Galileo & more B. Hofmann-Wellenhof

Transcription

1 Galileo & more B. Hofmann-Wellenhof Institute of Navigation & Satellite Geodesy (INAS) Graz University of Technology 12 October 2009

2 THE EUROPEAN GLOBAL NAVIGATION OVERLAY SERVICE (EGNOS) 2

3 EGNOS milestones Since July 2006: Signal (2 Satellites then, now 3) March 2009: EGNOS Economical Operator (EEO) is responsible 1 October 2009: Open Service available March 2010: Safety-of of-life Service During a press conference on 1 October 2009, Mr Antonio Tajani, European Commission Vice-President for Transport Policy, announced the official start of operations for EGNOS, the European Geostationary Navigation Overlay Service. 3

4 EGNOS how it works GEO GPS-like signal Differential corrections Integrity information + ACCURACY + AVAILABILITY + CONTINUITY + SAFETY 4

5 EGNOS - example Kinematic Positioning in Lisbon (Project GALEWAT 2007) 1 m GPS EGNOS 5

6 THE EUROPEAN GALILEO SATELLITE NAVIGATION SYSTEM 6

7 Galileo Image: ESA 7

8 Galileo phases Full Operational Capability 27 (+3) Galileo Satellites GIOVE B Initial Test Satellites GIOVE A Validate critical algorithms Lift-off mass 600 kg Power demand 660 W Stowed Dimensions 1.3 m x 1.8 m x 1.7 m In-Orbit Validation 4 satellites plus ground segment Lift-off mass 680 kg Power demand 1600 W Stowed Dimensions: 1.2 m x 1.3 m x 2.7 m Lift-off mass 523 kg Power demand 943 W Stowed Dimensions: m x m x 2.4 m GIOVE A 2005 GIOVE B / /15 8

9 GIOVE A first Galileo test satellite GIOVE A GSTB - V2A - SSTL Baptism of GIOVE A Lift-off mass 450 kg Power demand 660 W Stowed Dimensions 1.3 m x 1.74 m x 1.4 m Photo: ESA 9

10 GIOVE A - launch Launch: 28 Dec 2005 (Sojus Fregat, Kosmodrom Baikonur) First Signal: 12 Jan 2006 Photos: ESA 10

11 GIOVE A success story Facts 3 years in orbit (nominal mission lifetime completed) ESA: full mission success has contracted Surrey Satellite Technology Limited (SSTL), to continue operations Objectives achieved Primary mission: : to secure the Galileo frequency filings providing a representative signal-in in-space for ground- based experimentation with Galileo signals intensive six-week payload in-orbit test 11

12 GIOVE B Galileo Industries Passive Hydrogen Maser (Stability( 1 ns/day day) Mass: : 523 kg x x 2.4 m M-BOC Photo: ESA Photo on next page: ESA 12

13 On-board clocks Rubidium Atomic Frequency Standard 3.2 Kg mass 30 W power Navigation Payload: Appr Kg / 900 W Frequency Standards Passive Hydrogen Maser 18 Kg mass 70 W power Rubidium Cheaper and Smaller Better short-term stability (less than 10 nsec per day) Subject to larger frequency variation caused by environment conditions Passive H-Maser outstanding short-term and long term frequency stability (less than 1 nsec per day) frequency drift 13

14 26/27 April

15 Galileo Concept Galileo system architecture Galileo services and frequencies Images: ESA 15

16 GIOVE B Launched on 27 April 2008 Most stable clock in space Most advanced GNSS signal Precursor of IOV EIRP (dbw / 10kHz RBW) EIRP (dbw / 10kHz RBW) L1abc_CBOC{BOC(15,2.5)-c/BOC(1,1)-s/BOC(1,1)-s} Prime: Gain L1abc_CBOC{BOC(15,2.5)-c/BOC(1,1)-s/BOC(1,1)-s} Step 7 Prime: Gain Step Frequency (MHz) Frequency (MHz) AIT Ref TC24: 08 May 07:30 AIT Ref TC24: 08 May 07:30 16

17 Galileo segments Space segment Ground segment User segment Images and Photos: ESA 17

18 Galileo space segment Satellite orbits Medium Earth Orbit (MEO), ca km above earth (period 14 h 04 min) 30 (27+3) satellites for global coverage Nearly circular orbits 3 orbital planes Inclination of planes with respect to the equator: ca. 56 Image: ESA 18

19 Galileo IOV & FOC phase Component IOV Phase FOC Phase Satellites 4 27(+3) Control Centres 1 2 (+1) Mission Uplinks 5 10 TT&C 2 5 Sensor Stations

20 Segment interaction Walker 27/3/1 + 3 in-orbit spares (30 satellites) Height km Inclination 56 deg Space segment 2 (3) control centres 10 uplink stations 5 TT&C stations 30 sensor stations Ground segment 20

21 Galileo services EU Transport Council Approval: Open Access Free to air; Mass market; Simple positioning Navigation Commercial Safety of Life Encrypted; High accuracy; Guaranteed service Open Service + Integrity and Authentication of signal Public Regulated Encrypted; Integrity; Continuous availability SAR Search and Rescue Near real-time; Precise; Return link feasible 21

22 10 Galileo navigation signals E5A Signal: Data+Pilot BPSK mod. Rc=10.23 Mcps Rs=50 sps OS/CS Services E5B Signal: Data+Pilot BPSK mod. Rc=10.23 Mcps Rs=250 sps OS/CS/SOL Services E6P Signal: BOCcos(10,5) mod. Rc=5.115 Mcps PRS Service E6C Signal: Data + Pilot BPSK mod. Rc=5.115 Mcps Rs=1000 sps CS Service E1-A Signal: BOCcos(15,2.5) mod. PRS Service E1-B/C Signal: Data + Pilot BOC(1,1) mod. Rc=1.023 Mcps Rs=250 sps OS/CS/SOL Services MHz E5 Signal: AltBOC(15,10) mod MHz MHz Frequency (MHz) Pilot: data-less channel (ranging code not modulated by data) Pilot: data-less channel (ranging code not modulated by data) 22

23 Galileo today Giove A and Giove B operational IOV Phase on-going: Launch in 2010 Full Deployment (FOC) Phase approved 3.4 Billion Euro public funding EC/ESA management FOC procurement on-going: contracts in 2009/beginning of 2010 Galileo services after

24 & MORE 24

25 Current and planned navigation satellite systems Global GPS Regional QZSS Augmentation WAAS EGNOS GLONASS IRNSS MSAS SDCM GAGAN SNAS Galileo CWAAS CSTB COMPASS GINSS 25

26 MODERNIZATION OF THE US GLOBAL POSITIONING SYSTEM (GPS) 26

27 GPS Constellation Very robust constellation 30 space vehicles currently set healthy 11 GPS IIA 12 GPS IIR 7 GPS IIR-M 1 GPS IIR-M waiting to be set healthy 3 additional satellites in residual status Global GPS civil service performance commitment met continuously since December

28 GPS modernization new civil signals Second civil signal L2C Designed to meet commercial needs Higher accuracy through ionospheric correction Available since 2005 without data message Phased roll-out CNAV message starting Sep 2009 Full capability: 24 satellites and full CNAV ~2016 Third civil signal L5 Designed to meet demanding requirements for transportation safety-of-life Benefits existing professional receivers Uses highly protected Aeronautical Radio Navigation Service (ARNS) band 1 st launch: 2009; 24 satellites and full CNAV ~

29 4th civil signal (L1C) Under Trees Urban Canyons Designed with international partners for interoperability Modernized civil signal at L1 frequency More robust navigation across a broad range of user applications Improved performance in challenged tracking environments Original signal retained for backward compatibility Specification developed in cooperation with industry recently completed Launches with GPS III in 2014 On 24 satellites by ~

30 GPS IIF GPS IIF available for launch in Nov 2009 Will provide new/improved capabilities for civil and military users Basis for reliable sustainment of GPS constellation in years ahead Partnership between GPSW & Boeing continues to focus on mission success 30

31 Space segment modernization Higher power levels db for earth-coverage Use of additional steer-able high gain antenna (High - Power Spot - Beam) + 20dB GPS III Iraq N. Korea A D = 6 m R A = 1000 km More satellites : 27/3 Block III? Iran Reduction of age of navigation data by use of X-LinkX Improved atomic clocks (Space-Clocks) : GPS IR-M : 3 Rubidium GPS IIF : 2 Cesium + 2 Rubidium Ref.: GPS IIF Modernization, USAF GPS III : Optical Cesium or Linear Ion Trap (LITS) technology 31

32 THE RUSSIAN GLONASS SATELLITE NAVIGATION SYSTEM 32

33 GLONASS space segment Frequency Division Multiple Access 24 Satellites 3 Orbital planes 64.8 Inclination km Altitude 11 h 16 min Orbit Planes separated from each other 120 Satellites in each plane separated from each other by 45 33

34 GLONASS Global Navigation Satellite System (GLONASS) New Presidential Initiative ( ): To ensure GLONASS minimum operational capability (18 satellites) by the end of 2007 To ensure GLONASS full operational capability (24 satellites) by the end of 2009 To ensure GLONASS performance comparable with that of GPS and GALILEO by 2010 The main goal is to bring GLONASS to mass market 34

35 GLONASS launch history First GLONASS satellite launch: : 12 October satellites per launch 2 failed launches Total number of launched satellites: :

36 GLONASS spacecraft upgrade GLONASS Block Operational Period Current Status GLONASS Operational phase GLONASS-M Operational phase GLONASS-K Definition phase GLONASS-KM from 2015 Requirement definition phase GLONASS-K GLONASS GLONASS-M 36

37 GLONASS-K spacecraft Successor to GLONASS-M satellites Transmission of 3 rd civil signal on L3 Search and rescue service Improved clock stability (10-14 ) Increased satellite lifetime (from 7 to years) Reduction of satellite mass to 850 kg (GLONASS-M: 1415 kg) First launch with SOYUZ planned for late 2010 GLONASS-K = FDMA + CDMA 37

38 Source: Serdyukov

39 THE CHINESE BEIDOU AND COMPASS SATELLITE NAVIGATION SYSTEM 39

40 The Chinese Beidou system Beidou based on transponder system 1) Signal transmission user -> satellites 2) Satellite transmit accurate time of signal reception to ground station 3) Calculation of lat, lon by ground station, altitude determined from relief map 4) Ground station sends 3D position of user to satellite 5) Satellite broadcasts position to user 40

41 COMPASS space segment 30 ME0 Inclination: 55 Semi-major Axis km 3 Orbital Planes 3 IGSO Satellites Inclination: 55 Crossing Longitude: 118 E 5 GEO 41

42 COMPASS - services and performances Two global services Open Service:free and open to users Positioning Accuracy: 10 m Timing Accuracy: 20 ns Velocity Accuracy: 0.2 m/s Authorized Service: ensure highly reliable use even in complex situation Two authorized regional services Wide area differential service: Pos. accuracy: 1 m Short message service 42

43 First MEO of COMPASS First MEO satellite was launched on 14 April

44 COMPASS-G2 launch The first GEO satellite named COMPASS-G2 was launched on a Long March-3C carrier rocket at the Xichang Satellite Launch Center in southwest Sichuan Province on 15 April

45 THE JAPANESE QZSS 45

46 Concept of QZSS QZSS can provide a seamless service from high elevation angle Increasing the availability of PNT services in downtown and mountainous areas Elevation from GEO Elevation = 70 QZSS elevation angle higher than 70 GSO sat elevation angle less than (latitude N36 ) Orbit of QZSS 46

47 QZSS orbit constellation. QZSS Orbit Constellation QZSS Ground Track 47

48 Service area Minimum Elevation A ngle and G round Track deg deg Latitude (deg) Longitude (deg) Ground track of a QZS Minimum Elevation Contour for 3 QZS over 24 hours * for maximum elevation of visible satellites 48

49 QZSS deployment 2005~6: Phase B (August 2007 PDR) 2007~8: Phase C (August 2008 CDR) 2008~10: Manufacturing, assembly, integration and test 2010 Summer: Launch of QZS-1 3 months later from the launch (for 1 year) : In-Orbit Validation Note: Final decision of full QZSS deployment with 3 satellites still pending! 49

50 THE INDIAN REGIONAL NAVIGATION SATELLITE SYSTEM (IRNSS) 50

51 IRNSS constellation 51

52 Measure, what is measurable, and make measurable, what so far was not. Galileo Galilei *

53 Galileo & more B. Hofmann-Wellenhof Institute of Navigation & Satellite Geodesy (INAS) Graz University of Technology 12 October 2009

54 RESERVE LIST 54

55 Market segments 55

56 Money maker Source: Galileo Joint Undertaking (2003): Business in satellite navigation An overview of market developments and emerging applications. 56

57 Satellite navigation in Europe GNSS-1: EGNOS GNSS-2: Galileo Images: ESA 57

58 GNSS European approach Step 1: 1: EGNOS to to provide civil complement to to military GPS (and GLONASS), first services in in 2006 (but no no guarantees) EGNOS is an initiative of the European Commission, Eurocontrol and ESA Step 2: Galileo is to achieve European sovereignty and service guarantees through a dedicated system under civil control. Galileo is an initiative of the European Commission and ESA Image: ESA 58

59 GNSS European approach EGNOS Programme Phases Definition Phase IOP Phase Long Term Operations Extensions, and Replenishments Galileo Programme Phases Definition Phase IOV Phase Deployment Phase Operational Phase

60 EGNOS Image: ESA 60

61 EGNOS the players Development European Tripartite Group Supported by EOIG (1999) (EGNOS Operator and Infrastructure Group) Operation European Satellite Service Provider (2001) 61

62 EGNOS system architecture 2 INMARSAT Satellites 1 Artemis Satellite Images: ESA 62

63 MODERNIZATION OF THE US GLOBAL POSITIONING SYSTEM (GPS) 63

64 GPS status Space Segment SVN 49 launched in March 09 L5 demo payload secured frequency filing Signal distortion investigation still underway SVN 50 launched in August 09 Set healthy Completed GPS Delta II launches GPS IIF completed Pathfinder testing GPS IIIA completed Preliminary Design Reviews Developed L2C message Type 0 capability for GPS IIRM to support testing of civil UE testing 64

65 GPS modernization Legacy (Block IIA/IIR) Basic GPS C/A civil signal (L1C/A) Std Pos. Service Precise Pos. Service L1 & L2 P(Y) nav NDS (Block IIR-M) 2nd civil signal (L2C) M-Code signals (L1M, L2M) Flex A/J power (+7dB) Satellites Legacy TT&C L1 & L2 monitoring Control Systems Legacy Man Pack MAGR, PLGR RCVR-3A, 3S OH, UH FRPA, CRPA Upgraded DAGR GAS-1 CSEL MAGR2K GB-GRAM User Equipment Cornerstones to the Future GPS are GPS III, OCX, & MGUE 65

66 THE RUSSIAN GLONASS SATELLITE NAVIGATION SYSTEM 66

67 GLONASS space segment Plane 1: Right Ascension 184 8(6) Status 15 July, 2009 Plane 2: Right Ascension 304 9(-2) Antipodal Satellites transmitting at same frequency Plane 3: Right Ascension 63 17(4) 24(2) 2(1) 7(5) 10(-7) 15(0) 18(-3) 23(3) 3(5) 6(1) 11(0) 14(-7) 19(3) 22(-3) 4(6) In Maintenance 13(-2) 20(2) 21(4) In Commissioning Phase Decommisioned Plane 3 already re-filled! i(k) Satellite in almanac slot i transmits on frequency number k. 67

68 GLONASS ground Control segment GLONASS System Control Center - Krasnoznamensk, Moscow reg. - Satellite operation - Orbitography Determination and Time Synchronisation (OD&TS) GLONASS Telemetry, Tracking & Control - St. Petersbourg region - Schelkovo, Moscow region - Yenisseysk - Komsomolsk-Amur System clock (Central synchronizer) - Schelkovo Mission control segment development in schedule: One-way tracking stations deployment: - Space Force sites - Rosstandard sites (Mendeleyevo, Novosibirsk, Irkutsk, Khabarovsk) 68

69 THE CHINESE BEIDOU AND COMPASS SATELLITE NAVIGATION SYSTEM 69

70 The Chinese Beidou system - Launch of 4 Beidou satellites in the past years Launch history: Beidou 1-A: Oct. 31, 2000 Beidou 1-B: Nov. 21, 2000 Beidou 1-C: May 25, 2003 Beidou 1-D: Feb. 03, 2007 Longitudes: 140 E, 80 E, E, 135 E Launch vehicle: CZ2 Launch site: Xichang (south-mid part of China) 70

71 The Chinese Beidou system Orbital location of Beidou satellites Beidou 1D slightly inclined, suffered from a control system malfunction after launch which resulted in the solar power panel unable to expand Service region: Longitude: E Latitude: 5-55 N 3 ground tracking stations forf orbit determination Jamushi, Kashi and Zhanjiang Primary service region 71

72 Planned launches More than 10 satellites will be put into use in next two years by Long-March launchers About 2010 the system can offer services regionally Planned launches still 2009 COMPASS-G3: the second GEO satellite, will be launched on a Long March-3C carrier rocket at the Xichang Satellite Launch Center about September 2009 delayed! COMPASS-I4: the first IGSO satellite, will be launched on a Long March-3A carrier rocket at the Xichang Satellite Launch Center about October

73 WHAT DO WE GAIN IN GEODESY BY SO MANY SATELLITES? 73

74 74

75 What will geodesy encounter? More satellites > more frequencies > more obervables Better accuracy Higher redundancy Better geometry and availability in urban areas, forestery, etc. Faster and more reliable resolution of phase ambiguities Future dual or multi-frequency receiver will use L1/E1 and L5/E5a of GPS/Galileo, not necessarily GPS L2C However: Stronger interferences are possible How many satellite navigation systems doe we need? 75

76 Congestion in E1-L1 76

77 Multi-constellation accuracy Mean Hor Acc on Globe 95% deg constant el mask (+) Gauss Markov Multipath (+) Hatching* (+) NLOS Tracking* GPS (+) Galileo (+) Compass (+) Glonass 77