Resilient PNT: From PNT-Unit concept to first realization
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1 Chart 1 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Resilient PNT: From PNT-Unit concept to first realization Ralf Ziebold, Z. Dai, L, Lanca, D. Minkwitz, P. Zachhuber, T. Noack, E. Engler German Aerospace Centre Institute of Communications and Navigation Nautical Systems Group
2 Chart 2 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 PNT relevant user needs within E-Navigation Improved reliability Indication of reliability IMO, NAV 55/WP.5 Alert management PNT information
3 PNT System Generic Architecture ship-side components links shore-side services functional links PNT relevant MSP Augmentation MGBAS Services (Research - 1 Port N Rostock) Backup Services - 1 K INS PNT Module physical links PNT relevant MSI etc. World Wide Radio Navigation Systems (WWRNS)
4 Chart 4 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Integrity definitions - IMO Integrity Definition: (IMO Resolution A.915(22) Requirements for a future GNSS) The ability to provide users with warnings within a specified time when the system should not be used for navigation General structure of GNSS service specification Availability Continuity Integrity: timely (TTA) warning, based on accuracy estimation Protection level (PL): bounds true error under consideration of remaining integrity risk Available: PL < Alert limit (AL) Accuracy: The degree of conformance between the estimated or measured parameter of a craft at a given time and its true parameter at that time. (95% confidence)
5 Chart 5 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 From service to user level integrity Current user level integrity definition - IEC INS standard (61924:26) property of information as being accurate and valid with regard to specified requirements and verified by comparing data from more than one independent source large gap between service level integrity and user level integrity 1st. Approach: Establish user level integrity comparable to GNSS service specification (based on accuracy estimation) onboard the vessel => Over bound all possible errors (threads)
6 Chart 6 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 PNT Unit Approach Shipboard Sensor Layer Shipboard Processing Layer WWRNS sensors Other shipboard sensors GNSS Receiver DGNSS Receiver Multi Radio Navigation Receiver etc. Gyro / Compass Speed / Log ROTI PVT raw PVT raw PVT raw N raw N raw N raw PNT (data processing) Unit as part of INS best PNT Integrity (accuracy) Alerts etc. Other PNT relevant Input Data (Radar, MSI, AIS, ) interface, point of type approval
7 Chart 7 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Measurement campaigns - Survey and research vessel DENEB (BSH) (1) First experimental results Additional sensors - Tactical grade IMU - 3x GNSS receiver (dual frequency RTK) (3) (2)
8 Chart 8 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Tightly coupled GPS/IMU North [m] Trajectory with respect to the starting point GPS only GPS/IMU Integration East [m] Absolute error [m] Horizontal error with respect to the reference trajectory 3 GPS only 25 GPS/IMU Integration : 9 1:17 1:25 1:34 1:42 1:5 1:59 Local time [hour:minute] Tightly-coupled GPS/IMU integration with satellite filtering Accuracy improvement
9 Chart 9 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Innovation of satellites North PRN: 3 Innovation Code X-axis: GPS epochs Y-axis: Innovation in meters 1 PRN: 5 1 PRN: 7 West East -1 1:1 1:3 1:59 PRN: :1 1:3 1:59 PRN: :1 1:3 1:59 PRN: :1 1:3 1:59 PRN: :1 1:3 1:59 PRN: :1 1:3 1:59 PRN: 21 1 South Satellites with low elevation angles -1 1:1 1:3 1:59 PRN: :1 1:3 1:59 PRN: :1 1:3 1:59 Spurious Measurements Cancellation -1 1:1 1:3 1:59-1 1:1 1:3 1:59
![starting point Dynamic model (herein IMU) can smooth the positioning results 15 North [m] 1 5 GPS only GPS/IMU (sat.](/docs-images/74/69922866/images/10-3.jpg "filter) GPS/IMU (no sat.")
10 Chart 1 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Integration with/without satellite filtering 2 Trajectory with respect to the starting point Dynamic model (herein IMU) can smooth the positioning results 15 North [m] 1 5 GPS only GPS/IMU (sat. filter) GPS/IMU (no sat. filter) Integrity monitoring on each measurement has dominant effects in the accuracy improvement East [m]
11 Chart 11 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 IMU contingency functionality - tightly coupled IMU / GNSS stand alone -1 min GNSS outage Pos Err [m] Vel Err [m/s] Epoch [s] 1 1 Pos Err [m] Epoch [s] Vel Err [m/s] ~1m position error with tactical grade IMU Next step: GNSS / IMU / speed log integration
12 Chart 12 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Accuracy estimation - adaptation of existing RAIM algorithm (developed for aviation sector) to maritime requirements IMO A.915(22) 35 GPS single frequency stand alone positioning 3 25 Alert Limit Horizontal error [m] HPL [meters] Horizontal Estimation Error (95%) [meters] Horizontal Real Error [meters] Number of Visible Satellites Number of satellites Minutes of Day (minutes)
13 Chart 13 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 PNT Unit interface Open question: Input interface - accuracy, integrity, continuity, availability for all PNT paramter depended on the operational region How this information about current operational region is transferred to PNT Module? - ENC layer? Output interface: - What integrity information should be delivered how?
14 Chart 14 > IALA Beacon DGNSS Monitoring Service > D. Minkwitz & MVT-Team Date Currently available MGBAS Services at Research Port Rostock for Validation of aboard PNT-unit RTCM Messages via Radio Modem Integrity Corrections Information
15 Chart 15 > IALA Beacon DGNSS Monitoring Service > D. Minkwitz & MVT-Team Date MGBAS: RTK Services Goal: fulfill IMO s port requirements regarding accuracy, integrity, continuity and availability Minimum Requirements on Future GNSS Extract of IMO A.915(22) Status: two GPS-based RTK services GALILEO-based and multi-gnss services in preparation
16 Chart 16 > IALA Beacon DGNSS Monitoring Service > D. Minkwitz & MVT-Team Date MGBAS: IALA Beacon Monitoring Service MGBAS as integrity monitor for RTCM2 messages Assessment of IALA beacon DGNSS corrections as backup for RTK services DGNSS Station (ID: 761) Hour 7 to 8, DOY 54 Year 212 no corrections RTCM2 corrections of Groß Mohrdorf 3D Position Error [m] GPS Day Seconds x 1 4
17 Chart 17 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Summary - Initial realization of a sensor fusion based PNT Unit => improved integrity monitoring incl. accuracy estimation => IMU contingency functionality - Open questions: - clear definition of user level integrity - input: operational region - output: HMI for integrity information - Shore base services at Research Port Rostock - MGBAS (RTK) service for high precision application - IALA Beacon monitor
18 Chart 18 >Resilient PNT: From PNT Unit concept to first realization> R. Ziebold > e-navigation Underway 1/3/213 Thank You For Your Attention! Hafenentwicklungsgesellschaft Rostock mbh
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