Advanced Application of GPS and Related Sensing and Communications Technologies for Snow Fighter Driver Assistance

Transcription

1 Advanced Application of GPS and Related Sensing and Communications Technologies for Snow Fighter Driver Assistance Bahram Ravani, Professor Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center University of California Davis and Wes Lum Division of Research and Innovation California Department of Transportation (DoT( DoT) Monday, April 27, :00 2:50 p.m. Room North American Snow Conference Des Moines, Iowa History: Advanced Snow Plow Development in California Page 2

2 Components of the Early Snow Plow System Page 3 Early Sensing Technology Page 4

3 History: Mechatronics Sensing Technology Page 5 New Magnet Sensing System for the Snow Plow Dual Axis Magnetometer Single Axis Magnetometer Next Generation Control Signal Acquisition System FPGA Control System (RS-232, RS-485, USB) Digital Signal Processing Using Field Programable Gate Array (FPGA) Decode bitstream and determine vehicle lateral deviation Digital communications channel (coaxial, twisted pair, fiber) Benefits Lower Cost (approx. factor of 10) Space & Wiring Reduction (approx. 50%-75%) Robust and Noise Insensitive Analog Inter ference Digital Bit Stream 3*N analog channels sampled at > 2*f c signal bandwidth converted to serial bit stream N Magnetometers Page 6

4 History: GPS Based System Snow Cab Information System Improved Driver Assistance Display System Page 7 First A Crash Course on GPS

5 Global Position System (GPS) Consists of 3 Segments: Space Segment: 30 GPS Satellites (6 spares) in 6 orbital planes, 55 degree inclinations 20,200 km, 12 hrs orbits Page 9 GPS Control Segment Master Control Station (MCS) located in the Consolidated Space Operations Center (CSOC) at Schriever Air Force Base (SAFB), CO. manned 24 hours per day, 7 days per week GPS ephemeris being a tabulation of computed positions, velocities es and derived right ascension and declination of GPS satellites at specific times, replace r "position" with "ephemeris" The prediction data is up-linked, or transmitted, to the satellites for transmission back to the users. The control segment also ensures that the GPS satellite orbits and a clocks remain within acceptable limits. Monitor Stations Six monitor stations Each monitor the exact altitude, position, speed, and overall health of the satellites. Ground Antennas: Monitor and track the satellites. Transmit correction information to individual satellites. GPS Control Segment Locations Page 10

6 Consists of antenna for receiving GPS satellite signals, And a GPS receiver for collecting navigation data and for calculating time and location User Segment Page 11 GPS Operation Page 12

7 DGPS Accuracy Comparison (m) No Differential Latitude Standard Deviation 1.49 Longitude Standard Deviation 1.13 Elevation Standard Deviation 3.23 Beacon Omnistar WAAS Omnistar HP Page 13 RTK Differential Latitude Range Longitude Range Elevation Range GPS Unit Cost $30-$200 $ $200- $4K $1K- $5K $50- $3K $5K- 10K $7K-40K Preparation Work for GPS /(INS) Integration Page 14

8 Pro-Pak Pak GPS WAAS Test -1 m 0 m 1 m 2 m -1 m 0 m 1 m 2 m 3 m Page 15 Navcom 12-Hour Static Test (m) 25 cm Page 16

9 Omnistar High-Precision SBAS Test 0.6 m 0.7 m 0.4 m 0.5 m Page 17 Starting with Low Speed Applications Opening California Pass Closures

10 California Pass Closures ? 1 Page 19 California Pass Closures Page 20

11 Field Operational Test location Sonora Pass Page 21 Mountain Pass Road Opening Hardware Adjustable display mount LCD display for the driver GPS Antennae Bar GPS Receivers & Computer Enclosure Page 22

12 Pass Opening System (GPS Antennas) Page 23 Page 24

13 Deployment Oriented System designed with deployment in mind Rugged Compact Easy installation Portable Low-cost Built-in in Differential Corrections for accurate GPS Page 25 Mountain Pass Road Opening System Overview GPS Antenna GPS Antenna GPS Antenna Novatel ProPak LB OmniSTAR or Navcomm StarFire GPS-Based Compass LCD Display RS232 10Hz 12 VDC Power In Computer Page 26

14 GPS Driver Assistance in Operation Page 27 Snow Cab Information System Page 28

15 The Need for a Mobile Real Time Information System (MRTIS) Dual Locations for Supervisors: In the field: To aid the snow fighters in for example snow storms In the maintenance- yard/office: To make decisions based on data available from phones, computers, Road Weather Information System (RWIS), etc. MRTIS: would provide tele-presence displaying the maintenance yard/office information in the field Page 29 Basics of MRTIS Integrating Equipment Software Information Technology Human Machine Interfaces End-result Improving: Safety Efficiency Job satisfaction Page 30

16 MRTISDataFlow IntegrationofInformationTechnology OtherVehicles CentralOffice SupervisorVehicle Sensors Sensors wireless wireless wireless InternetDataSources MRTISArchitecture SnowplowCentralOffice GoogleEarth andbrowser clients CentralOffice Weather Station Radar Source SensorWeb Service (spatiallyindexed) WeatherWeb Service Weather StationWeb Service Future Functionality GoogleEarthand browserclients GPS Air Temperature Sensor DataLogger Application Snowplow WirelessNetwork Infrared Temperature Sensor SensorWeb ServiceDLL (spatiallyindexed) Weather Service DataSynch. Application KML Server DataSynch. Application DataSynch. Application KML Builder Web Service Server

17 MRTISArchitecture CentralOfficeSupervisorVehicle Vehicle#2 SupervisorVehicle Computer GPS AirTemp.Sensor InfraredTemp.Sensor GoogleEarthandbrowser client KML Server DataLogger Application KML Builder WebService DataSynch. Application SensorWeb Service DLL (spatiallyindexed) OtherWeb Serviceswith cacheddata Wireless Network CentralOffice WebServices Wireless Network Sensors Vehicle#2 DataLogger Application SensorWeb ServicesDLL DataSynch. Application Roadway Information System Capabilities Time Line National Highway System Build-out Era ITS CVOS AVCS ATIS ATMS weather information Rural ITS, RWIS MDSS Time Page 34

18 RoadWatch air and pavement temperature sensor Page 35 MRTIS System Screen: Kingvale facility location, static spatial data Page 36

19 MRTIS System Screen: VAMS Doppler radar loop and VDS stations Page 37 MRTIS System Screen: weather information as HTML Page 38

20 MRTIS System Screen: vehicle paths, real-time and historic Page 39 MRTIS System Screen: pavement temperatures, real-time and historic Page 40

21 MRTIS System Screen: static Wi-Fi wireless station hot-spot location and range Page 41 MRTIS System Screen: sample RWIS station locations and data Page 42

22 Future Page 43 Next Step Snow Plow Implementation Using RTK Differential GPS

23 RTK Differential GPS Page 45 RTK GPS Navigation Based on the use of carrier phase measurement on the GPS Carrier signal (L1 and L2) Carrier phase measurements are extremely precise (mm) They contain an unknown integer initialization constant, the so-called phase ambiguity or integer ambiguities RTK positioning has to resolve integer ambiguities to achieve centimeter-level accuracy GPS base station carrier phase measurements and location information is transmitted to the rover GPS. This is used for ambiguity resolution and ionospheric and tropospheric error correction. Page 46

24 RTK GPS Test on I-80 GPS fix DGPS fix RTK DGPS fix No GPS fix DGPS signal blocked by terrain Page 47 GPS Satellites Signal Reception 4 or less satellites 5 satellites 6 satellites 7 satellites 8 or more satellites Page 48

25 Global navigation satellite system (GNSS) GPS Current Status, March Satellites Modernization: L5, L2C, and L1C in 2012 Galileo Plan EU, Satellites L1, L2, L5 frequencies Beidou (Compass) China, medium Earth orbit satellites and 5 geostationary satellites E2, E5B, and E6 frequencies GLONASS Russia Restoration and modernization, satellites L1 and L2 frequencies Page 49 New Driver Assistance Display System Page 50

26 Original Snowplow HMI Offset Ticks Predictor Road lines Page 51 Event-Driven Prompting Display Page 52

27 Average number of times the vehicle crossed the lane boundaries N vclb Display system without arrows and sounds 5 4 Display system with arrows and sounds Driver 1 Driver 2 Driver 3 Driver 4 Driver Page 53 Total time duration drivers spent looking at the display in four runs T tdlad, s Display system without arrows and sounds Display system with arrows and sounds Driver 1 Driver 2 Driver 3 Driver 4 Driver Page 54

28 ID: Task Deployment Schedule FY 2010 FY 2011 FY 2012 Jul-Sep Oct-Dec Jan-Mar Apr-Jun Jul-Sep Oct-Dec Jan-Mar Apr-Jun Jul-Sep Oct-Nov Jan-Mar Apr-Jun Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q2 Q2 1 Road opening test / demo 2 Demo for rotary and snowplow research prototypes 3 Site selection criteria 4 Site selection, road opening 5 Site selection, rotary plow 6 Site selection, snowplow Methodology for enhanced base maps 2 nd site road opening base mapping 2 nd prototype, road opening, fabrication 10 Rotary plow fabrication 11 Rotary plow site base mapping 12 Rotary plow test Sensing developments for snowplow Snowplow site base mapping 15 Snowplow fabrication 16 Snowplow test 17 Deploy recommendations Page 55 Key Deployment Tasks Demonstrate research prototype rotary plow Demonstrate research prototype snowplow Develop site selection criteria Site selection for road opening deployment Site selection for rotary plow deployment Site selection for snowplow deployment Develop methodology for Enhanced Base Mapping Enhanced base map(s) for deployment site(s) Road opening updates and 2nd prototype fabrication Rotary plow field prototype development Sensing developments for snowplow Snowplow field prototype development Differential corrections infrastructure for deploy site(s) Radio Frequency communications for deploy site(s) Testing for rotary plow Testing for snowplow Page 56

29 Winter GPS Guidance Systems Mountain Pass Road Opening At field pilot. Move to full corporate deployment Several season s s testing done on Sonora Pass Develop 2 prototype, test on Lassen Loop, or avalanche-prone area, Hwy 88 Satellite-based augmentation, GPS position and dual-gps heading Rotary Plow At lab prototype. Move through controlled demo (2010) to field pilot (2011) Test area TBD based on selection criteria Comparable technology to road opening, but use RTK GPS for accuracy acy reqt. Snow Plow At lab prototype. Move through controlled demo (2011) to field pilot (2012) Test area TBD based on selection criteria RTK GPS, Inertial Measurement Unit, and forward-looking radar Requires low-latency, latency, high-availability, high-accuracy sensing, tightly-coupled RTK GPS + IMU solution Page 57 Identify 2 nd Corridor, Road Opening May be another closed pass: Lassen Loop Tioga Pass May be an avalanche-prone highway, so on- going use throughout the winter: Highway 88, near Kirkwood, CA Develop selection criteria in conjunction with Caltrans Maintenance, and make choice Page 58

30 Deployment Challenges Radio transmission of differential corrections, challenging environments Consider alternate solutions GPS-challenged environment: canyons, trees Rigorous performance and safety requirements for on-road snowplow Complementary systems for high accuracy, availability, and reliability Challenging operating environment Apply lessons learned in winter maintenance research Page 59 Please visit our web site Advanced Highway Maintenance and Construction Technology Research Center Page 60