RTK+OSNMA Positioning for Road Applications: An Experimental Performance Analysis in Finland.

We compare the performance of dual-band (GPS L1/L2 and Galileo E1/E5a) real-time kinematic (RTK) positioning in an open sky and urban scenarios in southern Finland using two different authentication schemes: one using only satellites authenticated by Galileo's open service navigation message authentication (OSNMA) service (which at the moment of our tests led to using only authenticated Galileo satellites) and the other with no authentication. The results show the actual trade-off between accuracy and availability vs. authenticity associated with using only OSNMA-authenticated satellites, while the authentication of only Galileo satellites is possible (e.g., a drop of RTK positioning availability from 96.67 to 86.01% in our open sky and from 73.55 to 18.65% in our urban scenarios, respectively), and an upper bound of the potential performance that could be reached in similar experimental conditions had the authentication of GPS satellites been supported (e.g., an overall 14 cm and 10.20 m 95% horizontal accuracy in our open sky and urban scenarios, with below 30, 20 and 10 cm during 97.39, 96.03 and 92.43% of the time in the open sky and 49.12, 45.96 and 39.63% in the urban scenarios, respectively).

An Experimental Performance Assessment of Galileo OSNMA.

We present Galileo Open Service Navigation Message Authentication (OSNMA) observed operational information and key performance indicators (KPIs) from the analysis of a ten-day-long dataset collected in static open-sky conditions in southern Finland and using our in-house-developed OSNMA implementation. In particular, we present a timeline with authentication-related events, such as authentication status and type, dropped navigation pages, and failed cyclic redundancy checks. We also report other KPIs, such as the number of simultaneously authenticated satellites over time, time to first authenticated fix, and percentage of authenticated fixes, and we evaluate the accuracy of the authenticated position solution. We also study how satellite visibility affects these figures. Finally, we analyze situations where it was not possible to reach an authenticated fix, and offer our findings on the observed patterns.