Ford Highway Driving RTK Dataset: 30,000 km of North American Highways

Today, Global Navigation Satellite Systems (GNSS) are used to provide position information as a driver navigational aid. This provides an attractive solution, as it offers global positioning using relatively lowcost hardware with lightweight computational load. In recent years, accuracy and robustness have increased, thanks to the availability of substantially more GNSS satellites, multiple civil frequencies such as L5, multi-frequency capable mass market receivers, and continental-scale coverage of corrections services like networked Real-Time Kinematic (RTK), Precise Point Positioning (PPP), and other model based approaches such as PPP-RTK [2]. One of the challenges facing adoption of RTK and other precision GNSS solutions in next-generation automotive systems is understanding the environment that vehicles will be operating in, as this could potentially be used as a core component of a safety critical system. General Motor's (GM) Super Cruise is an example use of GNSS as a core input to the feature activation criteria, only allowing the feature to be active on divided highways [3]. In order to address the integrity of such a system, the GNSS conditions on roads in terms of service denials must be understood. Some of the factors that affect the performance of GNSS and RTK use on highways include obstructions (e.g.