priv.-doz. dr.-ing. habil. michael meurer german aerospace ... · german aerospace center email:...
TRANSCRIPT
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Terrestrial Navigation
Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center
Email: [email protected]
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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
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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)
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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.
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Motivation
Space and Navigation systemshave the same relation ship as
Time and Clock
Human beings exist in time and space!
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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
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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
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Embedding of the Course
Terrestrial Navigation
Satellite Navigation
Differential NavigationSatellite Navigation
Lab
Winterterm Winterterm
SummertermWinterterm
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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
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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
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Outline and Structure (2)
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
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Outline and Structure (3)
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)
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Outline and Structure (4)
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
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Terrestrial Navigation
Priv.-Doz. Dr.-Ing. habil. Michael Meurer German Aerospace Center
Email: [email protected]
Chapter 1:Introduction –
From early to modern times
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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
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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“
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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)
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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)
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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
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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
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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)
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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
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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
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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
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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
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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
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The key drivers of Localization Technologies
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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
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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)
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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?
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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
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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
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Quality Measures of Navigation Systems
Accuracy
Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)
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Quality Measures of Navigation Systems
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
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Quality Measures of Navigation Systems
Accuracy
Integrity
Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)
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Quality Measures of Navigation Systems
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
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Quality Measures of Navigation Systems
Accuracy
Integrity
Continuity
Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)
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Quality Measures of Navigation Systems
Continuity:
Capability of a navigation system to offer a navigation service without interrupt during an ongoing operation
Limit risk of losing the service unexpectedly
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Quality Measures of Navigation Systems
Accuracy
Integrity
Continuity
Availability
Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)
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Quality Measures of Navigation Systems
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]
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Quality Measures of Navigation Systems
Relationship between parameters:
Integrity
Accuracy
Continuity
Availability
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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)
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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