u-blox - Nederlands Instituut voor Navigatie NIN, Dec 2006.pdfu-blox Workshop Integrated Navigation...

u-blox

Workshop Integrated Navigation (NLR)

Dec. 15, 2006

Huub Robroek

Move 4ward

copyright 2006 u-blox 2www.u-blox.com

Agenda

• u-blox Corporate Overview

• Technologies

• Dead Reckoning

• Technology Roadmap

• u-blox 5 : 5th generation GPS receiver technology

your positionis our focus


• Founded in 1997

• Core Competences: GPS & Galileo

Silicon Integration

Module development

Software development

Assisted-GPS services

GPS IP

• More than 2‘000'000 GPS receivers sold per year

• Over 500 customers worldwide

Facts & Figures your positionis our focus


Worldwide Presence

Sales Office AmericasWashingon, DC (Herndon), USA

Technical Support OfficeHong Kong

HeadquartersZürich (Thalwil) Switzerland

Regional Office West CoastSan Diego, California (La Mesa), USA


Regional Office ChinaBeijing

Sales Office APACSingapore

Regional Office KoreaSeoul

Regional Office TaiwanTaipei



GPS Chipsets GPS Single Chip GPS Modules

Product Portfolio

GPS TechnologiesSuperSense GPSLow cost GPS Special applications

• Dead Reckoning

Integration Form Factors

Assisted-GPS ServicesShort-term A-GPS AssistNowTM

Long-term A-GPS AlmanacPlusTM

WAAS, EGNOS, DGPS


Dead Reckoning your positionis our focus

GPS + external sensors


Dead Reckoning – Principle

• GPS receiver• External sensors


GPS Receiver Position Calculation

Dead ReckoningFilter

GPS Position

Angular rate

Speed

PVT

WheelPulses

1

2

3

4

5

R

Direction

A

D

Gyroscope°C

A

D

TurnRate

Temperature


Combining GPS and DR

Good GPS ReceptionNo GPS Reception

GPS DR

EKF

GPS DR

EKF

GPS DR

EKF

PVT PVT PVT

ExtrapolationCalibration

Poor GPS Reception

Blending


Outage: 1.5 kmError: 110 m

Track based on wheel tick data

Track based on GPS data

GPS recovery

DR example : Actual Roadtest

Start of GPS outage


Influence of filtering parameters

• GPS receiver• External sensors


GPS Receiver Position Calculation

Dead ReckoningFilter

GPS Position

Angular rate

Speed

PVT

WheelPulses

1

2

3

4

5

R

Direction

A

D

Gyroscope°C

A

D

TurnRate

Temperature


Influence of filtering parameters

Drift of heading

t (sec)

heading GPSheading DWT

HeadingGPS vs DWT

Exact modeling through filter parameters


GPS + DR : Velocity & Time Delay

Velocity & Time Delay

GPS dropout


Dead Reckoning – Mathematics your positionis our focus

Absolute GPS position

DR position

Theoretical position

Heading angle δ detected by gyroscope

Traveled distance is detectedfrom odometer pulses

δ

ynxn

yn+1 = yn + dyxn+1 = xn + dx

dy = s cos( δ )dx = s sin( δ )


Dead Reckoning – Mathematics

• Velocity Computation

velocity (based on wheelticks )estimated scale factor (E[ skf ])

vDWT = skf x r x 0.5 x (pRL + pRR)

• Heading Computation Ψ(k+1) = Ψ(k) + 1/ bH x r x skf x (pRL - μ x pRR) x ΔT

toe widthradius of wheelradius difference

WheelticksSampling periodWheelticks scale factor

• Velocity Error Equation •δv = r x skf x δp + skf x p x δr + r x p x δskf

wheeltick error and noise

wheel radius error

scale factor error


GPS vs DR your positionis our focus

Strengths

• Absolute Positioning

• Non-incremental error

• Long-term use

Strengths

• External Sensors for reliable

orientation

• Immune to position jumps

Weaknesses

• Needs clear sky view

• Errors depend on constellation

• Weak signal / multipath effects

Weaknesses

• Needs absolute position for start

• Errors accumulate

• Short-term use only

GPS DR


Agenda

• u-blox Corporate Overview

• Technologies

• Dead Reckoning

• Technology Roadmap

• u-blox 5 : 5th generation GPS receiver technology



Module Form Factor your positionis our focus

20072006 2008 2009

NEO< 12.2 x 16 mm / < 195 mm2 (-49%)

TIM25 x 25 mm (645 mm2)

LEA17 x 22 mm / 375 mm2 (-40%)


2006 2007 20092008

Assisted-GPS your positionis our focus

AssistNow

Short-term A-GPS: valid for upto 2 hrs

Long-term A-GPS: valid for upto 10 days

AssistPlus

ANTARIS 4 u-blox 5 u-blox 6


5th generation GPS Receiver Technology

• Higher Sensitivity

– Tracking -160 dBm

– Acquisition -145 dBm

• Acquisition performance < 1 sec (sync to all SVs in view)

• Hybrid system operation GPS: 32 channels

Galileo: 16 channels

• Low power consumption < 50 mW @ 1.8 V

• 1-chip solution QFN56 package : 8 x 8 mm2

• Availability: mid-2007 (single-chip, modules)



u-blox 5 Galileo your positionis our focus

Orbit GIOVE-A

Actual tracking with u-blox 5

CNo (dBH

z)

Dop

pler Freq (Hz)

Time (s)


RTC XTAL, incl. 2 capacitors

GPS XTAL circuit or TCXO

DC/DC: external components

Backup battery

Application dependent

optional

optional

1

2

3

4

5

12

11

9

8

7

6

14

13

10

42

41

40

39

38

31

32

34

35

36

37

29

30

33

434445464754 53 51 50 49 4856 55 52

282726252417 18 20 21 22 2315 16 19

UBX-G5010

SAWFilter

TCXO

XTAL

RTC

VDDRF

Vbat (1.3..4.8V)

+

Vbat (1.3..4.8V)

VDDRF

USB

DDC

UA

RT

SPI

Ext.

Inte

rrup

t

Tim

e Pu

lse

CFG

CFG

CFG

CFG

CFG

CFG

CFG

CFG

JTAG

GPS Antenna

CD

XO

SPI

18 external components

u-blox 5 Bill of Material


THANK YOU

u-blox - Nederlands Instituut voor Navigatie NIN, Dec 2006.pdfu-blox Workshop Integrated Navigation...

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