Terrestrial Navigation

Transcription

1 Terrestrial Navigation Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center

2 When, Where and for Whom? For whom: Department of Electrical Engineering and Information Technology Master of Science in Communications Engineering Electrical Engineering, EI and everybody else who is interested in the topic Course: Lecture (2 SWS) and Tutorial (1 SWS), ECTS: 3 lecture Friday, 09:45-11:15, in room N2408, building N4, 2nd floor tutorial Friday, 11:30-12:15, in the same room, according to schedule More Details: see Course Webpage at First lecture: , will take place in room N2408, building N4 2

3 Dates and Times Date Lecture (09:45-11:15) Tutorial (11:30-12:15) X (Lecture till 13:00) X (Lecture till 13:00) X X X X X X * X X X X X X X X X X X X * on this date the midterm examination will take place from 09:45-10:15 in room N2408, building N4 (t.b.c) 3

4 Practical arrangements lecture slides will be distributed via the webpage after the lecture exercises will be distributed during the lecture exercises will also be made available via internet written optional midterm examination (30min) on :45-10:15 in room N2408, will count 25% of final mark final oral examination (20min) in Feb./Mar. 2013, time and date t.b.a. 4

5 Motivation Human beings exist in time and space! Space and Navigation systems have the same relation ship as Time and Clock 5

6 Some Highlights of the Course Basics of radio propagation: Pathloss, Shadowing, Multipath Distance / time-of-arrival based navigation Distance difference / time-difference-of-arrival based navigation Angle-of-arrival based navigation Signature based navigation Multilateration / hyperbolic localization Cooperative navigation in radio networks Cramér-Rao bound for localization accuracy Trajectory based navigation, temporal post-processing, Kalman Filter Navigation using GSM / UMTS / RFID / WLAN / Bluetooth RFID 6

7 Goals of the Course Overview of and introduction to terrestrial navigation Modelling of navigation problems Understanding challenges Solution of navigation problems by appropriate technologies Systematic study and discussion of the topic from the basics Performance Analysis of Systems Ultimate limits of Performance Introduction in latest and planned radio navigation systems Motivation for further projects/activities in the field, e.g. diploma thesis, master thesis contribution to research at our labs 7

8 Embedding of the Course Satellite Navigation Terrestrial Navigation Winterterm Winterterm Satellite Navigation Lab Differential Navigation Winterterm Summerterm 8

9 Expected Precognition In the lecture the following previous knowledge is assumed: Coordinate Systems: Cartesian, polar and spheric coordinate systems Linear Algebra: Matrix calculations, eigenvalues, least squares Probability calculus: Random variable, probability, probability density, mean, variance, correlation, Signal theory: Frequency, Fourier transformation, spectrum, bandwidth Linear system theory: Equivalent low-pass systems, impulse response, space state description 9

10 Outline and Structure (1) 1. Introduction 1.1 Historic Overview 1.2 Challenges and Applications 1.3 Definitions 2. Basic terms and system model 2.1 Scenario and coordinate system 2.2 Radio propagation 2.3 Characteristic quantity, function and basic idea of radio positioning 10

11 Outline and Structure (2) 3. Basic principles of terrestrial navigation 3.1 Dead Reckoning 3.2 Proximity Systems 3.3 Distance based Navigation 3.4 Distance difference based Navigation 3.5 Distance ratio based Navigation 3.6 Angle-of-arrival based navigation 3.7 Signature based navigation 3.8 Cooperative navigation in radio and sensor networks 11

12 Outline and Structure (3) 4. Algorithms for radio positioning 4.1 Bayesian Estimators 4.2 Estimation of Characteristic Quantities 4.3 Estimation of Position 4.4 Positioning Accuracy 5. Radio based navigation in cellular mobile radio networks 5.1 Global System for Mobile Communications (GSM) 5.2 Universal Mobile Telecommunications System (UMTS) 12

13 Outline and Structure (4) 6. Radio navigation in short-range communications systems 6.1 Localization by RFID technology 6.2 Localization by Bluetooth technology 6.3 Localization by Wireless LAN 7. Sensor fusion and trajectory based navigation 7.1 Snapshot based localization in static scenarios 7.2 Trajectory based localization in dynamic scenarios 13

14 Terrestrial Navigation Chapter 1: Introduction From early to modern times Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center

15 Outline and Structure 1. Introduction 1.1 Historic Overview 1.2 Challenges and Applications 1.3 Definitions 2. Basic terms and system model 2.1 Scenario and coordinate system 2.2 Radio propagation 2.3 Characteristic quantity, function and basic idea of radio positioning 15

16 Historic Overview - Origin of Navigation Usage of Natural Phenomena: Navigation using observations of Sun, Stars, Moon, Polar Star, Southern Cross Birds, Wind, Sea Current 4000 B.C.: 2000 B.C.: 1000 B.C.: First astro-navigation in India, Egypt and Libanon First Sea and River maps in China Phoenician travel over open sea Distance and Direction measurement in china: Distance measurement (odometer) using drum waggon 1 drumbeat per Li (approx. 0.5 km) 3. Century: coach with arm constantly showing to the south 16

17 Historic Overview - Greeks and Romans First comprehension of astronomy: 2. Century B.C. : Hipparchus proposes systems of longitude and lattitude A.D: Ptolemy composes Almagest (astronomic system of the Greeks mathematical description of celestial bodies Spheric trigonometry Sine tables standard book for mathematical astronomy up to the 17. century Claudius Ptolemy (85-165) 17

18 Historic Overview - Middle Ages Begin of systematic utilization of technical measurement utilities: approx : magnetic compass (in China and Italy) 13. century : Introduction of Quadrant in Europe for sea shipping (instrument for measuring height of celestial bodies) 16. century : Mercator projection (=isogonic projection) 1609/1619 : Kepler ( ) formulates his 3 basic laws about planet motion Johannes Kepler ( ) 18

19 Historic Overview Solving the Longitude Problem Easy determination of Lattitude on northern hemisphere by measurement of angle between polar star and horizont Determination of Longitude using globally available clock, time difference (e.g. sun rise) allows calculation of longitude difference (24h is equal to 360 ) Polar star North Pole Availability of sufficiently stable clock not before 18th century 19

20 Historic Overview - Longitude Challenge 1600: 1714: Spanish King offers a prize for accurate Longitude Determination Longitude Act of the British parliament: 10,000 for a method that could determine longitude within 60 nautical miles (111 km) 15,000 for a method that could determine longitude within 40 nautical miles (74 km) 20,000 for a method that could determine longitude within 30 nautical miles (56 km). determination of longitude with an accuracy of 0.5 on ship trip to Westindia (Caribbean Islands) Prize is about 200-times the annual salery of an astronomer Source: National Maritime Museum, London 20

21 Historic Overview Solving the Longitude Problem Accuracy before: 1 Min / Day (28km/day at the equator) Accuracy after: 0,5 Sec / Day (0,23km/day at the equator) 21

22 Historic Overview - 19th Century 1842 : Discovery of the Doppler Effect - sonic depth finder 1884 : Washington Conference - definition of prime median at Greenwich - definition of Greenwich Mean Time as standard and reference 1895 : First street map published in the USA View on Prime Meridian at Greenwich 22

23 Historic Overview - 20th Century (1) 1904 : First Radio Navigation - hyperbolic localization using amplitude differences of received signals : First developments on inertial navigation systems : Introduction of Standard for Instrument Landing System - introduction by ICAO (International Civial Aviation Organization) 1957 : First artificial satellite Sputnik launched by the U.S.S.R. 1950s - U.S. researchers calculate position using orbits and Dopplershift - Origin of Satellite Navigation : U.S. Navigation System LORAN-C - military use only until 1974, - since 1980 FAA supplementary means for en route navigation in aviation 23

24 Historic Overview - 20th Century (2) 1967 : U.S. Navy Navigation Satellite System Transit operational - Russian pendant Tsikada also in development 1995 : Navstar Global Positioning System (GPS) fully operational - Procurement / Development started in 1973 launched by US DOD Russian Global Navigation Satellite System (GLONASS) fully operational 2000s : Studies on Radio Localization in cellular mobile radio systems 2013/16 : European Navigation System GALILEO fully operational 24

25 Summary History of Navigation: Transition from Observation of Natural Phenomena to Radio based Technologies Terrestrial and Satellite Based Positioning Importance of Accurate Time for Precise Positioning Manifold Applications of Localization, E911 25

26 Applications of Localization - Examples added value services for customer emergency services (e.g. E911) tracking and navigation (e.g. precision farming) yellow pages (e.g. restaurant finder) new / enhanced features for network operator network operation network optimization home zone billing Manifold applications of high precision localization 26

27 The key drivers of Localization Technologies 27

28 E911 Regulations Phase I (April 1998) Route all call to the appropriate Public Safety Answering Point (PSAP) based on call sector Provide cell/sector location data to PSAP Provide call back number to PSAP P( Localization Error ) 10 0 forbidden region (E911) Phase II (October 2001) Phase I + latitude and longitude % 95% handset 50m 150m network 100m 300m /m 28

29 Definition - Positioning Positioning: Question: Where am I? Where is the object? The position is determined by coordinates w.r.t. a coordinate system The coordinate system is defined by The origin of the coordinate system and The orientation of the coordinate axis We can classify positioning into absolute positioning (position fixing) and relative positioning (dead reckoning) 29

30 Definition - Self and Remote positioning Question: Who determines the position? Self Positioning: Remote Positioning: Cooperative: Position is determined with help of others mostly infrastructure, e.g. signals transmitted from other stations Cooperative: Position is determined by others with the help of the object to be located, e.g. positioning of GPS satellite Autonomous / Non Cooperative: Position is determined without the help of others, e.g. visual or inertial navigation Autonomous / Non Cooperative: Position is determined by others without the help of the object to located, e.g. radar 30

31 Definition - Localization Localization: Question: Where am I in a topological sense, e.g. geographically? The position is described in relation to a topography, e.g. a map 31

32 Definition - Navigation Navigation: Question: How do I get from one place to another? Navigation comprises the planning, monitoring and controling of the movement of an object from one place to another. Origin of Navigation Lat. Navis (Ship) and agere (to act) Meaning of Navigation in narrower sense: Determination of position (often also orientation and velocity) of an object w.r.t. to a reference Navigation usually considers spacious objects whereas positioning concerns punctiform position determination 32

33 Quality Measures of Navigation Systems Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP) Accuracy 33

34 Quality Measures of Navigation Systems Accuracy: Describes the difference ( error ) between estimated and true parameter, e.g. distance between true and estimated position The accuracy is typically described by statistic means of the difference ( error ), e.g. the standard deviation, variance or confidence (often 95%) Confidence means the maximum value of the difference which is not exceeded with the probability given (here 95%) Characterize typical behavior of the system in presence of nominal error components 34

35 Quality Measures of Navigation Systems Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP) Accuracy Integrity 35

36 Quality Measures of Navigation Systems Integrity: Capability of a navigation system to warn the user if the system should not be used Limit risk of abnormal behaviour of the system due to errors resulting from system failures Typical parameters e.g. Integrity Risk, Alert Limit and Time-to-alert 36

37 Quality Measures of Navigation Systems Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP) Accuracy Integrity Continuity 37

38 Quality Measures of Navigation Systems Continuity: Capability of a navigation system to offer a navigation service without interrupt during an ongoing operation Limit risk of losing the service unexpectedly 38

39 Quality Measures of Navigation Systems Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP) Accuracy Integrity Continuity Availability 39

40 Quality Measures of Navigation Systems Availability: Percentage of time (probability) for all possible users in the service area in which the navigation service is available Availability presumes Accuracy + Integrity [+ Continuity] 40

41 Quality Measures of Navigation Systems Relationship between parameters: Availability Continuity Integrity Accuracy 41

42 Standardisation Organisations for Navigation General Standardisation Organisations: International Organization for Standardization (ISO) American National Standards Institute (ANSI) Comité Européen de Normalisation (CEN) Application related Standardisation Organisations: International Civil Aviation Organization (ICAO) International Maritime Organization (IMO) International Hydrographic Organization (IHO) National Aeronautics and Space Administration (NASA) European Space Agency (ESA) Russian Space Agency (Roscosmos) European Telecommunications Standard Institute (ETSI) Further Organizations International Telecommunications Union (ITU) U.S. Federal Aviation Administration (FAA) European Organization for the Safety of Air Navigation (Eurocontrol) 42

43 Summary History of Navigation: Transition from Observation of Natural Phenomena to Radio based Technologies Terrestrial and Satellite Based Positioning Importance of Accurate Time for Precise Positioning Manifold Applications of Localization, E911 Definitions: Self and Remote Positioning Localization Navigation Quality Measures Accuracy Integrity Continuity Availability 43