY
POSITIONING................................................4
A.
FALLBACKS
OF
THE
GPS
SYSTEM ..................................................................................................................4
B.
APPLICATIONS
ENABLED
BY
HIGH
ACCURACY
POSITIONING ...................................................................5
B.1.
Safety
Applications ..................................................................................................................................... 5
B.2
Mobility
Applications.................................................................................................................................. 6
NEED
FOR
SECURITY.........................................................................................7
EXISTING
SOLUTIONS
AND
DRAWBACKS ..................................................8
PROPOSED
TECHNOLOGY
USING
DSRC ......................................................9
DETECTING
MALICIOUS
USERS .............................................................................................................................12
CONCLUSION..................................................................................................... 13 BIBLIOGRAPHY................................................................................................ 14
[Note added to Scribd publication: Partial funding provided by a charitable grant from the SkyTel group, Berkeley CA (Skybridge Spectrum Foudation & supporting LLCs) as part of their support for Intelligent Transportation System wireless.
Executive
Summary
We
propose
a
novel
way
of
using
the
Dedicated
Short
Range
Communication
(DSRC)
spectrum
to
enhance
the
accuracy
and
security
of
GPS.
Traditionally
the
DSRC
spectrum
is
designed
to
carry
information
such
as
the
location
estimates
of
the
vehicles
provided
by
GPS
that
are
assumed
to
be
accurate.
However
the
accuracy
of
GPS
is
severely
affected
by
environmental
factors
like
multipath
and
adverse
factors
like
intentional
jamming
and
spoofing
by
malicious
users.
We
ask
the
question
of
whether
DSRC
communication
could
in
fact
be
exploited
to
enhance
the
position
accuracy
and
security
of
GPS.
Many
safety
and
mobility
applications
as
envisioned
by
the
Federal
Highway
Authority
(FHWA)
for
Intelligent
Transportation
System
(ITS)
applications,
mandate
sub-meter
or
higher
accuracies
that
is
not
delivered
by
the
GPS
system.
Department
of
Transportation
(DoT)s
and
other
agencies
are
actively
involved
in
exploring
technologies
such
as
NRTK,
DGPS
to
provide
a
high
accuracy
location
service
for
ITS
applications.
The
cost
of
implementation
and
maintenance
of
these
systems
are
expensive
and
further
are
not
robust
to
multipath
interference
and
malicious
attacks.
Our
proposed
solution
aims
to
enhance
the
accuracy
and
security
of
GPS
through
collaboration
between
vehicles
using
DSRC.
By
exploiting
the
diversity
in
the
DSRC
measurements
and
using
consistency
checks,
we
aim
to
discard
the
bad
measurements
and
obtain
highly
precise
position
estimates.
The
system
can
complement
existing
technologies
such
as
NRTK
to
provide
a
robust,
precise
and
secure
location
service
for
the
benefit
of
ITS
and
other
applications
that
mandate
high
accuracy
positioning.
The Department of Defense operating the GPS constellation guarantees a location service accurate to 7 m for 97% of the time. Even though the level of accuracy suffices for most of the applications, there are various other safety and mobility related applications that demand sub-meter or lesser accuracy. The main problems faced by GPS are signal degradation and multipath interference that are particularly pronounced in harsh environments like urban canyon environments where the accuracies can be as bad as 50m or so. Figure 1 shows the example of a typical urban environment where the GPS signals get reflected off the surrounding buildings significantly degrading the positioning accuracy. The reflected signals introduce a bias in the estimates that lead to large errors in the position estimates. Solutions such as the AGPS, cellular triangulation improve the accuracy to some extent but are far from sub-meter accuracies. There are several upcoming GPS augmentation technologies such as NRTK, DGPS, HA-NDGPS etc that are aimed at providing sub-meter accuracies, which we will detail in the next chapter.
a) Curve speed warning These would aid the drivers in negotiating curves at appropriate speeds. There have been various studies that talk about the significant number of injuries and fatalities due to accidents that took place in curves. b) Forward Collision Warning These alert a driver when a vehicle in the front brakes hard. c) Lane change warning Warning if there is a vehicle occupying the blind spot. d) Intersection collision warning - Warns a driver of a likely collision at upcoming intersections due their own speed or that of the other drivers. e) Left turn Assistant Provides information of oncoming traffic when trying to take a left turn at an unprotected intersection. There are many other such safety applications that mandate sub-meter accuracies that are not possible with the present levels of accuracies guaranteed by GPS. B.2 Mobility Applications These applications aim at reducing delay, congestion, which can further have an impact on the environment. One of proposed applications is to have intelligent traffic controls. For example, if a vehicle were to know the signal phase timing at upcoming traffic signals, the speed could be optimally adjusted to reduce emissions. Further the traffic signal could be adjusted to provide priority to buses etc to encourage public transport. Another interesting application is to have free flow tolling and dynamic lane pricing systems, which can reduce toll plazas etc. All these applications require lane level accuracies that are not provided by GPS.
Figure 2: The dice is a small jammer (picture: [6]) Jamming is the intentional degradation of the GPS signal. Spoofing involves intentionally simulating a GPS signal in order to bias the position estimates of the GPS users. Jamming could sometimes be unintentional due to interference from strong transmissions in RF bands that are in the vicinity of the GPS transmission bands. Nevertheless addressing both of these issues is very important in order to have a robust system considering that the application involves the safety of the users. We will see how we could use DSRC and collaboration between vehicles to detect malicious users who can also intentionally bias their own location estimates to misguide the other vehicles.
Figure 3: Improving location accuracy using DSRC The overlap of the red and blue circles represents the new uncertainty in the vehicle locations, which is significantly smaller than the original uncertainty due to GPS. The red stars are the new estimates of the location that are significantly better than the GPS estimates. As one can see from this example, the position accuracy could be significantly improved using measurements from the DSRC radios. This is just a toy example to illustrate the benefits of using DSRC for positioning. One can come up with a more general and distributed signal processing algorithm in a larger setting where different cars get measurements with respect to their neighbors with whom they can talk to. The algorithms can be developed in a such a way that the processing happens only locally, i.e. each vehicle would only need to locally process
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the measurements that it extracts from the DSRC packet received from its neighbors and estimate its location. A more detailed description of a sample algorithm that we propose can be found in [7] (a fairly theoretical paper), where we describe a decentralized algorithm to improve position estimates in a multipath environment. The effects of multipath are more elaborately modeled in the paper under some assumptions. Simulation results (in a restrictive setting) show that even if 90% of the readings are corrupted by multipath, one can obtain precise location estimates using collaboration. Practical issues such as time synchronization could be taken care of by using techniques such as time difference of arrival methods that require the DSRC radios to reflect back the packets that they receive. We could also have a centralized implementation wherein the road-side base stations or a centralized infrastructure could calculate the position estimates and feed them back to the vehicles. Our framework also provides a platform to integrate multiple technologies to improve the positioning. For example, WiFi, cellular, inertial navigation system, road side cameras, bluetooth etc could be processed locally by each vehicle and these could be exchanged between adjacent vehicles to improve their location accuracies. We could also integrate external sensors like multiple antennas that can operate over the DSRC band between vehicles to further enhance the position accuracies. Note that the proposed solution only aims to augments GPS and terrestrial ground based solutions for a more robust system and not replace it altogether.
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Figure
4:
Collaborative
detection
of
malicious
users
using
DSRC
A simple example of detecting and estimating the positions of malicious users is shown in Figure 4. As before, consistency checks are imposed using the DSRC radio measurements between cars to detect if a car is reporting its true position. It is possible that the malicious car would also tamper with the DSRC signals. However, in this case, the malicious car would need to manipulate the measurements in such a
12
way that they all be consistent with a wrongly reported position. This would be hard to achieve when there are many neighbors with whom the consistency constraints would need to be imposed. In such a case, even though the position of the malicious car may not be determined, one can at least detect that there is a malicious vehicle whose messages can be ignored by the other vehicles. The idea could also be extended to the case where a user is trying to spoof or jam the GPS signals. The idea is similar to consensus based systems where redundancy and collaboration is used to detect abnormal users in the system.
Conclusion
Highly
accurate
positioning
with
sub-meter
accuracy
guarantee
has
a
lot
of
potential
applications
both
on
the
safety
and
mobility
side
for
ITS.
GPS
does
not
guarantee
the
required
level
of
accuracy
for
these
applications
and
the
existing
solutions
are
expensive
and
do
not
address
the
problem
of
multipath
errors.
Further
GPS
is
also
prone
to
other
security
issues
such
as
spoofing,
and
malicious
users
can
affect
the
safety
of
other
vehicles
in
the
system.
The
proposed
solution
is
a
simple
collaborative
scheme
that
makes
use
of
the
DSRC
band
enabling
the
vehicles
to
behave
as
virtual
pseudolites
thereby
increasing
the
accuracy
and
reliability
of
the
system.
The
proposed
technology
in
conjunction
with
augmented
GPS
systems
such
as
NRTK,
HA-NDGPS
etc
can
be
used
to
significantly
improve
the
position
estimates
enabling
a
suite
of
applications
that
mandate
sub-meter
accuracies.
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Bibliography
1.
The
CAMP
Vehicle
Safety
Communications
Consortium.
Identify
Intelligent
Vehicle
Safety
Applications
Enabled
by
DSRC.
March
2005.
2. ODOTs
VRS
RTK
Network.
Ohio
Department
of
Transportation.
http://www.dot.state.oh.us/Divisions/ProdMgt/Aerial/Pages/VRSRTK.aspx.
3. Washington
State
Reference
Network.
A
Regional
Cooperative
of
Real
Time
GPS
Networks.
http://wsrn2.org/.
4. J
Barnes,
C
Rizos,
J
Wang,
D
Small,
G
Voigt
and
N
Gambale,
Locata:
The
positioning
technology
of
the
future,
July
2003.
5. http://www.locatacorp.com/index2.html
6. http://mycoordinates.org/pdf/feb09.pdf
7. Venkatesan
Ekambaram,
Kannan
Ramchandran,
Distributed
High
Accuracy
Peer- to-Peer
Localization
in
Mobile
Multipath
Environments,
IEEE
Globecom
2010,
Miami
Fl.
http://www.eecs.berkeley.edu/~venkyne/venky2010p2ploc.pdf
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