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State of the Art and Future Trends in Radionavigation. Todd Humphreys, UT Austin Aerospace Dept. (with slide contributions from Mark Psiaki , Cornell MAE Dept.) Briefing to USPTO| April 14, 2011. Outline of Topics. Overview of Radionavigation/GPS - PowerPoint PPT Presentation
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State of the Art and Future Trends in Radionavigation
Todd Humphreys, UT Austin Aerospace Dept.(with slide contributions from Mark Psiaki, Cornell MAE Dept.)
Briefing to USPTO| April 14, 2011
Outline of TopicsI. Overview of Radionavigation/GPSII. Advances in Weak-Signal GNSS Tracking
and Indoor Navigation + Network-aided Navigation
III.Vector Tracking for Improved Navigation Accuracy and Robustness
IV.Multipath Mitigation
Radionavigation
GPS GNSSRadionavigation
Systems GPS GNSSRadionavigation
Systems
The Three GPS Segments
(Courtesy of U.S. Air Force)
24 Satellites in 12-Hour Orbits Distributed in 6 Orbital Planes of 55 deg Inclination:
(Courtesy of B.W. Parkinson)
Spread Spectrum Radio Ranging
fL1 fL1 fL1
]2[cos)()()( 01 tπftDtACty LPRNtx
])/(2[cos)/()/()( 01 ctπfctDctCAty LPRNrcvdrx+1
+1 -1
-1
Transmitted CPRN(t)
Received CPRN(t-/c)
1-Chip Interval
PRN Chip Values (earliest to latest): +1, -1, -1, +1, +1, -1, +1, +1, +1, -1, -1, -1
TransmissionDelay = /c
t
t
PRNSpreading
RFTrans. Link
PRNDespreading
In Transmitter In ReceiverfL1
GPS Position & Time Determination
User ReceiverLocation
tcprrrr 1user1Tuser1 )()(
tcprrrr
3user3Tuser3
)()(
tcprrrr
2user2Tuser2
)()(
tcprrrr
4user4Tuser4
)()(
Data: r 1, r 2, r 3, r 4,p 1, p 2, p 3, p 4
Unknowns: ruser, t
Pseudorangemeasurement
equations
Pseudorange measurement: p = c(trcvd+trcvd-ttrans) Need >= 4 signals
GPS Errors & Accuracy Ephemeris errors in r i: 2 m Transmitter clock errors: 2 m Residual Ionospheric delay: 4 m*
Tropospheric delay: 0.5 m Multipath (reflected signals): 1 m#
Receiver noise: 0.5 m Multiplicative effect of geometry (GDOP) Typical accuracy: 10 m/axis, 30 nsec in time, 0.01
m/sec velocity* for single-frequency receiver w/model corrections, error > 15
m possible in unusual ionospheric conditions, low elevation# error > 15 m possible in strong multipath environments
Local Area Differential GPS12
12
BroadcastPosition & Time
ActualPosition & Time
Measured Scalar Correction
CORRECTION = expected pseudorange - measured pseudorange
User applies correctionto range measurementsKnown location
Reference Receiver
Xs
s
FAA LAAS version accuracy: 0.5 m within 45 km of ref. receiver at airport
(Courtesy of B.W. Parkinson)
Wide Area Differential GPS using SBAS
(Courtesy of B.W. Parkinson) FAA WAAS version accuracy: 1-2 m over North America Europe system: EGNOS; Planned Japanese system: QZSS Systems provide integrity signals
Carrier-Phase Differential GPS
iAB
iB
iABABA
iiB
iA NNttcrs )()()()( T
iB
iBBB
iB
iiB Ntcrrrr )()( T
Antenna A
Antenna B
GPSSatellite i
3.5
Two Possible Alternate Locations of Antenna B
BAr
isRMS precision ofrelative rangemeasurement:5 mm
Measurement Equations:iA
iAAA
iA
iiA Ntcrrrr )()( T
The End of Selective Availability
GPS–Equipped Cell Phones Motivations:
FCC Phase-II E911 requirement (50 m 67% of calls, 150 m 95% of calls)
Location based services (please tell me where is the nearest restaurant)
Money (projected $26B market in 2010, $104B in 2020)
Challenges: Weak signals/multipath in urban canyons
& indoors Solutions:
Assisted GPS (as in figure) MEMS Coarse position fix from communications
link (Fig. 3 of Ballantyne et al., "Achieving Low Energy-per-fix with A-GPS Cellular Phones," Proc. ION GNSS 2005)
GPS–Equipped Automobiles Motivations:
Never-lost/driving directions Location based services Money (projected $86B market
in 2020) Challenges:
Weak signals/multipath in urban canyons
Solutions: Aiding from inertial sensors Dead reckoning aids from odometer/steering data Maps & velocity/direction information included in fix solution Near-zenith augmentation system satellites, e.g., QZSS
(Fig. 1 of Normark & Ståhlberg "Hybrid GPS/Galileo Real Time Software Receiver," Proc. ION GNSS 2005)
L2 L1
L5
Block IIR-M (1st Launch 2005)
Block IIF(1st Launch
2010)
L2 Civil
Military M
C/AP(Y)
3rd Civil
LegacySignals
New GPS Signals
(Courtesy of B.W. Parkinson)
Galileo Signals (GIOVE-A Launched 12/2005)
(Fig. 1 of Wallner et al., "Interference Computations Between GPS and Galileo," Proc. ION GNSS 2005)
Opportunities Afforded by New Signals Dual-frequency ionospheric corrections in civil receivers GPS, Galileo, or a combination Flight-certifiable with 2 aviation-protected frequency bands
Better performance for indoor & high-altitude space applications Pilot signals (i.e., no data) allow better signal processing More power on some signals
Access to more spacecraft signals via interoperability GPS L1/L5 & Galileo L1/E5a bands are same 54 or more satellites available from combined constellation Improved GDOP, availability in urban canyons, RAIM
Non-Standard Applications of GNSS (Courtesy of B.W. Parkinson)
Note 4 antennas for attitude
(Courtesy of B.W. Parkinson)
Blind Landing, 0.30 m accuracy Robotic Farming, 0.08 m accuracy
Ionospheric Remote Sensing
(Fig. 4.f from Mitchell et al. Proc. ION GNSS 2004)
GPS Solves a Murder Mystery Headline:
“Jury will hear how GPS tracked murder suspect” – 9 April 2005, Citizens Voice, Wilkes Barre, PA
Facts:CSI-wireless Asset-Link GPS tracker in suspect’s rented Lincoln navigator placed him at crime scene minutes before firefighters discovered victim
GNSS Economics
2003 2004 2005 2006 2007 2008 2009 20100
2
4
6
8
10
Year
GP
S E
quip
men
t Sal
es in
U.S
. (B
illio
ns o
f $)
Over 10M civil sets in use, > 200,000/month sold at costs >= $100 World sales for cell-phones & automobiles alone projected at $190B in 2020
Outline of TopicsI. Overview of Radionavigation/GPSII. Advances in Weak-Signal GNSS
Tracking and Indoor Navigation + Network-aided Navigation
III.Vector Tracking for Improved Navigation Accuracy and Robustness
IV.Multipath Mitigation
The Problem
Approaches to Indoor and Weak-Signal Nav. (1/3) Non-GNSS Solutions
Wi-Fi access points received signal strength + large database = ~10 m accuracy
Pseudolites: GPS-like signals from terrestrial transmitters Center frequency is usually offset from GPS, but same signal structure; as good as ~5 cm accuracy
Navigate off of cell phone towers Coarse but robust fallback: Cell tower ID Better: Advanced forward link trilateration in CDMA systems
Use sensors to dead reckon during short GNSS unavailability Inertial measurement units (accelerometers, gyros) Cameras Magnetometers Altimeters
IMES: Indoor measurement system Extremely weak (0.1 to 0.4 nano-watt) GPS-like signals used only for data transmission “If you’re near enough to detect my signal, you must be within 10 meters of my location, which is ...” No need for synchronization with GNSS signals since they are not used for ranging Scalable? (Would have to be densely deployed.)
Approaches to Indoor and Weak-Signal Nav. (2/3) Increasing Receiver Sensitivity
Narrow the search space: obtain rough user position and time and GNSS spacecraft ephemeris from the network (aided GPS (AGPS))
Massively parallel processing: search thousands of hypothesis cells simultaneously (currently implemented in high-performance chips by CSR, Broadcom, others)
Extend the coherent integration time Track pilot channels in new GNSS signals (no navigation data bits) Integrate across navigation data bit boundaries by “wiping off” the data bits with data
provided over network (e.g., via AGPS) Stabilize or compensate for clock and receiver dynamics to extend the receiver’s
coherence time Use high-quality, stable clock or frequency stability transfer to reduce unpredictable
clock variations Use IMU to compensate for receiver dynamics
Approaches to Indoor and Weak-Signal Nav. (3/3) Cafeteria Navigation: Cobble together a solution based on a subset
of the following sensors and signals: GNSS Non-GNSS Sensors
IMU Magnetometer Altimeter Camera
Signals of opportunity Wi-Fi Cellular telephone signals HDTV Iridium
Non-GNSS radionavigation signals Pseudolites IMES Nav-enhanced Iridium (future) Nav-enhanced Wi-Fi (future)
“The most suitable technology for indoors is a combination of GNSS with accelerometers, gyros, and Wi-Fi.” -- Kanwar Chadha of CSR, Oct. 2010
Massively Parallel Correlation
Silicon- and FFT-based MPC techniques allow all code offsets to be searched simultaneously, reducing TTFF and indirectly
improving sensitivity
Figure: Frank Van Diggelen
State-of-the-Art AGPS: CSR’s EGPS
26
Loose coupling between GPS & CDMA is practical and cheap, but prevents
nanosecond-level time aiding and further improvement in sensitivity
Future: Tightly-Coupled Opportunistic Navigation
Enabling configuration: (1) Same clock: Downmix and sample GPS
and SOP with same oscillator(2) Same silicon: Sample GPS and SOP in
same A/D converter
Details on Improving Sensitivity by Extending Coherence Time (1/2)
Example: For C/N0 = 7 dB-Hz, T must be > 7 dB-sec (about 5 seconds)
Details on Improving Sensitivity by Extending Coherence Time (2/2)
TCXO: Temperature-compensated crystal oscillator OCXO: oven-controlled crystal oscillator
Stable signals from CDMA cell towers can be used to discipline local clock
Outline of TopicsI. Overview of Radionavigation/GPSII. Advances in Weak-Signal GNSS Tracking
and Indoor Navigation + Network-aided Navigation
III.Vector Tracking for Improved Navigation Accuracy and Robustness
IV.Multipath Mitigation
Traditional Receiver Architecture
(Fig. 1 of Lashley, 2009)
Vector Tracking Loop Architecture
(Fig. 2 of Lashley, 2009)
Vector Tracking Improves cross correlation immunity, helping to solve
the near/far problem In independent channel tracking, a tracking loop can get fooled into
tracking a cross-correlation peak instead of the autocorrelation peak In vector tracking, the centralized tracking loop is not fooled by cross-
correlation peaks because these do not follow the predicted trajectory Improves robustness
Navigation solution less sensitive to loss of individual channels. A solution is still possible with fewer than 4 satellites visible (degrades gracefully).
Faltering channels are “helped along” by the combined information contributed by the other channels
Amenable to “cafeteria navigation” “Hungry” estimator can take in signals of opportunity and data from a
diverse sensor suite
Outline of TopicsI. Overview of Radionavigation/GPSII. Advances in Weak-Signal GNSS Tracking
and Indoor Navigation + Network-aided Navigation
III.Vector Tracking for Improved Navigation Accuracy and Robustness
IV.Multipath Mitigation
Multipath: A Dominant Error Source
(Van Diggelen, InsideGNSS, 2011)
Long Coherent Integration Time Provides Some Protection Against Multipath
(Fig. 8 of Pany, 2009)
Optimal Approaches To Multipath Mitigation: Maximum Likelihood
(See Sahmoudi, 2008)
Multipath model:
Likelihood function:
ML approach: Choose A_i, tau_i, and ph_i to maximize the likelihood function
More Information
http://radionavlab.ae.utexas.edu
Backup Slides
Emerging Threat: Civil GPS Spoofing
Civil Anti-Spoofing Techniques
Data bit latency defense (weak but easy to implement) Multi-antenna defense (patented in 1996; strong against
single spoofer; fails against multiple spoofers; requires additional hardware)
Vestigial signal defense (work in progress; appears strong)
Navigation message authentication (strong, practical, requires cooperation of control segment)
Cross-correlation using P(Y) code (pioneered by Lo, refined by Psiaki, very strong but not so practical)
Software-Defined GNSS Receivers: The GRID Receiver (2006)
V1
GRID Receiver Evolution (2006-2010)
V2V3
V4
GRID Receiver (2011)
V5