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THEME [SEC-2012.4.2-1] FP7-SEC-2012-313002 - Grant Agreement n°313002
Trieste
[19th February 2016]
SPARTACUSPOSITIONING SOLUTIONS FOR CRITICAL ASSET
TRACKING AND CRISIS MANAGEMENT
LUCA VITTUARI*, MATTEO ZANZI**, ANTONIO GHETTI**
*DICAM, UNIVERSITY OF BOLOGNA, ITALY; **DEI - UNIVERSITY OF BOLOGNA, FORLÌ, ITALY.
Università di Trieste
19th February 2016
Outline:
Introduction to SPARTACUS
Tracking applications:
Transport (TR)
Relief Goods Distribution (RGD)
First Responders tracking & guidance
Two steps positioning approach (TR and RGD):
Low level
Upper level
Numerical simulations
Preliminary Fisrt Responders field test
SPARTACUS answer & innovation
2
Università di Trieste
19th February 2016
Tracking applications
4
Three main fields of application
1. Transport: tracking freight trains and containers (i.e. dangerous transports);
2. Relief Goods Distribution: tracking of trucks and containers (i.e. during civil protection missions);
3. First Responders: outdoor & indoor tracking of pedestrian first responders (i.e. management of firebrigade and sanitary personell teams).
Stakeholders requirement for positioning precision:
±3m in open sky conditions; ±10m after 60s GNSS outage.
Università di Trieste
19th February 2016
Tracking applications
5
Main HW devices shared by all the applications
STrackU: Spartacus Tracking Unit (GNSS/INS Sensor&data)
SColU/SFU: Spartacus Collecting Unit or Smart Field Unit (data fusion)
SComU: Spartacus Communication Unit (radio link)
Università di Trieste
19th February 2016
9
Performs Low-Level positioning functions for containers, wagons and locomotive
All information are stored internally in a LIFO stack together with ID
Temperature, humidity sensors and limit switch are foreseen as future option
STrackU HW
STrackU_CONTAINER (A)
Unique ID
HW defined
SW defined
GNSS
Receiver
Local
clockINS
Navigation Unit medium cost - no calibration [SBG]External
GNSS
Antenna
SingleBoard Computer [UNIPV;IMP]
Wireless Communication [UNIPV;IMP]
ZigBee
End device
External sensor
I/O ports
Temperature,
Humidity,
Limit switch
Cable
communication
RS232
Memory storage
(last info recording)
Low Power uC / CPU
Internal FLASH
Università di Trieste
19th February 2016
10
SColU HW
Performs the Upper-Level positioning functions for containers and wagons
All information are stored internally in a LIFO stack together with ID
Gives a real time monitoring data to the SComU and the train driver
SCoIU_LOCOMOTIVE
<100m
uC / CPU
Unique ID
HW defined
SW definedMemory storage
(position recording/
optional MAP)
SD card slotInternal FLASH
External FLASH
SFU_TRAIN_
DRIVER
[A]
Wireless Communication [UNIPV;IMP]
ZigBee
Coordinator
Ethernet
Cable communication
SingleBoard Computer [IMP;UNIBO]
Low Power
WiFi
UART/RS232/USB
Università di Trieste
19th February 2016
11
STrackU SW Low-Level algorithms
Extended Kalman Filter implementation
Università di Trieste
19th February 2016
13
SColU data fusion filter model
EKF filter kinematic constraints:
relative distance
relative velocity
aligned velocity and heading
radius of curvature of railway
Università di Trieste
19th February 2016
14
EKF filter kinematic constraints:
relative distance
relative velocity
SColU data fusion filter model
Trailer
North
T
VT
STrackU Truck
STrackU Container 1
STrackU Container 2M’
M
T’
T
C1
C2
L
d
L’
d’
3.04 m
C
Truck
Università di Trieste
19th February 2016
16
Motion profile for Transport application
SColU simulation implementedw
ith
ou
t G
NS
S s
ate
llite
sig
na
l co
ve
rag
e
with GNSS satellite signal coverage
650m
1100
m
LO
CO
MO
TIV
E
20m
WA
GO
N 2
0m
CO
NT
AIN
ER
6m
CO
NT
AIN
ER
12
m
700m
65
0m
Simulation parameters:
constant speed = 20 [m/s]
curvature radius = r = 700 [m]
the simulation begins without GNSS satellite
signal coverage
the simulation continues without GNSS satellite
signal coverage for 120 seconds
Università di Trieste
19th February 2016
17
SColU simulations results
60’ of GNSS signal
outage accuracy
Before 5m
After 5m
Before 100m
After 5m
UNIT
LOCOMOTIVE
CONTAINER
or
WAGON
Università di Trieste
19th February 2016
19
with
ou
t G
NS
S s
ate
llite
sig
na
l co
ve
rag
e
with GNSS satellite signal coverage
500m
110m
TR
UC
K
4m
70m
50
0m
58
0m
70m11
0m
TR
AIL
ER
9m
Simulation parameters:
constant speed=15[m/s]
the simulation begins without GNSS satellite
signal coverage
the simulation continues without GNSS satellite
signal coverage for t=120[s]
Motion profile for RGD application
SColU simulations implemented
Università di Trieste
19th February 2016
20
60’ of GNSS signal
outage accuracy
Before 10m
After 6m
Before 100m
After 6m
UNIT
TRUCK
TRAILER
SColU simulations results
Università di Trieste
19th February 2016
First Responders application
21
The evolution of
STRACKU_PERSON FR tests
Università di Trieste
19th February 2016
23
The horizontal error after 60s of dead reckoning (point 60) is under 5m
Preliminary FR STrackU test results
Università di Trieste
19th February 2016
5
SPARTACUS Tracking solutions
SPARTACUS Answer & Innovation
For all three targeted applications, SPARTACUS offers a system able to:
Determine the position independently from external infrastructure (STrackU =
GNSS + INS)
Have a low/medium cost for dead reckoning capabilities according to the
application (Transport, RGD, FR)
Black box information capabilities for each module (STrackU/SColU/SFU)
An infrastructure less Broadband Global Area Network radio interface
Have a power consumption, weight and size dependent on the application
(Transport, RGD, FR)
Recommended