ASR-2300 Multichannel SDR Module for PNT and Mobile communications GNU Radio Conference 2013 October 1, 2013 Boston, Massachusetts Dr. Michael B. Mathews Loctronix, Corporation Loctronix Corporation 2008, All Rights Reserved.
Loctronix Corporation Overview Founded in 2006, Woodinville, WA Loctronix provides position sensing solutions for GPS challenged environments Offering hybrid inertial, SoOp, GNSS positioning, navigation, and timing solutions Experts in Signals of Opportunity (SoOp) and alternative GNSS signal processing Targeting embedded applications in military, aerospace, commercial markets Products / Solutions Available Q4 2013 Advanced Software Radio (ASR) SoOp / GNSS based navigation and simulation solutions for Military / Aerospace applications Core Technologies Spectral Compression Positioning (SCP) SoOp / GNSS Signal Processing Doppler Aided Inertial Navigation (DAIN) RF/Inertial Sensor Fusion SCP-GNSS Hybrid High Performance GNSS
Advance Software Radio (ASR) Software Defined Radio (SDR) Products for SoOp / GNSS-Based Positioning, Navigation, and Timing Applications Development ASR-2300, MIMO SDR Motion Sensing Module (Nov 13) OPEN SOURCE Hardware ASR-2300-Device Development Kit, Embedded Applications (Q4 13) SDR Waveforms (2014) ASR-HGR, Hybrid GPS Receiver ASR-DAIN, SoOp Doppler Aided Inertial Navigation (DAIN) ASR-SAID, GPS Signal Assurance and Interference Detection Receiver ASR-SIM, Multiband SoOp/GNSS Signal Generator / Recorder
ASR-2300 MIMO SDR / Motion Sensing Module RF / Multi-Sensor Signal Processing 2 x 28 MHz Transceivers 300 MHz to 3.8 GHz Full Duplex 9 RF Paths: 6 RF inputs / 3 RF outputs (U.FL) Integrated L1 GPS and Wi-Fi Antennas Integrated 10 axis MEMS sensors (accelerometer/ gyroscope / compass / barometer) Expansion Port supports for MIMO / Data I/O Electrical Interface SuperSpeed USB 3.0 interface at 315 MB/s sustained data transfer Very Large Spartan-6 FPGA: 6,822 / 58 DSP slices 128 MiB RAM 5 Volts @ 1.2 A (6 W) at full utilization. 1.2 mbps UART Li-Ion Battery external connection w/charger function ASR -2300 Physical Specifications 9.90 x 6.61 x 0.95 cm (3.898 x 2.60 x 0.375 in) Weight ~ 48 grams (1.5 oz). ASR -2300 Housing Kit
ASR-2300 Functional Blocks Serial I/O 600 kbps USB 3.0 Max 315 MB/s 5V Accel / Gyro / Compass 9-axis USB Battery Charger 3.6 v Li-Ion microcontroller Barometer USB 3.0 SuperSpeed Controller Cypress FX-3 Clk +3.3 VDC 8-bit bus 2 bi-color LEDS 32 bit bus 4 blue LEDS Expansion Port MIMO / Data I/O 8 bit I/O FPGA Xilinx Spartan-6 DDR RAM 128 MiB Wideband RF Transceiver #1 Wideband RF Transceiver #2 U.FL U.FL 1PPM TXCO U.FL U.FL Wideband RF I/O #1 400 MHz to 3.8 GHz Wideband RF Input #1 400 MHz to 3.8 GHz PCS / UMTS RF Input* 1930 1990 MHz 2210 to 2710 MHz L1 GPS Input 1575 MHz, +3.3 VDC U.FL L1 GPS Antenna C/A Only (1575 MHz) ISM Band Antenna Tx/Rx (2.4 GHz) U.FL ISM Band RF I/O 2.4 GHz DTV (UHF) RF Input 300 MHz 720 MHz Wideband RF Input #2 400 MHz to 3.8 GHz Wideband RF I/O #2 400 MHz to 3.8 GHz
Loctronix Multi-Sensor Approach Doppler Aided Inertial Navigation (DAIN) Altimeter Gravity Compass Environmental Accelerometer Gyroscope Inertial Relative Loctronix SCP Relative Signals of Opportunity Purpose Built Systems Indoor / Outdoor Autonomous GNSS Networked Outdoor (e.g. GPS) Indoor (Beacons) Radio Frequency Absolute The Universal Positioning Sensor Solution Set
Orbital Navigation Using SDR
ASR-HGR Waveform Hybrid GPS Combines SCP and traditional correlation technologies Low SWaP high-performance L1/ L2 / L5, C/A / C, P(Y) channel observables SDR Module Components SCP P(Y) Raw Observables Host Components Code / Carrier Observables GPS L1 Direct Down Converter SCP C/A Hardware Correlators Hardware Correlators Raw Observables Raw Observables Signal State Estimator Observables Navigation Processor PNT Data C/A Down Sampler I/Q Samples Observables Software Hardware Correlators Correlators
Spectral Compression Positioning (SCP) 9 A non-linear operation on a broadband signal that enables extraction of amplitude, frequency, and phase information GPS example with Delay & Multiply Spectral compression applies a delay and multiply operation on P(Y) ranging signals. Fundamental chipping rate signals are extracted using an FFT on the Spectral Compressor output Each peak in the FFT (containing amplitude, frequency, and phase) represents a single GPS satellite Doppler frequency shift is used to uniquely identify the specific satellite given a GPS Almanac No complicated tracking loops or correlators are required
Spectral Compression Positioning (SCP) SWaP Advantages LEO Obs. 1 Channel of SCP signal processing is equivalent to 16 or more correlation channels
SCP C/A LEO Hardware Simulation (Spirent Simulator) 1.8 RSS Position Estimate Std. Dev. (LEO) 1.6 Std. Dev. (m) 1.4 1.2 1 0 500 1000 1500 2000 2500 Relative Epoch (sec) 15 Satellite Visibility (LEO) Satellite Visibility (# Sats) 10 5 0 0 500 1000 1500 2000 2500 Relative Epoch (sec) Ionosphere Free Point Positioning, Predicted Accuracy < 4 m, All satellites in view (Spirent limited to maximum of 12 satellites).
SCP C/A LEO Ionosphere Free RIC Error (Spirent Simulator) Error (m) 4 Standard Deviation: 1.24 m 2 0-2 Radial (R) Error (est - truth) -4 0 500 1000 1500 2000 2500 Relative Epoch (sec) Error (m) Along Track (I) Error (est - truth) 4 Standard Deviation: 1.17 m 2 0-2 -4 0 500 1000 1500 2000 2500 Relative Epoch (sec) Error (m) Cross Track (C) Error (est - truth) 4 Standard Deviation: 1.26 m 2 0-2 -4 0 500 1000 1500 2000 2500 Relative Epoch (sec) Ionosphere Free Point Positioning Total Error < 4m (3 sigma) - Systematic Biases Removed -
SCP GEO Hardware Simulation (Spirent Simulator) 10 Observed, Computed, and Matched Doppler Observables 8 6 C/A Doppler Frequency (Hz) 4 2 0-2 -4-6 Observed -8 Computed Matched -10 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Relative Epoch (sec) C/A High Sensitivity: 32 seconds coherent integration
SCP Real Time Locating Systems (RTLS) 1 m radial error
SCP Time and Frequency Synchronization Fixed Wireless Applications (e.g. Femtocell)
SCP Autonomous Positioning (DAIN) Doppler Ranging measures the apparent velocity between the signal source and sensor. By integrating, this produces a displacement vector. Signal Source Transmission Measured Displacement SCP Sensor ΔX 2 ΔX 3 Δf 1 Δf 2 Δf 3 Signal Source Measured Speed and Direction ΔX 1 Given a point of beginning (via GPS, WiFi, DTV, etc.), this technique when combined with inertial measurements produces highly accurate positioning with very low-drift error (< 2%). Point of Beginning Signal Source
SCP Doppler Observables 40 SCP Detected Peak (0 m/s) SNR (db) 30 20 10 0 SNR (db) 30 20 10 0-10 -40-30 -20-10 0 10 20 30 40 Frequency (Hz) Doppler Peak Broadening (1.5 m/s) Doppler Peak Shift (1.5 m/s) 42 Hz 19.5 Hz SNR (db) 50 40 30 20 10 0-10 -40-20 0 Frequency (Hz) 20 40-40 -20 0 Frequency (Hz) 20 40
ASR-DAIN Waveform Components SDR Module Components Host Components RF Front-end SCP Cellular SCP Obs DAIN Processor 3-axis Accelerometer 3-axis Gyroscope 3-axis Magentometer Pressure Sensor Obs MEP Fusion Engine PNT Data Application: Indoor Navigation using Signals of Opportunity
Indoor Navigation Demonstration Video Demonstration (click here) Start/ Finish 20
ASR-2300 Multichannel SDR Module for PNT and Mobile communications GNU Radio Conference 2013 October 1, 2013 Boston, Massachusetts Dr. Michael B. Mathews Loctronix, Corporation Loctronix Corporation 2008, All Rights Reserved.