Project Work Breakdown Structure (WBS):
Based on the work logic described in the Project Description, the different Work packages and their constituent activities are defined in the figure below.
Figure. Arctic-PNT project work breakdown structure and WPs.
Work Package descriptions:
Work Package 1.1 begins with a background study of state-of-the-art in PNT systems used for autonomous driving. This study will cover both scientific work as well as existing commercial systems. The systems will be classified and their performance will be compared. The need for infrastructure and complexity of the systems will be assessed. Special focus will be on adaptation and suitability for Arctic regions. Challenges and necessary innovations in PNT technology required for autonomous driving in Arctic conditions will be identified.
Work Package 1.2 focuses on the Aurora SNOWBOX test site. All available technical documentation of SNOWBOX infrastructure and facilities will be analysed.
Work Package 1.3 includes interviews with key stakeholders from Aurora SNOWBOX, including key actors in the autonomous driving ecosystems. The objective is to identify PNT requirements and challenges and compare these to the existing and planned capabilities of SNOWBOX. Requirements that are outside the scope of SNOWBOX and specific R&D needs will also be identified. The output from WP 1.1 and 1.2 are important inputs to this task. A study on how SNOWBOX can be utilized as a key infrastructure to foster new innovation in PNT under Arctic conditions will also be part of the deliverable from this WP.
Work Package 1.4 includes the development of an experimentation plan for two winter seasons to be executed in Task 2. As a minimum, this shall include, for each experiment, suitable specifications about the experiment itself and the required test environment, together with the underlying justifications. The outputs from WP 1.1, 1.2 and 1.3 are inputs to this task.
Work Package 2.1 begins with the planning and developing of a test system including software and hardware for logging of test data from several sources. The system will include means to obtain GNSS, EGNOS, 5G, vehicle sensor (wheel sensors, inertial sensors) data, camera data and potentially laser scanning data. In addition the system should utilise the FinnRef reference network infrastructure around SNOWBOX. The system should also be able to assess available communication links and 3D maps
Work Package 2.2 and WP 2.4 include the collection of test data during Q1 2018 and Q1 2019 respectively, using specially equipped test vehicles and following the plan developed in WP 2.1. The tests shall take place over the specially instrumented E8 route from Kolari (latitude 67.3˚N) to Kilpisjärvi (latitude 69˚N). Pending approval by the Norwegian government, test campaigns will be extended to Tromsø (latitude 69.7˚N).
Work Package 2.3 and WP 2.5 begin with testing of RTK/PPP methods for lane-level accurate, reliable positioning in Arctic conditions, using the reference network infrastructure of SNOWBOX. In addition to GNSS only methods integrated positioning methods relevant to autonomous driving, namely methods combining GNSS, 5G, and vehicle sensors (wheel sensors, inertial sensors, cameras, laser scanners, etc.) will also be tested. The performance and complexity of all tested systems will be compared. This WP also includes the development of ad-hoc SW items (if needed) to meet the objectives of the experimentation plan developed in Task 1 and to overcome possible limitations of the Contractor’s FGI-GSRx software platform.
Work Package 2.6 focuses on identifying a suitable architecture that should be used for vehicle positioning. This shall detail all the additional sensors (e.g. Radar, Lidar or other vehicle sensors) and the additional information (e.g. 3D maps) that, according to the study, shall be used for effective, integrated positioning. The required interface will be described (e.g. communication links) for the provision of external data in the architecture and recommendations for further PNT infrastructure development will be produced.