Making Gnss Simple For Self-driving Cars

Transcript

Making GPS/GNSS Easier for SelfDriving Cars NovAtel System Package Solutions Three Grades Available: 1. System Level 1 – “Good” single antenna MEMS grade 2. System Level 2 – “Better” dual antenna MEMS grade 3. System Level 3 – “Best” dual antenna Tactical/Navigation grade 6 NovAtel Inc. Proprietary System Level 1 – Hardware GNSS-502 Antenna: Dual Frequency, Multi-constellation Dual Magnetic Mounts SPAN-IGM-A1: ADIS16488 MEMS IMU L1/L2 GPS + GLONASS RTK Rover Capable 20 Hz Positions and Measurements 200 Hz Inertial Measurements 7 NovAtel Inc. Proprietary System Level 1 – Advantages Advantages: - Compact, Rugged and Lightweight - Small Form Factor - High Rate Data Output - Wheel Sensor Support - Serial, USB, CAN and I/O 8 NovAtel Inc. Proprietary System Level 1 - Performance SPAN-IGM-A1: Outage Duration 0s 10 s Positioning Mode Position Accuracy (m) Horizontal Vertical RTK 0.02 0.03 SP 1.00 0.60 PP 0.01 0.02 RTK 0.46 0.13 SP 1.41 0.70 PP 0.02 0.02 RTK – Real Time Kinematic Carrier Phase Corrected Solution SP – Single Point Uncorrected Solution PP – Post Processed Solution using Waypoint Inertial Explorer 9 NovAtel Inc. Proprietary System Level 2 - Hardware 2 GNSS-502 Antennas: Dual Frequency Multi-Constellation L-Band (PPP) Dual Magnetic Mounts ProPak-6D1 Dual Antenna Support Cellular L1/L2 GPS+GLONASS L-Band TerraStar-C PPP Corrections -1 Grade IMUs 20 Hz Positions and Measurements 4GB Internal Memory IMU-IGM-S1: 125 Hz Inertial Measurements Direct Wheel Sensor Support Commercially Exportable Small and lightweight design 10 NovAtel Inc. Proprietary System Level 2 - Advantages Advantages over Level 1: - Superior Performance in GNSS Outages - Dual Antenna Alignment & Heading Updates - NTRIP/RTK Corrections over Cellular - More Processing Power - Internal Logging - More Ports: Ethernet, 7 Serial, 2 CAN, USB, Wi-Fi, Bluetooth 11 NovAtel Inc. Proprietary System Level 2 - Accuracy IMU-IGM-S1: Outage Duration 0s 10 s 60 s Position Accuracy (m) Positioning Mode Horizontal Vertical RTK 0.02 0.03 SP 1.00 0.60 PP 0.01 0.02 RTK 0.27 0.14 SP 1.22 0.71 PP 0.02 0.02 RTK 6.61 1.46 SP 7.56 2.03 PP 0.22 0.10 12 NovAtel Inc. Proprietary System Level 3 - Hardware 2 GNSS-502 Antennas: Dual Frequency Multi-constellation L-Band (PPP) Dual Magnetic Mounts ProPak-6D1 Dual Antenna Support Cellular L1/L2 GPS+GLONASS L-Band TerraStar-C PPP Corrections -3 Grade IMUs 20 Hz Positions and Measurements 4GB Internal Memory IMU-ISA-100C Northrop Grumman Rugged Enclosure 200 Hz Inertial Measurements FOG/MEMS Navigation Grade 13 NovAtel Inc. Proprietary System Level 3 – Hardware Alternative IMU IMU-KVH1750 KVH 200 Hz Inertial Measurements FOG/MEMS Tactical Grade 14 NovAtel Inc. Proprietary System Level 3 - Advantages Advantages over Level 2: - Industry Standard Ground Truth Reference System (ISA) - Maximum Position, Velocity and Acceleration Performance - Excellent Solution Stability in 60s Outages - Operability in Extreme Environments: - Heavy Urban Canyon - Tunnels - Stacked Freeways 15 NovAtel Inc. Proprietary System Level 3 - Accuracy KVH 1750: Outage Duration 0s 10 s 60 s Positioning Mode Position Accuracy (m) Horizontal Vertical RTK 0.02 0.03 SP 1.00 0.60 PP 0.01 0.02 RTK 0.13 0.12 SP 1.15 0.70 PP 0.01 0.02 RTK 3.30 1.70 SP 4.30 2.30 PP 0.15 0.11 16 NovAtel Inc. Proprietary System Level 3 - Accuracy ISA-100C: Outage Duration 0s 10 s 60 s Positioning Mode Position Accuracy (m) Horizontal Vertical RTK 0.02 0.05 SP 1.20 0.60 PP 0.01 0.02 RTK 0.07 0.10 SP 1.25 0.65 PP 0.01 0.02 RTK 0.72 0.45 SP 1.90 1.00 PP 0.04 0.02 17 NovAtel Inc. Proprietary Sample System Setup Ground Vehicle Configuration Z Secondary Primary X Y INS Offset 18 NovAtel Inc. Proprietary System Setup Receiver Configuration: CONNECTIMU SETIMUTOANTOFFSET VEHICLEBODYROTATION } APPLYVEHICLEBODYROTATION SETINSOFFSET 19 NovAtel Inc. Proprietary Available Information Commonly Utilized logs: • • • • • • • • • LOG RXSTATUS – receiver status information LOG VERSION – information for all components of a system LOG RANGE – contains channel measurements LOG RAWEPHEM – raw information for GPS subframes LOG BESTPOS – solution computed with lowest std. deviation LOG RAWIMUS – raw IMU measurements and status indicator LOG INSPVA/S/X – INS position, velocity, and attitude solution LOG INSUPDATE – details regarding applied updates LOG INSCOVS – INS covariance information 20 NovAtel Inc. Proprietary