priv.-doz. dr.-ing. habil. michael meurer german aerospace ... · german aerospace center email:...

20.1

0.20

12

DLR und TU-München, Kommunikation und Navigation

Terrestrial Navigation

Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center

Email: [email protected]

220.1

0.20

12


When, Where and for Whom?

For whom:

Department of Electrical Engineering and Information Technology

– Master of Science in Communications Engineering– Electrical Engineering, EI– … and everybody else who is interested in the topic …

Course:

Lecture (2 SWS) and Tutorial (1 SWS), ECTS: 3 lecture Friday, 09:45 - 11:15, in room N2408, building N4, 2nd floortutorial Friday, 11:30 - 12:15, in the same room, according to schedule

More Details:

see Course Webpage at http://www.nav.ei.tum.de/terrnav

First lecture:

26.10.12, will take place in room N2408, building N4

320.1

0.20

12


Dates and Times

Date Lecture (09:45-11:15) Tutorial (11:30-12:15)

26.10.2012 X (Lecture till 13:00)

02.11.2012 - -

09.11.2012 X (Lecture till 13:00)

16.11.2012 X X

23.11.2012 X X

30.11.2012 X X

07.12.2012* - -

14.12.2012 X X

21.12.2012 - -

11.01.2012 X X

18.01.2012 X X

25.01.2012 X X

01.02.2012 X X

08.02.2012 X X

* on this date the midterm examination will take place from 09:45-10:15 in room N2408, building N4 (t.b.c)

420.1

0.20

12


Practical arrangements

lecture slides will be distributed via the webpage after the lecture

exercises will be distributed during the lecture

exercises will also be made available via internet

written optional midterm examination (30min) on 07.12.201209:45-10:15 in room N2408, will count 25% of final mark

final oral examination (20min) in Feb./Mar. 2013, time and date t.b.a.

520.1

0.20

12


Motivation

Space and Navigation systemshave the same relation ship as

Time and Clock

Human beings exist in time and space!

620.1

0.20

12


Some Highlights of the Course

Basics of radio propagation: Pathloss, Shadowing, Multipath Distance / time-of-arrival based navigation Distance difference / time-difference-of-arrival based navigation Angle-of-arrival based navigation Signature based navigation Multilateration / hyperbolic localization Cooperative navigation in radio networks Cramér-Rao bound for localization accuracy Trajectory based navigation, temporal post-processing, Kalman Filter Navigation using GSM / UMTS / RFID / WLAN / Bluetooth

RFID

720.1

0.20

12


Goals of the Course

Overview of and introduction to terrestrial navigation– Modelling of navigation problems

– Understanding challenges

– Solution of navigation problems by appropriate technologies

Systematic study and discussion of the topic from the basics – Performance Analysis of Systems

– Ultimate limits of Performance

Introduction in latest and planned radio navigation systems

Motivation for further projects/activities in the field, e.g. diploma thesis, master thesis …contribution to research at our labs

820.1

0.20

12


Embedding of the Course


Satellite Navigation

Differential NavigationSatellite Navigation

Lab

Winterterm Winterterm

SummertermWinterterm

920.1

0.20

12


Expected Precognition

In the lecture the following previous knowledge is assumed:

Coordinate Systems:

– Cartesian, polar and spheric coordinate systems

Linear Algebra:

– Matrix calculations, eigenvalues, least squares

Probability calculus:

– Random variable, probability, probability density, mean, variance, correlation, …

Signal theory:

– Frequency, Fourier transformation, spectrum, bandwidth

Linear system theory:

– Equivalent low-pass systems, impulse response, space state description

1020.1

0.20

12


Outline and Structure (1)

1. Introduction

1.1 Historic Overview

1.2 Challenges and Applications

1.3 Definitions

2. Basic terms and system model

2.1 Scenario and coordinate system

2.2 Radio propagation

2.3 Characteristic quantity, function and basic idea of radio positioning

1120.1

0.20

12



3. Basic principles of terrestrial navigation

3.1 Dead Reckoning

3.2 Proximity Systems

3.3 Distance based Navigation

3.4 Distance difference based Navigation

3.5 Distance ratio based Navigation

3.6 Angle-of-arrival based navigation

3.7 Signature based navigation

3.8 Cooperative navigation in radio and sensor networks

1220.1

0.20

12



4. Algorithms for radio positioning

4.1 Bayesian Estimators

4.2 Estimation of Characteristic Quantities

4.3 Estimation of Position

4.4 Positioning Accuracy

5. Radio based navigation in cellular mobile radio networks

5.1 Global System for Mobile Communications (GSM)

5.2 Universal Mobile Telecommunications System (UMTS)

1320.1

0.20

12



6. Radio navigation in short-range communications systems

6.1 Localization by RFID technology

6.2 Localization by Bluetooth technology

6.3 Localization by Wireless LAN

7. Sensor fusion and trajectory based navigation

7.1 Snapshot based localization in static scenarios

7.2 Trajectory based localization in dynamic scenarios

20.1

0.20

12



Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center

Email: [email protected]

Chapter 1:Introduction –

From early to modern times

1520.1

0.20

12


Outline and Structure

1. Introduction

1.1 Historic Overview

1.2 Challenges and Applications

1.3 Definitions

2. Basic terms and system model

2.1 Scenario and coordinate system

2.2 Radio propagation

2.3 Characteristic quantity, function and basic idea of radio positioning

1620.1

0.20

12


Historic Overview - Origin of Navigation

Usage of Natural Phenomena:

Navigation using observations of

– Sun, Stars, Moon, Polar Star, Southern Cross

– Birds, Wind, Sea Current

4000 B.C.: First astro-navigation in India, Egypt and Libanon

2000 B.C.: First Sea and River maps in China

1000 B.C.: Phoenician travel over open sea

Distance and Direction measurement in china:

– Distance measurement (odometer) using drum waggon 1 drumbeat per Li (approx. 0.5 km)

– 3. Century: „coach with arm constantly showing to the south“

1720.1

0.20

12


Historic Overview - Greeks and Romans

First comprehension of astronomy:

2. Century B.C. : Hipparchus proposes systems of longitude and lattitude

100-160 A.D: Ptolemy composes „Almagest“ (astronomic system of the Greeks

– mathematical description of celestial bodies

– Spheric trigonometry

– Sine tables

– standard book for mathematical astronomyup to the 17. century

Claudius Ptolemy(85-165)

1820.1

0.20

12


Historic Overview - Middle Ages

Begin of systematic utilization of technical measurement utilities:

approx. 1200 : magnetic compass (in China and Italy)

13. century : Introduction of „Quadrant“ in Europefor sea shipping (instrument for measuring „height“ of celestial bodies)

16. century : Mercator projection (=isogonic projection)

1609/1619 : Kepler (1571-1630) formulates his 3 basic laws about planet motion

Johannes Kepler(1571-1630)

1920.1

0.20

12


Historic Overview –Solving the Longitude Problem

Easy determination of Lattitude on northern hemisphere by measurement of angle between polar star and horizont

Determination of Longitude using globally available clock, time difference (e.g. sun rise) allows calculation of longitude difference (24h is equal to 360°)

Availability of sufficiently stable clock not before 18th century

North PolePolar star

2020.1

0.20

12


Historic Overview - Longitude Challenge

1600: Spanish King offers a prize for accurate Longitude Determination

1714: Longitude Act of the British parliament:£10,000 for a method that could determine longitude within

60 nautical miles (111 km) £15,000 for a method that could determine longitude within

40 nautical miles (74 km) £20,000 for a method that could determine longitude within

30 nautical miles (56 km). determination of longitude with an accuracy of 0.5° onship trip to Westindia” (Caribbean Islands) – Prize is about 200-times the annual salery of an astronomer

Source: National Maritime Museum, London

2120.1

0.20

12


Historic Overview –Solving the Longitude Problem

Accuracy before:1 Min / Day(28km/day at the equator)

Accuracy after:0,5 Sec / Day(0,23km/day at the equator)

2220.1

0.20

12


Historic Overview - 19th Century

1842 : Discovery of the Doppler Effect

- sonic depth finder

1884 : Washington Conference

- definition of „prime median“ at Greenwich- definition of Greenwich Mean Time as

standard and reference

1895 : First street map published in the USA

View on Prime Meridian

at Greenwich

2320.1

0.20

12


Historic Overview - 20th Century (1)

1904 : First Radio Navigation

- hyperbolic localization using amplitude differences of received signals

1920 : First developments on inertial navigation systems

1948 : Introduction of Standard for Instrument Landing System

- introduction by ICAO (International Civial Aviation Organization)

1957 : First artificial satellite „Sputnik“ launched by the U.S.S.R.

- U.S. researchers calculate position using orbits and Dopplershift

- Origin of Satellite Navigation

1950s : U.S. Navigation System LORAN-C - military use only until 1974, - since 1980 FAA supplementary means for

en route navigation in aviation

2420.1

0.20

12


Historic Overview - 20th Century (2)

1967 : U.S. Navy Navigation Satellite System Transit operational

- Russian pendant Tsikada also in development

1995 : Navstar Global Positioning System (GPS) fully operational

- Procurement / Development started in 1973 launched by US DOD- 1996 Russian Global Navigation Satellite System (GLONASS) fully operational

2000s : Studies on Radio Localization in cellular mobile radio systems

2013/16 : European Navigation System GALILEO fully operational

2520.1

0.20

12


Summary

History of Navigation: Transition from Observation of Natural Phenomena to Radio based Technologies Terrestrial and Satellite Based Positioning Importance of Accurate Time for Precise Positioning Manifold Applications of Localization, E911

2620.1

0.20

12


Applications of Localization - Examples

emergency services (e.g. E911) yellow pages

(e.g. restaurant finder)tracking and navigation(e.g. precision farming)

network optimization home zone billing

• added value services for customer

• new / enhanced features for network operator

network operation

Manifold applications of high precision localization

2720.1

0.20

12


The key drivers of Localization Technologies

2820.1

0.20

12


E911 Regulations

0 20 40 60 80 100120140 160180 20010-2

10-1

100

/ m

forbidden region (E911)

P( )Localization Error Phase I (April 1998)

– Route all call to the appropriate Public Safety Answering Point (PSAP) based on call sector

– Provide cell/sector location data to PSAP

– Provide call back number to PSAP

Phase II (October 2001)– Phase I + latitude and longitude

67% 95%handset 50m 150mnetwork 100m 300m

2920.1

0.20

12


Definition - Positioning

Positioning:

Question: Where am I? Where is the object?

The position is determined by coordinates w.r.t. a coordinate system The coordinate system is defined by

– The origin of the coordinate system and– The orientation of the coordinate axis

We can classify positioning into– absolute positioning (position fixing) and– relative positioning (dead reckoning)

3020.1

0.20

12


Definition - Self and Remote positioning

Self Positioning:

Cooperative:

Position is determined with help of others mostly infrastructure, e.g. signals transmitted from other stations

Autonomous / Non Cooperative:

Position is determined without the help of others, e.g. visual or inertial navigation

Remote Positioning:

Cooperative:

Position is determined by others with the help of the object to be located, e.g. positioning of GPS satellite

Autonomous / Non Cooperative:

Position is determined by others without the help of the object to located, e.g. radar

Question: Who determines the position?

3120.1

0.20

12


Definition - Localization

Localization:

Question: Where am I in a topological sense, e.g. geographically?

The position is described in relation to a topography, e.g. a map

3220.1

0.20

12


Definition - Navigation

Navigation:

Question: How do I get from one place to another?

Navigation comprises the planning, monitoring and controling of the movement of an object from one place to another.

Origin of „Navigation“– Lat. „Navis“ (Ship) and „agere“ (to act)

Meaning of Navigation in narrower sense:– Determination of position (often also orientation

and velocity) of an object w.r.t. to a reference Navigation usually considers spacious objects

whereas positioning concerns punctiform position determination

3320.1

0.20

12


Quality Measures of Navigation Systems

Accuracy

Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)

3420.1

0.20

12



Accuracy:

Describes the difference („error“) between estimated and true parameter, e.g. distance between true and estimated position

The accuracy is typically described by statistic means of the difference („error“), e.g. the standard deviation, variance or confidence (often 95%)

Confidence means the maximum value of the difference which is not exceeded with the probability given (here 95%)

Characterize typical behavior of the system in presence of nominal error components

3520.1

0.20

12



Accuracy

Integrity


3620.1

0.20

12



Integrity:

Capability of a navigation system to warn the user if the system should not be used

Limit risk of abnormal behaviour of the system due to errors resulting from system failures

Typical parameters e.g. Integrity Risk, Alert Limit and Time-to-alert

3720.1

0.20

12



Accuracy

Integrity

Continuity


3820.1

0.20

12



Continuity:

Capability of a navigation system to offer a navigation service without interrupt during an ongoing operation

Limit risk of losing the service unexpectedly

3920.1

0.20

12



Accuracy

Integrity

Continuity

Availability


4020.1

0.20

12



Availability:

Percentage of time (probability) for all possible users in the service area in which the navigation service is available

Availability presumes Accuracy + Integrity [+ Continuity]

4120.1

0.20

12



Relationship between parameters:

Integrity

Accuracy

Continuity

Availability

4220.1

0.20

12


Standardisation Organisations for Navigation

General Standardisation Organisations: International Organization for Standardization (ISO) American National Standards Institute (ANSI) Comité Européen de Normalisation (CEN)

Application related Standardisation Organisations: International Civil Aviation Organization (ICAO) International Maritime Organization (IMO) International Hydrographic Organization (IHO) National Aeronautics and Space Administration (NASA) European Space Agency (ESA) Russian Space Agency (Roscosmos) European Telecommunications Standard Institute (ETSI)

Further Organizations International Telecommunications Union (ITU) U.S. Federal Aviation Administration (FAA) European Organization for the Safety of Air Navigation (Eurocontrol)

4320.1

0.20

12


Summary

History of Navigation: Transition from Observation of Natural Phenomena to Radio based Technologies Terrestrial and Satellite Based Positioning Importance of Accurate Time for Precise Positioning Manifold Applications of Localization, E911

Definitions: Self and Remote Positioning Localization Navigation

Quality Measures Accuracy Integrity Continuity Availability

priv.-doz. dr.-ing. habil. michael meurer german aerospace ... · german aerospace center email:...

Documents