SIST EN 16803-2:2020
(Main)Space - Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) - Part 2: Assessment of basic performances of GNSS-based positioning terminals
Space - Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) - Part 2: Assessment of basic performances of GNSS-based positioning terminals
Like the other ENs of the whole series, this EN deals with the use of GNSS-based positioning terminals (GBPT) in road Intelligent Transport Systems (ITS). GNSS-based positioning means that the system providing position data, more precisely Position, Velocity and Time (PVT) data, comprises at least a GNSS receiver and, potentially, for performance improvement, other additional sensor data or sources of information that can be hybridized with GNSS data.
This new EN proposes testing procedures, based on the replay of data recorded during field tests, to assess the basic performances of any GBPT for a given use case described by an operational scenario. These tests address the basic performance features Availability, Continuity, Accuracy and Integrity of the PVT information, but also the Time-To-First-Fix (TTFF) performance feature, as they are described in EN 16803-1, considering that there is no particular security attack affecting the SIS during the operation. This EN does not cover the assessment tests of the timing performances other than TTFF, which do not need field data and can preferably be executed in the lab with current instruments.
"Record and Replay" (R&R) tests consist in replaying in a laboratory environment GNSS SIS data, and potentially additional sensor data, recorded in specific operational conditions thanks to a specific test vehicle. The dataset comprising GNSS SIS data and potential sensor data resulting from these field tests, together with the corresponding metadata description file, is called a "test scenario". A dataset is composed of several data files.
This EN 16803-3 addresses the "Replay" part of the test scenario data set. It does not address the "Record" part, although it describes as informative information the whole R&R process. This "Record" part will be covered by EN 16803-4 under preparation.
Although the EN 16803 series concerns the GNSS-based positioning terminals and not only the GNSS receivers, the present release of this EN addresses only the replay process of GNSS only terminals. The reason is that the process of replaying in the lab additional sensor data, especially when these sensors are capturing the vehicle’s motion, is generally very complex and not mature enough to be standardized today. It would need open standardized interfaces in the GBPT as well as standardized sensor error models and is not ready to be standardized. But, the procedure described in the present EN has been designed to be extended to GBPT hybridizing GNSS and vehicle sensors in the future.
This EN 16803-3 does not address R&R tests when specific radio frequency signals simulating security attacks are added to the SIS. This case is specifically the topic of EN 16803-3.
Once standardized assessment tests procedures have been established, it is possible to set minimum performance requirements for various intelligent transport applications but it makes sense to separate the assessment tests issue from minimum performance requirements, because the same test procedure may be applicable to many applications, but the minimum performance requirements typically vary from one application to another. So, this EN does not set minimum performance requirements for any application.
Raumfahrt - Anwendung von GNSS-basierter Ortung für Intelligente Transportsysteme (ITS) im Straßenverkehr - Teil 2: Bestimmung der grundlegenden Leistungen von GNSS-basierten Ortungsendgeräten
Wie die anderen Europäischen Normen dieser Reihe auch befasst sich die vorliegende Europäische Norm mit der Nutzung von GNSS-basierten Ortungsendgeräten (GBPT) in Intelligenten Transportsystemen (ITS) für den Straßenverkehr. GNSS-basierte Ortung bedeutet, dass das System, das die Positionsdaten, genauer gesagt die Daten zu Position, Geschwindigkeit und Zeit (en: Position, Velocity and Time; PVT), liefert, mindestens einen GNSS-Empfänger und gegebenenfalls weitere zur Verbesserung der Leistung dienende zusätzliche Sensordaten oder Informationsquellen umfasst, die sich mit GNSS-Daten hybridisieren lassen.
Die vorliegende neue Europäische Norm schlägt Prüfverfahren vor, die auf der Wiedergabe von in Einsatzprüfungen aufgezeichneten Daten basieren und zur Überprüfung der grundlegenden Leistungsdaten beliebiger GBPT für einen bestimmten, durch ein Einsatzszenario beschriebenen Anwendungsfall dienen. Diese Prüfungen betreffen die grundlegenden Leistungsmerkmale Verfügbarkeit, Stetigkeit, Genauigkeit und Integrität der PVT-Informationen, aber auch das Leistungsmerkmal Time To First Fix (TTFF), wie sie in EN 16803-1 beschrieben sind, unter Berücksichtigung der Tatsache, dass es keinen speziellen Sicherheitsangriff gab, der das SIS während des Einsatzes beeinträchtigt hat. Diese Europäische Norm befasst sich nicht mit den Prüfungen zur Überprüfung des Leistungsverhaltens der Zeitsteuerung, soweit es nicht um die TTFF geht, die keine Einsatzdaten benötigt und vorzugsweise mit den üblichen Messgeräten im Labor durchgeführt werden kann.
Bei Aufzeichnung/Wiedergabe- bzw. R&R-Prüfungen (en: "Record and Replay" tests) werden GNSS-SIS-Daten und gegebenenfalls zusätzliche Sensordaten, die mit Hilfe eines speziellen Testfahrzeugs unter bestimmten Betriebsbedingungen aufgezeichnet wurden, in einer Laborumgebung wiedergegeben. Der GNSS-SIS-Daten und gegebenenfalls Sensordaten aus diesen Einsatzprüfungen enthaltende Datensatz wird in Verbindung mit der entsprechenden Metadatenbeschreibungsdatei als "Prüfszenario" bezeichnet. Ein Datensatz setzt sich aus verschiedenen Datendateien zusammen.
Die vorliegende EN 16803 3 behandelt den "Wiedergabe"-Teil des Datensatzes des Prüfszenarios. Sie behandelt nicht den "Aufzeichnungs"-Teil, obgleich sie zur Information den gesamten R&R-Prozess beschreibt. Dieser "Aufzeichnungs"-Teil wird von EN 16803-4 abgedeckt, die derzeit in Vorbereitung ist.
Obgleich die Normenreihe EN 16803 die GNSS-basierten Ortungsendgeräte und nicht nur die GNSS-Empfänger betrifft, befasst sich die vorliegende Ausgabe dieser Europäischen Norm nur mit dem Wiedergabeprozess von reinen GNSS-Endgeräten. Der Grund hierfür ist, dass der Prozess der Wiedergabe von zusätzlichen Sensordaten im Labor, besonders wenn diese Sensoren die Fahrzeugbewegung erfassen, allgemein sehr komplex und gegenwärtig noch nicht reif für die Normung ist. Für diesen Prozess wären genormte Schnittstellen im GBPT sowie genormte Sensorfehlermodelle erforderlich, und er lässt sich derzeit noch nicht normen. Das in der vorliegenden Europäischen Norm beschriebene Verfahren wurde aber so angelegt, dass es sich später auf GBPT erweitern lässt, die GNSS und Fahrzeugsensoren hybridisieren.
Die vorliegende EN 16803-3 behandelt keine R&R-Prüfungen, bei denen dem SIS spezifische Hochfrequenzsignale hinzugefügt werden, um Sicherheitsangriffe zu simulieren. Dieser Fall ist spezieller Gegenstand der EN 16803-3.
Sobald genormte Prüfverfahren für die Überprüfung eingeführt wurden, ist es möglich, Mindestanforderungen an die Leistung verschiedener intelligenter Transportanwendungen festzulegen, es ist jedoch sinnvoll, das Problem der Leistungsüberprüfungen von den Leistungsmindestanforderungen zu trennen, weil ein und dasselbe Prüfverfahren auf viele Anwendungen anwendbar sein kann, die Leistungsmindestanforderungen sich dagegen üblicherweise von Anwendung zu Anwendung unterscheiden. Entsprechend werden in der
Espace - Utilisation du positionnement GNSS pour les systèmes de transport routier intelligents (ITS) - Partie 2 : Evaluation des performances de base des terminaux de positionnement GNSS
Comme les autres EN de la série, la présente EN traite de l'utilisation des terminaux de positionnement GNSS (GBPT) dans les systèmes de transport routier intelligents (ITS). Le positionnement GNSS signifie que le système fournissant les données de position, et plus précisément les données de position, de vitesse et de temps (PVT), comprend au moins un récepteur GNSS et, éventuellement, à des fins d'amélioration des performances, d'autres données de capteurs ou sources d'informations supplémentaires susceptibles d'être hybridées avec les données GNSS.
Cette nouvelle norme EN propose des procédures d'essai, basées sur le rejeu de données enregistrées pendant des essais de terrain, afin d'évaluer les performances de base d'un GBPT dans un cas d'utilisation donné, décrit par un scénario opérationnel. Ces essais concernent les caractéristiques des performances de base Disponibilité, Continuité, Précision et Intégrité des informations PVT, mais également la caractéristique des performances Temps d'acquisition de la première position (TTFF), telles que décrites dans la norme EN 16803-1, en considérant qu'il n'y a pas d'attaque de sécurité particulière affectant le SIS pendant l'opération. La présente norme EN ne couvre pas les essais d'évaluation des performances temporelles autres que le TTFF, qui ne nécessitent pas de données de terrain et peuvent de préférence être réalisés en laboratoire, avec des instruments courants.
Les essais « Enregistrement et rejeu » (R&R) consistent à rejouer, dans un environnement de laboratoire, des données de signaux GNSS dans l'espace, ainsi que des données provenant d’éventuels capteurs supplémentaires, enregistrées dans des conditions opérationnelles particulières grâce à un véhicule d'essai spécifique. L'ensemble de données qui comprend les données de signaux GNSS dans l'espace et les éventuelles données de capteur issues de ces essais de terrain, associé au fichier de description des métadonnées correspondant, est appelé un « scénario d'essai ». Un ensemble de données est composé de plusieurs fichiers de données.
La présente norme EN 16803-2 traite de la partie « Rejouer » de l'ensemble de données du scénario d'essai. Elle ne traite pas de la partie « Enregistrer », bien qu'elle décrive, sous forme informative, l'ensemble du procédé R&R. La partie « Enregistrer » sera couverte par l'EN 16803-4, qui est en cours d'élaboration.
Bien que la série EN 16803 concerne les terminaux de positionnement GNSS, et pas uniquement les récepteurs GNSS, la version actuelle de la présente EN ne concerne que le procédé de rejeu des terminaux exclusivement GNSS. L'explication réside dans le fait que le procédé de rejeu des données de capteurs supplémentaires en laboratoire, notamment lorsque ces capteurs capturent le mouvement du véhicule, est généralement très complexe et pas encore assez abouti pour être normalisé aujourd'hui. Il faudrait des interfaces normalisées ouvertes dans le GBPT ainsi que des modèles d'erreur normalisés pour les capteurs, et le procédé n'est pas prêt à être normalisé. Toutefois, la procédure décrite dans la présente EN a été conçue pour être étendue, à l'avenir, à des GBPT hybridant des signaux GNSS et des capteurs de véhicules. [...]
Vesolje - Uporaba sistemov globalne satelitske navigacije (GNSS) za ugotavljanje položaja pri inteligentnih transportnih sistemih (ITS) v cestnem prometu - 2. del: Ocenjevanje osnovnih tehničnih lastnosti terminalske opreme za določanje položaja, ki uporablja GNSS
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
SIST EN 16803-2:2020
01-december-2020
Vesolje - Uporaba sistemov globalne satelitske navigacije (GNSS) za ugotavljanje
položaja pri inteligentnih transportnih sistemih (ITS) v cestnem prometu - 2. del:
Ocenjevanje osnovnih tehničnih lastnosti terminalske opreme za določanje
položaja, ki uporablja GNSS
Space - Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) -
Part 2: Assessment of basic performances of GNSS-based positioning terminals
Raumfahrt - Anwendung von GNSS-basierter Ortung für Intelligente Transportsysteme
(ITS) im Straßenverkehr - Teil 2: Bestimmung der grundlegenden Leistungen von GNSS-
basierten Ortungsendgeräten
Espace - Utilisation du positionnement GNSS pour les systèmes de transport routier
intelligents (ITS) - Partie 2 : Evaluation des performances de base des terminaux de
positionnement GNSS
Ta slovenski standard je istoveten z: EN 16803-2:2020
ICS:
03.220.20 Cestni transport Road transport
33.060.30 Radiorelejni in fiksni satelitski Radio relay and fixed satellite
komunikacijski sistemi communications systems
35.240.60 Uporabniške rešitve IT v IT applications in transport
prometu
SIST EN 16803-2:2020 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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SIST EN 16803-2:2020
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SIST EN 16803-2:2020
EUROPEAN STANDARD
EN 16803-2
NORME EUROPÉENNE
EUROPÄISCHE NORM
September 2020
ICS 03.220.20; 33.060.30; 35.240.60
English version
Space - Use of GNSS-based positioning for road Intelligent
Transport Systems (ITS) - Part 2: Assessment of basic
performances of GNSS-based positioning terminals
Espace - Utilisation du positionnement GNSS pour les Raumfahrt - Anwendung von GNSS-basierter Ortung
systèmes de transport routier intelligents (ITS) - Partie für Intelligente Transportsysteme (ITS) im
2 : Évaluation des performances de base des terminaux Straßenverkehr - Teil 2: Bestimmung der
de positionnement GNSS grundlegenden Leistungen von GNSS-basierten
Ortungsendgeräten
This European Standard was approved by CEN on 15 June 2020.
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 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 version 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 electrotechnical committees of Austria, Belgium,
Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy,
Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Republic of North Macedonia, Romania, Serbia,
Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom.
CEN-CENELEC Management Centre:
Rue de la Science 23, B-1040 Brussels
© 2020 CEN/CENELEC All rights of exploitation in any form and by any means Ref. No. EN 16803-2:2020 E
reserved worldwide for CEN national Members and for
CENELEC Members.
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SIST EN 16803-2:2020
EN 16803-2:2020 (E)
Contents Page
European foreword . 5
Introduction . 6
1 Scope . 8
2 Normative references . 8
3 Terms and definitions . 9
3.1 Definitions . 9
3.2 Acronyms . 10
4 Overview of the whole assessment process . 11
4.1 Definition of the general strategy: what kind of tests . 11
4.1.1 Rationale . 11
4.1.2 Record and Replay choice . 12
4.2 Construction of the operational scenarios: how to configure the tests . 13
4.2.1 General . 13
4.2.2 Basic principles . 13
4.2.3 Definition of the operational scenarios . 15
4.3 Definition of the test facilities: which equipment to use . 20
4.3.1 For the record phase . 20
4.3.2 For the replay phase . 21
4.4 Description of the record phase: how to elaborate the data sets of the test
scenarios . 21
4.4.1 General . 21
4.4.2 Test plan . 21
4.4.3 Test bench preparation and good functioning verification . 22
4.4.4 Field test execution . 22
4.4.5 Data control and archiving . 22
4.5 Replay phase: assessing he DUT performances . 24
5 Definition of the metrics . 24
5.1 General considerations . 24
5.2 Basic notation . 25
5.3 Time interpolation procedure . 25
5.4 Accuracy metrics . 26
5.5 Availability and Continuity metrics. 27
5.6 Integrity metrics . 32
5.6.1 Definition of the Protection Level performance metrics . 32
5.6.2 Definition of the Misleading Information Rate metrics . 33
5.7 Timing metrics . 34
5.7.1 Timestamp resolution . 34
5.7.2 Nominal output latency . 34
5.7.3 Nominal output rate . 34
5.7.4 Output latency stability . 34
5.7.5 Output rate stability . 35
5.7.6 Time to first fix . 36
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6 Description of the replay phase: how to assess the DUT performances . 37
6.1 General . 37
6.2 Checking of the content of the test scenario . 37
6.3 Setting-up of the replay test-bench . 38
6.4 Validation of the data processing HW and SW by the RF test laboratory . 39
6.5 Replaying of the data . 39
6.6 Computation of the ACAI performances . 42
6.7 Computation of the TTFF performances . 42
6.8 Establishment of the final test report . 47
7 Definition of the validation procedures: how to be sure of the results (checks) . 47
7.1 Definition of the validation . 47
7.2 Pass/Fail criteria for the verification of the test procedures . 49
8 Definition of the synthesis report: how to report the results of the tests . 50
Annex A (informative) Homologation framework . 58
A.1 The road value chain . 58
A.2 Roles of the different stakeholders . 59
A.3 Responsibilities of the different stakeholders . 60
Annex B (informative) Detailed criteria for the testing strategy (trade-off) . 62
B.1 Main criteria for testing strategy . 62
B.2 Metrological quality . 62
B.2.1 Reproductibility . 62
B.2.2 Representativeness . 63
B.2.3 Reliability . 63
B.3 Cost efficiency . 63
B.3.1 Cost of test benches . 63
B.3.2 Cost of the test operations . 64
B.4 Clarity in the sharing of responsibilities . 64
B.5 Scenario-management authority . 64
Annex C (informative) Record and replay testing considerations . 66
C.1 General . 66
C.2 Experimentation considerations . 66
C.3 Equipment justification . 68
C.3.1 Equipment for in-field data collection . 68
C.3.2 Record and Replay Solutions . 71
C.3.3 Recommended equipment . 73
C.4 Presentation of a scenario: rush time in Toulouse . 74
C.5 Quality of the reference trajectory . 76
C.6 Availability, regularity of the DUT's outputs for the metrics computations . 77
Annex D (informative) Perspectives on record and replay of hybridized GBPT . 79
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EN 16803-2:2020 (E)
Annex E (informative) Considerations on coordinate systems, reference frames and
projections . 84
Bibliography . 87
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SIST EN 16803-2:2020
EN 16803-2:2020 (E)
European foreword
This document (EN 16803-2:2020) has been prepared by Technical Committee CEN-CENELEC/TC 5
“Space”, the secretariat 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 March 2021, and conflicting national standards shall be
withdrawn at the latest by March 2021.
Attention is drawn to 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 and CENELEC by the European
Commission and the European Free Trade Association.
According to the CEN-CENELEC Internal Regulations, the national standards organisations of the
following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia,
Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland,
Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Republic of North
Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United
Kingdom.
5
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SIST EN 16803-2:2020
EN 16803-2:2020 (E)
Introduction
The EN 16803 series of CEN-CENELEC standards deals with the use of GNSS technology in the intelligent
transport domain and address more particularly the issue of performance assessment.
As recalled in the generic functional architecture of a road ITS based on GNSS, two main sub-systems can
be considered: the positioning system (GNSS-based positioning terminal (GBPT) + external sources of
data) and the road ITS application processing the position quantities output by the terminal to deliver
the final service to the user.
Figure 1 — Generic functional architecture of a Positioning-based road ITS system
This document is the second one of the EN 16803 series.
The performance assessment issue can also be considered at these two levels.
According to Figure 3 in the Introduction of EN 16803-1, the performances of the application cannot be
assessed independently from the GBPT and the adequacy of the GBPT’s performances to the end-to-end
performance of the system cannot be assessed independently from the application. For these two kinds
of assessment, the EN 16803-1 standard proposed a method called “Sensitivity analysis”. In addition, this
first document defined the generic architecture, the generic terms and the basic performance metrics for
the Positioning quantities.
EN 16803-1 can be of interest for many different stakeholders but is targeting mainly the ITS application
developers.
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EN 16803-2, EN 16803-3 and EN 16803-4 address specifically the performances of the GBPT itself, as
they can be measured by the metrics defined in EN 16803-1:
— EN 16803-2 proposes a test methodology based on the replay in the lab of real data sets recorded
during field tests, assuming no security attack during the test.
— EN 16803-3 proposes a complement to this test methodology to assess the performance degradation
when the GNSS signal-in-space (SIS) is affected by intentional radio-frequency (RF) perturbations
such as jamming, spoofing or meaconing, also applicable to unintentional RF perturbations.
These 2 (two) ENs are targeting mainly the generalist RF test laboratory that will be in charge of assessing
the performances of GBPTs for different applications.
EN 16803-4 (in preparation) will propose the methodology for the recording of the real data sets and is
targeting mainly the GNSS-specialized test laboratories that will be in charge of elaborating the test
scenarios that will be replayed by the previous category of test laboratories.
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SIST EN 16803-2:2020
EN 16803-2:2020 (E)
1 Scope
Like the other documents of the whole series, this document deals with the use of GNSS-based positioning
terminals (GBPT) in road Intelligent Transport Systems (ITS). GNSS-based positioning means that the
system providing position data, more precisely Position, Velocity and Time (PVT) data, comprises at least
a GNSS receiver and, potentially, for performance improvement, other additional sensor data or sources
of information that can be hybridized with GNSS data.
This new document proposes testing procedures, based on the replay of data recorded during field tests,
to assess the basic performances of any GBPT for a given use case described by an operational scenario.
These tests address the basic performance features Availability, Continuity, Accuracy and Integrity of
the PVT information, but also the Time-To-First-Fix (TTFF) performance feature, as they are described
in EN 16803-1, considering that there is no particular security attack affecting the SIS during the
operation. This document does not cover the assessment tests of the timing performances other than
TTFF, which do not need field data and can preferably be executed in the lab with current instruments.
“Record and Replay” (R&R) tests consist in replaying in a laboratory environment GNSS SIS data, and
potentially additional sensor data, recorded in specific operational conditions thanks to a specific test
vehicle. The data set comprising GNSS SIS data and potential sensor data resulting from these field tests,
together with the corresponding metadata description file, is called a “test scenario”. A data set is
composed of several data files.
This EN 16803-2 addresses the “Replay” part of the test scenario data set. It does not address the
“Record” part, although it describes as informative information the whole R&R process. This “Record”
part will be covered by EN 16803-4 under preparation.
Although the EN 16803 series concerns the GNSS-based positioning terminals and not only the GNSS
receivers, the present release of this document addresses only the replay process of GNSS only
terminals. The reason is that the process of replaying in the lab additional sensor data, especially when
these sensors are capturing the vehicle’s motion, is generally very complex and not mature enough to be
standardized today. It would need open standardized interfaces in the GBPT as well as standardized
sensor error models and is not ready to be standardized. But, the procedure described in the present EN
has been designed to be extended to GBPT hybridizing GNSS and vehicle sensors in the future.
This EN 16803-2 does not address R&R tests when specific radio frequency signals simulating security
attacks are added to the SIS. This case is specifically the topic of EN 16803-3.
Once standardized assessment tests procedures have been established, it is possible to set minimum
performance requirements for various intelligent transport applications but it makes sense to separate
the assessment tests issue from minimum performance requirements, because the same test procedure
may be applicable to many applications, but the minimum performance requirements typically vary from
one application to another. So, this document does not set minimum performance requirements for
any application.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
EN 16803-1:2016, 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
EN 16803-3, Space — Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) — Part 3:
Assessment field tests for security performances of GNSS-based positioning terminals
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EN 16803-2:2020 (E)
3 Terms and definitions
For the purposes of this document, the following terms and definitions.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
• ISO Online browsing platform: available at http://www.iso.org/obp
• IEC Electropedia: available at http://www.electropedia.org/
3.1 Definitions
3.1.1
GBPT
GNSS-Based Positioning Terminal
term used to define the component that basically outputs PVT
3.1.2
DUT
Device under Test
term used to define a device that is assessed
Note 1 to entry: In the context of EN 16803-2, DUT refers to GPBT.
3.1.3
test scenario
composed of GNSS SIS data and potential sensor data resulting from field tests, complemented by a
metadata description file; a test scenario is a non-empty combination of UTS that allows to assess a GBPT
in the desired environments
Note 1 to entry: Data inside a Test Scenario are raw data, either RF signals from GNSS satellites, or raw data from
other embedded sensors.
Note 2 to entry: A Test Scenario is the whole package that a GNSS-specialized test laboratory delivers to a
Generalist RF test laboratory in charge of performance assessment tests according to the EN 16803 series.
Note 3 to entry: Considering the 6 (six) different environments as defined in EN 16803-1, there’s a combination
of 2^6 - 1 = 63 possible test scenarios; from let’s say “Rural only” test scenario up to “All environment” test scenario
that covers the 6 different environments. See 4.2.2 for more details.
3.1.4
Unitary Test Scenario (UTS)
elementary brick of a Test Scenario, resulting from a specific field test; in other words, a Test Scenario is
composed of a concatenation of several Unitary Test Scenarios
Note 1 to entry: See 4.2.2 for more details.
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3.1.5
Uniform Environment Data Set (UEDS)
output of the DUT collected after a replay in laboratory sorted by environment; it is a concatenation of
the output of the DUT for all UTS restricted to a unique environment
Note 1 to entry: See 6.4 for more details.
Note 2 to entry: Considering the 6 (six) different environments as defined in EN 16803-1, there is the same
number of UEDS; i.e. 6.
Note 3 to entry: Data composing a Uniform Environment Data Set are PVT data, as they are output by a GBPT.
Note 4 to entry: Uniform Environment Data Sets are the data sets to which the metrics shall be applied to assess
the performances of the device under test.
3.1.6
GNSS-specialized test laboratory
laboratory in charge of producing Test Scenarios for generalist RF test laboratories
3.1.7
Generalist RF test laboratory
laboratory in charge of assessing the performances of GBPTs thanks to Test Scenario
3.1.8
Benchmark Unitary Test Scenario (B-UTS)
dedicated UTS used specifically for the validation procedure as defined in Clause 7
3.1.9
Benchmark Uniform Environment Data Set (B-UEDS)
each of the UEDS obtained with the benchmark receiver at the GNSS specialised lab (used by the
generalist lab to validate their test platform and procedures)
3.2 Acronyms
Acronym Description
ACAI Availability, Continuity, Accuracy, Integrity
BPM Benchmark Performance Metrics
B-UEDS Benchmark Uniform Environment Data Set
B-UTS Benchmark Unitary Test Scenario
CDF Cumulative Distribution Function
DUT Device Under Test
GBPT GNSS Based Positioning Terminal
GNSS Global Navigation Satellite Systems
I/Q In-phase and Quadrature – I/Q format is an efficient way to store RF signals so that it is
possible to reproduce RF signals in laboratory after modulation. I/Q format is the
format used to store GNSS signals in UTS
ITS Intelligent Transport Systems
KML Keyhole Markup Language
10
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SIST EN 16803-2:2020
EN 16803-2:2020 (E)
Lab-A GNSS-specialized test laboratory
Lab-B Generalist RF test laboratory
PVT Position Velocity and Time
RAMS Reliability, Availability, Maintainability, and Safety
RF Radio frequency
R&R Record and Replay
SIS Signal In Space: RF signals coming from the GNSS satellites
UTS Unitary Test Scenario
UEDS Uniform Environment Data Set
TTFF Time To First Fix
4 Overview of the whole assessment process
4.1 Definition of the general strategy: what kind of tests
4.1.1 Rationale
Performances and behaviours of GNSS-based positioning terminals not only depend on their design but
also, and strongly, on a lot of external situations and parameters, uncontrolled by the stakeholders.
Among those parameters, we can quote the status of international worldwide space systems (GNSS), the
physical atmospheric conditions, and other environmental conditions in the proximity of the vehicle
(buildings in vicinity, traffic, tree foliage, etc.).
As an example, this situation implies that any realization of one field test procedure of a given product at
a given date and hour, will give a different result than the same test procedure of the same product in the
same location, but at a different date and hour (not stationary stochastic process).
The obvious consequence is that, if a pure field test strategy is targeted as a preferred solution for the
performance assessment aiming certification of devices, the analysis of the tests results would require
specialists, and may frequently result in intangible and unreliable interpretations, the opposite of
metrology.
A solution to avoid this issue is to have a total trust in simulations where all the tests conditions are
controlled, and which could be perfectly repeatable. ETSI addressed a similar issue during its
standardization process targeting the GNSS based Location Based Services. As a conclusion of its work,
ETSI, selec
...
SLOVENSKI STANDARD
oSIST prEN 16803-2:2019
01-april-2019
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2FHQMHYDQMHRVQRYQLKWHKQLþQLKODVWQRVWLWHUPLQDOVNHRSUHPH]DGRORþDQMH
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Space - Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) -
Part 2: Assessment of basic performances of GNSS-based positioning terminals
Raumfahrt - Anwendung von GNSS-basierter Ortung für Intelligente Transportsysteme
(ITS) im Straßenverkehr - Teil 2: Bestimmung der grundlegenden Leistungen von GNSS-
basierten Ortungsendgeräten
Espace - Utilisation du positionnement GNSS pour les systèmes de transport routier
intelligents (ITS) - Partie 2 : Evaluation des performances de base des terminaux de
positionnement GNSS
Ta slovenski standard je istoveten z: prEN 16803-2
ICS:
03.220.20 Cestni transport Road transport
33.060.30 Radiorelejni in fiksni satelitski Radio relay and fixed satellite
komunikacijski sistemi communications systems
35.240.60 Uporabniške rešitve IT v IT applications in transport
prometu
oSIST prEN 16803-2:2019 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
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oSIST prEN 16803-2:2019
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oSIST prEN 16803-2:2019
EUROPEAN STANDARD
DRAFT
prEN 16803-2
NORME EUROPÉENNE
EUROPÄISCHE NORM
February 2019
ICS 03.220.20; 33.060.30; 35.240.60
English version
Space - Use of GNSS-based positioning for road Intelligent
Transport Systems (ITS) - Part 2: Assessment of basic
performances of GNSS-based positioning terminals
Espace - Utilisation du positionnement GNSS pour les Raumfahrt - Anwendung von GNSS-basierter Ortung
systèmes de transport routier intelligents (ITS) - Partie für Intelligente Transportsysteme (ITS) im
2 : Evaluation des performances de base des terminaux Straßenverkehr - Teil 2: Bestimmung der
de positionnement GNSS grundlegenden Leistungen von GNSS-basierten
Ortungsendgeräten
This draft European Standard is submitted to CEN members for enquiry. It has been drawn up by the Technical Committee
CEN/CLC/JTC 5.
If this draft becomes a European Standard, 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 without any
alteration.
This draft European Standard was established by CEN and CENELEC in three official versions (English, French, German). A
version 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 electrotechnical 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,
Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom.
Recipients of this draft are invited to submit, with their comments, notification of any relevant patent rights of which they are
aware and to provide supporting documentation.Recipients of this draft are invited to submit, with their comments, notification
of any relevant patent rights of which they are aware and to provide supporting documentation.
Warning : This document is not a European Standard. It is distributed for review and comments. It is subject to change without
notice and shall not be referred to as a European Standard.
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Contents Page
European foreword . 6
Introduction . 7
1 Scope . 9
2 Normative references . 9
3 Terms and definitions . 10
3.1 Definitions . 10
3.2 Acronyms . 11
4 Overview of the whole assessment process . 12
4.1 Definition of the general strategy: what kind of tests . 12
4.1.1 Rationale . 12
4.1.2 Record and Replay choice . 12
4.2 Construction of the operational scenarios: how to configure the tests . 14
4.2.1 General . 14
4.2.2 Basic principles . 14
4.2.3 Definition of the operational scenarios . 15
4.3 Definition of the test facilities: which equipment to use . 21
4.3.1 For the record phase . 21
4.3.2 For the replay phase. 21
4.4 Description of the record phase: how to elaborate the data sets of the test scenarios . 22
4.4.1 General . 22
4.4.2 Test plan . 22
4.4.3 Test bench preparation and good functioning verification . 22
4.4.4 Field test execution . 23
4.4.5 Data control and archiving . 23
4.5 Replay phase: assessing the DUT performances . 24
5 Definition of the metrics . 25
5.1 General considerations . 25
5.2 Basic notation . 25
5.3 Time interpolation procedure. 26
5.4 Accuracy metrics . 27
5.5 Availability and Continuity metrics . 28
5.6 Integrity metrics . 33
5.6.1 Definition of the Protection Level performance metrics . 33
5.6.2 Definition of the Misleading Information Rate metrics . 34
5.7 Timing metrics . 35
5.7.1 Timestamp resolution . 35
5.7.2 Nominal output latency . 35
5.7.3 Nominal output rate . 35
5.7.4 Output latency stability. 35
5.7.5 Output rate stability . 36
5.7.6 Time to first fix . 37
6 Description of the replay phase: how to assess the DUT performances . 37
6.1 General . 37
6.2 Checking of the content of the test scenario . 38
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6.3 Setting-up of the replay test-bench . 39
6.4 Validation of the data processing HW and SW by the RF test laboratory . 40
6.5 Replaying of the data . 40
6.6 Computation of the ACAI performances . 43
6.7 Computation of the TTFF performances . 43
6.8 Establishment of the final test report . 47
7 Definition of the validation procedures: how to be sure of the results (checks) . 47
7.1 Definition of the validation procedures . 47
7.2 Pass/Fail criteria for the verification of the test procedures . 48
8 Definition of the synthesis report: how to report the results of the tests . 49
Annex A (informative) Homologation framework . 56
A.1 The road value chain . 56
A.2 Roles of the different stakeholders . 56
A.3 Responsibilities of the different stakeholders . 58
Annex B (informative) Detailed criteria for the testing strategy (trade-off) . 59
B.1 Main criteria for testing strategy . 59
B.2 Metrological quality . 59
B.2.1 Reproducibility . 59
B.2.2 Representativeness . 60
B.2.3 Reliability . 60
B.3 Cost efficiency . 60
B.3.1 Cost of test benches . 60
B.3.2 Cost of the test operations . 61
B.4 Clarity in the sharing of responsibilities . 61
B.5 Scenario-management authority . 61
Annex C (informative) Record and replay testing considerations . 63
C.1 General . 63
C.2 Experimentation considerations . 63
C.3 Equipment justification . 65
C.3.1 Equipment for in-field data collection . 65
C.3.2 Record & Replay Solutions . 67
C.3.3 Recommended equipment . 70
C.4 Presentation of a scenario: rush time in Toulouse . 70
C.5 Quality of the reference trajectory . 72
C.6 Availability, regularity of the of the DUT’s outputs for the metrics computations . 73
Annex D (informative) Perspectives on record and replay of hybridized . 75
Annex E (informative) Considerations on coordinate systems, reference frames and
projections . 80
Bibliography . 83
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List of figures
Figure 1 — Generic functional architecture of a Positioning-based road ITS system . 7
Figure 2 — The “Record and Replay” principle . 13
Figure 3 — Methodology to build the combinatory of operational scenarios . 17
Figure 4 — Segmentation of trips . 18
Figure 5 — Composition of test scenario with UTS . 20
Figure 6 — Example of UTS-A composition . 20
Figure 7 — Illustration of the percentiles triplet for Horizontal Position Accuracy . 28
Figure 8 — Decomposition into time intervals of length T for availability and continuity
computation . 30
Figure 9 — Examples of computation of a coefficients . 31
i
Figure 10 — Examples of computation of c coefficients . 32
i
Figure 11 — Test bench for conducted replays . 39
Figure 12 — Test bench for radiated replays . 39
Figure 13 — Several replays for conducted test . 41
Figure 14 — UEDS sorted by environment . 42
Figure 15 — Concatenations of UEDS according to environment . 42
Figure 16 — Minimal pattern . 44
Figure 17 — Example of a single pattern for mid-term TTFF assessment . 45
Figure 18 — Example of a complete TTFF assessment (30 trials) . 45
Figure 19 — Ancillary data delivered by Lab-A to a generic test laboratory (Lab-B) . 47
Figure 20 — Verification of the test procedures in two steps . 48
Figure A.1 — Test bench for radiated replays . 56
Figure C.1 — Global view of the scenario (rush time in Toulouse — Ring road) . 63
Figure C.2 — CDFs corresponding to horizontal position accuracy . 64
Figure C.3 — Averaged CDF . 64
Figure C.4 — Reference Trajectory Measurement System . 65
Figure C.5 — Followed path for the data collection (left: whole trajectory, right: zoom on
some areas) . 66
Figure C.6 — Reference trajectory- estimated standard deviation (left: 1st run, right: second
run) . 66
Figure C.7 — Reference position estimated standard deviation — Open sky area . 67
Figure C.8 — Reference position estimated standard deviation — Static point. 67
Figure C.9 — C/N0 obtained during record phase . 68
Figure C.10 — C/N0 obtained during replay phase . 68
Figure C.11 — Global view of the scenario (rush time in Toulouse — Ring road) . 71
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Figure C.12 — Few zoom on reduced velocity and voluntary static point under trees . 72
2
Figure C.13 — Cinematic of the trajectory (horizontal speed - km/h, acceleration m/s ,
track on ground) . 72
Figure C.14 — Respect of road lanes by the reference trajectory . 73
Figure C.15 — Holes in output of high end GNSS receiver . 74
Figure C.16 — X-ECEF of DUT trajectory (green) and reference trajectory (black) of well
synchronized trajectories . 74
Figure D.1 — Second breakdown level for hybridized GBPT testing issues . 75
Figure D.2 — Replay test principles proposed for hybridized DUT . 76
List of tables
Table 1 — Proposal for a list of unitary test scenarios . 19
Table 2 — Environment coverage according to UTS . 20
Table 3 — Timing metrics process covered by EN 16803 series . 43
Table 4 — List of all 72 possible combinations . 45
Table C.1 — Example of Record &Replay Characteristics . 69
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European foreword
This document (prEN 16803-2:2019) has been prepared by Technical Committee CEN-CENELEC/TC 5
“SPACE”, the secretariat of which is held by DIN.
This document is currently submitted to the CEN Enquiry.
This document has been prepared under a mandate given to CEN and CENELEC by the European
Commission and the European Free Trade Association.
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Introduction
The EN 16803 series of CEN-CENELEC standards deals with the use of GNSS technology in the intelligent
transport domain, and address more particularly the issue of performance assessment.
As recalled in the generic functional architecture of a road ITS system based on GNSS, two main sub-
systems can be considered: the positioning system (GNSS-based positioning terminal (GBPT) + external
sources of data) and the road ITS application processing the position quantities output by the terminal to
deliver the final service to the user.
Figure 1 — Generic functional architecture of a Positioning-based road ITS system
This EN is the second one of the EN 16803 series.
The performance assessment issue can also be considered at these two levels.
According to Figure 3 in the Introduction of EN 16803-1, the performances of the application cannot be
assessed independently from the GBPT and the adequacy of the GBPT’s performances to the end-to-end
performance of the system cannot be assessed independently from the application. For these two kinds
of assessment, the EN 16803-1 standard proposed a method called “Sensitivity analysis”. In addition, this
first EN defined the generic architecture, the generic terms and the basic performance metrics for the
Positioning quantities.
EN 16803-1 can be of interest for many different stakeholders but is targeting mainly the ITS application
developers.
EN 16803-2, EN 16803-3 and EN 16803-4 address specifically the performances of the GBPT itself, as
they can be measured by the metrics defined in EN 16803-1:
— EN 16803-2 proposes a test methodology based on the replay in the lab of real data sets recorded
during field tests, assuming no security attack during the test.
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— EN 16803-3 proposes a complement to this test methodology to assess the performance degradation
when the GNSS signal-in-space (SIS) is affected by intentional radio-frequency (RF) perturbations
such as jamming, spoofing or meaconing, also applicable to unintentional RF perturbations.
These two ENs are targeting mainly the generalist RF test laboratory that will be in charge of assessing
the performances of GBPTs for different applications.
EN 16803-4 (in preparation) will propose the methodology for the recording of the real data sets and is
targeting mainly the GNSS-specialized test laboratories that will be in charge of elaborating the test
scenarios that will be replayed by the previous category of test laboratories.
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1 Scope
Like the other ENs of the whole series, this EN deals with the use of GNSS-based positioning terminals
(GBPT) in road Intelligent Transport Systems (ITS). GNSS-based positioning means that the system
providing position data, more precisely Position, Velocity and Time (PVT) data, comprises at least a GNSS
receiver and, potentially, for performance improvement, other additional sensor data or sources of
information that can be hybridized with GNSS data.
This new EN proposes testing procedures, based on the replay of data recorded during field tests, to
assess the basic performances of any GBPT for a given use case described by an operational scenario.
These tests address the basic performance features Availability, Continuity, Accuracy and Integrity of
the PVT information, but also the Time-To-First-Fix (TTFF) performance feature, as they are described
in EN 16803-1, considering that there is no particular security attack affecting the SIS during the
operation. This EN does not cover the assessment tests of the timing performances other than TTFF,
which do not need field data and can preferably be executed in the lab with current instruments.
“Record and Replay” (R&R) tests consist in replaying in a laboratory environment GNSS SIS data, and
potentially additional sensor data, recorded in specific operational conditions thanks to a specific test
vehicle. The dataset comprising GNSS SIS data and potential sensor data resulting from these field tests,
together with the corresponding metadata description file, is called a “test scenario”. A dataset is
composed of several data files.
This EN 16803-3 addresses the “Replay” part of the test scenario data set. It does not address the
“Record” part, although it describes as informative information the whole R&R process. This “Record”
part will be covered by EN 16803-4 under preparation.
Although the EN 16803 series concerns the GNSS-based positioning terminals and not only the GNSS
receivers, the present release of this EN addresses only the replay process of GNSS only terminals. The
reason is that the process of replaying in the lab additional sensor data, especially when these sensors
are capturing the vehicle’s motion, is generally very complex and not mature enough to be standardized
today. It would need open standardized interfaces in the GBPT as well as standardized sensor error
models and is not ready to be standardized. But, the procedure described in the present EN has been
designed to be extended to GBPT hybridizing GNSS and vehicle sensors in the future.
This EN 16803-3 does not address R&R tests when specific radio frequency signals simulating security
attacks are added to the SIS. This case is specifically the topic of EN 16803-3.
Once standardized assessment tests procedures have been established, it is possible to set minimum
performance requirements for various intelligent transport applications but it makes sense to separate
the assessment tests issue from minimum performance requirements, because the same test procedure
may be applicable to many applications, but the minimum performance requirements typically vary from
one application to another. So, this EN does not set minimum performance requirements for any
application.
2 Normative references
The following document
...
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