GPS the works!

Thomas Hellstrm Department of Computing Science Ume universitet

Thomas Hellstrm 2005

Contents
Introduction Basic principle: triangulation? Sources of errors Improvements Performance Combinations with INS

Thomas Hellstrm 2005

Various sizes
Delivers position for a moving receiver: Latitude, Longitude, Altitude Speed and direction of movement can be estimated

Thomas Hellstrm 2005

Areas of usage
Localization
Where am I?

Navigation
How do I move from one place to another ?

Tracking Maps

Ho do things and people move?

Draw maps

Time measurements
A very accurate clock
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Satellite navigation
GPS: dominating 19 billion USD GLONASS: Russian Galileo: European, civilian, 26 billion SEK

Thomas Hellstrm 2005

GPS: Global Positioning System

Developed and owned by the US defense 24+ satellites and 5 monitoring stations Approx. 20 200 km over ground 12 hours orbital time Error (95% confidence interval): 15 meters (3000 SEK) down to 20 mm (200 KSEK)
Thomas Hellstrm 2005

Triangulation (trilateration)
Radio signals are transmitted from the satellites to a receiver on ground The timetime-ofof-flight from satellite to the GPS receiver is ? measured Trilateration gives us position
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1: time-of-flight t
The satellite transmits Pseudo Random Codes PRC t TimeTime-ofof-flight 67ms (from the surface of the earth) The receiver generates the same PRC at the same time The clocks are assumed to be synchronized (for the time being) Move sideways until the PRC matches in all positions:
t T
Thomas Hellstrm 2005

Unique for each satellite Hard to disturb

Receiver PRC generated at time T Generated PRC generated at time T

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2: Distance s to satellite

Compute the distance to the satellites using the time-of-flight : s=v t Constant speed of light v is assumed ?

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3: Triangulation
s1 =20100: We are s1 = somewhere on a sphere 20200 s2 = 20100

s2 =20200: We are
somewhere on a circle s3 =20200: We are at one of two possible points. One of these are often impossible At least three satellites are needed! Of the launched 24 , at least 5 are always visible at any place on earth.
Thomas Hellstrm 2005

s3 = 20100
You have to know exact position for all satellites!
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Sources of error
The receiver is not synchronized with the atomic clock in the satellite The estimate of the position of the satellite Speed of light is only constant in vacuum Multi path errors : Ghost signals from reflected radio waves Selective availability (SA) :Added noise from department of defense (DoD ) (DoD) Not free sight to many enough satellites Noise in the receiver
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Eliminating clock errors

Simplified picture in 2 dimensions

The receiver and satellite clocks are not synchronized Due to these errors rc we are not measuring true distance s but s pseudo range s : s s - s = v rc All satellites give the same offset s With a 4th satellite (in 3D) we can compute rc

Computed distance Correct distance

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3: Triangulation mathematically
Four satellites for compensation of receiver clock errors rc : (x1,y1 ,z1) (x2,y2 ,z2)
(x1 - x )2 + (y1 - y )2 + (z1 - z )2 = (s1 - vrc )2 (x2 - x )2 + (y2 - y )2 + (z2 - z )2 = (s2 - vrc )2 (x3 - x )2 + (y3 - y )2 + (z3 - z )2 = (s3 - vrc )2 (x4 - x )2 + (y4 - y )2 + (z4 - z )2 = (s4 - vrc )2

4 unknown : (x,y,z, rc ) More than 4 satellites:

(x,y ,z)

(x3,y3 ,z3)

verbestmt system for (x,y,z, rc ) Higher accuracy

Thomas Hellstrm 2005

(x4,y4 ,z4)
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Exactly where is the satellite?

Two compute the position (x,y,z) of the GPS receiver, the satellite positions (xi ,yi ,zi) have to be correct Satellites move along almost perfect trajectories. Small errors, Ephemeris errors , are caused by the sun wind and the sun/moon gravity.

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Exactly there is the satellite!

Monitor stations observe the trajectories by radar Correction terms are sent to the satellites The satellites send their updated parameters to the almanac in all GPS receivers The remaining errors may be eliminated by the use of DGPS

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Incorrect speed of light

Nominally 300 000 km/sec. in vacuum Methods for methods for corrections: Models troposphere and ionosphere Dual frequency receivers : Low frequencies are effected more than high frequencies DGPS
Troposphere 0-50km

Ionosphere 50-250km Satellite trajectory 20 200 km

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Multi path errors

The signal bounces against objects; buildings, bridges, water, vehicles The disturbance results in a longer estimate of distance. Ideas:
Use the first signal only Signal processing

Hard problem even with sophisticated hard and software

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?
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"Geometric Dilution of Precision"

Satellite geometry affects the error: Large angles between the satellitte gives small errors:
Good geometry

Uncertain time or distance Uncertain position Bad geometry:

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Differential GPS (DGPS)

Eliminates or reduces clock errors, path errors (ephemeris errors) and ionospheric effects Idea: The errors are almost the same for two receivers close to each other
Place a fixed receiver on a well defined location. Compute the error in the position estimate from the satellites Calculate backwards to find the time error Broadcast it by radio to other receiver
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Differential-GPS (DGPS)
Time errors (and the time derivatives) are computed for ALL satellites:
Satellite 1 delay 4.6ns Satellite 4 delay 3.5ns .

The table with error corrections is sent by radio to all DGPS receivers

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Differential GPS (DGPS)

Different kinds:
National services with reference stations Local with two GPS receivers and a radio link. Distance <50km. The error increases by approx. 30cm/100km Radio link Internet?

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INS (Inertial Navigation Systems)

A kind of dead reckoning Has been used in sub marines, airplanes and missiles since the 50s F is measured by 3 accelerometers Fy F=ma Fx m Compute movement by integrating a twice
y z Fz x

1. 2.

3.

Compute rotation by integrating gyro rotations

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INS (Inertial Navigation Systems)

Gimbaled system

Strapdown INS

Illustration: Greg Welsh University of North Carolina at Chapel Hill, Eric Foxlin InterSense
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GPS/INS
INS:
Works without contact with the world (proprioceptive) The systematic error increases over time (drift)

GPS:
Works well when it works Doesn't work at all if the satellites are occluded, and poorly when Multi path errors occurs Low systematic error (bias) Sensor fusion with GPS/INS gives security and accuracy!
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DGPS/INS (50K$)
Positions from the INS The INS is corrected by a DGPS when enough satellites
2 cm real time kinematic (RTK) accuracy L1, L2 Carrier Phase och Code Phase

Radio link

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The Kalman filter

How do you get accurate data from non accurate data?
Moving average ? Other types of filters ? KALMAN ! ! ! The Kalman filtret is the theoretically optimal method! IF ...

Intuitiv id:
Estimate the noise in the measured signals Use the data with the lowest noise, or better: Use a weighted average!

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The Kalman filter

Concept:
State x : Variables describing the state of the system E.g.: A vehicle moving forward affected by a constant propulsive force is described by its position, speed and acceleration: State vector x=(p, s, a )T Measurement z : Normally we can only measure an image of the state variables. E.g.: We can only measure the noisy position p As matrices:
Exempel:

1 0 0 p p zk = 0 0 0 s + 0 0 0 0 a 0
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Thomas Hellstrm 2005

The Kalman filter

Measure model: What s the relation between the state variables x and the
measured z ?:

z k = Hxk + vk
Stated problem: What is the best estimate of xk given the measurements z1 , ... , zk We need to now more:

Assumptions: Linear system (defined by A, B, H) The noise w and v are assumed to be normal white noise with zero mean: p(w) ~ N(0,Q) p(v) ~ N(0,R)

System model: How do the state variables x change Exemple: from time k-1 to k (step T) ?

xk = Axk 1 + Buk + wk 1

p k 1 t xk = sk = 0 1 a 0 k

t 2 / 2 pk 1 0 t sk 1 + 0 1 ak 1 a
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The Kalman filter

The assumptions implies that the noise v and w are characterized by the covariance matrices Rudolph Kalman 1960: derived an OPTIMAL estimate of xk+1 The estimate is recursive; like running averages contra summing all z1 , ... , zk The Kalman filter is used for everything that moves around: - Planes, ,missiles, satellites, - Hydrology - Sensor fusion - Economy and finance - Computer graphics

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Every time steg in the Kalman filter

Time update (Predict):

1. xk = Axk 1 + Bu k 2. Pk = APk 1 AT + Q

Error covariance E[(x(t) x(t)) (x(t) x(t))T)]. Kalman minimizes P in the least-square sense System definitions: A, B, H noise covariances: Q, R

Measurement Update (Correct):

3. K k = Pk H T HPk H T + R 5. Pk = (I K k H )Pk
State estimate
Thomas Hellstrm 2005

4. xk = xk + K k ( z k Hxk )

Kalman gain K is updated in every step and gives the credibility of the Measurement measured z.

Estimated measurement
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Combination of GPS, gyro and compass

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Referenser
Manufacturers: Manufacturers:
www.trimble.com www.mercat .com/QUEST/ HowWorks.htm .htm www.mercat. com/QUEST/HowWorks www.novatel .com www.novatel. www.trimble.com/gps/ www.trimble.com/gps/ www.ashtech .com www.ashtech. http://www.mercat.com/QUEST/gpstutor.htm http://www.mercat.com/QUEST/gpstutor.htm www.garmin.com http://www.topconps.com/gpstutorial/TOC.html http://www.topconps.com/gpstutorial/TOC.html www.furuno.com http://www.aero.org/publications/GPSPRIMER/ www.leicawww.leica-gps.com Positioning Systems in Intelligent Transportation Systems, Chris Drane, www.raymarine.com Drane, Chris Rizos, Rizos, 1998. www.jcair.com http://www.newlandgeographic.com KALMAN: http://www.cs.unc.edu/~welch/kalman/ http://www.cs.unc.edu/~tracker/media/pdf/SIGGRAPH2001_CoursePack_08.pdf http://www.cs.unc.edu/~tracker/media/pdf/SIGGRAPH2001_CoursePack_08.pdf
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Information:

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