ICRAT 2004, Zilina 22 – 24 November, SlovakiaICRAT 2004, Zilina 22 – 24 November, Slovakia

ALEXANDER BEREZHOYTransport and Telecommunication Institute, Latvia

Computer Science Department LecturerPhD StudentTransporta un Sakaru Institūts

  

URBAN ENVIRONMENT MONITORING URBAN ENVIRONMENT MONITORING AND CONTROL MODEL DEVELOPMENT AND CONTROL MODEL DEVELOPMENT

BY MEANS OF MOBILE AIRBORNE BY MEANS OF MOBILE AIRBORNE MULTIPURPOSE CENTER APPLICATIONMULTIPURPOSE CENTER APPLICATION

ICRAT 2004ICRAT 2004

URBAN ENVIRONMENTAL PROBLEMS: URBAN ENVIRONMENTAL PROBLEMS: AN APPROACH TO SOLUTIONAN APPROACH TO SOLUTION

Urban EnvironmentProblems

Urban Needs

Air pollution

Poor sanitation

Processing ofwaste products

Contaminatedwater

Deforestation Trafficcongestion

Noiseexposure

Heavy metalspresence

etc.Traditional Ways of Solving Problems

Needs should be measurable!

Monitoring Control

ScaleSeparate Site

City Scale

Fire Danger

HOW?

MOBILE AIRBORNE MULTIPURPOSE CENTERCONSTRUCTION

IDEA!

Pecularities of allocation

Necessity to monitor the situation on different scale

Increase the monitoring distance Perform remote gathering of data Increase the number of controlled objects

Take the benefit of usage different types of"AEROELASTIC SYSTEMS"

gasbagsaerostatsdirigible balloonsairships

BALLOONS – AN IRREVOCABLY LEFT VESTIGE!?BALLOONS – AN IRREVOCABLY LEFT VESTIGE!?

Regardless of external archaistic view and functioning principles, dirigible balloons and airstats possess some unique features that opens new opportunities for its future application

WAITING FOR A SECOND LIFE - PERSPECTIVESWAITING FOR A SECOND LIFE - PERSPECTIVES

“…For creation of a network of broadband access in region with diameter of scope about 700 km, in 1999 by Sky Station company it has been developed a drop-shaped dirigible balloon filled with helium, 157 m length and diameter of 62 m. It could be located at a height of about 21 km, forming the necessary capacity for the wind stream resistance that is appreciable enough at these heights though the air density is 14 times lower, than at a surface level…”

DEFINITION OF FORMAL RELATIONS LOGICS DEFINITION OF FORMAL RELATIONS LOGICS FOR MODEL DEVELOPMENTFOR MODEL DEVELOPMENT

Example:

Goal 1Goals:

Object groups:

Goal 2 Goal 3 ... Goal N

OG 1 OG 2 OG 3 OG N...

OG 1

OG 2

OG (N-1)

OG 3

OG N

Object groupsattributes:

OG 1

ATTR 1 ATTR 2 ATTR 3 ATTR M...

OGA 1.1 - 1.MOGA N.1 - N.M

Object attributes may overlap

OG1 {OGA 1.1, OGA 1.2, …,OGA 1.M} OG2 {OGA 2.1, OGA 2.2, …,OGA 2.M} … OGN {OGA N.1, OGA N.2, …,OGA N.M}

OGA 1.3 = OGA 2.1 = OGA 3.2

OR

OGA (N-1).1= OGA N.M

Topography elements and indicators may berelated to different measurement tasks

Average speed attribute may be related tovehicle management service either to traffic

stream monitoring service

For the similar tasks same methods of gathering informationmay be applied !

GENERAL REQUIREMENTS TO SERVICEGENERAL REQUIREMENTS TO SERVICE

Functional: Possible to observe all the movings for different types of transport means,dividing it into the cathegories - public transport / private lightweight traffic / long vehicles

On-time: Necessary to obtain a real-time data on transport streams from macroscopicperspective

Cost-effective: Cheaper according to expenses level on the city scale

Reliable: Collecting reliable data without interrupts and/or failures

Secure: Protecting the data flow due to the strategic value of relevant information. There isonly one step from monitoring to control or unauthorized usage

Example:

ServiceGeneral Requirments

to Service

System 1 System 2 System K...

RQ1 RQ2 RQK

General Requirements to service may overlap with LocalRequirements to separate systems

General Requirements to service may sometimes come incontradiction with Local Requirements to separate systems!

GENERAL REQUIREMENTS

FunctionalOn-timeCost-effectiveReliableSecure

SERVICES STRUCTURE PROTOTYPESERVICES STRUCTURE PROTOTYPE

SERVICE MODEL

EnvironmentalService

- Noise Pollution Measurements- Air Pollution Measurements- Radiation Dose Measurements- Atmosphere Research Tasks

Fire Conditions

Supervision Service

- Fire Situation On-line Monitoring- Service-fire Car Navigation- Fire Priority Alarm Service

Traffic Management

Service

- Traffic Jam On-line Monitoring- Route Information Service- Navigation Advisor Service- Traffic Stream Measurements

Vehicle Tracing Service

- Stolen Car Search- Remote Vehicle Identification- Security Marker Tracing

Geodetic, Cartographic and Cadastral

Assistance Service

- Topographical Shooting- Aerial Photography- Continuous Monitoring of Changes - Geo Information System (GIS) Application

Services for

Telecommunication

- Relaying Stations Accommodation- PoP for Internet Service Providers- Voice & Data Communication for Internet and Mobile Access Unsupported Areas

Weather Information

Service

- Meteorological Sensor Accommodation- Weather Monitoring Service

High density of the transport streams

Comparatively low driving speed Frequent traffic congestions Significant overload of the road

network Presence of the big transit share

through city Difficulties in driving because of

wrong car placement for parking The public transport does not cope

well with passenger traffic volumes and couldn’t be considered as a worthy alternative to private transport means

TASK 1 EXAMPLE: THE NEED TO IMPLEMENT THE TASK 1 EXAMPLE: THE NEED TO IMPLEMENT THE URBAN TRANSPORT CONTROL SYSTEM IN RIGAURBAN TRANSPORT CONTROL SYSTEM IN RIGA

Reduction of transport streams attraction by means of Reduction of transport streams attraction by means of putting restrictions on construction of business putting restrictions on construction of business infrastructure and trading & serving spheres objectsinfrastructure and trading & serving spheres objects

Rearrangement of some establishments from the central Rearrangement of some establishments from the central part of citypart of city

Construction of multi-storey parking buildings and Construction of multi-storey parking buildings and removing of street parking placementsremoving of street parking placements

Restriction for entrance of transit transport inside the cityRestriction for entrance of transit transport inside the city Introduction of the automatedIntroduction of the automated urban traffic streams urban traffic streams

control system with the SATELLITE NAVIGATION control system with the SATELLITE NAVIGATION SYSTEM applicationSYSTEM application

POSSIBLE WAYS OF SOLVING THEPOSSIBLE WAYS OF SOLVING THEPOINTED PROBLEMSPOINTED PROBLEMS

GATHERING DATA: MEASUREMENT TECHNIQUESGATHERING DATA: MEASUREMENT TECHNIQUES

Direct measurementsDirect measurements Indirect measurementsIndirect measurements

Traffic Detection Systems

DataStorage

MobileObjects

Gauges

MonitoringImage

Processing

DataProcessing

Feedback Control

COMPARISON OF TRAFFIC DETECTION SYSTEMSCOMPARISON OF TRAFFIC DETECTION SYSTEMS(Part 1)(Part 1)

Name of the Name of the systemsystem

Performed tasksPerformed tasks AdvantagesAdvantages DisadvantagesDisadvantages

Traffic loopTraffic loop

Vehicles classificationVehicles classificationTraffic volumes Traffic volumes calculationcalculationLane occupancy Lane occupancy determinationdeterminationVehicle speeds, average Vehicle speeds, average speeds calculationspeeds calculation

Weather immunityWeather immunityLow costLow costOut of reach of Out of reach of vandalsvandals

UnreliableUnreliableRequire lane closures Require lane closures during installationduring installation

Video Video Detection Detection SystemsSystems

Traffic analysisTraffic analysisIncident detectionIncident detectionVehicle trackingVehicle trackingVehicle identificationVehicle identificationQueue length measure-Queue length measure-mentmentSpeed enforcementSpeed enforcementTraffic flow monitoringTraffic flow monitoring

FlexibilityFlexibilityImage verification Image verification with originalwith original+ Digital processing + Digital processing upgradeupgrade+ Wireless image + Wireless image transmissiontransmission+ Low cost digital + Low cost digital silhouette systemsilhouette system

Correct placement of Correct placement of cameracameraWeather dependentWeather dependentExpensiveExpensive

COMPARISON OF TRAFFIC DETECTION SYSTEMSCOMPARISON OF TRAFFIC DETECTION SYSTEMS(Part 2)(Part 2)

Name of the Name of the systemsystem

Performed tasksPerformed tasks AdvantagesAdvantages DisadvantagesDisadvantages

Microwave Microwave SystemsSystems

Motion detection at Motion detection at signal intersectionssignal intersectionsMicrowave-based for Microwave-based for pedestrian pedestrian acknowledgementacknowledgement

SmallSmallLow power Low power consumptionconsumptionLight-weightLight-weightEasy to installEasy to installLong rangeLong rangeCost effectiveCost effective

Needed potential for Needed potential for interference (on interference (on frequencies)frequencies)

Infra-red Infra-red Sensor- based Sensor- based SystemsSystems

VICS vehicle VICS vehicle navigation systemnavigation systemVehicle classificationVehicle classificationObject determination Object determination with T > abs. Zerowith T > abs. ZeroMotion detectionMotion detection

SmallSmallSensitiveSensitive

Unreliable within weather Unreliable within weather conditions (rain, fog, conditions (rain, fog, snowfall)snowfall)

COMPARISON OF TRAFFIC DETECTION SYSTEMSCOMPARISON OF TRAFFIC DETECTION SYSTEMS(Part 3)(Part 3)

Name of Name of the systemthe system

Performed tasksPerformed tasks AdvantagesAdvantages DisadvantagesDisadvantages

Laser-Laser-based based SystemsSystems

Vehicle detectionVehicle detectionVehicle classificationVehicle classificationEnforcement application Enforcement application (speed, acceleration)(speed, acceleration)

Operation speedOperation speedPrecisionPrecisionExtremely high Extremely high effectivenesseffectivenessCompatibility with Video Compatibility with Video detection systemsdetection systems

ExpensiveExpensive

Radar Radar SystemsSystems

Speed enforcementSpeed enforcementVehicle classificationVehicle classificationVehicle presenceVehicle presenceTraffic volumeTraffic volumeLane occupancyLane occupancy

Detection qualityDetection quality

A group of experts assigns a set of, importance weights to the attributes, w = {w1, w2, …, wn}.

Then the most preferred alternative, A*, is selected such that where xij is the outcome of the

ith alternative about the jth attribute with a numerically comparable scale.

}max|{

1

1*

n

jj

n

jijj

ii

w

xw

AA

.11

n

jjw

SELECTION OF REMOTE VEHICLE DETECTION SELECTION OF REMOTE VEHICLE DETECTION SYSTEMSYSTEM

SIMPLE ADDITIVE WEIGHTING METHOD

TRAFFIC DETECTION ANDMONITORING SYSTEMS

TRAFFIC DETECTION ANDMONITORING SYSTEMSSUITABLE FOR REMOTE

MEASUREMENTS

SELECTION RESULTS FOR TRAFFIC DETECTION SELECTION RESULTS FOR TRAFFIC DETECTION SYSTEMSSYSTEMS

• Video Detection Systems• Laser-based Systems• Radar Tracking Systems

On the same time it is also possible to take the benefit of active response systems usage

WINNERS:

LOCATED EQUIPMENT FOR GATHERING, LOCATED EQUIPMENT FOR GATHERING, PROCESSING AND TRANSFER OF INFORMATIONPROCESSING AND TRANSFER OF INFORMATION

Video Observing

Radar Location

Radio Navigation

RadioCommunication

Sensor Sets Temperature gauges Dosimeters Humidity sensors Barometric pressure sensors Photoelectric anemometers Linear rotating sensors Tipping bucket volume gauges etc.

Satellite navigation systems Radiodirection finding systems

Radar tracking systems

Active response narrowband communication systems Active response broadband communication systems

Monitoring systems Video detection systems Video selection systems Video compression and storage systems

SYSTEM APPROACH: COMMUNICATION SYSTEM APPROACH: COMMUNICATION ARCHITECTURE FOR AIRBORNE MULTIPURPOSE ARCHITECTURE FOR AIRBORNE MULTIPURPOSE

CENTERCENTER

TASK 2 EXAMPLE: INCRESEANIG THE TASK 2 EXAMPLE: INCRESEANIG THE ACCURACY OF POSITIONING FOR ACCURACY OF POSITIONING FOR

TRANSPORT MEANSTRANSPORT MEANS

Stationary gauges for defining a location (video detection Stationary gauges for defining a location (video detection systems, microwave systems, laser-based systems etc.)systems, microwave systems, laser-based systems etc.)

Portable systems of navigation (ETAK, the Autonavigator, etc.)Portable systems of navigation (ETAK, the Autonavigator, etc.) Radiowave systemsRadiowave systems

– Radar-tracking systemsRadar-tracking systems

– Radionavigation systemsRadionavigation systems

» Satellite navigationSatellite navigation ( (NAVSTAR, GLONASS, NAVSTAR, GLONASS, GALLILEO)GALLILEO)

» Radiodirection findingRadiodirection finding ( (Quiktrack, etc.)Quiktrack, etc.)

TRAFFIC NAVIGATION SYSTEMS:

Possibility to correlate coordinate of the consumer with time coordinates

Integrity of the received information (the information “is stacked" in one information package, which can be subsequently processed in urban traffic control center)

High reliability and accuracy levels of the obtained data

Almost all the late produced transport means are equipped with satellite navigation receivers

BENEFITS OF SATELLITE NAVIGATION IN URBAN BENEFITS OF SATELLITE NAVIGATION IN URBAN ENVIRONMENT CONDITIONSENVIRONMENT CONDITIONS

At present, there are many companies in the world that develop and produce similar systems (VIALIS, ACIS, ELTRA group, etc.).

As an example, the system of company ACIS - BusNet is represented. The given system is a control system for city public transport and is used in many cities of Europe.

MOBILE OBJECT CONTROL WITH GLOBAL MOBILE OBJECT CONTROL WITH GLOBAL NAVIGATION SATELLITE SYSTEMSNAVIGATION SATELLITE SYSTEMS

2 MAJOR TYPES OF SATELLITE POSITIONING 2 MAJOR TYPES OF SATELLITE POSITIONING ERRORS IN A CITY BOUNDRIESERRORS IN A CITY BOUNDRIES

1. 1. MULTIPATH ERRORMULTIPATH ERROR

Refractions from buildings, Refractions from buildings, constructions, causes an error constructions, causes an error ~0.6-1.2 m~0.6-1.2 m

The given type of mistakes The given type of mistakes cannot be avoided, since GPS cannot be avoided, since GPS receiver perceives refracted receiver perceives refracted signal as a truesignal as a true..

(GDOP)

Positioning accuracy

Geometric factor

p

geometry“Preferable”

Pseudo-range error

Small errors ellipse

m = GDOP .

Preferable GDOP (an ideal case): One satellite in the zenith, three above horizon with a difference in an azimuth of 120 degrees

Average value GDOP = 2,5

geometry“Unacceptable”

Pseudo-range error

Large errors ellipse

Pseudo-range measurements

accuracy

2.2. AN INFLUENCE OF GEOMETRIC FACTOR ON AN INFLUENCE OF GEOMETRIC FACTOR ON THE ACCURACY OFTHE ACCURACY OF GNSSGNSS

The technology of The technology of differential GPS differential GPS (DGPS) is based (DGPS) is based on use of the on use of the second receiver second receiver established in a established in a point with point with beforehand known beforehand known coordinates. It coordinates. It constantly constantly broadcasts broadcasts adjusting signals adjusting signals which are which are integrated with the integrated with the data broadcast data broadcast from satellites.from satellites.

POSITIONING ACCURACY IMPROVEMENT POSITIONING ACCURACY IMPROVEMENT METHODMETHOD

POSSIBLE SOLUTIONS FOR DIFFERENTIAL GPS POSSIBLE SOLUTIONS FOR DIFFERENTIAL GPS IMPLEMENTATIONIMPLEMENTATION

1. Transfer of RTCM amendments with the assistance of geostationary satellites (Omnistar, Starfix, Seastar)

2. Amendments transfer using a subcarrier frequency in the FM range – Installation of one DGPS station and transfer of

amendments to GSM environment through the channels of mobile communication

– Construction of the network of differential amendments stations

TASK 2 EXAMPLE: USING THE AIRBORNE TASK 2 EXAMPLE: USING THE AIRBORNE PLATFORM FOR DIFFERENTIAL CORRECTION PLATFORM FOR DIFFERENTIAL CORRECTION

STATIONS ACCOMODATIONSTATIONS ACCOMODATION

Radio Tower

Radio Tower

Satellite

SatelliteSatellite

Satellite

SatelliteMeasurement Complex

Radio Tower

Traffic Control Centre

It is possible to avoid both types of errors – multipath error and influence of geometric factor and make it in a more cost-efficient way!

CONCLUSIONCONCLUSION

• Accommodation of key monitoring and control elements over an urban environment conditions on a platform of “aeroelastic mean” has been offered• The prototype of services structure has been developed• A selection task for remote vehicle detection and monitoring system has been solved• The analysis of conditions for differential correction system allocation has been carried out• Communication architecture for the airborne multipurpose center has been proposed

THANK YOU FOR ATTENTION!THANK YOU FOR ATTENTION!

ALEXANDER V. BEREZHOYPh.: +371 9110030Fax: +371 7100535E-mail: avb@tsi.lv