uNavChip Ultimate Navigation Chip - nist.gov · PDF fileMicro-Electro-Mechanical Systems ......
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Optimal Estimation Theory (Cooperative Localization) Advanced Signal Processing (Signals of Opportunity) Micro-Electro-Mechanical Systems uNavChip: Ultimate Navigation Chip Chip-Scale Personal Navigation System Integrating Deterministic Localization and Probabilistic Signals of Opportunity Andrei M Shkel, Ph.D. 1 ; Zak Kassas, PhD 2 ; Solmaz Kia, PhD 1 , Andrei Chernyshoff, PhD 3 1 University of California, Irvine 2 University of California, Riverside 3 Independant Consultant INTRODUCTION APPROACH ENABLING TECHNOLOGY IMPLEMENTATION REFERENCES Figure 2. Cloud of SOP Figure 3. Cooperative Localization ABSTRACT CONTACTS Principal Investigator Andrei M. Shkel, Professor University of California, Irvine Email: [email protected] Phone: (949) 824-3842 Website: http://mems.eng.uci.edu Co-Investigator Zak Kassas, Assistant Professor University of California, Riverside Email: [email protected] Phone: (951) 827-5652 Website: http://aspin.ucr.edu Co-Investigator Solmaz Kia, Assistant Professor University of California, Irvine Email: [email protected] Phone: (949) 824-8798 Website: http://solmaz.eng.uci.edu This project addresses the location based services intended to localize emergency responders, assets and equipment, and other people (e.g., patients and trapped persons) indoors and in covered outdoor environments, where GPS signals are unusable. Our technical approach is based on simultaneous integration of Deterministic, Probabilistic, and Cooperative Localization. Our overall technical objective is to design, build, and demonstrate a miniaturized Personal Navigation System achieving the localization accuracy on the level of 1 meter in GPS-denied environment for hours of operation. Inertial navigation, with foot-mounted sensors and motion models providing zero-velocity updates, constitute a unique, robust and high accuracy dead reckoning capability. Signals of Opportunity (i.e., cellular signals) can be turned into our own “dedicated pseudolites” for position fixing and augmentation. Cooperative Localization for a team of mobile agents, with comm. and comp. capabilities; jointly processing a relative measurement between any two agents increases localization accuracy. Localization, together with communication, are key capabilities to achieve effective situation awareness, coordination, and support. Agents are preferably localizing themselves w/o any infrastructure. The enabling technologies include foot-mounted miniaturized inertial sensors, ranging devices, and a communication (com.) and processing (proc.) devices. [1] Shkel, A. M. (2013). Expert Advice: The Chip-Scale Combinatorial Atomic Navigator. GPS World. [2] Kassas Z., et al (2017) I hear, therefore I know where I am: Compensating for GNSS limitations with cellular signals, IEEE Signal Processing Magazine [3] J. Zhu and S. S. Kia, (2017), “Consistent loosely coupled decentralized cooperative navigation for team of mobile agents,” in ION’s Int. Tech Meeting Accelerating Technology to Improve first responder communications and operations § Core Inertial Measurement Unit, Clock, Altimeter, Proximity § Guard Authenticate external signals of opportunity § Cloud Detect external signals of opportunity Ultimate Navigation Chip (uNavChip) Provide maximum autonomy, security, precision Guard Cloud Core Demonstrated near-Navigation grade in-run ARW and bias floor, [1] Government test ARW 0.0562 deg/rt-hr Bias 0.2 deg/hr Recent lab test ARW 0.015 deg/rt-hr Bias 0.09 deg/hr 0.09 deg/hr A group of communicating mobile agents Figure 1. Inertial Navigation, Foot-to-Foot Ranging, and ZUPTing Deterministic + Probabilistic + Cooperative § Radio SLAM with signals of opportunity (SOPs) § Indoor and covered outdoor cellular SOP reception stochastic modeling and analysis § SOP-aided INS and synthetic aperture navigation § Radio SLAM with signals of opportunity (SOPs) § Indoor and covered outdoor cellular SOP reception stochastic modeling and analysis § SOP-aided INS and synthetic aperture navigation On-Board Detection of Signals of Opportunity 15 mm 3 Demonstrated SOP-aided INS with 5.1m CEP after 30 sec, [2] Predicted over 70% improvements due to coop. localization, [3]
Transcript of uNavChip Ultimate Navigation Chip - nist.gov · PDF fileMicro-Electro-Mechanical Systems ......
OptimalEstimationTheory(CooperativeLocalization)
AdvancedSignalProcessing(SignalsofOpportunity)
Micro-Electro-MechanicalSystems
uNavChip:UltimateNavigationChipChip-ScalePersonalNavigationSystemIntegratingDeterministicLocalizationandProbabilisticSignalsofOpportunity
AndreiMShkel,Ph.D.1;ZakKassas,PhD2;Solmaz Kia,PhD1,AndreiChernyshoff,PhD3
1UniversityofCalifornia,Irvine2UniversityofCalifornia,Riverside 3IndependantConsultant
INTRODUCTION
APPROACH
ENABLINGTECHNOLOGYIMPLEMENTATION
REFERENCES
Figure2. CloudofSOP Figure3. CooperativeLocalization
ABSTRACT
CONTACTS
PrincipalInvestigatorAndreiM.Shkel,ProfessorUniversityofCalifornia,IrvineEmail: [email protected]:(949)824-3842Website:http://mems.eng.uci.edu
Co-InvestigatorZakKassas,AssistantProfessorUniversityofCalifornia,RiversideEmail:[email protected]:(951)827-5652Website:http://aspin.ucr.edu
Co-InvestigatorSolmaz Kia,AssistantProfessorUniversityofCalifornia,IrvineEmail:[email protected]:(949)824-8798Website:http://solmaz.eng.uci.edu
Thisprojectaddressesthelocationbasedservicesintendedtolocalizeemergencyresponders,assetsandequipment,andotherpeople(e.g.,patientsandtrappedpersons)indoorsandincoveredoutdoorenvironments,whereGPSsignalsareunusable.
OurtechnicalapproachisbasedonsimultaneousintegrationofDeterministic,Probabilistic,andCooperativeLocalization.
Ouroveralltechnicalobjectiveistodesign,build,anddemonstrateaminiaturizedPersonalNavigationSystemachievingthelocalizationaccuracyonthelevelof1meterinGPS-deniedenvironmentforhoursofoperation.
Inertialnavigation,with foot-mountedsensorsandmotionmodelsproviding zero-velocityupdates,constituteaunique,robustandhighaccuracydeadreckoning capability.
SignalsofOpportunity (i.e.,cellularsignals)canbe turnedintoourown“dedicatedpseudolites”forpositionfixingandaugmentation.
CooperativeLocalization forateamofmobileagents,withcomm.andcomp.capabilities;jointlyprocessingarelativemeasurementbetweenanytwoagentsincreaseslocalizationaccuracy.
Localization,togetherwithcommunication,arekeycapabilitiestoachieveeffectivesituationawareness,coordination,andsupport.
Agentsarepreferablylocalizingthemselvesw/oanyinfrastructure.
Theenablingtechnologiesincludefoot-mountedminiaturizedinertialsensors,rangingdevices,andacommunication(com.)andprocessing(proc.)devices.
[1] Shkel,A.M.(2013).ExpertAdvice:TheChip-ScaleCombinatorialAtomicNavigator.GPSWorld.
[2] Kassas Z.,etal(2017)Ihear,thereforeIknowwhereIam:CompensatingforGNSSlimitationswithcellularsignals,IEEESignalProcessingMagazine
[3] J.ZhuandS.S.Kia,(2017),“Consistentlooselycoupleddecentralizedcooperativenavigationforteamofmobileagents,”inION’sInt.TechMeeting
AcceleratingTechnologytoImprovefirstrespondercommunicationsandoperations
§ CoreInertial Measurement Unit, Clock, Altimeter, Proximity
§ GuardAuthenticate
external signals of opportunity
§ CloudDetect external signals of opportunity
Ultimate Navigation Chip (uNavChip)
Provide maximum autonomy, security, precision
GuardCloud
Core
Demonstratednear-Navigationgradein-runARWandbiasfloor,[1]
Governmenttest
ARW 0.0562deg/rt-hrBias 0.2deg/hr
RecentlabtestARW 0.015deg/rt-hrBias 0.09deg/hr
0.09 deg/hr
A group of communicating mobile agents
Figure1. InertialNavigation,Foot-to-FootRanging,andZUPTing
Deterministic+Probabilistic+Cooperative
§ RadioSLAMwithsignalsofopportunity(SOPs)§ IndoorandcoveredoutdoorcellularSOPreceptionstochastic
modelingandanalysis§ SOP-aidedINSandsyntheticaperturenavigation
§ RadioSLAMwithsignalsofopportunity(SOPs)§ IndoorandcoveredoutdoorcellularSOPreceptionstochastic
modelingandanalysis§ SOP-aidedINSandsyntheticaperturenavigation
On-BoardDetectionofSignalsofOpportunity
15mm3
DemonstratedSOP-aidedINSwith5.1mCEPafter30sec,[2]
Predictedover70%improvementsduetocoop.localization,[3]
