We conducted a thorough literature survey on topics relevant to assured PNT for automated vehicles. The presented literature gathers and systematizes existing knowledge related to the system components of PNT and HAV systems. In particular, it treats opportunities, threats, and vulnerabilities related to (1) inertially-coupled GNSS receivers, (2) non-GNSS radio navigation via signals of opportunity (SOPs) and dedicated terrestrial beacons, (3) radar, lidar, and vision systems, (4) communications between vehicles and data/computation stored in cloud and edge servers, and (5) cooperative sensing: communication between vehicles and other traffic participants and infrastructure. This literature review also focuses on analyzing, (6) multi-sensor fusion strategies, attacks, detection, and mitigation mechanisms as found in the literature focusing on ground and aerial vehicles.
The integrity of a PNT system can be monitored at three primary levels. The first one is the GPS/GNSS system level, which includes the signal structur...
Highly automated transportation systems rely on a steady stream of signals and information from external sources for localization, route planning, per...
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