Algorithmen und Systementwicklungen zur präzisen multisensorischen GNSS/MEMS-basierten Navigation und Objektgeoreferenzierung

Transcription

1 Algorithmen und Systementwicklungen zur präzisen multisensorischen GNSS/MEMS-basierten Navigation und Objektgeoreferenzierung Prof. Dr.-Ing. Reiner Jäger Hochschule Karlsruhe Technik und Wirtschaft (HSKA) University of Applied Sciences. Insitute of Applied Research (IAF) Fakultät für Informationsmanagement und Medien (IMM) ( Honorary Professor of the Sibirian State Academy of Geodesy (SSGA) RaD

2 Forum SaNav&MIT B.W. ( Arbeitsgruppe Mobility SatNav (

3 Studiengänge der Fakultät IMM mit Navigationsinhalten ( GNSS/MEMS MultisensorMultisensor-Algorithmen

4 Baden-Württemberg Joint RaD Project GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing Institute of Applied Research (IAF) HS Karlsruhe Research and Development Centre Algorithms-Development

5 GNSS - Code - Phase - Doppler MEMS - Gyroscopes - Accelerometers - Magnetometers - Inclinometers - Barometers Smartphone as one of the multimodal Multisensor Navigation Platforms x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z

6 GNSS-supported..? How certain and sustainable is the GNSS-support? State of the Art and Trends in Precise Positioning Services

7 1 Precise Positioning Services e.g.. Germany 2 SRPOS 3 TRIMBLE VRSNOW 4 _jaeger_kaelber_lagutina_gorokhova.pdf 4 Services: 1-3 cm Horizontal and Height Geodetic Infrastructures for GNSS-Services (GIPS):

8 Global IGS-IP IP Service Non-Networked RTCM Corrections - For Free Networking Project in Preparation

9 Satellite-/Internet-based global GNSS Position-Services SSR-based based: : Abs. Prec.. OPPP Starfire GPS-Corrections Starfire Receiver (left( left) Global Accuracy: : dm Abs. GNSS = Non-DGNSS No Reference-Stations But: NAVCOM Roverclients! OSR (= Observation-)related: Networked, scalabe ( dm cm ) DGNSS RTCM Correction (VRS-Concept) RTCM-Standard =>Open for any Rover- and Software-Type

10 Low-Cost-GNSS and Trends 1.) LowCost- High-Precise Software-Receiver Low Cost High Precise GNSS 2.) Online Precise Point Positioning (OPPP) Non D-GNSS 3.) RTKLIB Open Source RTKLIB => GNSS + MEMS Multisensor-Platforms GNSS/MEMS MultisensorMultisensor-Algorithmen

11 Reference Systems and Geodetic Foundations of Precise Multisensor-Navigation

12 Earth Centered Inertial Frame (ECIF) (i) - Frame 600 Quasars ( α, δ) R e i i e T ( t) = ( R (t)) = R R R R r i r e (t) = P R x e i e E (t) (t) r = cosδ cosα = cosδ sin α sin δ i R (t) N e i Pr (t) x i (t) && x i (t) = g i ( x) + a i (Sensor, t) = g i ( x) + R i b (t) a b (Sensor, t) Ω b ib R& i b (Sensor) (t) = R i b (t) Ω b ib (t)

13 Earth Centred Earth Fixed System (ECEF) (e)-frame Reference Meridian Geographical => 3D Cartesian x (N(B) + h) cosb cosl y = (N(B) + h) cosb sin L 2 z (N(B) (1 e ) + h) sin B 3D Cartesian => Geographical tan( L) = y x tan B = h = x 2 + x cos B z y N(B) N(B) 2 (1 e y 2 + N(B) ) h

14 Navigationframe - Navigation-Frame oder n-frame n R e (B,L) = cosb sin L sin L cosl cosb sin L sin B cosl sin L cosb cosb 0 sin L n-frame x n,i = R n e (B,L) ( x e,i x(b,l,h) e )

15 Body-Frame - b-frame Sensor-Frame s-frame x b,i = R b n ( r, p, y) x n,i Platform- Frame p-frame r p y = tan 1 [ R n (3,2) / n b R b (3,3)] tan 1 [ R n (3,1) / n (2,1) 2 + n (1,1) 2 ] b R b R b 1 n n tan [ R (2,1) / (1,1)] b R b Body-frame (b-frame) b R n = cos p cos y sin r sin p cos y cos r sin cos r sin p cos y + sin r sin y y cos p sin y sin r sin p sin y + cos r cos y cos r sin p sin y sin r cos y sin p sin r cos p cos r cos p

16 Navigationstatevector GNSS and MEMS-Multisensor-Systems

17 Navigation State Vector and Limits for GNSS x = [ ] e e e n B L h v v v r n p n y n T n N E n D Navigation-State State-Vector: Position (B,L,h( B,L,h) + Velocity (v( N,v N,v D ) + Orientation (r,p,y) GNSS Limits No Indoor Signal Errorbudget and Geometry of Antennas Volume of Precise Antennas Phase Centre mm 55 cm

18 x = Navigation State Vector and Mobile Georeferencing [ ] e e e n B L h v v v r n p n y n T n N E n D Navigation-State State-Vector: Position (B,L,h( B,L,h) + Velocity (v( N,v N,v D ) + Orientation (r,p,y) x e = x e Sensor (B,L, h) e LGV p,downward,lgv + R LGV (B,L) R p,dowward (r,p, y) x Handheld Georeferencing

19 Profile and Algorithms of Seamless Out- and Indoornavigation

20 Essential Target of GNSS/MEMS Multisensor-Platforms Indoor-Apps 3D-Citymodelling has arrived at LOD ( Level of Detail ) 4 LOD 4 3D-Model of Buildings with feoreferencing of floors, rooms, indoor objects Partners in Joint Research ppoject TeXXmo ( ) IN Gmbh ( ) Bernot IT ( )

21 Way 1: 1 Infrastructure-Sensor based Indoornavigation (Pseudolites,WLAN,, etc.) Landmarks

22 Way 2 Autonomous Sensors and GNSS/MEMS Multisensorsystems

23 Way 2 => New Way SatNav&MIT B.W. Joint RaD Project (NAVKA): Autonomous MEMS-Sensors Sensors + New Algorithms Deep-Coupling 1.) MEMS-Gyro 2.) MEMS-Accelormeters Observation l: ω p ip Observation l: a p p p p ω n np = ω ip Rn ( r, p, y) ω in && x i i i p ( t) = g ( x) + R (t) a p References: Inertial Space (i) and Gravity Field

24 Way 2 => New Way SatNav&MIT B.W. Joint RaD Project (NAVKA): Autonomous MEMS-Sensors Sensors + New Algorithms Deep-Coupling 3.) MEMS-Inclinometer (Reference: Gravity-Field Field) Z-LAV Observation l: Inclination Angle θ

25 Way 2 => New Way SatNav&MIT B.W. Joint RaD Project (NAVKA): Autonomous MEMS-Sensors Sensors + New Algorithms Deep-Coupling 4.) Magnetic Sensors 5.) Barometric Sensors (Height) Autonomous Auxiliary Sensor Reference: Earthmagnetic Field M Reference: : Earth Atmosphere

26 Way 2 => New Way SatNav&MIT B.W. Joint RaD Project (NAVKA): Autonomous MEMS-Sensors Sensors + New Algorithms Deep-Coupling 6.1.) Markers 6.2.) Independent optical flow! 6.) Cameras of Digital Smartphones / Tablet PC Absolute: Infrastructure-based (Georeferenced Markers) Relative: Autonomous relative Orientation

27 Way 2 (NAVKA) Autonomous Sensors and GNSS/MEMS Multisensorsystems

28 Multiplatform and Leverarm-Principle and Concept

29 Setting up of the State Equations NAVKA-Concept

30 Old Way State Eq. (here; e-frame) mixed with measurements x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω T = & eb, x eb, y eb, b z Gyroscope Rotation-Rate Rate Observations and Orientation / Attitude b b b 1 b 2 2 Re (t) = Re (t 1) [I + Ωeb t + ( Ωeb) t +...] 2! with Velocity Differential Equation Measurement of Acceleration-Sensor Ω b b eb = Ωib Sensor) ( Ω x(t) & e d b b e e e e e e && x( t) = y(t) & = Re (r, p.y) a + g ( x ) 2 Ωie x& (t) Ωie Ωie x(t) dt z(t) & e b ie Position-Dgl Dgl. x&(t) = d dt x y z Classical Way: Sensor-Observations = Coupled Sensorinput New: Sensor(-Observation Observation-)Input is taken out of state equations. Rotationrate observations and accelerations in the body Frame (b) are introduced as Auxiliary State Parameters. => Auxiliary State Parameters are observed by Sensor-Observations in deep coupling (Rawdata)

31 Old Way - Often Equations are holding only for special cases, e.g. body at rest Rotationrate Observations of Gyroscopes General Situation l =: ω b b b ib = ωnb + R n r,p, y) ( ω n in Relations from Satellite Geodesy Special Case: Raw rotationrate observations for body at rest for direct Orientation Determination. In case of r=p=0 azimuth/heading y directly from Rotation-Rates

32 New Way (NAVKA)( - Multisensor State Equations (here; e-frame) x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z NAVKA Algorithms 1.) New Type of State Transition Equations - StateTransition Equationsa are kept free from sensor-observations l => Fully parametrized [ ] e e e x y z x& e y& e z& e e e e e e e b r p y && x && y && z ω ω ω s b eb, x eb, y b eb, z x(t) = x(t t, t) - Holding for a general movement ( and for body rest) - Considering multi-threading, e.g. zero-velocity-updates - Set up for robust estimation, not as standard Least Squares Kalman-Filtering - Considering dynamic sensor calibration parameters s T =

33 New Way (NAVKA)( - Multisensor State Equations (here; e-frame) Navigation-State-Vector with Quaternions

34 New Way (NAVKA)( - Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design x [ ] e e e e e e e e e b b x y z v v v r p y && x && y & z ω ω ω b T e x e y = & e z eb, x eb, y eb, z 2.) Multiplatform Multiplatform - Concept => Several Platforms (p) navigate one Body (b) and

35 New Way (NAVKA): Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design x [ ] e e e e e e e e e b b x y z v v v r p y && x && y & z ω ω ω b T e x e y = & 3.) Multisensor-Leverarm Leverarm Concept e z eb, x eb, y eb, z Sensor- Position and Orientation j [ t i, j s, rs ( α, δ)] Platform Position and Orientation p [ t i p, R b ] i

36 New Way (NAVKA): Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design x [ ] e e e e e e e e e b b x y z v v v r p y && x && y & z ω ω ω b T e x e y = & e z eb, x eb, y eb, z 4.) GNSS/MEMS Sensor Observation Modeling - Generally Deep-Coupling of GNSS and MEMS l=l(x) - Tight Coupling, e.g. for GNSS is Optional - Leverarm Design Paramter generally considered in NAVKA-Algorithms and Data Stuctures 3 Examples 1.) Deep Coupled Gyroskope ( ) 2.) Deep Coupled Magnetometer ( ) 3.) Tight Coupled GNSS-Sensors ( )

37 Example by the MEMS type of an Gyroscope Sensor s(j) of a Platform p(i)

38 New Way (NAVKA): Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design (1) l(i,j) [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T x = & ω s i, j p s i = r ω ij p(i) i p(i) eb, x eb, y eb, b z Observation-Equation for Sensor j on Platform i pi r si,j Leverarms 1.) Sensor-Orientation i,j cosδ cosα = cos sin δ α sin δ (2) ω p i p = ω p e p + ω p i e = R p b [ ω b eb + R b e (r,p, y) ω e ie ] 2.) Platform Orientation (3) Final Observation Equations for Body (b) by State-Parameters x(t) ω s i, j = r p s ij R p b [ ω b eb + R b e (r,p, y) ω e ie ] l(i,j) = l(x(t)); + Transition-Equations x(t) = x(t-1) + f(x(t-1), t, t 2 ) ; C l C y M-Estimation-based (Robust) Kalman-Filtering

39 Example by the MEMS type of an Magnetometer on Platform p(i)

40 New Way (NAVKA): Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design Global Earth MAGNETIC Field Potential V In the LGV-frame of the sphere m m m x y z p(i) = R p,i b R(r,p, y) e x' R( ϕ, λ) y' z' n,e

41 Example for GNSS-Sensor s(j) on a Platform p(i)

42 New Way (NAVKA): Algorithms for Multiplatform-,, Multisensor- and Leverarm-Design x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z x e GNSS s i, j = x General Case e b e b b p i e p + [ R (r,p, y) t ] + [ R (r,p, y) R t Platform Position i e b b p Platform Orientation i p s i,j ] e s i, j Sensor-Position on Platform Special Case: Platform = Body Code- Phase- Doppler GNSS-Obs. x e e e GNSS s = x b + R b (r,p, y) i, j t b s i,j

43 Platform- and Algorithms-Design Planning and Validation of Multi-Sensorplatforms and of the belonging Mathematical Models and Algorithms Improvement of existing Platforms (e.g. Smartphones) Optimization

44 Rawdata-Simulationsoftware SIMA for GNSS& MEMS. Present Development of a GNSS Moving-Base Orientationalgorithm with Multisensor-Lever Lever-Arm Design Important Tool for the Validation of NAVKA Algorithms: Rawdata Simulation Software for General Multisensor-Navigationsplattforms - SIMA Trajectory Magnetic Field Model GNSS/MEMS (WMM2010) Gravitation Model Sensorplatform- Specific design Sensorerrors Distributed Sensors SIMA Ephemerides Output: Output: GNSS GNSS(Code, Phase, Phase, Doppler) Doppler) Accelerometer Rawdata Rawdata Gyroscope Rawdata Rawdata Magnetometer Rwadata Rwadata Inclinometer Rawdata Rawdata Referenceposition, -Velocity, -Velocity, -Attidtude -Attidtude

45 Rawdata-Simulationsoftware SIMA for GNSS& MEMS. Present Development of a GNSS Moving-Base Orientationalgorithm with Multisensor-Lever Lever-Arm Design SIMA GUI Example Track along a space circle in Karlsruhe, GPS-Sensor Sensor (Rover 60001) Karlsruhe Kreis

46 Rawdata-Simulationsoftware SIMA for GNSS& MEMS. Present Development of a GNSS Moving-Base Orientationalgorithm with Multisensor-Lever Lever-Arm Design Check of the SIMA-generated Phase-Observations along the Reference Track with external software e.g. LGO or, below, with RTKLIB Referenzpath in SIMA Result with NAVKA GNSS-Algorithms

47 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA Results, Products and Perspectives

48 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA (B.W. Joint RaD Project ) 2013) Part NAVIGATION x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z

49 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) NAVKA Algorithms Lib. Platform-Independent

50 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) Joint RaD Project Field-Robots HTWG Konstanz, Joint Research Partner Water-Robots UAV

51 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA (B.W. Joint RaD Project ) 2013) x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z Hardware-Entwicklungen Industriepartner

52 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) TeXXmo MEMS-Platine + NAVKA-Algorithmen TeXXmo MEMS Sensorboard (right) STM32F4 Computer-Board (left), here ARM Cortex M4 CPU 168 MHz) for the NAVKA- Algorithms

53 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA (B.W. Joint RaD Project) Part Georeferencing x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z Georeferencing

54 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) 1.) Smartphones - NAVKA-Algorithmen mit Smartphone Rohdaten 2.) Beliebige Hardware - NAVKA-Algorithmen mit XENS Rohdaten

55 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) 21./22. November 2012

56 x GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z SatNav&MIT Joint RaD Project Mobile Georeferencingand Data-Aquisition Systems Multisensor Platform for Camera- Orientation on Drones (UAV) Autonomous Out-/Indoor Navigation e.g. Smartphones as Platform

57 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T x = & 3D-Polar Coordinate Tracking Out-/Indoor eb, x eb, y eb, b z Surveyor 3D Surveying for Anybody Smart- Phone/ Tablet RTK 5cm

58 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) KALEO.9A 1.) Direkte Georeferenzierung 2.) Virtual Reality

59 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA (B.W. Joint RaD Project ) 2013) INDOOR-NAVIGATION x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z

60 Way 2 => New Way SatNav&MIT B.W. Joint RaD Project (NAVKA): Autonomous MEMS-Sensors Sensors + New Algorithms Deep-Coupling Cameras of Digital Smartphones / Tablet PC Infrastructure-based (Georeferenced Markers)

61 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) Multi-Threading-Algorithmen zur spezifischen Zustandserkennung bei der Indoor-Navigation

62 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) Multi-Threading-Algorithmen zur spezifischen Zustandserkennung bei der Indoor-Navigation Aktuell: Implementierung der statistischen Zustandserkennung Erste erfolgreiche Versuche Dezimeterstabilität der Position über 10 Minuten in Gebäuden

63 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing NAVKA Fahrzeug- und Flugnavigation x [ ] e e e e e e e e e e e e b b x y z x& y& z& r p y && x && y & z ω ω ω s T = & eb, x eb, y eb, b z

64 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA)v Smartphone as multimodal Strapdown Platforms Computation of Virtual Navigation-Platforms Platforms from arbitrary Sensor-Groups (like for Volokopter, below ) Sensor-Leverarm Parameters to car... in car through airport on touristic tour.

65 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA) Manned Volocopter Project

66 GNSS-supported LowCost-Multisensor Multisensor-Algorithms and Systems Navigation of Vehicles and Aircrafts Manned Volocopter Project VC 200, Design 2013

67 GNSS-supported LowCost-Multisensorsystems for mobile Platformnavigation and Objectgeoreferencing (NAVKA). Concept with Paradigma Change Several Platforms (p) Navigate one Body (b) Platform-Redundancy Algorithmic Realization by Leverarm-Concept Leverarm Design = Information Gain Sensors exchangeable exchangeable (e.g( e.g. distributed Accelerometers provide Rotation-/Attidude Information on Movement and at Rest) Leverarm-based Platform-Design (0./1./2./3. Order Design Optimization) Leverarms not regarded as additional Modeling expenditure but as Concept and Chance for innovative Multisensor-Platforms and new Products with Optimal Design Improvement / Optimization of existing Platforms (Smartphones,Tablet PC) Sensor Redundancy on a Platform Elimination of Data Errors in Deep-Coupling via Robust Estimation Estimation/Elímination of MEMS - Offsets + Drifts (Additional Parameters)! Robustness via Virtual Plattform-Setup

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