history: advanced snow plow development in california 2000 ...6 site selection, snowplow 7...

Advanced Application of GPS and Related Advanced Application of GPS and Related

Sensing and Communications Technologies for Sensing and Communications Technologies for

Snow Fighter Driver AssistanceSnow Fighter Driver Assistance

Bahram Ravani, ProfessorBahram Ravani, Professor

Advanced Highway Maintenance and Construction Technology (AHMCT)Advanced Highway Maintenance and Construction Technology (AHMCT) Research CenterResearch Center

University of California University of California –– DavisDavis

andand

WesWes LumLum

Division of Research and InnovationDivision of Research and Innovation

California Department of Transportation (California Department of Transportation (DoTDoT))

Monday, April 27, 2009Monday, April 27, 2009

2:002:00 –– 2:50 p.m.2:50 p.m.

Room 2Room 2--33

2009 North American Snow Conference2009 North American Snow Conference

Des Moines, IowaDes Moines, Iowa

PagePage 22

History: Advanced Snow Plow Development History: Advanced Snow Plow Development

inin

CaliforniaCalifornia

20002000 -- 20032003

PagePage 33

Components of the Early Snow Plow SystemComponents of the Early Snow Plow System

PagePage 44

Early Sensing TechnologyEarly Sensing Technology

PagePage 55

History: 2004 History: 2004 –– 20062006

Mechatronics Sensing TechnologyMechatronics Sensing Technology

PagePage 66

New Magnet SensingNew Magnet Sensing

System for the Snow PlowSystem for the Snow Plow

BenefitsBenefitsBenefitsBenefits

Lower CostLower Cost

(approx. factor of 10)(approx. factor of 10)

Space & Wiring ReductionSpace & Wiring Reduction

(approx. 50%(approx. 50%--75%)75%)

Robust and Noise InsensitiveRobust and Noise Insensitive

Analog

Inter ference

N Magnetometers

Digital Bit Stream

3*N analog channels sampled at > 2*fc signal bandwidth

converted to serial bit stream

Digital Signal ProcessingUsing Field Programable Gate Array (FPGA)

Decode bitstream and determine vehicle lateral deviation

Digital communications channel(coaxial, twisted pair, fiber)

Next Generation Control Signal Acquisition

System

Control

System

(RS-232, RS-485, USB)

FPGA

Single Axis

MagnetometerDual Axis

Magnetometer

PagePage 77

History: 2007 History: 2007 -- 20092009

GPS Based SystemGPS Based System

Snow Cab Information SystemSnow Cab Information System

Improved Driver Assistance Display SystemImproved Driver Assistance Display System

FirstFirst

A Crash Course on GPSA Crash Course on GPS

PagePage 99

Global Position System (GPS)Global Position System (GPS)Consists of 3 Segments: Consists of 3 Segments:

Space Segment:Space Segment:

30 GPS Satellites (6 30 GPS Satellites (6

spares) in 6 orbital spares) in 6 orbital

planes, 55 degree planes, 55 degree

inclinationsinclinations

20,200 km, 12 hrs orbits 20,200 km, 12 hrs orbits

PagePage 1010

GPS Control SegmentGPS Control SegmentMaster Control Station (MCS)Master Control Station (MCS)

located in the Consolidated Space Operations Center (CSOC) at Sclocated in the Consolidated Space Operations Center (CSOC) at Schriever Air Force hriever Air Force Base (SAFB), CO. Base (SAFB), CO.

manned 24 hours per day, 7 days per week manned 24 hours per day, 7 days per week

GPS ephemeris being a tabulation of computed positions, velocitiGPS ephemeris being a tabulation of computed positions, velocities and derived right es and derived right ascension and declination of GPS satellites at specific times, rascension and declination of GPS satellites at specific times, replace "position" with eplace "position" with "ephemeris""ephemeris"

The prediction data is upThe prediction data is up--linked, or transmitted, to the satellites for transmission back linked, or transmitted, to the satellites for transmission back totothe users. the users.

The control segment also ensures that the GPS satellite orbits aThe control segment also ensures that the GPS satellite orbits and clocks remain within nd clocks remain within acceptable limits. acceptable limits.

Monitor StationsMonitor StationsSix monitor stationsSix monitor stations

Each monitor the exact altitude, position, Each monitor the exact altitude, position,

speed, and overall health of the satellites. speed, and overall health of the satellites.

Ground Antennas: Ground Antennas: Monitor and track the satellites.Monitor and track the satellites.

Transmit correction information Transmit correction information

to individual satellites. to individual satellites.

GPS Control Segment Locations

PagePage 1111

User SegmentSegmentUser SegmentSegmentUserUser SegmentUserUser SegmentUser SegmentSegmentSegmentUser SegmentUser SegmentUser SegmentUser SegmentSegmentSegment

Consists of antenna for Consists of antenna for

receiving GPS satellite receiving GPS satellite

signals,signals,

And a GPS receiver for And a GPS receiver for

collecting navigation collecting navigation

data and for calculating data and for calculating

time and locationtime and location

PagePage 1212

GPS OperationGPS Operation

PagePage 1313

No DifferentialNo Differential BeaconBeacon OmnistarOmnistar WAASWAAS

OmnistarOmnistar

HPHP

RTKRTK

DifferentialDifferential

LatitudeLatitude

StandardStandard

DeviationDeviation 1.491.49 0.350.35 0.390.39 0.380.38 0.050.05 0.020.02

LongitudeLongitude

StandardStandard


ElevationElevation

StandardStandard


Latitude RangeLatitude Range 15.9815.98 5.865.86 3.673.67 7.747.74 0.570.57 0.050.05

LongitudeLongitude

RangeRange 14.4714.47 3.973.97 2.412.41 4.774.77 0.540.54 0.050.05

ElevationElevation

RangeRange 35.2935.29 9.119.11 5.555.55 14.9314.93 1.201.20 0.130.13

GPS Unit CostGPS Unit Cost $30$30--$200$200$200$200--

$4K$4K$1K$1K--

$5K$5K$50$50--

$3K$3K$5K$5K--

10K10K $7K$7K--40K40K

DGPS Accuracy Comparison (m)DGPS Accuracy Comparison (m)

PagePage 1414

Preparation Work for GPS /(INS) Preparation Work for GPS /(INS)

IntegrationIntegration

PagePage 1515

ProPro--Pak GPS WAAS TestPak GPS WAAS Test

-1 m

1 m-1 m 2 m0 m

1 m

2 m

3 m

0 m

PagePage 1616

Navcom 12Navcom 12--Hour Static Test (m)Hour Static Test (m)

25 cm

PagePage 1717

Omnistar HighOmnistar High--Precision SBAS Precision SBAS

TestTest

0.4 m

0.5 m

0.6 m 0.7 m

Starting with Low Speed ApplicationsStarting with Low Speed Applications

Opening California Pass Opening California Pass

ClosuresClosures

PagePage 1919

California Pass ClosuresCalifornia Pass Closures

1

2

3

4

5

6

7

8

1

2?

PagePage 2020

California Pass ClosuresCalifornia Pass Closures

PagePage 2121

Field Operational Test locationField Operational Test location

Sonora

Pass

PagePage 2222

Mountain Pass Road Opening HardwareMountain Pass Road Opening Hardware

GPS Antennae Bar

GPS Receivers

& Computer

Enclosure

LCD display

for the driver

Adjustable

display

mount

PagePage 2323

Pass Opening System (GPS Pass Opening System (GPS

Antennas)Antennas)

PagePage 2424

PagePage 2525

Deployment OrientedDeployment Oriented

System designed with deployment in mindSystem designed with deployment in mind

RuggedRugged

CompactCompact

Easy installationEasy installation

PortablePortable

LowLow--costcost

BuiltBuilt--in Differential Corrections for accurate GPSin Differential Corrections for accurate GPS

PagePage 2626

Mountain Pass Road Opening Mountain Pass Road Opening

System OverviewSystem Overview

GPS Antenna

Computer

RS232 10Hz

12 VDC Power In

Novatel

ProPak LB

OmniSTAR

or

Navcomm

StarFire

GPS-Based

CompassLCD Display

GPS Antenna GPS Antenna

PagePage 2727

GPS Driver Assistance in OperationGPS Driver Assistance in Operation

PagePage 2828

Snow Cab Information SystemSnow Cab Information System

PagePage 2929

The Need for a Mobile Real Time The Need for a Mobile Real Time

Information System (MRTIS)Information System (MRTIS)

In the field: In the field:

To aid the snow fighters in To aid the snow fighters in

for example snow stormsfor example snow storms

In the maintenanceIn the maintenance--

yard/office:yard/office:

To make decisions based To make decisions based

on data available from on data available from

phones, computers, Road phones, computers, Road

Weather Information Weather Information

System (RWIS), etc.System (RWIS), etc.

Dual Locations for Supervisors:Dual Locations for Supervisors:

MRTIS: would provide MRTIS: would provide teletele--presence displaying the presence displaying the

maintenance yard/office information in the fieldmaintenance yard/office information in the field

PagePage 3030

Basics of MRTISBasics of MRTIS

IntegratingIntegratingEquipmentEquipment

SoftwareSoftware

Information TechnologyInformation Technology

Human Machine InterfacesHuman Machine Interfaces

EndEnd--resultresult

Improving:Improving:

SafetySafety

EfficiencyEfficiency

Job satisfactionJob satisfaction

MRTIS Data Flow

Integration of Information Technology

Other Vehicles

Central Office

Supervisor Vehicle

Sensors Sensors

wireless

wirelesswireless

Internet Data Sources

MRTIS ArchitectureSnowplow Central Office

Google Earthand browser

clients

Central Office

WeatherStation

RadarSource

SensorWebService

(spatially indexed)

WeatherWebService

WeatherStationWebService

FutureFunctionality

Google Earth andbrowser clients

GPS

AirTemperature

Sensor Data LoggerApplication

Snowplow

Wireless Network

InfraredTemperature

Sensor

SensorWebService DLL

(spatially indexed)

WeatherService

Data Synch.Application

KMLServer



KMLBuilderWebService

Server

MRTIS ArchitectureCentral Office Supervisor Vehicle Vehicle #2

Central Office WirelessNetwork

Google Earth and browserclient

Supervisor Vehicle

Vehicle #2

SensorWebServices DLL

WirelessNetwork

Data LoggerApplication

SensorWebService DLL

(spatially indexed)

GPS

Air Temp. Sensor

Infrared Temp. Sensor

Computer

KMLServer OtherWeb

Services withcached data

Web Services


Sensors


KMLBuilder

Web Service

Data LoggerApplication

PagePage 3434

CVOS

AVCS

ATIS

ATMSweather information

National Highway System Build-out Era

Time

Roadway Information System Capabilities Time LineRoadway Information System Capabilities Time Line

MDSS

ITS

Rural ITS, RWIS

1950 1970 1980 20001960 1990 2010 2020

PagePage 3535

RoadWatchRoadWatch air and pavement air and pavement

temperature sensortemperature sensor

PagePage 3636

MRTIS System Screen: Kingvale facility location, static spatial MRTIS System Screen: Kingvale facility location, static spatial datadata

PagePage 3737

MRTIS System Screen: VAMS Doppler radar loop and VDS MRTIS System Screen: VAMS Doppler radar loop and VDS

stationsstations

PagePage 3838

MRTIS System Screen: weather information as HTMLMRTIS System Screen: weather information as HTML

PagePage 3939

MRTIS System Screen: vehicle paths, realMRTIS System Screen: vehicle paths, real--time and historictime and historic

PagePage 4040

MRTIS System Screen: pavement temperatures, realMRTIS System Screen: pavement temperatures, real--timetime

and historicand historic

PagePage 4141

MRTIS System Screen: static WiMRTIS System Screen: static Wi--Fi wireless station hotFi wireless station hot--spotspot

location and rangelocation and range

PagePage 4242

MRTIS System Screen: sample RWIS station locations and MRTIS System Screen: sample RWIS station locations and

datadata

PagePage 4343

FutureFuture

Next StepNext Step

Snow Plow Implementation Snow Plow Implementation UsingUsing

RTK Differential GPSRTK Differential GPS

PagePage 4545

RTK Differential GPSRTK Differential GPS

PagePage 4646

RTK GPS NavigationRTK GPS Navigation

Based on the use of carrier phase measurement on the Based on the use of carrier phase measurement on the

GPS Carrier signal (L1 and L2)GPS Carrier signal (L1 and L2)

Carrier phase measurements are extremely precise (mm)Carrier phase measurements are extremely precise (mm)

They contain an unknown integer initialization constant, They contain an unknown integer initialization constant,

the sothe so--calledcalled ““phase ambiguityphase ambiguity”” oror ““integer ambiguitiesinteger ambiguities””

RTK positioning has to resolve integer ambiguities to RTK positioning has to resolve integer ambiguities to

achieve centimeterachieve centimeter--level accuracylevel accuracy

GPS base station carrier phase measurements and GPS base station carrier phase measurements and

location information is transmitted to the rover GPS. location information is transmitted to the rover GPS.

This is used for ambiguity resolution and ionospheric This is used for ambiguity resolution and ionospheric

and tropospheric error correction.and tropospheric error correction.

PagePage 4747

RTK GPS Test on IRTK GPS Test on I--8080

GPS fix

DGPS fix

RTK DGPS fix

DGPS signal blocked by terrainNo GPS fix

PagePage 4848

GPS Satellites Signal ReceptionGPS Satellites Signal Reception

8 or more satellites

5 satellites

6 satellites

7 satellites

4 or less satellites

PagePage 4949

Global navigation satellite system (GNSS)Global navigation satellite system (GNSS)

GPS Current Status, March 2009GPS Current Status, March 200931 Satellites31 Satellites

Modernization: L5, L2C, and L1C in Modernization: L5, L2C, and L1C in 20122012

Galileo Plan Galileo Plan –– EU, 2012EU, 201230 Satellites 30 Satellites

L1, L2, L5 frequenciesL1, L2, L5 frequencies

Beidou (Compass) Beidou (Compass) –– China, 2012China, 201230 medium Earth orbit satellites and 5 30 medium Earth orbit satellites and 5 geostationary satellitesgeostationary satellites

E2, E5B, and E6 frequencies E2, E5B, and E6 frequencies

GLONASSGLONASS –– RussiaRussiaRestoration and modernization, 2010Restoration and modernization, 2010

24 satellites24 satellites

L1 and L2 frequenciesL1 and L2 frequencies

PagePage 5050

New Driver Assistance Display New Driver Assistance Display

SystemSystem

PagePage 5151

Original Snowplow HMIOriginal Snowplow HMI

Predictor

Road lines

Offset Ticks

PagePage 5252

EventEvent--Driven Prompting DisplayDriven Prompting Display

PagePage 5353

Average number of times the vehicle Average number of times the vehicle

crossed the lane boundariescrossed the lane boundaries

5

4

3

2

1

vclbN

Driver 1 Driver 2 Driver 3 Driver 4 Driver

Display system without arrows and

sounds

Display system with

arrows and sounds

PagePage 5454

Total time duration drivers spent Total time duration drivers spent

looking at the display in four runslooking at the display in four runs

300

250

200

100

50

tdladT , s

Driver 1 Driver 2 Driver 3 Driver 4 Driver

Display system without arrows and

sounds

Display system with

arrows and sounds

150

PagePage 5555

Deployment ScheduleDeployment ScheduleJul-Sep Oct-Dec Jan-Mar Apr-Jun Jul-Sep Oct-Dec Jan-Mar Apr-Jun Jul-Sep Oct-Nov Jan-Mar Apr-Jun

Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q2 Q2

1 Road opening test / demo

2

Demo for rotary and

snowplow research

prototypes

3 Site selection criteria

4Site selection, road

opening

5 Site selection, rotary plow

6 Site selection, snowplow

7Methodology for

enhanced base maps

82

nd site road opening base

mapping

92

nd prototype, road

opening, fabrication

10 Rotary plow fabrication

11Rotary plow site base

mapping

12 Rotary plow test

13Sensing developments for

snowplow

14Snowplow site base

mapping

15 Snowplow fabrication

16 Snowplow test

17 Deploy recommendations

ID: Task

FY 2011FY 2010 FY 2012

PagePage 5656

Key Deployment TasksKey Deployment Tasks

Demonstrate research prototype Demonstrate research prototype rotary plowrotary plow

Demonstrate research prototype Demonstrate research prototype snowplowsnowplow

Develop site selection criteriaDevelop site selection criteria

Site selection for road opening Site selection for road opening deploymentdeployment

Site selection for rotary plow Site selection for rotary plow deploymentdeployment

Site selection for snowplow Site selection for snowplow deploymentdeployment

Develop methodology for Develop methodology for Enhanced Base MappingEnhanced Base Mapping

Enhanced base map(s) for Enhanced base map(s) for deployment site(s)deployment site(s)

Road opening updates and 2nd Road opening updates and 2nd prototype fabricationprototype fabrication

Rotary plow field prototype Rotary plow field prototype developmentdevelopment

Sensing developments for Sensing developments for snowplowsnowplow

Snowplow field prototype Snowplow field prototype developmentdevelopment

Differential corrections Differential corrections infrastructure for deploy site(s)infrastructure for deploy site(s)

Radio Frequency communications Radio Frequency communications for deploy site(s)for deploy site(s)

Testing for rotary plowTesting for rotary plow

Testing for snowplowTesting for snowplow

PagePage 5757

Winter GPS Guidance SystemsWinter GPS Guidance SystemsMountain Pass Road OpeningMountain Pass Road Opening

At field pilot. Move to full corporate deploymentAt field pilot. Move to full corporate deployment

Several seasonSeveral season’’s testing done on Sonora Passs testing done on Sonora Pass

Develop 2Develop 2ndnd prototype, test on Lassen Loop, or avalancheprototype, test on Lassen Loop, or avalanche--prone area, Hwy 88prone area, Hwy 88

SatelliteSatellite--based augmentation, GPS position and dualbased augmentation, GPS position and dual--GPS headingGPS heading

Rotary PlowRotary PlowAt lab prototype. Move through controlled demo (2010) to field At lab prototype. Move through controlled demo (2010) to field pilot (2011)pilot (2011)

Test area TBD based on selection criteriaTest area TBD based on selection criteria

Comparable technology to road opening, but use RTK GPS for accurComparable technology to road opening, but use RTK GPS for accuracy reqt.acy reqt.

Snow PlowSnow PlowAt lab prototype. Move through controlled demo (2011) to field At lab prototype. Move through controlled demo (2011) to field pilot (2012)pilot (2012)

Test area TBD based on selection criteriaTest area TBD based on selection criteria

RTK GPS, Inertial Measurement Unit, and forwardRTK GPS, Inertial Measurement Unit, and forward--looking radarlooking radar

Requires lowRequires low--latency, highlatency, high--availability, highavailability, high--accuracy sensing, tightlyaccuracy sensing, tightly--coupledcoupledRTK GPS + IMU solutionRTK GPS + IMU solution

PagePage 5858

Identify 2Identify 2ndnd Corridor, Road OpeningCorridor, Road Opening

May be another closed pass:May be another closed pass:

Lassen LoopLassen Loop

Tioga PassTioga Pass

May be an avalancheMay be an avalanche--prone highway, so onprone highway, so on--

going use throughout the winter:going use throughout the winter:

Highway 88, near Kirkwood, CAHighway 88, near Kirkwood, CA

Develop selection criteria in conjunction with Develop selection criteria in conjunction with

Caltrans Maintenance, and make choiceCaltrans Maintenance, and make choice

PagePage 5959

Deployment ChallengesDeployment Challenges

Radio transmission of differential corrections, Radio transmission of differential corrections, challenging environmentschallenging environments

Consider alternate solutionsConsider alternate solutions

GPSGPS--challenged environment: canyons, treeschallenged environment: canyons, trees

Rigorous performance and safety requirements for Rigorous performance and safety requirements for onon--road snowplowroad snowplow

Complementary systems for high accuracy, availability, Complementary systems for high accuracy, availability, and reliabilityand reliability

Challenging operating environmentChallenging operating environment

Apply lessons learned in winter maintenance researchApply lessons learned in winter maintenance research

PagePage 6060

Please visit our web sitePlease visit our web site

Advanced Highway Maintenance and

Construction Technology Research Center

http://www.ahmct.ucdavis.edu

history: advanced snow plow development in california 2000 ...6 site selection, snowplow 7...

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