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Colloquium Montenbruck Slides
Colloquium Montenbruck Slides
using GPS
O. Montenbruck, DLR/GSOC
Slide 1
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Applications
Sample Implementations
How good can we get?
Summary
Slide 2
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Geocoding (1 10 m)
Blending of payload data with position information (SAR, optical)
Slide 3
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Gate window 60 m
Slide 4
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Slide 5
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Really?
Other issues
Insufficient velocity accuracy (few cm/s)
Lacking continuity (gaps, bad PDOP, outliers)
Slide 6
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Problems
Computational complexity (coding, verification)
Processor load
Slide 7
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Slide 8
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Typical user needs accurate ITRF position, but relaxed ICRF accuracy
Slide 9
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Earth-Fixed Formulation
ITRF formulation of real-time navigation systems
simplifies the filter design
reduces the sensitivity to EOP errors
but increases the complexity of the equation of motion
(law of conservation of trouble)
Apparent acceleration
Coriolis and centrifugal terms
Rotation vector from ICRF-ITRF trafo
transformation and its derivative
aCC = 2 v + r
= 2 v + r
= [ ] = U U T
Practical approximation
Constant angular velocity
Polar motion offset between ITRF z-axis and rotation axis
Accuracy ~100 nm/s2
0
0
Slide 10
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Gravitational Accelerations
Earth gravity field
Spherical harmonics expansion
GM
a =
r
Rn
rn
n =0 m =0
Luni-Solar Perturbations
Point mass model
Low-order analytical series of luni-solar coordinates (1 to 5)
Simplified ICRF-to-ITRF transfomation (precession, Earth rotation)
Slide 11
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Non-Gravitational Accelerations
Air Drag
No r/t access to solar flux & geomagnetic indices
Simple desity model (Harris Priester)
1
A
a = CD v v
2
m
A s
a = PSun CR 3 AU2
m s
Maneuvers
Empirical Accelerations
a = ar e r + at et + an en
Adjustable parameters
Compensation of force model deficiencies
Slide 12
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Numerical Integration
Real-time navigation systems
Frequent measurement updates
Short propagation intervals (0.001 to 0.01 revs)
Limited resources
Use low order Runge-Kutta methods
h
h
2h
t0
t1
t2
Hermite interpolation
5th order polynomial for y(t)=(r,v)
from y0, y1 , y2 , y0, y1 , y2
Gill E., Montenbruck O., Kayal H.; The BIRD Satellite Mission as a Milestone Towards GPS-based
Autonomous Navigation; Navigation - Journal of the Institute of Navigation 48/2, 69-75 (2001).
Montenbruck O., Gill E.; State Interpolation for On-board Navigation Systems; Aerospace Science
and Technology 5, 209-220 (2001). DOI 10.1016/S1270-9638(01)01096-3).
Slide 13
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Measurement Model
Ionosphere-free measurements
Dual-frequency pseudorange (P12)
Dual-frequency pseudorange and carrier phase (P12 & L12)
GRAPHIC (GRoup and PHase Ionospheric Calibration) (C/A+L1)
Average of code and carrier phase measurement
Biased measurement
Noise reduced by 50%
Requires only C/A code tracking (better signal-to-noise ratio)
Broadcast ephemerides
Signal-In-Space-Range-Error ~ 1-1.5 m
ICD-GPS-200 models for GPS position, velocity, clock
Slide 14
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Parameter
Dim
Process Noise
CR
Y = CD
aemp
c
t
Position
Velocity
3
3
None
Drag coefficient
None
Empirical accelerations
Clock Offset
White noise
Biases
NCH
(White noise)
Slide 15
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Update Scheme
Time Update
Data Screening
Trajectory Integration
Time Update
State Reconfiguration
Data Screening
Measurement Update
State Reconfiguration
Trajectory Integration
Measurement Update
Interpolation
High-Rate Processing
Low-Rate Processing
Slide 16
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Phoenix-XNS
Extension of DLRs Phoenix GPS receiver
32-bit ARMTDMI microprocessor @30 MHz
12 Channels L1 tracking
Slide 18
Satellite Navigation Colloquium > TUM > 13 Jan 2009
RTNav Software
DLR analysis and development tool for trade-off and design studies
Offline implementation of real-time navigation filter
RINEX observation interface
SP3 or RINEX ephemeris interface
Gravity model interface
User configurable processing parameters
Add ons
Attitude and antenna offset modeling
Data editing
Maneuver handling
Slide 19
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Slide 20
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Radial [m]
Along [m]
Cross [m]
3D rms
2F CP (& PR)
-0.01 0.24
-0.05 0.44
-0.01 0.21
0.55 m
2F PR
-0.06 0.36
+0.31 0.69
+0.01 0.67
1.08 m
1F PR & CP
-0.05 0.27
-0.23 0.69
+0.01 0.21
0.81 m
Radial [m]
Along [m]
Cross [m]
3D rms
Broadcast
-0.01 0.24
-0.05 0.44
-0.01 0.21
0.55 m
IGU predicted
+0.00 0.18
-0.03 0.28
+0.01 0.10
0.35 m
JPL R/T
+0.04 0.08
+0.03 0.08
+0.01 0.05
0.14 m
Slide 21
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Outlook
Galileo
Targeted SISRE 0.8 m
Improved clocks (H-Maser)
Needs to demonstrate competetivness
Future users
Radio-occultation missions ?
SAR imaging ?
Are we too good?
Slide 22
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Summary
Dynamical filtering of GPS measurements offers improved
Accuracy
Robustness
Predictability
Next steps
Implementation in Sentinel-3 GPS receiver (RUAG)
XNS flight demonstration on PROBA-2
Slide 23
Satellite Navigation Colloquium > TUM > 13 Jan 2009