GLORIA GNSS

1
GLORIA GNSS LORAN-C in Road and Rail
Applications D. Meinhard (Hitec), J. Pfister
(ZIV)

• Brussels, December 12th, 2001

2
Overview

• Applications
• Comparative GNSS/LORAN-C Testing
• Measurement Equipment Execution
• Prototype Development
• Development Environment
• Sensor Fusion Algorithm
• Robust Navigation
• First Results
• Conclusions

3
Applications

• Road pricing on major highways
• Electronic ticketing for public transport
• Electronic payment of parking fees
• Public transportation in rural areas
• Control of traffic flow for public transportation
• Monitoring of hazardous goods
• Support of Automatic Train Control (ATC)
• Advanced Surface Movement Guidance and Control
  System (A-SMGCS)

4
Measurement Setup

• Test execution Receiver system

5
Measurement Vehicle
6
Kinematic Test Campaign

• Airport
• Highway
• Urban Canyon
• Rural Areas

7
GPS Errors

• Less Jumps
• More Drifts (100m)
• Critical!

8
Static Measurements
9
Static
LORAN-C is suitable to augment GPS in urban
environment! Precision GPS 88 / 48 m (95)
Precision LORAN-C 8 / 7 m (95)
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Automotive GPS

• Time Delay Problems
• Errors From Filter Inside
• Less Integrity for better Availability
• Not useful for Multi Sensor Concept!

11
High End GPS

• Time Delay is measured
• Independent Positioning based on pure measures
• Adequate for Multi Sensor Concept!

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GPS-Sensor

• GPS for Integration in Automotive Navigation
• Improve algorithms for interference rejection!
• Provide genuine measurements (no filter inside!)
• Provide measurements without time delay!
• Measurements must be independent of any changes
  in motion!
• Deliver detailed integrity information!

13
LORAN-C

• Time Delay Problems
• Errors From Filter Inside
• Sensitive to Interference
• Has not been designed for Automotive Application!

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Automotive LORAN-C

• Apply H-field antenna instead of E-field antenna!
• Develop algorithms for interference rejection!
• Provide genuine measurements (no filter inside!)
• Provide measurements without time delay!
• Provide independent position information at 1Hz!
• Measurements must be independent of speed!
• Deliver detailed integrity information!
• Improve power consumption, size, weight and cost,
  for market penetration.

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Development Constraints

• GPS is an outstanding Navigation Sensor!
• For reliability requirements GPS cannot form a
  sole-means Navigation System!
• The sensor GPS needs to be augmented with
  dissimilar Sensor redundancy
• Therefore DR IN come with 100 availability,
  but with an increasing error over time and
  distance traveled
• LORAN-C is an excellent candidate for a
  dissimilar redundancy in positioning that can
  limit the error

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Multi Sensor Concept

• GNSS-Sensor
• Has the Potential for Highest Accuracy
• Needs to be Augmented for Reliability
  Requirements
• Modification towards Sensor Fusion Properties
• LORAN-C-Sensor
• Dissimilar Positioning Device with high
  availability.
• Migration for Automotive Environment is Necessary
• Dead-Reckoning-Sensor
• Comes with 100 Availability and high Integrity
• Shows rising Error over Time and Distance
  Travelled

17
Development Environment

• Development through Simulation-Tool NavLab.
• Validation with real Sensor data.
• Optimisation using forcing tape.
• Exact Analysis with precise reference.

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Sensor Fusion

• Equal Ranking of Sensors
• Mutually Exchangeable
• Independent Algorithm
• Asynchronous Sensor Handling
• Optimality!

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Robust Navigation

• Capsulated filter with 4 Layers of FDI
• Adapts to any Sensor-Assembly
• Online-Reconfig.of Sensor-Models
• Elimination of suspect Sensors
• Reintegration of recovered Sensors

Built-In-Test
Analytical-Check
Sensor-Cross-Check
Plausibility-Check
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First Results

• 100 Availability
• Rising Error over Time and Distance
• Can Explore LORAN-C information
• LORAN-C can limit the Error!

21
Conclusions

• The Applications shows the need for accurate and
  reliable Navigation Systems!
• Single Sensors cannot do the job!
• The new Filter Technique of the Mathematical
  Navigation Monitor (MNM) is well suited to
  integrate additional Sensors in an optimal way!
• First Results indicate, that LORAN-C can
  contribute to lower the cost and maintain the
  performance of high end GPS/DR Systems!
• Sensor Requirements are formulated in WP 3.