Advanced Navigation Solutions - ANAVS Company presentation

Transcription

1 Advanced Navigation Solutions - ANAVS Company presentation April 2014

2 Table of contents 1. Advanced Navigation Solutions - ANAVS 2. PAD System hardware 3. PAD System software 4. Applications 5. Patents 6. Contact 4.1 Automotive attitude determination 4.2 Maritime attitude determination 4.3 RTK positioning Company presentation April

3 1. Advanced Navigation Solutions - ANAVS Company founded as GmbH, spin-off of the Institute of Communications and Navigation, Technische Universität München, Germany ANAVS Position and Attitude Determination (PAD) System: GNSS / INS based software and hardware for automotive and maritime applications 1 st Prize in Bavaria at the European Satellite Navigation Competition - Galileo Masters (2010) Dissertation award of Vodafone for Patrick Henkel (2011) VDI award for Jean Kiam (2013) Funding by ESA, German and Bavarian Ministries 50+ presentations at international conferences 10+ journal publications 4 international patents on relative carrier phase positioning by ANAVS Company presentation April

4 1. Advanced Navigation Solutions - ANAVS ANAVS Position and Attitude Determination (PAD) System: GNSS / INS based software and hardware for automotive and maritime applications PPP absolute positioning GNSS code GNSS carrier phase RTK relative positioning of two receivers Attitude determination with constrained baseline x 10-9 x Geodetic precision with low cost GNSS receivers Company presentation April

5 1. Advanced Navigation Solutions - ANAVS Geodetic precision with low cost GNSS receivers Geodetic receivers Low cost navigation chips and antennas + Precise and accurate position + Available for a few euro information (cm accuracy) + Small size of antennas and chips + Reliable position information + Large scale production for mass market Too expensive for many Position accuracy of only 1 m due to single applications frequency, code multipath (tens of meters), Geodetic antennas too large cycle slips and clock offsets (milliseconds) for many applications No reliable position information ANAVS' PAD System bridges the gap between both GNSS receiver types Attitude determination and RTK positioning software for low cost receivers and integrated hardware solutions heading accuracy of 0.5 / baseline length [m] RTK positioning accuracy of 5 cm Company presentation April

6 1. Advanced Navigation Solutions - ANAVS Clients Company presentation April

7 1. Advanced Navigation Solutions - ANAVS Research activities with public funding Reliable Inland Water Navigation/ Zuverlässige Navigation für die Binnenschifffahrt, funded by the Bavarian Research Foundation/ Bayerische Forschungsstiftung Precise Point Positioning with low-cost single frequency GPS receivers and the Radome Antenna in Raisting for Autonomous driving (PPP-AF), funded by the German Aerospace Center/ Deutsches Zentrum für Luft- und Raumfahrt (DLR) Parking Assistance System for Long Truck-Trailer Combinations, feasibility study funded by the European Space Agency, ESA, Noordwiijk, Netherlands Bavarian Competences for Swarm Missions (BayKoSM), funded by the Bavarian State Ministry for Economic Affairs, Infrastructure, Transportation and Technology in the frame of the Bavarian Aerospace Research Program. Company presentation April

8 2. PAD System hardware Attitude determination main processing unit PAD System software 2 low cost GPS receivers (u-blox LEA 6T) Intel I7 processor, WLAN, hard disk drive Optional: INS (Invensense MPU 9150) Two external GPS L1 patch antennas Visualization on a tablet (position and attitude) Much lower cost, size and weight than geodetic receivers or high end INS Optional: implementation on ARM processor (Raspberry Pi) Company presentation April

9 2. PAD System hardware RTK relative positioning for up to 30 modules PAD System software Low cost GPS receiver (u-blox LEA 6T) Microcontroller, Bluetooth, LiPo battery External GPS L1 patch antenna Optional: INS (Invensense MPU 9150) Reference station module for absolute positioning, connected to standard processor Visualization on a tablet (relative positions) Optional: implementation on ARM processor (Raspberry Pi) for two modules Company presentation April

10 2. PAD System hardware : ESA Director General, Jean-Jacques Dordain and ANAVS CEO, Dr. Patrick Henkel on a live demonstration of ANAVS PAD System Company presentation April

11 3. PAD System software Modularized software in C language Input Synchronization for satellite movements during receivers differential clock offset Soft-constrained float ambiguity estimation Maximum a posteriori (MAP) estimator for integer ambiguity fixing Cycle slip detection and correction by MAP estimator GNSS / INS sensor fusion (tight coupling) Code / carrier phase measurements and navigation messages from low cost GPS receivers Output Absolute position (sigma: 0.5 m) Relative position in local ENU coordinate frame (sigma: 1 cm) Heading (sigma: 0.5 / baseline [m]) and rate of heading Baseline length (sigma = 1 cm) For more than 2 receivers: 3D attitude (roll, pitch, yaw) Phase residuals Supports NMEA standard Update rate according to rate of measurements (5 Hz or better) Company presentation April

12 4.1 Applications: automotive attitude determination Skidding detection / prevention First step for lane keeping detection and autonomous driving Parking assistance Orientation for first stage of drives Antenna of 2nd GPS receiver Heading determination with accuracy of 0.5 Antenna of 1st GPS receiver Company presentation April

13 4.1 Applications: automotive attitude determination Test drive 1 at Nymphenburg Palace, Munich GNSS-based heading (compass information) Company presentation April

14 4.1 Applications: automotive attitude determination Test drive 1 at Nymphenburg Palace, Munich Precision level (phase residuals): few cm Company presentation April

15 4.1 Applications: automotive attitude determination Test drive 2 near Saarbrücken Heading comparison regarding geodetic GNSS and inertial sensors Heading [deg] low cost GPS receivers deeply coupled geodetic-grade GPS/ INS Time [epochs] Company presentation April

16 4.1 Applications: automotive attitude determination Test drive 3 west of Munich: benefits of GPS / INS sensor fusion Company presentation April

17 4.2 Applications: maritime attitude determination Navigation assistance for freight vessels and cruise liners Today: navigation using radar and inertial sensors More than 30 severe accidents / year in Germany ANAVS system: reliable and accurate attitude and RTK position determination using low cost GNSS / INS sensors Applications: navigation in shallow water, narrow canals, harbors N E Company presentation April

18 4.2 Applications: maritime attitude determination 1st receiver 2nd receiver First lock of the Mosel river Company presentation April

19 4.2 Applications: maritime attitude determination Heading accuracy: 0.02 Pitch angle accuracy: Heading of coasted fixed solution [deg] ,00 302,95 302,90 302,85 302,80 302,75 down lockage Baseline pitch angle of selected fixed solution [deg] down lockage 302, Time [s] Time [s] Company presentation April

20 4.2 Applications: maritime attitude determination 0.03 Baseline length: m, few mm accuracy 136 Height change in lock Error of fixed baseline length estimate [m] down lockage Height [m] Local geoid height not yet subtracted (~ 47.9 m) 6.5 m Time [s] Time [s] Company presentation April

21 4.2 Applications: maritime attitude determination Precision level (phase residuals) of fixed solution: few cm Residuals of coasted fixed solution [m] down lockage Time [s] Company presentation April

22 4.3 Applications: RTK positioning Relative positioning (rowing boat with respect to reference station) Initialization (for phase integer ambiguity resolution) and coasting North comp. of relative position [m] Initialization Coasting Loss of data package East component of relative position [m] Company presentation April

23 4.3 Applications: RTK positioning Relative positioning (rowing boat with respect to reference station) Precision level (phase residuals): few cm Company presentation April

24 5. Patents Patrick Henkel and Juan Manuel Cárdenas, Method for Determining a Baseline between Two Receivers, European Patent Application, EP , application date: Patrick Henkel and Patryk Jurkowski, Method for Determining the Heading of a Moving Object, European Patent Application, EP , application date: Patrick Henkel and Patryk Jurkowski, Maximum a posteriori probability ambiguity estimation with soft baseline length and orientation constraints, European Patent Application, EP A2, application date: Patrick Henkel and Patryk Jurkowski, Verfahren und Vorrichtung zur Bestimmung der Relativposition zwischen zwei Empfängern und Verwendung der Vorrichtung zur Stabilisierung schwebender Lasten, International Patent Application, PCT / EP2011 / , , priority date: based on application number , publication date: , WO 2012/ Company presentation April

25 6. Contact Advanced Navigation Solutions - ANAVS Heßstraße Munich, Germany Phone: +49 (0) Fax: +49 (0) Website: Dr.-Ing. Patrick Henkel M.Sc. Juan M. Cárdenas Managing director Project manager Phone: +49 (0) Phone: +49 (0) (0) (0) patrick.henkel@anavs.de juan.cardenas@anavs.de Company presentation April

26 Providing Orientation Advanced Navigation Solutions Company Company Presentation presentation April