Jager UAVs to Locate GPS Interference
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1 JIFX November 2015 Camp Roberts, CA Jager UAVs to Locate GPS Interference Stanford GPS Research Laboratory and the Stanford Intelligent Systems Lab Principal Investigator: Sherman Lo, PhD Area of Interest: Tracking solutions for GPS denied environments. Capability Description: The JÄGER project is developing a UAV-based system to rapidly detect and locate GPS interference. The flight platform is a commercially-available low-cost octo-copter airframe, the path-planning and detection algorithms are based on Partially-Observable Markov Decision Processes, and the navigation system receives and processes terrestrial signals broadcast by the FAA for aircraft surveillance and communications. The project focuses on the following three tasks areas: 1. UAV Navigation in GPS Denied Environments 2. UAV Localization of GPS interference (simulating interference as wifi router) 3. Concepts of Operation for a GPS Interference Localization System PLATFORM OVERVIEW The JÄGER platform is a reconfigurable flying testbed which supports exploration of innovative navigation, sensor fusion, and path-planning experiments. JÄGER consists of: an airframe and its related flight systems; the flight controller and various sensors; manually-piloted radio control transceivers; a ground control station and telemetry recording systems; and mission systems for a variety of experiments.
2 Experiment Objective/Hypothesis: JÄGER will develop and demonstrate prototype flight hardware on an operational UAV. The objectives of the flight test campaign are to: Quantify absolute positioning performance of candidate navigation signals of opportunity (DME transmitters and ADS-B ground stations) for aerial navigation in GPS denied environments. Implement direction-of-arrival and signal strength discriminators in conjunction with path planning algorithms to (1) optimize the information collection rate and (2) accurately localize a proxy interference source. Evaluate CONOPS (concepts of operation) for the UAV-based GPS interference localization system: launch and recovery procedures; initial coarse search and fine localization procedures; mission planning, waypoint generation, and autonomy; and safety practices and checklists. Experiment Plan / Data Collection Plan: The JÄGER flight test and evaluation activities we anticipate conducting at JIFX 15-4, subject to coordination with range safety personnel, are as follows. This is an evolution from the activities conducted at JIFX 15-3, leveraging improved antenna configurations for emitter localization and additions of the emitter localization experiment. Note that these items correspond to the experiment of rapid aerial localization of radiofrequency emitters. 1. Characterization of antenna configurations for proxy interference system bearing determination in various environments, including urban environments. JÄGER will measure signal strength to determine bearing to a proxy interference system using three different antenna configurations. Measurements will be made in flight under manual control of the PIC and at pre-defined GPS waypoints while visually monitored by the PIC. 2. Proxy interference system detection and localization in various environments, including urban environments. The UAV will be flown under manual control of a ground-based PIC or follow real-time GPS waypoint commands while visually monitored by the PIC. The path planning algorithms may update waypoints in real-time, and then these waypoints may be automatically or manually transmitted from a ground station to the UAV. 3. Observation of the JÄGER UAV from another UAV. This will allow recording of flight maneuvers from an aerial vantage point, which may provide important safety and evaluation data in post-processing analysis. Should two UAVs be operating concurrently, then at all times there shall be positive airspace separation by having one aircraft high and one aircraft low, maintaining at least 25m of vertical separation between aircraft at all times, and by operating the high aircraft as first-out/last-in to ensure vertical deconfliction.
3 Measures of Performance & Effectiveness: The challenge this research addresses is how to rapidly detect and locate a GPS interference system, with the three-fold constraints that (1) the system is economical enough to be staged and ready for deployment at least at the nation s major commercial airports, (2) the procedures are simple enough that authorized personnel can operate the system with limited training and certification, and (3) interference system detection and localization are rapid and accurate enough that authorities can neutralize the threat using either reasonable search and seizure powers or else other legal enforcement options. Thus, this research develops and demonstrates a UAV-based system for locating GPS interference, which system may be fully-autonomous or remotely-piloted. The desired features of the proposed system, when fully realized, are: Accurate: sub-30m interference system localization performance Economical: low-cost UAV platforms with readily-available avionics and sensors Efficient: localization of a interference system in under 5 minutes when the system is deployed within 2,000m of the interference system Flexible: localizes multiple simultaneous interference systems Robust: UAV navigation is completely independent of GPS, using on-board sensors augmented with multiple navigation signals of opportunity What new capability does this represent? The U.S. Global Positioning System (GPS) is the de facto standard for positioning, navigation, and timing (PNT) for military, civil, commercial, and consumer users. However, this very success, coupled with the low received power of the satellite signals, makes GPS a compelling target of deliberate interference. A number of technologies are under development to address this shortcoming and ensure that system users continue to be provided with accurate, robust, and secure PNT. One area of active research is high-precision inertial sensors which can reduce, although often not completely eliminate, a platform s dependence on GPS. Adaptable navigation systems are another particularly promising approach, leveraging as they do multiple sensors phenomenologies, nontraditional signals, new navigation fusion algorithms, and reconfigurable platform architectures to out-perform inertial-only systems. These and similar efforts can be seen as a defensive response to GPS interference, seeking as they do to limit PNT degradation under interference conditions. The complementary offensive capability is to actively detect, geolocate, and mitigate GPS interference systems. However, the detection and geolocation of GPS interference systems can be difficult for a number of reasons. First, the reaction time to activate a distant asset and for it to travel to a particular area of interference can be excessive, leaving open a window of opportunity for an interference system to
4 continue transmitting. Second, the low cost of many simple yet moderately powerful interference systems means that an interference system can overwhelm with numbers a response system which is equipped with only a few high-capability yet costly anti-interference assets. Third, successful localization of multiple GPS interference systems while also maintaining situational awareness in GPS-denied conditions can be difficult without large, heavy, and powerhungry inertial navigation systems, vis-à-vis the small GPS interference system localization platform described below. Therefore, the JÄGER experiments proposed for the JIFX event will further the development and eventual fielding of a rapid-response GPS interference system localization system based on a small man-portable multi-copter airframe, which reliably navigates in close proximity to GPS interference systems using MEMS inertial sensors and navigation signals of opportunity, and accurately geolocates multiple interference systems with sufficient precision to permit appropriate mitigation action. What capability gap does this address? JIFX Trial Experiment #1: Characterization of Antennas for Signal Localization JÄGER experiment #2 for the Joint Interagency Field Exploration (JIFX) trial comprises characterization of antennas used for signal localization based on signal strength. This experiment maps to the following JIFX focus area: Situational Awareness During Disaster Response Cellular Strength Mapping. The JÄGER mission will characterize the performance of different antennas used for bearing measurement to a signal source. Bearing measurements will be based on real time signal strength measurements made throughout the flight. For each measurement taken, the gain pattern from the current signal strength measurements is cross correlated with a known gain pattern to yield real time bearing information to the signal source. JIFX Trial Experiment #2: Rapid Aerial Localization of Terrestrial Transmitters JÄGER experiment #3 for the Joint Interagency Field Exploration (JIFX) trial comprises aerial detection and localization of terrestrial transmitters. The JÄGER mission will detect and accurately geolocate terrestrial transmitters. JÄGER path-planning will be based on partiallyobservable Markov decision processes (PO-MDP), which allow for simultaneous optimization of the information-collection rate of the platform sensor and rapid convergence of the belief state regarding transmitter location. For JÄGER, the decision to implement as PO-MDP allows a near-optimal solution to a sequential decision-making problem under uncertainty. In this formulation, by computing the states and observations offline, the run-time solution consists of a table which may be pre-loaded to the UAV or uploaded following launch. Our current POMDP approach is a grid-based world, and UAV and interference system states are represented as cells
5 within this grid. The policy results in either (1) maneuvering the UAV from its current grid cell to an adjacent grid cell or (2) having the UAV perform a bearing determination maneuver to get a line of bearing to the direction of maximum received signal strength. The end-state goal is for the UAV to have located itself directly over the interference system.
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