GNSS for autonomous inland shipping
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Septentrio is a Belgian company that designs and manufactures high-performance GNSS equipment. They discuss their products, including rover receivers and OEM boards for machine automation and control applications. They also describe technologies useful for autonomous inland shipping, such as RTK for centimeter-level accuracy, PPP for meter-level accuracy using satellite corrections, and techniques to mitigate multipath errors and interference.
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GNSS for autonomous inland shipping
- 1. GNSS for autonomous inland shipping Chris Lowet Product management chris.lowet@septentrio.com
- 2. Introduction to Septentrio Markets and applications Our products Technologies for autonomous inland shipping Chris Lowet Product management chris.lowet@septentrio.com
- 3. What do we do? • Design and manufacture high-performance GNSS equipment for the most demanding applications Who are we? • Belgian company with HQ in Leuven • About 100 people • Offices in USA and Hong Kong
- 4. 23848 Hawthorne Blvd., Suite 200, Torrance, CA 90505 USA +1 310 541-8139 Greenhill Campus Interleuvenlaan 15i, 3001 Leuven Belgium +32 16 300 800 Hong Kong Office level 901, The Lee Gardens 33 Hysan Avenue Causeway Bay Hong Kong +852 3959 8680 www.septentrio.com
- 5. Our roots 5 Founded Septentrio in 2000. Major partner & shareholder. Premier semiconductor research institute. Unique infrastrucure and talent. Spider in strong eco-system. Long term strategic partner since 2002. All Galileo test receivers designed and built by Septentrio exclusively (IOV & FOC). Participated in numerous ESA projects in military, avionics & space. Provided in-depth understanding of GNSS.
- 7. Our Markets and Applications
- 8. 8 Machine Automation Survey and Mapping Scientific/Reference Aerospace/Defense
- 9. Our Products
- 10. AsteRx Altus PolaRx 10 Rover Receivers and OEM boards for automation and machine control Smart antennas for GIS and survey Reference receivers for science and networks
- 11. OEM boards for easy integration 11 • Dual antenna (heading) • multi-frequency GNSS receiver • GPS/GLO/GAL/BDS/QZSS • L1, L2, L5, E5, L6/E6 • Stand-alone, DGNSS, PPP, RTK • 1-3W depending on configuration • On-board webserver and multiple interfaces (4 high speed serial,USB, Ethernet • Footprint 77x100mm • Single-antenna multi-frequency GNSS receiver • GPS/GLONASS • Stand-alone, DGNSS, RTK • Compact & low power • 70x48 mm • 300mW in single frequency • 600 mW 20 Hz GPS/GLO RTK Septentrio in Confidence AsteRx-mAsteRx-4
- 12. AsteRx-m UAS 12 • Seamless Integration • 10g and 100mW more to get in the water quicker • Robust and accurate • Plug compatible with popular auto-pilots • Best in class RTK (in challenging environments) • Cm-level accuracy for less than 700mW • Onboard data logging
- 13. AsteRx-U 13 • Rugged housing • TERRASTAR C/D or VERIPOS for cm accuracy with PPP • Robust L-band reception (no interference from inmarsat and iridium transmissions) • Cellular Modem, UHF radio, WIFI, USB, Serial, Ethernet • Dual antenna for GNSS heading • Web Interface for intuitive and simple setup
- 14. Survey with the Altus NR2 14 Compact cm-level (RTK) smart antenna network rover • Internal data logging • Store GIS data directly in the cloud with PinPoint-GIS™ • Works autonomously all day with internal batteries • Integrated communications (WiFi, Bluetooth, cellular modem)
- 15. Easy to use and integrate 15 • Web-based user interface • Control from any device • Easy to use quality indicators • Additional toolset for data analysis • Software configurable hardware Septentrio in Confidence
- 16. Technologies for Autonomous Inland Shipping
- 17. Tracking the carier signal - RTK 17Septentrio in Confidence 19cm
- 18. Real Time Kinematic (RTK) 18Septentrio in Confidence • 1-2 cm accuracy • Relies on differential base-station or network • Relies on real time correction datalink Carrier phase and pseudo-range measurement
- 19. Precise Point Positioning (PPP) 19Septentrio in Confidence • 4 cm accuracy • Relies on global GNSS clock and orbit monitoring network (e.g., Terrastar) • Relies on correction broadcasted by satellite (Inmarsat) or Internet
- 20. 20 • Large structures can cause reflections of GNSS signals • Known as multipath error • Short delay multipath is most frequent and most damaging component Septentrio in Confidence APME+ Multipath Estimation / Mitigation
- 21. APME+ in action 21 • Increased RTK availability in obstructed environments • high availability & high accuracy
- 22. APME+ Multipath Estimation / Mitigation 22 • Navigating inside a lock • Structures alongside bank • Container stacks in a port Septentrio in Confidence
- 23. Lock+ : Superior Tracking Robustness 23 • Strong vibrations can severly impact tracking continuity, impacting precision, RTK, PPP and heading • Lock+ algorithms implemented to maintain lock even during heavy vibrations Lock+ Tracking Lost
- 24. AIM+ Advanced Interference Mitigation 24 • GNSS signals are transmitted at low power and are weak • On some frequency bands, interference due to RF interference with other services • Aeronautical DME/TACAN beacons in GPS L5, Gal E5 band • Other examples of interference: • Amateur -radio and -TV • Inmarsat and Irridium Septentrio in Confidence
- 25. AIM+ Advanced Interference Mitigation Wideband interference mitigation unit 25Septentrio in Confidence Without WIMU Active WIMU
- 26. AIM+ The effect of chirp jammers on GNSS signals 26Septentrio in Confidence
- 27. IONO+ Ionospheric monitoring and scintillation resilience 27
- 28. 23848 Hawthorne Blvd., Suite 200, Torrance, CA 90505 USA +1 310 541-8139 Greenhill Campus Interleuvenlaan 15i, 3001 Leuven Belgium +32 16 300 800 Hong Kong Office level 901, The Lee Gardens 33 Hysan Avenue Causeway Bay Hong Kong +852 3959 8680 www.septentrio.com
Editor's Notes
- In colaboration with IMEC we were able to use the most advanced semiconductor designs for low power, high performance and interference mitigation. IOV – In orbit validation FOC-full operational capability
- Talk about high end receivers and how different from common GNSS receivers. Low latency, high update rates, accuracy, high end hardware, error mittigation algorithms all quite important on unmanned systems as applications cannot afford to loose the positioning data
- About high end receivers and how different from common GNSS receivers. Low latency, high update rates, accuracy, high end hardware, error mittigation algorithms all quite important on unmanned systems as applications cannot afford to loose the positioning data Easy to integrate and interface with
- Dual antenna option allows for robust heading solution (more reliable than INS heading solutions at low speeds/low dynamics given signal to noise ratio) Power scaling for unmanned, often battery operated applications Highlight differences between ‘common GPS’ and high end receivers (mutli constellations, heading, correction RTK, PPP)
- AsteRx-m Receiver pre-mounted on interface board for Seamless integration Power via µUSB or battery pack Trigger and switch for camera synchronisation Refer to Ardupilot also used on unmanned boats
- Rugged GNSS receiver housing with all options in one box GNSS heading and INS heading (cfr dynamics vs noise level and accuracy) High end machine control/marine environments Multiple out/input connectors
- Onboard logging. NMEA output via bluetooth/ SBF (refer to Kongsberg Dynamic Positioning DP) Initially designed for survey but we see it also being used in autonomous shipping applications Can be connected to VDC for prolonged operations.
- Intuitive (web-based) interface: Straightforward operator control Connectivity with on your device without special software Understandable quality indicators Monitoring quality during operation Easy trouble shooting Assist in preventive maintenance Standard open interfaces (RTCM, NMEA)
- Real Time Kinematics (RTK) is a differential GNSS technique which provides high positioning performance in the vicinity of a base station. The technique is based on the use of carrier measurements
- Augmented mode Phase based rather than code based Lower end receiver cannot do this, cannot latch onto the phase as accurately plus not able to calculate. Need base station at know position Need real time data link between rover and receiver
- Augmented In general Satelite based, no real time data link needed (simpler setup) No base line dependency uses inmarsat geostationary satelites (low elevation - because over equator) Need subscription (fee) witch services like terrastar.
- Satelites with lower elevation angle
- RTK systems are increasingly used in difficult envirmonments, with bad satellite visibility, many reflections, etc. This graph illustrates the impact of these conditions, and importance of reliability, which Septentrio has focused on, both in developping more robust tracking techniques, and in developing advanced error estimation to avoid the signal disturbance kreeping into the position solution The test depicted, is a survey test between 2 4 story buildings, about 5 m apart. 4 different systems were used; Septentrio is the blue system. The figure on the right illustrates where the test took place. Only the Septentrio system performs reliably : it has a measurement in 90% of the cases – and all measurements output are actually well within the acceptable error limit. In other words : it delivers a good position more than any other system, and correctly “refuses” to output a position when a correct position cannot be given.
- Ship can be in a lock Or perhaps large structures in a port can cause reflections, cranes, containers Smaller vessels, near concrete bank have todeal with reflections as well
- Algorithm senses vibration which can upset clock and addapts the loop locking circuitry accordingly to maintain tracking Both reciever and antenna are vulnerable to vibrations.
- 3 independent selective notch filters detect peaks and attennuate Right-graph : short very “loud” peaks of DME (Distance Measuring Equipment, part of the radar system at airports to “ping” incoming airplanes so they can calculate distance during landing maneuvres Left graph : spectral view of “chirp” jammers, these sweep through the GNSS spectrum to jam the “on-board” GPS system in cars or trucks, eg used by criminals to disable anti-theft systems. They will jam also surrounding traffic. We ahve seen various examples, eg in base stations located close to a highway or traffic intersection, regular jamming occurs. As this is tied to passing traffic, almost impossible to catch or even diagnose without Septentrio technology. Septentrio anti-jam technology will reduce distance at which receivers are sensitive to interference effectively to the jamming car itself.
- spectral view of “chirp” jammers, these sweep through the GNSS spectrum to jam the “on-board” GPS system in cars or trucks, eg used by criminals to disable anti-theft systems. They will jam also surrounding traffic. We ahve seen various examples, eg in base stations located close to a highway or traffic intersection, regular jamming occurs. As this is tied to passing traffic, almost impossible to catch or even diagnose without Septentrio technology. Septentrio anti-jam technology will reduce distance at which receivers are sensitive to interference effectively to the jamming car itself.
- High Ionospheric activity (e.g. solar winds) can disturb GNNS signals and correction signals. Causing degradation of performance signal to noise ratio, loss of RTK fix or signal lock Even on these latitudes (port of Antwerp) we saw at the peak of solar cycle disturbances. Not immediately concern since we’re on the downcycle for solar activity . Certainly a consideration for next solar cycle This graph shows how Septentrio systems deal with active ionosphere, and the dramatic improvement. The figure shows the error (xy plot) over 24 hours during an active day, without (dark blue) and with (light blue) iono compensation