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New integrity concept for Intelligent Transportation Systems (ITS) for Safety of Live (SoL) applications

The paper focuses on a robust and precise car navigation system, combined with an ITS Car-2-Car platform. The system can also be used in GNSS denied or spoofed scenarios. It is based and designed for so called `On Board Units' (OBU), which are already used for professional road tolling and tracking applications. The system combines GNSS and dead reckoning (DR) trajectories, based on odometry and inertial navigation to provide a reliable Position, Navigation and Timing (PNT) with integrity information. This PNT estimation is shared with other road users via Car-2-Car communication and combined with an automotive radar system for distress warnings and PNT validation.