ISO 22086-2:2024

International
Standard
ISO 22086-2
First edition
Intelligent transport systems
2024-11
(ITS) — Network-based precise
positioning infrastructure for land
transportation —
Part 2:
Functional requirements and data
sets for nomadic devices
Systèmes de transport intelligents — Infrastructure de
positionnement précis en réseau pour les transports terrestres —
Partie 2: Exigences fonctionnelles et ensembles de données pour
les dispositifs nomades
Reference number
© ISO 2024
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Published in Switzerland
ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Functional requirements . 4
5.1 Overview .4
5.2 Reference network selection and request .6
5.3 Fault detection and isolation .6
5.4 Range correction and positioning .7
5.5 Protection level computation .8
6 Message set definitions . 8
6.1 General .8
6.2 Request network information .9
6.3 Receive network information .9
6.4 Request augmentation information .9
6.5 Receive augmentation information .10
Annex A (informative) Examples of GNSS fault detection .11
Annex B (informative) Protection level computation .13
Bibliography . 14

iii
Foreword
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This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
A list of all parts in the ISO 22086 series can be found on the ISO website.
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iv
Introduction
Lane-level positioning is deemed as a critical function to facilitate emerging applications of intelligent
transport systems (ITS) for safety and traffic efficiency. Another critical issue for applications with safety
concerns is to guarantee or monitor integrity of the positioning result. Global navigation satellite systems
(GNSS) have led the provision of position along with velocity and time information in the ITS domain, but
lane-level accuracy cannot be achieved and integrity monitoring functionalities are not supported with
commercial low-cost GNSS receivers operating in standalone mode.
The ISO 22086 series deals with standard issues on a nomadic device for lane-level positioning and
integrity monitoring with a GNSS-based lane-level positioning system, referred to as network-based
precise positioning infrastructure for land transportation (NETPPI-LT). NETPPLI-LT provides additional
information to enhance positioning accuracy and to monitor integrity over wireless links.

v
International Standard ISO 22086-2:2024(en)
Intelligent transport systems (ITS) — Network-based precise
positioning infrastructure for land transportation —
Part 2:
Functional requirements and data sets for nomadic devices
1 Scope
This document specifies the functional requirements of nomadic devices for lane-level positioning and
integrity monitoring with the network-based precise positioning infrastructure for land transportation
(NETPPI-LT), a lane-level positioning system based on global navigation satellite systems (GNSS) described
in ISO/TR 22086-1. This document identifies the GNNS threats to monitor and the errors to remove
or mitigate to achieve lane-level accuracy and integrity. It also specifies the data sets to be contained in
messages between the nomadic device and the control station providing GNSS correction and integrity
information. This specification enables the nomadic device to support lane-level positioning and integrity
monitoring. Enabling techniques and methods, which can be different for each provider or vendor, are not
addressed in this document.
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.
ISO/TR 22086-1, Intelligent transport systems (ITS) — Network based precise positioning infrastructure for
land transportation — Part 1: General information and use case definitions
ETSI EN 302 890-2:2020, Intelligent transport systems (ITS); Facilities layer function; Part 2: Position and time
management (PoTi); Release 2
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO/TR 22086-1 and the following apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
alert limit
error tolerance not to be exceeded without issuing an alert
3.2
augmentation information
correction and integrity information (3.7) for global navigation satellite systems (GNSS) measurements

3.3
auxiliary reference station
reference station within a set of the reference networks, which captures global navigation satellite systems
(GNSS) raw measurements (3.14) at a known position and sends them to the control stations of the network-
based precise positioning infrastructure for land transportation (NETPPI-LT) to produce correction
differences of the range measurements (3.12) relative to the ones of the master reference station (3.8)
3.4
carrier-phase measurement
measure of range between a navigation satellite and a nomadic device or a global navigation satellite
systems (GNSS) receiver embedded within the nomadic device, based on the phase measurements of the
carrier frequency
Note 1 to entry: Carrier-phase measurement is expressed in metres.
3.5
pseudorange (code) measurement
measure of range between a navigation satellite and a nomadic device or a global navigation satellite systems
(GNSS) receiver embedded within the nomadic device, based on the phase delay of the pseudorandom noise code
Note 1 to entry: Pseudorange measurement is expressed in metres.
3.6
correction information
information including raw measurements (3.14) of a master or virtual reference station and correction
differences for pairs of reference stations to remove common errors in global navigation satellite systems
(GNSS) range measurement (3.12) of a nomadic device
3.7
integrity information
information used to determine either the occurrence of failures or uncertainties (e.g. one-sigma) in the
position domain
3.8
master reference station
reference station within a set of the reference networks, for which raw measurements (3.14) and coordinate
information are transmitted to a nomadic device via the control stations of the NETPPI-LT
3.9
navigation message
message containing ephemeris data, used to calculate the position of each global navigation satellite systems
(GNSS) satellite in orbit, and information on time and status of entire satellites in the constellation
3.10
network RTK
network real-time kinematic
RTK (3.13) technique based on multiple reference stations to support an extended service coverage by
provisioning correction differences of the range measurements (3.12) for pairs of master and auxiliary
reference stations (3.3) in addition to raw measurements (3.14) of the master reference station (3.8)
3.11
protection level
upper bound for the positioning error, which is an instantaneous estimate based on different measurements
related to the quality of the received signal, range measurements (3.12), and navigation message (3.9)
3.12
range measurement
pseudorange and carrier-phase measurements (3.4) between a navigation satellite and a nomadic device or a
global navigation satellite systems (GNSS) receiver embedded within the nomadic device

3.13
real-time kinematic
RTK
differential global navigation satellite systems (GNSS) technique that provides, in real time, highly accurate
positioning for a nomadic device based on carrier-phase measurements (3.4), which are corrected by referring
raw measurements (3.14) of a single reference station
3.14
raw measurement
measurement available in a global navigation satellite systems (GNSS) receiver after the signal processing
stage before the positioning stage including code measurements (3.5), carrier-phase measurements (3.4),
navigation messages (3.9), and signal quality indicators
4 Abbreviated terms
5G fifth-generation mobile communications
CCD code carrier divergence
CS control station
DMB digital multimedia broadcasting
DSRC dedicated short-range communications
FDI fault detection and isolation
GNSS global navigation satellite systems
ITS intelligent transportation system
LTE long term evolution
MQM measurement quality monitoring
ND nomadic device
NRTK network real-time kinematic
NETPPI-LT network based precise positioning infrastructure for land transportation
OSR observation space representation
PL protection level
PoTi position and time management
PPP precise point positioning
PPP-RTK precise point positioning-real time kinematic
PRN pseudorandom noise
RF radio frequency
RTCM radio technical commission for maritime services
RTK real-time kinematic
SSR state space representation

WAVE wireless access for vehicular environment
YE-TE yesterday-minus-today ephemeris
5 Functional requirements
5.1 Overview
This document conforms to the GNSS-based positioning terminal model specified in EN 16803-1 for
the reference model of nomadic devices in which the output to safety-related applications includes the
positioning result and the protection level. Such output is used for providing warnings to the users or the
systems and services based on GNSS when exceeding a given alert limit, i.e. the largest positioning error
acceptable for the operation.
The nomadic device shall support the PoTi (position and time management) service at the facilities layer
specified in accordance with ETSI EN 302 890-2. The functions described in this document are implemented
as part of the position augmentation, which is a function of the PoTi entity.
The nomadic device performs a series of functions to ensure lane-level accuracy and integrity with the
NETPPI-LT. Its functional architecture is illustrated in Figure 1. The nomadic device can include multiple
positioning modules in addition to GNSS and can integrate all the data from the modules for positioning as
specified in EN 16803-1. As those methods are beyond the scope of this document, relevant architectures
are not depicted in Figure 1.
Figure 1 — Functional architecture for lane-level positioning and integrity monitoring
Each function for lane-level positioning and integrity monitoring on the nomadic device is described as
follows:
— reference network selection and request;
— fault detection and isolation;
— range correction and positioning;
— protection level computation.
To support these functions, the GNSS receiver equipped on the nomadic device shall provide the following
measurements:
— GNSS type;
— satellite PRN number;
— code and carrier-phase measurements;
— navigation message;
— carrier-to-noise ratio or signal-to-noise ratio of the signal;

— lock time;
— loss of lock indicator.
5.2 Reference network selection and request
The nomadic device shall implement the reference network selection and request, according to data
prov
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