Multi-sensor Navigation Systems: Concepts, Evolution, Trends and Applications

Transcription

1 Multi-sensor Navigation Systems: Concepts, Evolution, Trends and Applications Dorota A. Grejner-Brzezinska Lowber B. Strange Endowed Professor and Chair Department of Civil, Environmental and Geodetic Engineering The Ohio State University President, Institute of Navigation IAIN World Congress 2015 October 20 23, 2015, Prague, Czech Republic

2 Presentation overview PNT: positioning, navigation and timing o PNT and its significance o Need for augmentation in GNSS-challenged environments o PNT: example applications and scenarios Paradigm shift in: o Navigation and sensor integration o Geospatial data acquisition and processing Goal: ubiquitous and resilient PNT PNT: challenges and opportunities Summary and conclusions 2

3 What is PNT and why it is so important? PNT stands for positioning, navigation, and timing Space-based PNT refers to the capabilities enabled by: Global Navigation Satellite Systems (GNSS) Global Positioning System (GPS) US Galileo Europe GLONASS Russia BeiDou/COMPASS China QZSS Japan (regional coverage) IRNSS India (regional coverage) Ground and space-based augmentation systems GBAS and SBAS LAAS, JPALS, various DGPS Services WASS, EGNOS, GAGAN, MSAS, etc. 3

4 What is PNT and why it is so important? In recent years PNT information has become increasingly critical to the security, safety, prosperity, and overall quality of life of people around the world As a result, space-based PNT is now widely recognized as an essential element of the global information infrastructure (National Research Council, 2010; National Academies Report on GNSS, 2012) Significance: on-going GPS modernization and expansion of GNSS constellation 4

5 What is PNT and why it is so important? Global GNSS-based PNT, plus: Proliferation of wireless technologies mobile computing devices, and mobile Internet have fostered a new growing interest in location-aware systems and services 5

6 PNT + wireless communication systems + mobile computing Current and emerging uses of GNSS+ move from outdoor to indoor and transition environments Personal navigation (PN), people, animal, asset tracking Location Based Services (LBS) - very fast growing market! Banking, mobile commerce, entertainment, social networking, etc. Electrical grid and computer network time synchronization Emergency response and rescue operations: first responders and fire-fighters UAS navigation for mapping, environmental monitoring, surveillance, emergency, etc. Real-time mapping and remote sensing, etc. 6

7 PNT + wireless communication systems + mobile computing Intelligent Transportation Systems (ITS) Precision farming 7

8 PNT + wireless communication systems + mobile computing Courtesy: GFZ Potsdam Atmospheric studies, GNSS remote sensing Fast detection of catastrophic events (tsunamis, earthquake and volcano studies) 8

9 GNSS+ based PNT is a global asset 9

10 PNT support for cooperative mobility and intelligent communities Smart cities, intelligent communities and connected vehicles Collision avoidance and autonomous navigation Location-based services, public and private services, etc. Vehicle-2-vehicle and vehicle-2-infrstructure cooperation Vehicle System: sensor networks GNSS, IMU, optical and ultrasonic sensors, LiDAR, Radar, cooperative vehicle infrastructure, communication system, etc. Central System: communication with Service Center Roadside System Source: Multi-Sensor Positioning and Multi-Infrastructure Communication 10

11 Assuring global PNT with continuous coverage is a challenge Assuring accurate, continuous and global PNT to support the growing market based on geospatial technology applications is a challenge Even the best information is not geoinformation until we attached geodetic coordinates and time stamp to it! So, what should we do? 11

12 GNSS Deadreckoning sensors Assuring global PNT with continuous coverage is a challenge Augmentation: SBAS and GBAS Multisensory solutions Collaborative navigation Terrestrial radio navigation Ubiquitous Positioning Featurematching sensors What s next? Can we deliver ubiquitous and resilient PNT? Communications Mapping Courtesy of Profs. Paul Groves, UCL and Terry Moore, U of Nottingham 12

13 Paradigm shift in navigation sensor integration concept Conventional Increasingly System of Collaborative unconventional systems 13

14 Convergence of navigation and mapping Typical sensor configuration carried/used daily by any person in developed world Device Smartphone Digital camera Navigation Sensors GPS/IMU/ Compass GPS Imaging Sensors CMOS (2) (still and video) CMOS (still and video) Communication Capability 3G/4G/WiFi/etc. WiFi Recreational GPS GPS/Compass No WiFi Car navigation GPS CMOS (rear, etc.) 3G/4G/BT/etc. Social networks (virtual) Access point location Webcam, etc. Internet We leave digital footprints wherever we go We are continuously georeferenced and provide increasing volumes of imagery (voluntarily or involuntarily) we are mapping our environment image-based navigation crowd-sensing and crowd-sourcing 14

15 Cooperative navigation: relevant to UASs, ITS, emergency crews, dismounted soldiers, etc. Emergency crew, dismounted soldiers, UASs equipped with surveillance sensors All platforms have ranging capability via communication ports Ranging connectivity allows for better and more robust PNT of a network of users in GNSS-challenged environments 15

16 Paradigm shift in navigation philosophy Positioning Sensor Fusion Clear synergy between GNSS and inertial navigation system (INS) Focus has been on bridging GNSS to provide continuity Customized blend of sensors for particular scenarios A Changed Navigation Philosophy Consider INS as the primary navigation sensor Focus on bounding the INS error growth Flexible and adaptive blend with other sensors includes unconventional sensors, not designed for navigation Plug and Play concept Research Challenges Flexible software architecture Adaptive data filtering/fusion Stochastic transition between different hybridizations Intelligent algorithms (e.g., machine learning) 16

17 Paradigm shift in geospatial data acquisition philosophy Consequence of Paradigm shift in navigation philosophy Advances in imaging technology Increased computing power Trends Static dynamic (4D) Post-processing real-time Increasing share of active imaging Big data data analytics algorithms and methods required Data information (support decision making) Convergence of navigation and mapping Image: 17

18 Example of 4D geospatial data +14 TerraSAR-X [mm] -14 Breathing bridge, Berlin, Germany Old design, no dilation structures 18

19 Example of 4D geospatial data +14 TerraSAR-X [mm] -14 Main Station, Berlin, Germany New design, dilation components 19

20 Goal: ubiquitous positioning Multi-sensor, low-cost and robust positioning Based on single or multiple users Different types of platforms and sensors Autonomous or cooperative navigation Seamless transition continuity and accuracy challenge! Different sensors Different platforms Different algorithms, when transitioning between different environments Plug-and-play concept Continuous positioning across all environments Open areas, partially obstructed, indoor 20

21 Ubiquitous positioning: GNSS alone will not be enough GNNS and other RF Ubiquitous positioning Image and terrain based IMU and other DR Communications IMU inertial measurement unit DR dead reckoning 21

22 Emerging GNSS constellations = opportunities, and complex design choices Software development will become essential Real-time data aggregation and analytics will become vital Threats, such as LightSquared, deliberate attacks GNSS back-up for resilient PNT Cellular connectivity will become essential! New technology drives new applications and new applications create new challenges Some challenges and opportunities New markets, with LBS as the primary driver! Global GNSS market growth at a CAGR of ~21% over the period Global base of GNSS devices of ~ 2 billion units is predicted to grow almost to 7 billion almost one GNSS receiver for every person on the planet by 2022 Multi-constellation GNSS provides better integrity and robust performance cross checking GNSS will remain the backbone of multi-sensor PNT but it needs a back-up system 22

23 So, where are we? PNT is expected to be accurate (accuracy is addictive!), reliable, resilient and continuous (challenge!) Affordable, miniaturized/portable sensors, conventional and increasingly - unconventional We are almost there Smartphones Better exploitation and integration of its sensors Will high accuracy become a norm? Providers must deliver service over a standardized platform Cyber security! What could I possibly offer you that you couldn't find with an iphone? 23

24 Is smart phone the solution? Will iphone xx offer a high accuracy multi-sensor fusion platform and all we will have to do is develop apps and assure cyber security? 24

25 In summary The future is digitally influenced (Susan Wojcicki, CEO, YouTube) 2D/3D/4D imaging is rapidly advancing, is affordable and ubiquitous Micro Satellite Systems = future of sensing: private starts-ups deploy constellation of micro/nano satellites (SkyBox, Planet Labs, Urthecast, PlanetiQ, Dauria ) Motivated by environmental movement and global awareness No single sensor can provide required level of accuracy, continuity, portability and security of PNT in all environments integrated systems are the future Multi-system and multi-sensor generalization will decrease vulnerability against system failure and attack resulting in more resilient PNT GNSS needs a backup system! 25

26 ION: membership benefits Access to a database of more than 15,000 technical papers covering all areas of positioning, navigation and timing. Subscription to NAVIGATION, The Journal of The Institute of Navigation PEER-REVIEWED & INDEXED. Subscription to the ION Newsletter, a quarterly, inside look at the people and organizations shaping PNT including GNSS updates, new technologies, historical perspective and member news.

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