GNSS R&D in Japan and QZSS 2015 NGRC Symposium 7/2/2015

Transcription

1 GNSS R&D in Japan and QZSS 215 NGRC Symposium 7/2/215 Nobuai Kubo Toyo University of Marine Science and Technology TUMSAT

2 Contents GNSS R&D in JAPAN QZSS - several topics - university, research institute and company - system overview and program status, mission Activities of IPNTJ The Institute of Positioning, Navigation and Timing of Japan - IS-GNSS and summer school Introduction

3 GNSS activities in Japan CABINET OFFICE National Space Policy University TUMSAT, Ritsumeian Waseda, Keio Toyo, Chubu +several universities related to ITS Research Institute JAXA ENRI GSI The Institute of Positioning, Navigation and Timing of Japan Company Mitsubishi, NEC, TOSHIBA FURUNO, JRC, Hitachi Zosen EPSON, SONY, CORE +several companies related to ITS

4 CABINET OFFICE National Space Policy Office at national space policy controls the activity of QZSS as well as satellite based navigation services at all points. QZSS is one of the important space technologies for Japanese government. They decided to operate 7 navigation satellites. We university, research institute and company are somewhat involved in the activity of this office.

5 JAXA JAXA has developed and operated QZSS for many years. QZSS would not be realized without JAXA. Recently, the operation has been transited into QSS NEC from JAXA. Asia Oceania Multi-GNSS Demonstration Campaign has been held by JAXA since 21. Real-time PPP service called MADOCA has been developed by JAXA. Mr. Taasu TUMSAT is a ey developer for this project Spectrum L Relative frequency MHz

6 MADOCA PPP QZSS LEX signal is used to transmit correction data for PPP at present. Prod uct Offline Real-Time GPS GLO QZS GPS GLO QZS OBT 3cm 7cm 4cm 9cm CLK.1ns.25ns.1ns.25ns

7 New GNSS Era : many more satellites in Asia Visible satellite number mas angle 3 degrees 24 hours Disp. 22: GPS32+ Glonass24+ Galileo3+ BeiDou35+ QZSS4+ IRNSS7+ SBAS

8 ENRI ENRI is responsible for research and development in the field of electronic navigation in Japan. ENRI is the most important institute for the development of MSAS NEC is a main operator. ENRI is the most important institute in terms of wide area differential GNSS R&D. 3 researchers in ENRI are visiting professor at TUMSAT. They hold international worshop as shown in the right figure.

9 GSI Geospatial Information Authority of Japan GSI is the only national organization that conducts basic survey and mapping and instructs related organizations to clarify the conditions of land in Japan. GEONET has been operated for many years and it was quite useful for GNSS R&D. Recently, REGMOS Remote GNSS Monitoring System was launched for volcano monitor. Precise GEOID model has been updated. Multi-GNSS R&D related to precise positioning has been conducted since 211 TUMSAT joined. GSILIB GNSS Surveying Implementation Library was developed and now available.

10 CORS Networ Universities What you can do? CORSContinuously Operating Reference Stations observation data via the Internet Toyo Univ. of Toyo, Keio Univ., TUMSAT Bango Thailand, Manila Philippine You can get real-time precise position by RTK-GNSS KEIO UOT TUMSAT Rover Communication Lin NetR9 Reference UOP Chulalongorn Our main objective for this wor is to provide free multi-gnss observation data to every users. Stimulating user is also important.

11 New service creation using RTK/PPP TUMSAT-SHINJUKU round trip in Toyo TUMSAT base station was used Multi-GNSS RTK improved the performance a lot even in the dense urban areas. However, we need to find the suitable applications to contribute society. RTKLIB is quite useful tool for research and education. MODE Rate Single 97.% DGNSS 95.% RTK-GNSS 81.6% Realtime Altitude Determination It is easy for students to improve RTK/PPP algorithm using the real-time based source code.

12 BeiDou improves RTK Car and Marine * Car test in dense urban areas with POS/LV 214 * Each 35-4 minutes data * Dual frequency use * Very few wrong fixes * Elevation of QZS was high #1 7:2 #2 9:41 #3 11:5 GPS GPS/QZS GPS/QZS/BeiDou FIX Rate 32.8% 43.6% 56.4% Distance Coverage 24.1% 31.9% 35.9% FIX Rate 18.8% 34.5% 5.1% Distance Coverage 8.9% 18.6% 28.% FIX Rate 16.4% 3.4% 47.% Distance Coverage 7.9% 12.9% 2.9% TUMSAT s ship Test 24H 24 hours RTK FIX Rate % Instantaneous GPS GPS/QZSS GPS/QZSS+BeiDou 7/26/ / / / /

13 SDRLIB WASEDA Dr. Suzui SDR is very useful tool for R&D. TUMSAT has used post-processed SDR for many years, but Dr. Suzui developed realtime version recently. With SDR, we can develop receiver even for LEX signal reception by ourselves.

14 The use of SDR Pseudo-range based position Standard correlator Doppler frequency based velocity accumulation Strobe-correlator It is not difficult for even students TUMSAT to generate pseudo-range, Doppler frequency. Comparison between strobe-correlator and standard correlator under high-rise buildings

15 Satellite Visibility Prediction in Shinjuu 3 QZSs University of Toyo 24 Dr. Suh 24 hours availability * Precise 3D model was used. * Ray tracing method was used. * We have developed not only satellite visibility but positioning performance prediction.

16 Low-cost GNSS GPS/QZS/BEI receiver evaluation KF loose-coupling using pseudo-range based position + Doppler based velocity Position Error m Position Error m Pseudo-range based Large noise, absolute position Doppler velocity based Low noise, not absolute position v Hx y Gw Fx x 1 T ] [,a,a,v,v y, x y x y x x T a v v T a v v T a T v y y T a T v x x y y y x x x y y x x / 1 2. / T T T T T T / / F T ],, [ v v,y x y x y H noise measurement v vector measurement y system noise w state vector x : : : : observation matrix H distribution matrix noise G state transition matrix F : : :

17 Percent point % Absolute horizontal errors in normal urban areas using low-cost GNSS GPS/QZS/BEI receiver Final Solution NMEA output of this receiver Proposed solution Horizontal errorsm

18 GNSS/IMU/Speed integration for reference platform car aiming to autonomous navigation Over $3, for decimeter level reference car! Our laboratory has developed integration algorithm and can provide hardware + software with $2,. Decimeter level normal urban areas 1 m level dense urban areas Dense urban results compared to POS/LV

19 University of Toyo Kamijo Lab. He has been engaged in ITS field recently several researchers in ITS are woring with researchers in GNSS. GNSS accuracy improvement in urban areas Sensor integration for pedestrian as well as car

20 GNSS TSUNAMI BUOY G P S 波浪計 For now, 1-2m maximum baseline limitation due to RTK. 1 青森東岸沖 水深 87m 2 岩手北部沖 125m 3 岩手中部沖 2m 4 岩手南部沖 24m 5 宮城北部沖 16m 6 宮城中部沖 144m 7 福島県沖 137m 8 静岡御前崎沖 12m 9 三重尾鷲沖 21m 1 和歌山南西沖 21m 11 高知西部沖 39m 八戸久慈釜石 小名浜 7 We are going to use PPP for this monitoring system in the near Future. One station has been already installed and tested 上川口 8 GPS 波浪計沿岸波浪計

21 GNSS Meteorologywater vapor estimation In GNSS survey, if you can accurately estimate the atmosphere delay, it can use for meteorology. Currently, tropospheric delay estimated by the GNSS analysis is converted to "PWV" precipitable water vapor For Japan and major weather research institutions, it is used to create the initial field of numerical weather prediction and it contributes to the accuracy of weather forecast.

22 GNSS Reflectometry GNSS R Recently it is popular in the world. In Japan, Kyushu university and Chubu university Dr. Ebinuma are conducting test research fund :

23 Autonomous navigation using small boat Ellipsoidal Height m Waypoint navigation Monitoring low-cost RTK Waypoint navigation for UAV and small robot car has been done Height Determination of Small Boat on the Sea 1hour GPSTIME s

24 Companies NAME MITSUBISHI NEC TOPCON FURUNO JRC HITACHI ZOSEN EPSON SONY CORE Car Manufacture Main product/service related to GNSS Satellite maer, Precise positioning service, Mobile mapping system MSAS/GBAS, Satellite station, QSS Receiver manufacture survey, Base station, Machinery Receiver manufacture low-cost, ITS Receiver manufacture low-cost, ITS Base station, Buoy, PPP Watch, Wearable, Oscillator Watch, Wearable, Pedestrian SDR Performance evaluation of GNSS

25 Project Overview and Up-Date of The Quasi-Zenith Satellite System QZS System Services Inc. This was partly presented in ION-PNT 215

26 Activities of IPNTJ The Institute of Positioning, Navigation and Timing of Japan International Summer School on GNSS 215 in Toyo 215/7/26-8/1 Robot Car Contest 215/1/24 IS-GNSS 215 in Kyoto, Japan 215/11/ th Brunei Darussalam 215/12/7-9 International Summer School on GNSS 216 in Toyo 216/7/25-31

27 Kyoto 215/11/16-19 Venue Miyaomesse Date November 16-19, 215 Scholarship will be prepared for Excellent Papers of Students. 27

28 Tentative Schedule Special Guest: Day 1 Plenary Session Prof. Parinson Key note speech CGSIC-IISC Presentation Prof. Changdon Kee and Prof. Sang Jeong Lee are invited. GLONASS/Galileo/Bedou/IRNSS/QZSS Ice Breaer Day 2 AM/PM Parallel 4 Technical Session Day 3 AM Parallel 4 Technical Session PM Sightseeing Demo Reception Day 4 AM/PM Parallel 4 Technical Session Closing

29 Important Dates Abstract Submission for Reviewed and Scholarship Application Papers : 215/6/3 Extended to 7/7 for Korean Students Abstract Submission for Regular Papers:215/8/15 Full Paper Submission for Reviewed and Scholarship Application Papers : 215/7/31 Acceptance Notification : 215/9/15 Full Paper Submission for Regular Paper : 215/1/15 Conference Date : 16-19, November 215

30 The 7th Asia Oceania Regional Worshop on GNSS Share and discuss the latest results and information of demonstrations in Multi- GNSS Application Showcase Get networing over Asia Oceania Region to find your GNSS solution in academic and industrial field Visit MGA website: December 215 Brunei Darussalam 3

31 Outline of International Summer School on GNSS 216 Date : 216/7/26-7/31 Organized by : Toyo University of Maine Science and Technology TUMSAT, Japan Co-Organized by : The Institute of Positioning, Navigation and Timing of Japan Attendees : Japanese and foreign students of post graduate level & young engineers 1+ participants are invited by the scholarship. Number of participants : 2 foreigners and 2 Japanese Language : English Fee : 6,JPY, 2,JPY for students and academics. Call for application for scholarship will be announced later. Chec the URL: