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www.DLR.de • Chart 1 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
The on-board maritime PNT Module – Concept & Status of Realization as a Demonstrator
Ralf Ziebold, Z. Dai, Th. Noack, E. EnglerGerman Aero Space CentreInstitute of Communications and NavigationNautical Systems Group
www.DLR.de • Chart 2 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Table of content
Introduction / PNT Module concept Introduction / PNT Module concept
PNT Unit demonstrator developmentPNT Unit demonstrator development
www.DLR.de • Chart 3 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
PNT relevant user needs within E-Navigation
PNT information
Improved reliability
Indication of reliability
Alert management
“Before mariners can feel confidentabout relying on systems underthe e-navigation concept, theymust prove far more reliable thanmany of the present systems”
IMO, NAV 55/WP.5
www.DLR.de • Chart 5 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Current status: Integrated Navigational System (INS)
Shipboard Sensor Layer
Shipboard Processing Layer
GNSS Receiver
DGNSS Receiver
Multi Radio Navigation Receiver
etc.
WWRNSsensors
Gyro / Compass
Speed / Log
Othershipboardsensors
etc.
ROTI
interface, point of type approval
PVT
PVT
PVT
N
N
N
Check Matrix of PNT data
realized byINS
PNT
Integrity(plausibility,
consistency)
Alerts
INS is not a mandatory system, but if it is installed it can replace single sensor requirements
www.DLR.de • Chart 6 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Integrity definitions
- IMO Integrity Definition: (IMO Resolution A.915(22) Requirements for a future GNSS)
The ability to provide users with warnings within a specified time when the system should not be used for navigation
Integrity: timely (TTA) warning, based on accuracy estimation Protection level (PL): bounds true error under consideration of remaining integrity risk Available: PL < Alert limit (AL)
Continuity of integrity and accuracy
Availability: probability that the positioning service and the integrity monitoring service are available and provide the required accuracy, integrity and continuity performance
General structure of GNSS service specification
Accuracy: The degree of conformance between the estimated or measured parameter of a craft at a given time and its true parameter at that time. (95% confidence)
www.DLR.de • Chart 7 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
From service to user level integrity
Current user level integrity definition
- IEC INS standard (61924:2006)
property of information as being accurate and valid with regard to specified requirements and verified by comparing data from more than one independent source
large gap between service level integrity and user level integrity
1st. Approach: Establish user level integrity comparable to GNSS service specification (based on accuracy estimation) onboard the vessel
=> Over bound all possible errors (threads)
www.DLR.de • Chart 8 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
PNT Unit Approach
Shipboard Sensor Layer
Shipboard Processing Layer
GNSS Receiver
DGNSS Receiver
Multi Radio Navigation Receiver
etc.
WWRNSsensors
Gyro / Compass
Speed / Log
Othershipboardsensors
etc.
ROTI
interface, point of type approval
PVT
PVT
PVT
N
N
N
PNT (data processing)
Unit
as part of INS
best PNT
Integrity
(accuracy)
Alerts
Other PNT relevant Input Data (Radar, MSI, AIS,…)
raw
raw
raw
raw
raw
raw
www.DLR.de • Chart 9 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
PNT Unit
Processing Channel 1
Processing Channel 2
Processing Channel 3
Processing Channel 4
Processing Channel N
Ve
rsio
n d
ep
en
de
nt
Ch
ec
k M
ati
x
PNT Unit Approach
www.DLR.de • Chart 13 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Kalman filter estimates (bias check)
Kalman filter estimates (bias check)
Integrity monitoring
Individual sensor data checkPlausibility check (e.g. speed ≤ max. ship speed)
Individual sensor data checkPlausibility check (e.g. speed ≤ max. ship speed)
Three step process of integrity monitoringThree step process of integrity monitoring
11Consistency check
comparison of outputs generated by differentsensors x ≤ Threshold
Consistency check
comparison of outputs generated by differentsensors x ≤ Threshold
22Fault detection and identification in the integration algorithmUsing capabilities ofsensor fusion methodse.g. Kalman Filter
Fault detection and identification in the integration algorithmUsing capabilities ofsensor fusion methodse.g. Kalman Filter
33
Innovation-based approaches
Innovation-based approaches
Residual-based approaches
Residual-based approaches
Parallel solution of multiple sub-filters
Parallel solution of multiple sub-filters
www.DLR.de • Chart 14 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Table of content
Introduction / PNT Module concept Introduction / PNT Module concept
Status of demonstrator developmentStatus of demonstrator development
Single Sensor characterization Single Sensor characterization
Results tightly coupled GNSS -IMU Integration Results tightly coupled GNSS -IMU Integration
www.DLR.de • Chart 15 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Measurement campaigns: July /August 2011
- Survey and research vessel DENEB (BSH)
First experimental results
(2)
(3)
(1)
- Standard sensors- IALA Beacon DGPS- Doppler Log- EM Log - Gyro compass
- Additional sensors- IMU- 3x GNSS receiver
(dual frequency RTK)
www.DLR.de • Chart 16 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Characterization of sensors quasistatic scenario: GPS Compass – IMU leveling
-180
-179.8
-179.6
-179.4
-179.2
-179-179
roll
[°]
-0.4
-0.2
0
0.2
0.4
pitc
h [
°]
0 2000 4000 6000 8000 10000100
100.2
100.4
100.6
100.8
101
time t [s]
yaw
[°]
Pitch angle
Roll angle
Yaw angle
GPS compassIMU leveling
-179.6 -179.35 -179.1
roll angle
roll angle [°]
occ
ura
nce
mean= -179.37° std= 0.06°
-0.1 0.15 0.4
pitch angle
pitch angle [°]
occ
ura
nce
mean= 0.19° std= 0.008°
100.3 100.55 100.8
yaw angle
yaw angle [°]
occ
ura
nce
mean= 100.54° std= 0.02°
-179,5 -179,4 -179,3 -179,2
IMU roll angle
roll angle [°]
occ
ura
nce
mean= -179.36° std= 0.04°
0 0.1 0.2 0.3
IMU pitch angle
pitch angle [°]
occ
ura
nce
mean= 0.19° std= 0.005°
GPS compass IMU leveling
1500 2000 2500 3000 3500-0.02
-0.01
0
0.01
0.02
Variation of distance between GPS antennas
time t [s]
delta
dis
tanc
e [m
]
12
3
www.DLR.de • Chart 19 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Characterization of Sensors for heading determination: GPS Compass – Gyro Compass
Calm sea (7/5/2011 8-9 a.m. UTC)
500 1000 1500 2000 2500 3000-1
0
1
2
3Ships roll and pitch angle determined by GPS Compass
2011 7 5 8h
time t [s]
angl
e [°
]
500 1000 1500 2000 2500 3000-200
0
200
400
600Heading determined by Gyrocompass and GPS Compass
time t [s]
head
ing
angl
e [°
]
500 1000 1500 2000 2500 3000-2
-1
0
Delta Heading Gyro vs. GPS Compass
time t [s]
delta
ang
le [
°]
roll
pitch
Gyro Compass
GPS Compass • larger gyro compass error after turning maneuver
0 500 1000 1500 2000 2500 3000
-0.1
-0.05
0
0.05
0.1
0.15Variation of distance between GPS antennas
time t [s]
de
lta d
ista
nce
[m]
1-2
1-3
2-3
www.DLR.de • Chart 20 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
-50 0 50 100 150 2000
500
1000
1500
2000
2500
3000
3500
4000
East [m]
No
rth
[m]
Trajectory with respect to the starting point
GPS onlyGPS/IMU Integration
10: 9 10:17 10:25 10:34 10:42 10:50 10:590
5
10
15
20
25
30
Local time [hour:minute]
Ab
solu
te e
rro
r [m
]
Horizontal error with respect to the reference trajectory
GPS onlyGPS/IMU Integration
Tightly-coupled GPS/IMU integration with satellite filteringTightly-coupled GPS/IMU integration with satellite filtering
Accuracy improvementAccuracy improvement
Tightly coupled GPS/IMU
www.DLR.de • Chart 21 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Innovation of satellites
EastWest
North
South
3
5
6
7
8
10
13
15
19
21
26
28
Spurious MeasurementsSpurious Measurements
10:1 10:30 10:59-10
0
10PRN: 3
10:1 10:30 10:59-10
0
10PRN: 5
10:1 10:30 10:59-10
0
10PRN: 7
10:1 10:30 10:59-10
0
10PRN: 8
10:1 10:30 10:59-10
0
10PRN: 10
10:1 10:30 10:59-10
0
10PRN: 13
10:1 10:30 10:59-10
0
10PRN: 15
10:1 10:30 10:59-10
0
10PRN: 19
10:1 10:30 10:59-10
0
10PRN: 21
10:1 10:30 10:59-10
0
10PRN: 26
Innovation Code X-axis: GPS epochs Y-axis: Innovation in meters
10:1 10:30 10:59-10
0
10PRN: 28
Satellites with low elevation anglesSatellites with low elevation angles
Low weightLow weight CancellationCancellation
www.DLR.de • Chart 23 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
PNT Unit interfaceOpen question:
Input interface
- accuracy, integrity, continuity, availability depended on- operational region- maneuver status: automatic docking , ???
How this information is transferred to PNT Module?- operational region: ENC layer ?- maneuver status ??
Output interface:
- What integrity information should be delivered how?- Visualization of integrity information
www.DLR.de • Chart 24 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Next steps
- Finalize implementation of PNT Unit demonstrator v 1.0
- Implementation of new sensors- Refinement of integrity monitoring schemes- New sensor fusion schemes
www.DLR.de • Chart 25 > The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012
Thank You For Your Attention
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