A totally SDR-based Low Cost Augmentation System for Institutional Applications

Transcription

1 A totally SDR-based Low Cost Augmentation System for Institutional Applications R. Capua, L. Gattuso, A. Caporale, M. Giangolini, F. Frittella, C. D Amico, D. Tufillaro 21 January 2016 R. Capua DO-11-DO-01 Limited Distribution 1

2 Agenda GRDNet Overview SDR Project Status GNSS Technology Evolution for Land Surveying A Total SDR Architecture Conclusions and Next Steps 21 January 2016 DO-11-DO-01 Limited Distribution 2

3 GRDNet (GNSS R&D Network) Status R&D Network for Institutionals 8 Reference Stations Augmentation Mode: Single-Station VRS MAC Protocol: Standard NTRIP 2.0 Corrections Format: RTCM 3.2 High QoS Communication Network (SPC Public Connectivity System) Independent from Single Manufacturers Real-Time User Tracking and Communication 21 January 2016 DO-11-DO-01 Limited Distribution 3

4 GRDNet Architecture Core System 21 January 2016 DO-11-DO-01 Limited Distribution 4

5 Real-Time Web Based Monitoring Real-Time Monitoring: QoS Delay Lost Packets Hours of Connection/user 21 January 2016 DO-11-DO-01 Limited Distribution 5

6 Sogei SDR GNSS SDR Project Status GPS/EGNOS Single-Frequency SDR SBAS Augmentation Code and Phase Signal Processing totally via Software No FPGA, No Low Cost Real Receivers Sogei Front-End design and development Narrow Correlation Multipath reduction Programming: C++ GPU: OpenCL Parallel Programming: OpenMP C/N 0 based Anti-Spoofing Specificities: Low cost and totally reprogrammable Real-time SDR running on Desktops, Notebooks and Tablets RTK through standard NTRIP/RTCM connection to a GNSS Network 21 January 2016 DO-11-DO-01 Limited Distribution 6

7 GNSS SDR Criticalities and Processing for SDR RTK Computational Load: limitation to the max applicable sampling freq. Fine clock steering: high quality phase measurements needed Measurements errors modelling: SBAS corrections and others Observables alignment and Synchronization wrt real RSs: Mixed Hardware RS and SDR double differences x x y g( x) y PVT Processing Carrier Phase (Integrated Doppler) and PR Carrier Phase Smoothing EGNOS Corrections and Integrity PVT Kalman Filter through EKF/UKF LAMBDA Ambiguity Fixing z PR D x y z Pseudorange Doppler Clock offset b Clock drift b T 21 January 2016 DO-11-DO-01 Limited Distribution 7

8 RTK-SDR Real Physical Station Processing Sampling frequency: Baseband Geodetic Reference Station data from a Local Augmentation Network GNSS SDR Rover with COTS surveying antenna Communication Interfaces toward the GRDNet Control Centre: Mobile Communication or internal LAN NTRIP protocol RTCM and 1005 messages Carrier-smoothed PR with SBAS corrections applied RTCM 3.2 TCP/IP RTCM 3.2 SDR Rover Control Centre COTS Reference Station 21 January 2016 DO-11-DO-01 Limited Distribution 8

9 GNSS High Precision Surveying Evolution Local Augmentation Infrastructures Global Augmentation Infrastructures Multi- Frequency GPS RTK Multi- Constellation/ Multifrequency RTK We are here Overall System Cost Single Frequency Multi-Constellation RTK+VRS Multiple Frequency/ Constellation RTK-PPP 21 January 2016 DO-11-DO-01 Limited Distribution 9

10 Single Frequency Receivers: the renaissance of Virtual Reference Stations Single frequency RTK - needs for workable SF-RTK TTFA (< 5 min): TTFA (< 5 min) High number of visible satellites (>8) & Reference Station as much as possible close to the rover VRS (Virtual Reference Station) VRS 21 January 2016 DO-11-DO-01 Limited Distribution 10

11 Hardware - Software Switch (remembering Negroponte..) Mainframes SW Number Crunching OBU SW Signal Processing Cloud Computing Technology Advances Moore s Law Economy of Scale OBU HW Processing e.g. DSP General Purpose HW Number Crunching (e.g. GPU) 21 January 2016 DO-11-DO-01 Limited Distribution 11

12 A total SDR High Precision Infrastructure Reference Receivers and Rover Receivers are SDR receivers Total cost of the High Precision Architecture decreases drastically GNSS Operators able to work with standards will easily integrate SDR Reference Stations SDR Reference Station NTRIP Raw data RTCM SDR Reference Station NTRIP Raw data RTCM NTRIP Raw data RTCM GNSS Augmentation Service Provider NTRIP RTCM RTCA Rover Receiver SDR Reference Station NTRIP Raw data RTCM SDR Reference Station 21 January 2016 DO-11-DO-01 Limited Distribution 12

13 The Architecture for the Test SDR Reference Station: SDR on a PC feeding the GRDNet Control Center for NTRIP corrections delivery in RTCM format Rover Receiver: SDR on a Tablet NTRIP RTCM , 1019 NTRIP RTCM 1002 SDR Single Frequency Reference Station SDR Single Frequency Rover 21 January 2016 DO-11-DO-01 Limited Distribution 13

14 Cadastral Surveying and Mapping PF d Hidden points: GNSS/EDM hybridisation d d 1 Cadastral Control Points to be surveyed GNSS Baseline GNSS Base Point 21 January 2016 DO-11-DO-01 Limited Distribution 14

15 Total SDR High Precision Results 21 January 2016 DO-11-DO-01 Limited Distribution 15

16 Total SDR High Precision Results gg mese anno DO-11-DO-01 Limited Distribution 16

17 Total SDR High Precision Results 21 January 2016 DO-11-DO-01 Limited Distribution 17

18 Fixing Data 21 January 2016 DO-11-DO-01 Limited Distribution 18

19 An On-Field Benchmark: Cadastral Surveying and Mapping SDR-RTK Cadastral Surveying compared to a COTS-RTK Surveying: SDR RS and SDR Rover Geodetic RS and RTK Rover Operational conditions: Baselines: m > 8 visible satellites < 5 min TTFA Hidden points through GNSS/EDM Institutional Software for Surveying Data processing 21 January 2016 DO-11-DO-01 Limited Distribution 19

20 The Surveying Plan 21 January 2016 DO-11-DO-01 Limited Distribution 20

21 SDR Surveying Performances ID TTFA PDOP BASELINE (m) SV PF51 01: PF : PF (*) 00: PF53 07: * OTF 21 January 2016 DO-11-DO-01 Limited Distribution 21

22 Hardware-RTK Surveying Processing 21 January 2016 DO-11-DO-01 Limited Distribution 22

23 SDR-RTK Surveying Processing 21 January 2016 DO-11-DO-01 Limited Distribution 23

24 Conclusions and Next steps A Single Frequency Total SDR Infrastructure allows to perfom RTK with performances comparable to Hardware Receivers Next steps: Design and Development of an extensive test campaign VRS performances Statistics on: - Correct Fixes - Multipath impacts - Ionosphere impacts - VRS vs Single Station performances 21 January 2016 DO-11-DO-01 Limited Distribution 24

25 The future we re facing Whilst much has been written about possible limits to Moore's law, there is no actual show stopper preventing this technological improvement to continue indefinitely. Once computers become powerful enough to design themselves without the need of human creativity, technological improvement will accelerate, leaving Moore s law far behind, so much so that an infinite amount of computational power is reached in a finite amount of time. Of course, an infinite amount of computation is impossible, what it does tell us is that our current conceptions will breakdown a technological singularity. Vernor Vinge develops the argument that this could happen within 30 years. Once singularity is reached, it is possible that our minds will be uploaded, that we will become part of an immortal superintelligence. Russell K. Standish Theory of Nothing 21 January 2016 DO-11-DO-01 Limited Distribution 25

26 The Galileo team R. Capua D. Antonetti A. Caporale C. D amico F. Frittella L. Gattuso M. Giangolini G. Olivieri L. Roberto 21 January 2016 DO-11-DO-01 Limited Distribution 26