Inertial Doppler Radio Locator (IDRL) for DoD Test Range Applications

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1 INNOVATIONS IN ENGINEERING Inertial Doppler Radio Locator (IDRL) for DoD Test Range Applications This project is funded by the Test Resource Management Center (TRMC) Test and Evaluation/Science and Technology (T&E/S&T) Program through the U.S. Army Program Executive Office for Simulation, Training, and Instrumentation (PEO STRI) under Contract No. W900KK-10-C Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Test Resource Management Center (TRMC) Test and Evaluation/Science and Technology (T&E/S&T) Program and/or the U.S. Army Program Executive Office for Simulation, Training, and Instrumentation (PEO STRI).

2 Test and Evaluation Need Compact (size and weight), affordable and highly accurate TSPI o Continuous TSPI coverage in GPS denied environments o Transitioning between indoor/outdoor o In rugged outdoor terrain o In GPS challenged and denied signal conditions, over large operational areas Range safety for live subjects in presence of autonomous or manned vehicles; dismount worn, vehicle strap-down mount Real time and post mission analysis of movement and heading of mobile agents; minimum stationary infrastructure 2

3 Project Description Develop and verify performance of a multi-sensor collaborative Time Space Position Information (TSPI) system GPS -- Inertial Measurement Unit -- Doppler velocimeter RF Ranging Radio -- Magnetometer -- Baro altimeter Advanced Doppler velocimeter technology to demonstrate a producable, low-cost, affordable velocimeter System must provide 13cm positioning accuracy in a GPSchallenged environment Assess data network robustness Investigate advancing state-of-the-art to reduce Size Weight and Power o Next generation doppler velocimeters o Low-profile antenna systems o Intelligent power management Sensor Rationale: RF ranging provides precision IMU provides higher dynamics Doppler controls drift on IMU 3

4 Typical Mounted/Dismounted Scenario Typical construction: 1 and 2 story interconnected buildings (expanding to 3 and 4 story) concrete block/mortar 2x4 studs w/plywood, wire mesh, stucco adobe brick 4

5 IDRL: GPS-Denied Collaborative Navigation Flexible collaborative ranging architecture reduces need for dense beacon distribution Position estimates and range measurements Fixed RF Ranging Beacons Range Operations Center

6 Background System Architecture 6

7 Phase 2 TSPI Breadboard System Concept Base station Basestation Logging PC GUI Mesh Net ZigBee radio network Sensors and DSP S/W Velocimeter OMAP GPS IMU IMU GPS OMAP Beacon (x4) GPS UWB Baro GPS UWB Mag OMAP UWB OMAP Dead Reckoner (x2) Baro GPS Ranger (x4) GPS Tracker (x6) TSPI S/W PC PC Beacons Ranging radios with surveyed position Provide both absolute and relative position reference to mobile assets GPS rangers Enables diversity of mobile ranging geometry Extends reach of beacons to areas where beacon visibility is poor Dead reckoners Rangers with Doppler velocimeter triad Chip-scale near tactical grade IMU Full instrument configuration for RF and GPS challenged environments GPS trackers Enables stress testing of mobile mesh network, basestation data collection and display Layered, multi-sensor system for precision tracking in RF challenged environments with minimal Test Range infrastructure 7

8 Distributed TSPI Sensor Fusion Architecture Distributed Kalman filter Enables real-time operation Network bandwidth use by the filter is low More robust than location server during network interrupts Implementation Beacon count: 4, 9, 28 for ~9000m^2 coverage Phase 1 Parallelized Matlab over PC network Building clear and flank attack scenarios developed by CERDEC Distributed implementation verified vs. centralized filter with full correlations Phase 2 Collaboration over UWB data network TSPI data reported out over ZigBee radio Physical sensor load and models match Phase 1 simulations 8

9 W-Band Doppler Velocimeter Concept Sensor measures relative velocity with respect to stationary ground target Projected signal to noise is excellent Used optical scattering model to compare path and return loss to receiver noise floor theoretical proof of concept RF section Straightforward homodyne system Prototyped by BAE in Phase 1 Many lessons learned! Antenna Planar phased array Straightforward PCB fabrication Demonstrated design, E-M simulation, and fabrication fidelity to design 9

10 IDRL Phase 2 Velocimeter Executable path for power and size reduction FRONT 3-Axis Velocimeter BACK Signal conditioning/ digitizer Electronics 10

11 IDRL Breadboard IDRL TRR Breadboard integration of COTS sensors, radios, and COTS CPU module Build completed and in system integration Dead Reckoner (2) Beacon (4) GPS Rangers (4) GPS Trackers (2 of 6) This phase did not focus on reduced packaging but provided breadboard for sensor fusion evaluation 11

12 Opportunities for Applying IDRL Complex ISR Systems Testing Playas EOD Testing/Training China Lake NAS, Eglin AFB First Responder and Urban Training Playas Training and Research Center, NM Joint Urban Test Capability Net-centric and CIED Testing WSMR/Ft. Bliss Joint Experimentation Range Complex Yuma Proving Ground Soldier Equipment Testing Aberdeen Test Center 12