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A new Modular and Open Concept for the Maritime Integrated PNT System T. Noack German Aerospace Center Institute of Communications and Navigation

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Page 1: T. Noack German Aerospace Center Institute of

A new Modular and Open Concept for the Maritime Integrated PNT System

T. Noack

German Aerospace CenterInstitute of Communications and Navigation

Page 2: T. Noack German Aerospace Center Institute of

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

Page 3: T. Noack German Aerospace Center Institute of

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

Page 4: T. Noack German Aerospace Center Institute of

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

Page 5: T. Noack German Aerospace Center Institute of

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

Page 6: T. Noack German Aerospace Center Institute of

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 ?

Page 7: T. Noack German Aerospace Center Institute of

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.

Page 8: T. Noack German Aerospace Center Institute of

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

Page 9: T. Noack German Aerospace Center Institute of

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

Page 10: T. Noack German Aerospace Center Institute of

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

Page 11: T. Noack German Aerospace Center Institute of

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

Page 12: T. Noack German Aerospace Center Institute of

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

Page 13: T. Noack German Aerospace Center Institute of

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

Page 14: T. Noack German Aerospace Center Institute of

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

Page 15: T. Noack German Aerospace Center Institute of

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

Page 16: T. Noack German Aerospace Center Institute of

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

Page 17: T. Noack German Aerospace Center Institute of

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

Page 18: T. Noack German Aerospace Center Institute of

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

Page 19: T. Noack German Aerospace Center Institute of

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

Page 20: T. Noack German Aerospace Center Institute of

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.

Page 21: T. Noack German Aerospace Center Institute of

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

Page 22: T. Noack German Aerospace Center Institute of

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”

Page 23: T. Noack German Aerospace Center Institute of

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

Page 24: T. Noack German Aerospace Center Institute of

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

Page 25: T. Noack German Aerospace Center Institute of

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

Page 26: T. Noack German Aerospace Center Institute of

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]