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Dorota A. Grejner-Brzezinska
Lowber B. Strange Endowed Professor and Chair
Department of Civil, Environmental and Geodetic Engineering
The Ohio State University
President, Institute of Navigation
e-mail: [email protected]
IAIN World Congress 2015
October 20 – 23, 2015, Prague, Czech Republic
Multi-sensor Navigation Systems:
Concepts, Evolution, Trends and
Applications
PNT: positioning, navigation and timing
o PNT and its significance
o Need for augmentation in GNSS-challenged environments
o PNT: example applications and scenarios
Paradigm shift in:
o Navigation and sensor integration
o Geospatial data acquisition and processing
Goal: ubiquitous and resilient PNT
PNT: challenges and opportunities
Summary and conclusions
Presentation overview
2
What is PNT and why it is so
important?
PNT stands for positioning, navigation, and timing
Space-based PNT refers to the capabilities enabled by:
Global Navigation Satellite Systems (GNSS)
• Global Positioning System (GPS) – US
• Galileo – Europe
• GLONASS – Russia
• BeiDou/COMPASS – China
• QZSS – Japan (regional coverage)
• IRNSS – India (regional coverage)
Ground and space-based augmentation systems – GBAS
and SBAS
• LAAS, JPALS, various DGPS Services
• WASS, EGNOS, GAGAN, MSAS, etc. 3
4
In recent years PNT information has become increasingly
critical to the security, safety, prosperity, and overall
quality of life of people around the world
As a result, space-based PNT is now widely recognized
as an essential element of the global information
infrastructure (National Research Council, 2010;
National Academies Report on GNSS, 2012)
Significance: on-going GPS modernization and
expansion of GNSS constellation
What is PNT and why it is so
important?
5
Global GNSS-based PNT, plus:
• Proliferation of wireless technologies
• mobile computing devices, and
• mobile Internet
• have fostered a new growing interest in
location-aware systems and services
What is PNT and why it is so
important?
Personal navigation (PN), people, animal, asset tracking
Location Based Services (LBS) - very fast growing market!
Banking, mobile commerce, entertainment, social
networking, etc.
Electrical grid and computer network time synchronization
Emergency response and rescue operations: first
responders and fire-fighters
UAS navigation for mapping, environmental monitoring,
surveillance, emergency, etc.
Real-time mapping and remote sensing, etc.
6
PNT + wireless communication
systems + mobile computing
Current and emerging uses of GNSS+ move from
outdoor to indoor and transition environments
Intelligent Transportation Systems (ITS)
Precision farming
7
PNT + wireless communication
systems + mobile computing
8
PNT + wireless communication
systems + mobile computing
Atmospheric studies, GNSS remote sensing
Fast detection of catastrophic events (tsunamis, earthquake and volcano studies)
Courtesy: GFZ Potsdam
9
GNSS+ based PNT is a
global asset
Smart cities, intelligent communities and connected vehicles
Collision avoidance and autonomous navigation
Location-based services, public and private services, etc.
Vehicle-2-vehicle and vehicle-2-infrstructure cooperation
• Vehicle System: sensor networks – GNSS, IMU, optical and
ultrasonic sensors, LiDAR, Radar, cooperative vehicle
infrastructure, communication system, etc.
• Central System: communication with Service Center
• Roadside System
Source: http://www.cvisproject.org/
Multi-Sensor Positioning and Multi-Infrastructure Communication
PNT support for cooperative mobility and
intelligent communities
10
Assuring accurate, continuous and global PNT to
support the growing market based on geospatial
technology applications is a challenge
Even the best information is not “geoinformation”
until we attached geodetic coordinates and time
stamp to it!
So, what should we do?
11
Assuring global PNT with
continuous coverage is a challenge
Assuring global PNT with
continuous coverage is a challenge
12
Augmentation: SBAS and GBAS
Ubiquitous
Positioning
GNSS
Dead-
reckoning
sensors
Terrestrial
radio
navigation
Mapping Communi-
cations
Feature-
matching
sensors
Courtesy of Profs. Paul Groves, UCL and Terry Moore, U of Nottingham
Multisensory solutions
Collaborative navigation
What’s next?
Can we deliver ubiquitous and
resilient PNT?
Paradigm shift in navigation
sensor integration concept
Conventional Increasingly
unconventional 13
Collaborative System of
systems
Typical sensor configuration carried/used daily by any person in developed world
Device Navigation
Sensors Imaging Sensors
Communication
Capability
Smartphone GPS/IMU/
Compass
CMOS (2)
(still and video) 3G/4G/WiFi/etc.
Digital camera GPS CMOS
(still and video) WiFi
Recreational GPS GPS/Compass No WiFi
Car navigation GPS CMOS (rear, etc.) 3G/4G/BT/etc.
Social networks
(virtual)
Access point
location Webcam, etc. Internet
• We leave digital footprints wherever we go
• We are continuously georeferenced and provide increasing volumes of
imagery (voluntarily or involuntarily) → we are mapping our environment
→ image-based navigation → crowd-sensing and crowd-sourcing 14
Convergence of navigation
and mapping
Cooperative navigation: relevant to
UASs, ITS, emergency crews,
dismounted soldiers, etc.
15
• Emergency crew, dismounted soldiers, UASs equipped with surveillance sensors
• All platforms have ranging capability via communication ports
• Ranging connectivity allows for better and more robust PNT of a network of users in
GNSS-challenged environments
16
Positioning Sensor Fusion Clear synergy between GNSS and inertial navigation system (INS)
Focus has been on ‘bridging’ GNSS to provide continuity
Customized blend of sensors for particular scenarios
A Changed Navigation Philosophy Consider INS as the primary navigation sensor
Focus on bounding the INS error growth
Flexible and adaptive blend with other sensors
• includes unconventional sensors, not designed for navigation
Plug and Play concept
Research Challenges Flexible software architecture
Adaptive data filtering/fusion
Stochastic transition between different hybridizations
Intelligent algorithms (e.g., machine learning)
Paradigm shift in
navigation philosophy
Consequence of
Paradigm shift in navigation philosophy
Advances in imaging technology
Increased computing power
Trends
Static dynamic (4D)
Post-processing real-time
Increasing share of active imaging
Big data
data analytics algorithms and methods required
Data information (support decision making)
Convergence of navigation and mapping
Paradigm shift in geospatial
data acquisition philosophy
17 Image: http://geospatialrevolution.psu.edu/
+14
-14
[mm]
“Breathing” bridge, Berlin,
Germany Old design, no dilation structures
TerraSAR-X
18
Example of 4D geospatial data
+14
-14
[mm]
“Main Station, Berlin, Germany New design, dilation components
TerraSAR-X
19
Example of 4D geospatial data
Goal: ubiquitous positioning
20
Multi-sensor, low-cost and robust positioning
Based on single or multiple users
Different types of platforms and sensors
Autonomous or cooperative navigation
Seamless transition – continuity and accuracy – challenge!
Different sensors
Different platforms
Different algorithms, when transitioning between different
environments
Plug-and-play concept
Continuous positioning across all environments
Open areas, partially obstructed, indoor
Ubiquitous positioning:
GNSS alone will not be enough
21
GNNS and other RF
Image and terrain based
IMU and other DR
Ubiquitous
positioning
Communications
IMU – inertial measurement unit
DR – dead reckoning
Some challenges…and
opportunities
Emerging GNSS constellations =
opportunities, and complex
design choices
Software development will
become essential
Real-time data aggregation and
analytics will become vital
Threats, such as LightSquared,
deliberate attacks
GNSS back-up for resilient PNT
Cellular connectivity – will
become essential!
22
New markets, with LBS as the
primary driver!
Global GNSS market growth at a
CAGR of ~21% over the period
2012-2016
Global base of GNSS devices of
~ 2 billion units is predicted to grow
almost to 7 billion – almost one
GNSS receiver for every person
on the planet by 2022
Multi-constellation GNSS provides
better integrity and robust
performance cross checking
GNSS will remain the backbone of
multi-sensor PNT but it needs a
back-up system
New technology drives new
applications and new applications
create new challenges
So, where are we?
PNT is expected to be accurate (accuracy is addictive!),
reliable, resilient and continuous (challenge!)
Affordable, miniaturized/portable sensors, conventional and
increasingly - unconventional
We are almost there…
Smartphones
Better exploitation and integration
of its sensors
Will high accuracy become a norm?
Providers must deliver service over
a standardized platform
Cyber security!
23
What could I possibly offer
you that you couldn't find
with an iPhone?
Is smart phone the solution?
24
Will iPhone xx offer a high accuracy multi-sensor
fusion platform and all we will have to do is
develop apps and assure cyber security?
In summary
The future is digitally influenced… (Susan Wojcicki, CEO, YouTube)
2D/3D/4D imaging is rapidly advancing, is affordable and ubiquitous
Micro Satellite Systems = future of sensing: private starts-ups deploy
constellation of micro/nano satellites (SkyBox, Planet Labs, Urthecast,
PlanetiQ, Dauria…)
Motivated by environmental movement and global awareness
No single sensor can provide required level of accuracy,
continuity, portability and security of PNT in all environments –
integrated systems are the future
Multi-system and multi-sensor generalization will decrease
vulnerability against system failure and attack resulting in more
resilient PNT
GNSS needs a backup system! 25
ION: membership benefits
• Subscription to NAVIGATION, The
Journal of The Institute of Navigation
– PEER-REVIEWED & INDEXED.
• Subscription to the ION Newsletter, a
quarterly, inside look at the people and
organizations shaping PNT including
GNSS updates, new technologies,
historical perspective and member
news.
• Access to a database of more than
15,000 technical papers covering all
areas of positioning, navigation and
timing.
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