Technische Universität München Advanced Navigation Solutions
Zentimeter-genaue Satellitennavigation für Autonomes Fahren
Patrick Henkel
EIKON Mitgliederversammlung
Dienstag, den 3.03.2020
Technische Universität München Advanced Navigation Solutions
Overview
Introduction to Precise Positioning with Global Navigation Satellite Systems (GNSS)
Fast Precise Point Positioning with Next-Generation GNSS Kepler
Sensor Fusion Architectures for Autonomous Driving
Snow Monitoring with GNSS carrier phase measurements
Technische Universität München Advanced Navigation Solutions
Satellite Navigation with Centimeter Accuracy – Fields of Application
Automotive Robotics and Automation
UAVs
Maritime
Surveying Snow Monitoring
Technische Universität München Advanced Navigation Solutions
Ranging with code signals
Ionosphäre
Troposphäre
Challenges for ranging:
- clock errors
are multiplied by speed of light
- atmosphere delays signal
and causes ranging errors
of up to 100 m
received time transmit time
Pseudorange:
Technische Universität München Advanced Navigation Solutions
Accurate ranging with carrier phase measurement
Phase Locked Loop (PLL)
for carrier phase tracking
Ionosphäre
Troposphäre
Satellite orbit
and clock errors
Receiver-specific errors:
- multipath errors
- measurement noise
- systematic errors (biases)
- antenna phase center offsets
- Earth tides
wavelength: 19 cm
Challenges for carrier phase:
- ambiguous measurement
to periodicity of carrier phase
- need to estimate/ know lumped sum
of all ranging errors with an accuracy
of a small fraction of the wavelength
Technische Universität München Advanced Navigation Solutions
Accurate positioning with carrier phase measurement
smallest error norm
Technische Universität München Advanced Navigation Solutions
Real-Time Kinematic (RTK) Positioning
- differential positioning between two receivers
to eliminate common atmospheric delays
and satellite-related errors (orbits, clocks and biases)
- use of both pseudorange
and carrier phase measurements
- fixing of integer ambiguities
RTK Positioning
Technische Universität München Advanced Navigation Solutions
Real-Time Kinematic (RTK) Positioning
State prediction State update
Kalman filter-based state estimation:
Ambiguity fixing:
Technische Universität München Advanced Navigation Solutions
Real-Time Kinematic (RTK) Positioning: Integer Ambiguity Fixing
Graphical description
of ambiguity fixing
Technische Universität München Advanced Navigation Solutions
Real-Time Kinematic (RTK) Positioning
Distancetoreferencestation
duringinitialization
accuracy level
Technische Universität München Advanced Navigation Solutions
Real-Time Kinematic (RTK) Positioning
Single pointpositioning
Multi-Sensor RTK solution
Technische Universität München Advanced Navigation Solutions
The Challenge of Absolute Precise Point Positioning (PPP)
Carrier phase measurement
at receiver on frequency of satellite at time :
unknown parameters determined by PPP user
parameters provided by satellite navigation message
parameters provided by a model
corrections determined by a network of geodetic reference stations
Technische Universität München Advanced Navigation Solutions
Next Generation GNSS - Kepler
GALILEO KEPLER
optical
inter-satellite links
Advantages:
- more accurate ranging
- much better geometry
- negligible clock errors
Technische Universität München Advanced Navigation Solutions
Precise Point Positioning with Kepler – System Overview
Simulation
of orbits
Recovery
of orbits
Simulation of
carrier phase and
pseudorange measurements
on E1, E5 and E6
Kinematic PPP solution
with Kalman filterAmbiguity fixing
Receiver trajectory, models,
process noise and measurement noise statistics
by Geoforschungszentrum
Potsdam (GFZ)
by Geoforschungszentrum
Potsdam (GFZ)
Technische Universität München Advanced Navigation Solutions
Static versus kinematic PPP – estimated state parameters
Static PPP Kinematic PPP
Receiver position
Receiver velocity
Receiver clock offset
Tropospheric zenith delay
Ionospheric slant delays
Integer ambiguities
Pseudorange multipath errors
Technische Universität München Advanced Navigation Solutions
Performance evaluation – Statistical Assumptions
• Process noise statistics – standard deviations:
• Measurement noise statistics – standard deviations:
Technische Universität München Advanced Navigation Solutions
Receiver trajectory with high dynamics
Technische Universität München Advanced Navigation Solutions
Satellite orbits from GFZMismodelling effects:
1. Ocean loading model
deactivated
2. Solid Earth tide model
IERS Conv. 2003 replaced by IERS Conv. 1996
3. Gravity field
EIGEN-6 replaced by EIGEN-5
4. LEO air drag model
solar flux error (previous day value)
5. MEO antenna thrust
deactivated
6. MEO solar radiation pressure
ECOM 9 replaced by ECOM 5
7. LEO solar radiation pressure
polygon scaling factor introduced
8. GNSS antenna PCOs
MEOs: north/ east +3 cm, up +5 cm added
LEOs: Along-track +3 cm, cross-track +4 cm.
Technische Universität München Advanced Navigation Solutions
Satellite orbits – Impact of number of ground stations on orbit accuracy
Technische Universität München Advanced Navigation Solutions
Performance Analysis of Receiver Position Estimation
- Galileo versus Kepler (with 18 ground stations)
No ambiguity fixing achieved!
Ambiguities fixed!
Technische Universität München Advanced Navigation Solutions
Performance Analysis of Receiver Position Estimation
- Galileo (18GS-7MIS-P1) versus Kepler (1GS-7MIS-P1)
No ambiguity fixing achieved!
Ambiguities fixed!
Technische Universität München Advanced Navigation Solutions
Performance Analysis of Receiver Clock Offset Estimation
- Galileo versus Kepler
No ambiguity fixing achieved!
Ambiguities fixed!
Technische Universität München Advanced Navigation Solutions
Performance Analysis of Tropospheric Zenith Delay Estimation
- Galileo versus Kepler
Ambiguities fixed!
No ambiguity fixing achieved!
Technische Universität München Advanced Navigation Solutions
Performance Analysis of Ionospheric Slant Delays Estimation
- Galileo versus Kepler
Ambiguities fixed!
No ambiguity fixing achieved!
Technische Universität München Advanced Navigation Solutions
Performance Analysis with Kepler – 2F (E1+E5) versus 3F (E1+E5+E6)
Ambiguities fixed!
No ambiguity fixing achieved!
Technische Universität München Advanced Navigation Solutions
Performance Analysis with Kepler – 2F (E1+E5):
The potential benefit of a wideband signal on E1.
Significant reduction in fixing time!
Technische Universität München Advanced Navigation Solutions
Accurate and robust localization for autonomous driving
Focus of today
Technische Universität München Advanced Navigation Solutions
Advanced Sensor Fusion Architectures with Artificial Intelligence
Focus of today
Technische Universität München Advanced Navigation Solutions
Snow Monitoring with GNSS (GPS + Galileo)
Perform differential pseudorange
and carrier phase measurements
to eliminate atmospheric errors
Correct differential measurements
for known receiver and satellite positions
Estimate Snow Water Equivalent
and Carrier Phase Integer Ambiguities
GNSS receiver below snow
GNSS reference
receiver above snow
Technische Universität München Advanced Navigation Solutions
Snow Monitoring with GNSS (GPS + Galileo)
08.12.2018 with SWE of 116 mm08.10.2018 with SWE of 0 mm
Technische Universität München Advanced Navigation Solutions
Snow Monitoring with GNSS (GPS + Galileo)
10.02.2019 with SWE of 675 mm08.10.2018 with SWE of 0 mm
Technische Universität München Advanced Navigation Solutions
Snow Monitoring with GNSS (GPS + Galileo)
Technische Universität München Advanced Navigation Solutions
Conclusion
Introduction to Precise Positioning with Global Navigation Satellite Systems (GNSS)
Fast Precise Point Positioning with Next-Generation GNSS Kepler
Sensor Fusion Architectures for Autonomous Driving
Snow Monitoring with GNSS carrier phase measurements