t. noack german aerospace center institute of
TRANSCRIPT
A new Modular and Open Concept for the Maritime Integrated PNT System
T. Noack
German Aerospace CenterInstitute of Communications and Navigation
PNT
www.DLR.de • Chart 2 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
P = Position
N = Navigation
T = Time
PNT System ashore & aboard components for navigation
PNT Module one part of the INS for navigation reletad issues
PNT Unit the kernal (SW) of the PNT module
Safe Navigation under all conditions – The main questions
What is the position, velocity and course of my own vessel?
Where are the other vessels and do they crossing my route?
Are there other obstacles along the fairway?
How reliable are these information?
www.DLR.de • Chart 3 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
The Modern BridgeFire Detection Panel
GPS
SpeedLog
Rudder Angle Indicator
ECDIS
Echosounder
Radar
Engine Controls
Switch Panels
AIS
Magnetic Compass
SAR-Transponder
Gyro Compass
Source: Kongsberg
www.DLR.de • Chart 4 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Navigation related Sensors on the Modern BridgeFire Detection Panel
SpeedLog
Rudder Angle Indicator
Echosounder
Radar
Engine Controls
Switch Panels
Magnetic Compass
SAR-Transponder
Gyro Compass
Source: Kongsberg
Echosounder
Radar
Gyro Compass
www.DLR.de • Chart 5 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
ECDIS
GPS
AIS
Navigation related Parameters on the Modern Bridge Fire Detection Panel
SpeedLog
Rudder Angle Indicator
Echosounder
Radar
Engine Controls
Switch Panels
Magnetic Compass
SAR-Transponder
Gyro Compass
Quelle: Kongsberg
Echosounder
Radar
Gyro Compass
www.DLR.de • Chart 6 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
ECDIS
AIS
GPS
SpeedLog
Magnetic Compass
Echosounder
Radar
Gyro Compass
AIS
GPS
Radar object (ARPA)
AIS object
AIS object
own vessel (PNT)
ECDISEverything is measurable !
But can we really trust the
information we get ?
Challenges
www.DLR.de • Chart 7
Around 20% of accidents are induced by technical factors*
Reasons are - malfunctions and errors in nautical systems- imprecise, incomplete or falsified provision of nautical information
- misinterpretations of navigation relevant data * Source: HELCOM Report onshipping accidents in the Baltic Seaarea during 2011
• MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Higher Transport volume leads to increasing traffic densities and increasing vessel size with higher potential in collision and groundings.
www.DLR.de • Chart 8 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Consolidated technical specification of user needs
Reliability should be measurable and scalable!
IMO MSC.233(83) intends the application of RAIM to assess the GNSS based provision of PVT data.
The INS (IMO MSC.252(83); IEC 61924)applies plausibility and consistency checks to assess the PNT data provided by several ship-side sensors.
IMO A.915(22) specifies minimum requirements on horizontal position data given in unambiguous terms of accuracy, integrity, continuity and availability.
Harmonized meaning of integrity information
Management of integrity within systems operating with distributed components and services
Equivalent specifications for other navigational data (e.g. SOG, STW, ROT, Heading, …)
Crossover from minimum to scalable requirements (accuracy, integrity) by consideration of specific tasks and their temporal and spatial dependencies
www.DLR.de • Chart 9 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
INS
ship-side components
Augmentation Services1 … N
PNT relevant MSP
etc.
PNT relevant MSI
Backup Services1 … K
World Wide Radio Navigation Systems (WWRNS)
shore-side serviceslinks
functional links
physical linksPNT Module
with PNT Unit
Generic Architecture of the whole PNT System
www.DLR.de • Chart 10 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Global Navigation Satellite Systems GALILEOGPS
ship-board
PNT Unit**(Value-added data processing system)
© DLR IKN 2011
shore-based
P + I N + I T + I
Output: PNT data + Integrity data(Consistent Common Reference)
Multi-System Radio Navigation Receiver(Core PNT Sensor)
GNSS/SBASReceiver*
GNSSReceiver*
Integrated GNSS/Backup Receiver*
Integrated GNSS/DGNSS Receiver*
Terrestrial Augmentation Services
IALA Beacon DGNSSAIS DGNSS
M-GBAS (RTK) ?
A + S
Integrated PNT Module
GLONASSSatellite BasedAugmentation Systems WAAS EGNOS Beidou
Terrestrial Backup Services
eLoran
R-Mode
PNT part of Maritime Service Portfolio
(MSP)
*Could be included in AIS device, need of raw data
Standard Navigation Sensors
Gyro Compass
ROT Indicator
Radar Map Matching
SDME
Additional Navigation Sensors
IMU
ePelorus
Echo Sounder
** fusion of all sensor and service data will be realised by PNT Unit
The PNT Portfolio
www.DLR.de • Chart 11 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Institutsseminar IKN Ralf Ziebold 2012/02/29 The on-board maritime PNT Module – Concept and first experimental results
Current approach 1: single sensor based PNT determination
Shipboard Sensor Layer
Shipboard Processing Layer
GNSS Receiver
DGNSS Receiver
etc.
WWRNSsensors
Gyro / Compass
Speed / Log
Othershipboardsensors
etc.
ROTI
interface, point of type approval
PVT
PVT
N
N
N
Onboard staff
Captain is responsible for fusion of information from different sensors and displays
www.DLR.de • Chart 12 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Current approach 2: Integrated Navigation System (INS)
Shipboard Sensor Layer
Shipboard Processing Layer
GNSS Receiver
DGNSS Receiver
etc.
WWRNSsensors
Gyro / Compass
Speed / Log
Othershipboardsensors
etc.
ROTI
interface, point of type approval
PVT
PVT
N
N
N
Check Matrix of PVT & N
data
realized byINS
PNT
Integrity(plausibility,consistency)
Alerts
INS is not a mandatory system, but if it is installed it can replace single sensor requirements
www.DLR.de • Chart 13 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Shipboard Sensor Layer
Shipboard Processing Layer
GNSS Receiver
DGNSS Receiver
Multi Radio Navigation Receiver
etc.
WWRNSsensors
Gyro / Compass
Speed / Log
Othershipboardsensors
etc.
ROTI
interface, point of type approval
PVT
PVT
PVT
N
N
N
PNT- Unit
Data ProcessingLayer of
PVT, N & rawdata
as part of INS
best PNT
Integrity(accuracy)
Alerts
Other PNT relevant Input Data (Radar, MSI, AIS,…)
raw
raw
raw
raw
raw
raw
The new PNT Unit Approach
Position, Navigation and Timing Unit
www.DLR.de • Chart 14
bib
biba
Processing chains based on selected sensor set and accuracyassessment in real time
• MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
www.DLR.de • Chart 15
-250 -200 -150 -100 -50 0 50 100-100
-50
0
50
100
150
200
East [m]
Nor
th [m
]
Trajectory with respect to the starting point
GPS onlyGPS/IMU (sat. filter)GPS/IMU (no sat. filter)
Dynamic model (herein IMU) can smooth the positioning results
Dynamic model (herein IMU) can smooth the positioning results
Integrity monitoring on each measurement has dominant effects
in the accuracy improvement
Integrity monitoring on each measurement has dominant effects
in the accuracy improvement
Estimation of reliable position with/without satellite filtering• MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
www.DLR.de • Chart 16 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Implementation Approach of PNT Unit in INS
www.DLR.de • Chart 17 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
INS
ship-side components
Augmentation Services1 … N
PNT relevant MSP
etc.
PNT relevant MSI
Backup Services1 … K
World Wide Radio Navigation Systems (WWRNS)
shore-side serviceslinks
functional links
physical linksPNT Module
with PNT Unit
Generic Architecture of the whole PNT System
www.DLR.de • Chart 18 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Maritime Ground Based Augmentation System (M-GBAS)
IMS = Integrity Monitoring Station RS = Reference Station GUT = GBAS User Terminal
www.DLR.de • Chart 19 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
M-GBAS Integrity Message Monitor
www.DLR.de • Chart 20 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Using of M-GBAS at ship-board site
The effectiveness of applied integrity monitoring functionalities has been demonstrated that requirements on automatic docking can be fulfilled.
www.DLR.de • Chart 21 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Integrated PNT System
Legend:- Product specification
P/I - Position and Integrity DataN/I - Navigation and Integrity DataT/I - Time and Integrity DataA/S - Alert and Status data
Backup
Augmentation N
Augmentation 1
etc.
World Wide Radio Navigation System (WWRNS)
INS PNT Module
RadioLinks
Ship-side Shore-side
Individual PNT Services
Needed basis to exploit existing and future
redundancy for integrity assessment.
Compliant with modular INS approach.
Supports the crossover from sensor specific PS to taks / output data based PS.
etc.PNTModule
COMModule
AISModule
ModuleX
AlarmManagement
Module
PresentationSurfaceModule
Integrated Navigation System
Speed / Log
Gyro / Compass
Radar Map Matching
Multi Radio Navigation Receiver
DGNSS Receiver
GNSS Receiver
WWRNS
etc.
PNT Module
PNT(processing)
Unit
P/I
N/I
T/I
A/S
PNT(processing)
Unit
Concept of Integrated PNT System
Do things in an international framework E-Navigation
www.DLR.de • Chart 22 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
IMO-NAV54/25-Annex12:E-Navigation Implementation Process
Definition
Core Elements (IMO NAV 24/15) Architecture HMI Convention &
Standards Positioning Fixing
Communication & Information
ENC’s Equipment
Standardisation Scalability
“e-Navigation is the harmonized collection, integration, exchange, presentation and analysis of maritime information onboard and ashore by electronic means to enhance berth to berth navigation and related services, for safety and security at sea and protection of the marine environment”
Position, Navigation and Timing Unit
www.DLR.de • Chart 23
0 50 100 150 200 2500
50
100
150
200
250
300
350
400
450
East [m]
Nor
th [m
]
Trajectory with respect to the starting point
GPS onlyGPS/IMU Integration
10:26 10:27 10:28 10:29 10:300
2
4
6
8
10
12
14
16
Local time [hour:minute]
Abs
olut
e er
ror [
m]
Horizontal error with respect to the reference trajectory
GPS onlyGPS/IMU Integration
10:26 10:27 10:28 10:29 10:30-5
0
5
10
15
20
Local time [hour:minute]
Diff
eren
ce [m
]
Difference between measured and estimated pseudoranges
GPS PRN 7GPS PRN 8GPS PRN 26
• MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Real Time Traffic Situation Assessment Demonstrator
www.DLR.de • Chart 24
01.01.2010Msg Type 5Msg#: 92.392Update rate: 6 min
01.01.2010Msg Types 1,2,3Msg#: 2.156.911Update rate: 2-180 sec
Development of own graphical tools and user interfaces for analysis
and demonstration
• MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
www.DLR.de • Chart 25 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
Summary
Proposal: Integrated PNT System with PNT processing Unit DLR initiative within IALA / IMO (E-Navigation)
Integrity monitoring concept based error estimation using capabilities of sensor fusion techniques
Integration of shore-site components to improve the reliability of used systems and services Prototype of Maritime GBAS system at Research Port Rostock
Status: PNT Unit demonstrator development Different measurement campaigns Characterization of single sensors Algorithm development and test
www.DLR.de • Chart 26 • MTS-2012 • Maritime Integrated PNT Unit • Thoralf Noack • Institute of Communications und Navigation • Nautical systems • 22.09.2012
… and always a good journey!
Many thanks for your Attention
Thoralf NoackGerman Aerospace [email protected]