ISO/TS 22591:2021

TECHNICAL ISO/TS
SPECIFICATION 22591
First edition
2021-07
Space systems — Space-based services
for a high accuracy positioning system
with safety requirements
Reference number
©
ISO 2021
© ISO 2021
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting
on the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address
below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland
ii © ISO 2021 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Service system and risks . 3
5.1 Service system . 3
5.2 Risks . 4
6 Rover safety requirements. 4
6.1 General . 4
6.2 Usage of accurate map data (safety provision 1) . 4
6.3 Indication of positioning quality (safety provision 2) . 4
6.4 Collision avoidance to the obstacles on the course (safety provision 3) . 5
6.5 Dropping avoidance from the course edge (safety provision 4) . 5
6.6 Damaging avoidance through the work (safety provision 5) . 5
6.7 Collision avoidance to other vehicles or pedestrians (safety provision 6) . 5
6.8 Positioning supplement in GNSS unavailable area (safety provision 7) . 5
7 System specifications . 5
7.1 General . 5
7.2 Requirements of usage of high accuracy map . 6
7.2.1 Accuracy of map data . 6
7.2.2 Human machine interface . 6
7.2.3 Maintenance of map data . 7
7.3 Requirements of high accuracy positioning . 7
7.3.1 Positioning accuracy . 7
7.3.2 Positioning method . 8
7.3.3 Reception of augmentation data . 8
7.3.4 Positioning quality (safety provision 2) . 8
7.3.5 Usage of integrated positioning (safety provision 7) . 8
7.3.6 Real-time property . 8
7.3.7 Improvement of availability . 9
8 Verification . 9
8.1 Verification of highly accurate map . 9
8.1.1 Accuracy of map data . 9
8.1.2 Human machine interface . 9
8.1.3 Maintenance of map data . 9
8.2 Verification of highly accurate positioning .10
8.2.1 Positioning accuracy .10
8.2.2 Positioning method .11
8.2.3 Reception of augmentation data .11
8.2.4 Positioning quality .11
8.2.5 Usage of integrated positioning .11
8.2.6 Real-time property .11
Annex A (Informative) Examples of application .12
Annex B (Informative) Mobile mapping system .18
Annex C (Informative) Augmented GNSS positioning .19
Annex D (Informative) Space-based precise augmentation with fast convergence .20
Bibliography .21
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www .iso .org/ directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www .iso .org/ patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to the
World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www .iso .org/
iso/ foreword .html.
This document was prepared by Technical Committee ISO/TC 20, Aircraft and space vehicles,
Subcommittee SC 14, Space systems and operations.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www .iso .org/ members .html.
iv © ISO 2021 – All rights reserved

Introduction
This document is a technical specification of space-based services. Space systems provide a huge merit
for the society and economy in each country today; and space-based services contribute to people’s
quality of life across the world. Space systems should be utilized furthermore in the industry worldwide
in the future.
Space systems are utilized in the application of other areas. Therefore, this document has harmonized
the content in the GNSS (global navigation satellite system) relevant area as shown in Figure 1.
Figure 1 — Standardization of space-based services: GNSS relevant area
Space systems often become the last hope for people in harsh weather conditions to ensure the safety of
life. This document is intended to ensure the safety with the power of space systems.
The operation of moving machines under such harsh conditions is difficult and unsafe for machine
operators. For example, snow removal work with a snowplough is very difficult and unsafe for non-
skilled workers. It is necessary to have experience and skills to operate the vehicle near the edges and
features of a course. Because it takes a long period of training time to learn the operation skills for
manoeuvring a work vehicle, it is becoming a serious problem in areas with heavy snow to secure the
highly skilled workers who operate these vehicles and to maintain a continuous plan for subsequent
replacement due to the retirement of skilled workers.
The purpose of this document is to mainly determine the safety requirements for a space-based high
accuracy positioning system by which vehicles can be operated safely even in low visibility conditions
with less experienced operators having minimum experience and skills.
This document refers to some general systems such as agricultural machines, road cleaning machines
or construction machines which require positioning accuracy. It applies to general works such as
staying the course, docking, and unloading works.
In general, it is difficult and dangerous to operate machines in low visibility due to harsh optical
conditions. In such situations, the machine’s positioning system requires a high degree of accuracy. This
document considers the following two distinctive features commonly observed in the high accuracy
positioning applications requiring safety.
— Generally speaking, a rover needs to be operated in situations where image sensors (cameras or
LiDARs or both) cannot be used and the risk of accidents becomes higher.
— In addition, a machine needs to be operated in close proximity to various kinds of obs
...