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NOVEMBER
G P SWO R LD.CO M
2015
FEATURE
58 INNOVATION
ENHANCED LORAN
A Wide-Area Multi-Application PNT Resiliency Solution
BY Stephen Bartlett, Gerard
Offermans and Charles Schue
Enhanced Loran could furnish the wide-area
complementary solution to GPS that is urgently
needed for critical infrastructure components.
This article highlights the state of current eLoran
technology and discusses future potential.
COVER STORY
44
UAV REAL-TIME
MARKET WATCH
APPLICATIONS, TRENDS AND NEWS
19 OEM
22 SURVEY
36 MAPPING
40 UAV
SECTOR UPDATES
50 MOBILE
52 TRANSPORTATION
54 DEFENSE
56 MACHINE CONTROL
NOVEMBER 2015
WWW.GPSWORLD.COM
GPS WORLD 3
ONLINENOW
NEWSLETTER EXCERPT
BY Tony Murfin
WHAT
TECHNOLOGY
WILL WIN
THE INDOOR
NAVIGATION
BATTLE?
Assisted GNSS
A-GNSS plus any one of below
A-GNSS plus more than one of below
Cell-tower triangulation
Beacons (BlueTooth or IMES)
Radio frequency pattern-matching
Sensor-based dead reckoning
Terrestrial ranging system
Two or more of above not incl. A-GNSS
Wi-Fi
9%
4%
9%
4%
9%
24%
4%
2%
11%
24%
Next Question:
What is the biggest challenge facing
surveyors using GNSS in the field?
GO TO WWW.GPSWORLD.COM/DECPOLL
Complete the survey by November 23.
See Results in our December issue.
MARKET INSIGHTS
WEBINAR
DECEMBER WEBINAR
ENEWS
INSIGHTS
Introduction to
Using UAVs for Mapping
ENEWS
ENEWS
Thursday, December 17
10 a.m. PT / 1 p.m. ET / 5 p.m. GMT
INSIGHTS
REGISTER AT W W W.GPSWORLD.COM/WEBINAR
4 GPS WORLD
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NOVEMBER 2015
Gain perspective
in real-world
GNSS simulation
The GNSS simulator in the SMBV100A vector signal generator
Expensive, inexible simulation of GNSS scenarios is a thing of the past.
Now you can easily and cost-effectively test your satellite receivers under
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Comes with a variety of predened environment models such as
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Allows exible conguration of realistic user environments including atmospheric modeling, obscuration, multipath, antenna characteristics
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The SMBV100A generates all relevant communications and broadcasting standards such as LTE, HSPA+, WLAN, HD Radio and FM stereo.
To nd out more, go to
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SMBV-GNSS
OUT IN FRONT
Readers, Marketing Partners
Co-engineer GPS World Redesign
This issue marks the
launch of GPS Worlds
new logo and expanded
GPS/GNSS and PNT
technical coverage.
BY Alan Cameron
6 GPS WORLD
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EDITORIAL
Editor-in-Chief & Group Publisher Alan Cameron
editor@gpsworld.com | 541-984-5312
Managing Editor Tracy Cozzens
tcozzens@northcoastmedia.net | 541-255-3334
Senior Digital Editor Joelle Harms
jharms@northcoastmedia.net | 216-706-3780
Digital Editor Allison Barwacz
abarwacz@northcoastmedia.net | 216-706-3796
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CONTRIBUTING EDITORS
Innovation Richard Langley | lang@unb.ca
Defense PNT Don Jewell | djewell@gpsworld.com
European GNSS Tim Reynolds | treynolds@gpsworld.com
Professional OEM Tony Murfin | tmurfin@gpsworld.com
Geospatial Eric Gakstatter | egakstatter@gpsworld.com
GeoIntelligence Art Kalinski | akalinski@gpsworld.com
Survey Tim Burch and Dave Zilkoski
Wireless LBS Insider Kevin Dennehy | kdennehy@gpsworld.com
Janice Partyka | jpartyka@gpsworld.com
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MANUSCRIPTS: GPS World welcomes unsolicited articles but cannot be held responsible
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GPS WORLD does not verify any claims or other information appearing in any of the
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Published monthly
NOVEMBER 2015
u-blox M8
concurrent-GNSS
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Scalable range of multi GNSS positioning modules
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Optimum GNSS performance and features for UAVs
Unmatched position accuracy, reliability and update rate
Product variants to meet performance and cost requirements
Available in u-blox popular NEO, MAX and LEA form factors
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TAKING POSITION
BY Tracy Cozzens
M A N AG I NG EDITO R
||||||||||||||||||||||||||||||||||||||||||||||||||
Q: Where do you see your efforts and those of your
JULES
MCNEFF
TERENCE
MCGURN
CEO
NOTTTINGHAM
S C I E N T I F I C LT D.
VICE PRESIDENT
OV E R L O O K
TECHNOLOGIES
C O N S U LTA N T
U . S . G OV E R N M E N T
A:
8 GPS WORLD
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A:
NOVEMBER 2015
A:
*S peedsarebaseduponprintenginespeedonly.Totalthroughputtimesdependuponfactorssuchascomputer,filesize,printerresolution,inkcoverage,andnetworking.EPSON
and SureColor are registered trademarks and EPSON Exceed Your Vision is a registered logomark of Seiko Epson Corporation. Adobe and PostScript are either registered
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Estimatedstreetpriceafterinstantrebateanddealerdiscount.Pleasevisitepson.com/prorebatesfordetails.CheckwithanEpsonProfessionalImagingAuthorizedResellerfor
actualprice,asdealerpricesmayvary.
epson.com /plotterinfo
SYSTEM
OF
Galileo
GLONASS
BeiDou
SYSTEMS
figure 3 (left) and figure 4 (right): BeiDou TMBOC Signal: Horizontal axis: 0 minus one chip shift; 327 zero shift;
655 plus one chip shift. C/NO and iono-free range minus phase. Slot BeiDou signal: C/A B1; P1 B1-2; P2 E5B; L2C B3; L5 E5A; L1C L1C.
10 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
SYSTEM
OF
SYSTEMS
figure 5: BeiDou Signal: Complete GNSS L-band frequency range, which shows the signal transmissions on B1, B2 and B3 band.
figure 6: BeiDou
Signal: the B3
frequency band separately
include a combined
theoretical signal
PSK(10)+BOC(15,2.5)).
IIF-11 Up
Galileos
Chirp
Penultimate GPS
Block IIF Satellite
WWW.GPSWORLD.COM
G P S W O R L D 11
Inertial
Wi-Fi
Bluetooth
RANGING
he Defense Advanced
Research Projects Agency
(DARPA) selected Rockwell Collins to develop
technologies that could
serve as a backup to GPS. The research,
being conducted as part of DARPAs
Spatial, Temporal and Orientation Information in Contested Environments
(STOIC) program, aims to reduce
warfighter dependence on GPS for
modern military operations.
Rockwell Collins will develop new
architectures and techniques to enable
communication systems that will
support time transfer and positioning
between moving platforms independent
of GPS, with no impact on primary
communications functionality.
STOIC technology could augment
GPS, or it may act as a substitute for GPS
in contested environments where GPS is
degraded or denied, said John Borghese,
vice president of the Rockwell Collins
Advanced Technology Center. The
time-transfer and ranging capabilities we
are developing seek to enable distributed
platforms to cooperatively locate targets,
employ jamming in a surgical fashion,
and serve as a backup to GPS for relative
navigation.
Borghese added that the goal of
the STOIC program is to develop
positioning, navigation and timing
(PNT) systems that provide GPSindependent PNT, achieving timing that
The X-47B unmanned combat aircraft receives fuel from an Omega K-707 tanker on
April 22 while operating in the Atlantic Test Ranges over the Chesapeake Bay. This test marked
the first time an unmanned aircraft refueled in flight. The X-47B is a tailless, jet-powered,
blended-wing-body aircraft capable of semi-autonomous operation and aerial refueling.
WWW.GPSWORLD.COM
NOVEMBER 2015
Spirent Federal
GPS/GNSS Regional
Training Seminars
Come hear the latest in GNSS simulation at a Spirent Federal training seminar. See and have hands
on experience while discussing simulation developments, test fundamentals, interference testing, and
more! Choose from six locations:
ELORAN
INERTIAL
MEMS Perspective
on SatNav Gathering
BY Alissa M. Fitzgerald
n September, I attended
the Institute of Navigation
GNSS+ 2015 conference,
where I chaired a technical session on commercial
micro-electro-mechanical
sensors (MEMS). As the
founder of a MEMS product development firm, I was
eager to gain perspective
from the worlds largest
technical meeting and showcase of satnav technology,
products and services.
Overall, the navigation
community is enthusiastic
about integrating MEMS into
navigation systems. They like
the idea of getting more data
from small, relatively lowcost sensors. Recently, U.S.
Secretary of Defense Ashton
14 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
LAUNCHPAD | OEM
1
4
1. INTERNET OF THINGS CHIP
CHIP SIMPLIFIES INTEGRATION OF GNSS
INTO LOW-COST PRODUCTS
2. MULTI-FREQUENCY
RF SIMULATOR
SIMULATION THROUGH REAL-TIME
GENERATION OF GNSS SIGNALS
16 G P S W O R L D
WWW.GPSWORLD.COM
3. SINGLE-FREQUENCY
RECEIVER
DESIGNED FOR UNMANNED AERIAL
SYSTEMS AND MOBILE PLATFORMS
NOVEMBER 2015
4. THREAT DETECTOR
SPIRENT ROBUST FRAMEWORK
EVALUATES THREATS TO GNSS
2. MULTI-GNSS RECEIVER
BASE STATION OR ROVER SURVEY
RECEIVER WITH 864 CHANNELS
3. INDOOR MAPPER
TIMMS 2 MORE MANEUVERABLE
THAN PREDECESSOR
Applanix, www.applanix.com
4. WEARABLE REALITY
CAPTURE
PORTABLE BACKPACK ALLOWS MAPPING
WHILE WALKING
Leica Geosystems,
www.leica-geosystems.com
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 17
LAUNCHPAD | UAV
2
4
3
1. UAV-READY LIDAR
LIGHTWEIGHT LIDAR WITH GPS
AND INERTIAL FOR UAVS
18 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
4. MILITARY UAV
VTOL UAS DESIGNED FOR INTELLIGENCE
GATHERING
MARKET
WATCH
Segment Snapshot:
Applications, Trends & News
OEM
STMicroelectronics Provides
Enhanced Support for 3D Apps
TMicroelectronics has
lau nched enha nced,
always-available, alwaysaccurate 3D positioning
on its TESEO III automotive-navigation integrated circuits.
The new TESEO DRAW firmware
for STs multi-constellation positioning chips enables navigation devices to
provide continuous, accurate location
and turn-by-turn instructions even
when satellite signals are poor or unavailable, such as in tunnels, covered
car parks, or multi-level highways,
according to the company. TESEO
DRAW also enhances performance in
built-up areas, such as in urban canyons, where conventional navigation
systems can lose accuracy.
TESEO DRAW merges the satellite
information with data from vehicle
sensors, such as the gyroscope, accel-
TESEO DRAW
HIGHLIGHTS
Flexible firmware solution,
supporting different
configurations:
- Classic
- CAN (controller area network)
gyro
- Mixed
- Differential wheel pulse (DWP)
Sensors over universal
asynchronous receiver/transmitter
Automatic free mount
Automatic sensors and
temperature compensation
3D dead reckoning
Map-matching feedback
WWW.GPSWORLD.COM
G P S W O R L D 19
MARKET WATCH
OEM
FEATURES OF UB380
384 channels
Supports BDS B1/B2/B3, GPS L1/L2/L5 and GLONASS
L1/L2
Better than 1 mm carrier phase precision
Centimeter-level high-precision RTK positioning
Better than 0.2 heading accuracy
Compatible with industry-standard GNSS boards
Tallysman Introduces
High-Gain Timing
Antennas
A n t e n n a m a k e r Ta l l y s m a n h a s
introduced a family of high-gain (50dB) and high-rejection timing antennas.
The TW3150/52 antennas are
designed for timing applications in highdensity cell/telecommunications tower
applications where high levels of nearout-of-band interfering signals can be
expected. They feature a 50-dB lownoise amplifier gain to handle long cable
runs often associated with installation
on telecommunications towers.
The antennas cover the GPS L1 and
SBAS (WAAS, EGNOS and MSAS) frequency band, and employ
Tallysmans Accutenna
technology to provide excellent
cross-polarization
rejection and multipath rejection.
MORE FEATURES
L1 GPS, GLONASS and SBAS
Centimeter-level positioning in
RTK mode
Enhanced RAIM for 3D and RTK
modes
20 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
OEM
UNAVCO Chooses
Septentrio for GNSS
Reference Stations
WWW.GPSWORLD.COM
G P S W O R L D 21
MARKET WATCH
SURVEY
he supertall skyscraper
Lotte World Tower so
far built to the 103rd of
123 total floors in Seoul,
South Korea is using
GNSS to measure the impact of lateral
forces on its vertical alignment.
Lotte World Tower will be Seouls
first supertall skyscraper, the tallest
building on the Korean Peninsula and
the sixth-tallest building in the world
at 1,821 feet (555 meters). Lotte World
Tower is the nations first building to
use both a GNSS and structural behavior monitoring system by inclinometer
at the same time, said Park Hong-ki
of Gachon Universitys Civil and Environmental Engineering Department.
The GNSS technology serves a dual
purpose: it allows the builders to manage the buildings straightness and
allows the builders to shorten the
construction period, Park said.
LONG-TERM MONITORING
Moreover, the GNSS system enables
stable maintenance and management
of the building through steady longterm monitoring. GNSS measurements
showing how much the building tilts
will be monitored to ensure the overall vertical geometry of the structure.
Based on these measurements, the Korean tower will be constructed with the
highest accuracy possible, reflecting the
movement of the building, according to
a statement from Lotte Engineering &
Construction Co.
After reviewing the measurement
data of Lotte World Towers structural
verticality, we have found out that it is
within acceptable standards. Through
advanced measurement technologies
like GNSS, the straightness of the skyscraper is being strictly controlled.
22 G P S W O R L D
A GNSS receiver on the top of Lotte World Tower, now under construction in Seoul.
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
SURVEY
WWW.GPSWORLD.COM
G P S W O R L D 23
MARKET WATCH
SURVEY
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
SURVEY
Applanix Offers
POS AVX 210 for
Airborne Mapping
WWW.GPSWORLD.COM
G P S W O R L D 25
MARKET WATCH
SURVEY
26 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
SURVEY
2
Fourth Edition of GPS
Surveying Book Published
Mapping with
Bluetooth
BlueStarGPS offers both GPS and
GNSS options in a rugged, lightweight package. The BlueStarGPS
device was designed to meet submeter mapping and data collection
needs in the pipeline and utility
industries. It provides sub-meter precision without postprocessing, and maintains accurate positioning when the
SBAS signal is obstructed. This means it can function under
trees, around buildings and in rugged terrain where other
receivers can fail.
The BlueStarGPS is designed specifically for use with
Android mobile devices, such as smartphones, tablets or
notebook computers, as well as cable and pipe locating
tools with a connectivity range of up to 1 kilometer.
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 35
MARKET WATCH
MAPPING
U. S . A RM Y CO RP S O F ENG I N EER S
HAZARD ANALYSIS
Historically, 49 percent of human
causalities from hurricanes are due to
storm surge, said Donald E. Cresitello,
the Corps Hurricane Evacuation Study
36 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
MAPPING
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 37
MARKET WATCH
MAPPING
38 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
MAPPING
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 39
MARKET WATCH
UAV
ow do you successfully
pi l ot a UAV i n t he
remote expanses of the
Arctic Ocean when the
compass cant provide
reliable positioning data? Engineers
on board the Alfred Wegener Institutes
(AWIs) research icebreaker Polarstern
specially programmed a multicopter,
allowing it to navigate despite the
deviations produced by the Earths
magnetic field near the North Pole.
The researchers recently celebrated the
copters first successful autonomous
flight and landing on an ice floe.
At high latitudes, autonomous
navigation is a major challenge, said
Sascha Lehmenhecker, an engineer at
AWI. Navigation systems normally use
magnetic sensors. But near the poles,
the lines of the Earths magnetic field
are nearly perpendicular to the ground,
making precise navigation extremely
difficult. Thats why commercial
multicopter control systems arent
well suited for use in polar regions.
Researchers conducted an autonomous multicopter flight in the Arctic with its own
test UAV platform that used a u-blox LEA-M8T GPS receiver. (Photo: Alfred-Wegener Institute)
WWW.GPSWORLD.COM
NOVEMBER 2015
UNDERWATER ASSIST
Lehmenheckers team came up with the
idea for this development in connection
with the use of sensitive devices under
the ice, such as the torpedo-shaped
autonomous underwater vehicle
(AUV) Paul, which explores the ocean
beneath the sea ice. To optimally
plan its dives, its important to have
precise information on the movement
of the sea ice, Lehmenhecker said.
Conventionally, this was achieved by
deploying ice trackers on floes with the
help of a Zodiac boat or helicopter a
difficult and time-consuming method.
Further, the researchers generally try to
avoid leaving the safety of the Polarstern
wherever possible jagged ice floes
See ARTCIC, page 42
>>
MARKET WATCH
UAV
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 41
MARKET WATCH
UAV
surveying.
Following in-depth customer research,
Routescene identified a gap in the market
for an unmanned aerial 3D mapping
solution capable of flying long distances,
particularly for use in large countries
with great expanses of remote land such
as Australia, the United States, Canada
and Eastern Europe. The integrated
solution would be used for long-distance
surveys, such as powerline inspections in
the utilities sector, biomass mapping of
forests and geophysical surveys.
The successful maiden flight of
the integrated Hanseatic S360 and
Routescene LidarPod took place in July
in Bremen, Germany, and demonstrated
its capability by collecting sample data.
German aviation authorities were so
confident in the product, they gave
BENEFITS
The LidarPod is integrated internally
within the S360 itself, rather than being
wing-mounted, reducing drag and
enabling longer flight and survey times.
Integration of the LidarPod into the nose
A 3D point cloud of
the runway at Bremerhaven Airport.
Arctic
Continued from page 40 >>
WWW.GPSWORLD.COM
NOVEMBER 2015
MARKET WATCH
UAV 2
POSEIDRON Wins at ESNC
multicopter built
to support maritime search-andrescue services
took top honors
in the 2015 European Satellite
Navigation Competition.
POSEIDRON is designed to
reduce the number of fatalities at sea when people fall overboard or are involved in
shipwrecks that occur during illegal immigration. The project consists of one large
drone that is designed to increase the survival possibilities of those stranded at sea
by providing a faster response and better service. The multicopter weighs 80 kg, can
operate for more than 180 minutes, and has a diameter of 4 meters. It is capable of
lifting up to 70 kg and is designed to take off from a mid-size boat. With thermal
cameras and GNSS, the multicopter can locate people in the water, where it will launch
an inflatable dinghy. Depending on the weather conditions, it will tow the dinghy
to a rescue boat or maintain its position to facilitate rescue. The drone will have the
ability to fly safely, maintain its position accurately, and alert emergency authorities.
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 43
COVERSTORY
/
UAV REAL-TIME
Data Use in a Lightweight Direct Georeferencing System
DIRECT GEOREFERENCING WITH ONBOARD SENSORS is less time-consuming for data processing than indirect
georeferencing using ground control points, and can supply real-time navigation capability to a UAV. This is very useful for surveying,
precision farming or infrastructure inspection. An onboard system for position and attitude determination of lightweight UAVs weighs 240
grams and produces position accuracies better than 5 centimeters and attitude accuracies better than 1 degree.
BY Christian Eling, Lasse Klingbeil, Markus Wieland,
44 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
FOUR POINT
CLOUDS,
nonregistered,
of georeferenced
images from four
UAV flights.
FIGURE 1 The MAV with mapping and georeferencing sensors, developed for the research
project Mapping on Demand.
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 45
UAVSURVEY
SOFTWARE/
HARDWARE
INTEGRATION
Direct Georefencing
The current version of the system
weighs 240 g without GPS antennas
(see FIGURE 2). To reduce weight, the an-
46 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
Methodologies
All position and attitude determination algorithms running on the system
were developed in-house. Generally,
the integration of these steps could
be realized in one tightly coupled approach. Nevertheless, in the current
implementation, we decided to separate the different raw data calculation
steps, and we only use interactions at
the level of parameters. This approach
has the advantage that the integration
is more reliable and more practical in
the real-time programming.
NOVEMBER 2015
WWW.GPSWORLD.COM
G P S W O R L D 47
UAVSURVEY
SOFTWARE/
HARDWARE
INTEGRATION
FIGURE 5 Orthophoto of a wheat field (left) and the difference of the vegetation height,
determined from the results of two MAV flights at an interval of two weeks (right).
48 G P S W O R L D
WWW.GPSWORLD.COM
NOVEMBER 2015
/
again. Due to the prior information
about the attitude of the baseline,
the float ambiguities can already be
estimated with high accuracies in the
float solution. If the ambiguities could
not be fixed with the MLAMBDA
method, we consider the 10 best
solutions for further processing.
Unreliable ambiguity parameters
are eliminated in a random order,
and the MLAMBDA method is
applied again. Afterwards we use the
ambiguity function method and the
known baseline length to exclude false
candidates of the 10 best solutions.
If only one solution remains, the
ambiguities can be fixed to integer
values. Tests have shown that this
approach leads to an instantaneous
ambiguity resolution success rate of
about 95 percent.
Similar to the RTK GPS positioning, the IMU readings are also used
to detect cycle slips for the attitude
baseline determination, when the ambiguities have been fixed successfully.
With ambiguities fixed, the baseline
parameters can be determined with
millimeter to centimeter accuracies.
This leads to yaw angle accuracies in
the range of 0.20.5 degrees, when the
attitude baseline has a length of 92 cm.
FIGURE 6 A directly georeferenced portable laser scanning system for kinematic 3D mapping.
FIGURE 7 Difference between the results of the directly georeferenced portable laser scanning
system and the results of a terrestrial laser scan, which act as reference solution here.
NOVEMBER 2015
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>>
G P S W O R L D 49
MOBILEUPDATE
50 G P S W O R L D
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NOVEMBER 2015
MOBILEUPDATE
NEWTECH
NEWSBRIEFS
TRACKER DESIGNED
FOR POWER SPORTS
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TRANSPORTATIONUPDATE
52 G P S W O R L D
GPS. These mutually reinforcing systems offer real-time data feedback from
the Tesla fleet, ensuring that the system
is continually learning and improving
upon itself, the Tesla blog said.
Autopilot allows Model S to steer
within a lane, change lanes with the tap
of a turn signal, and manage speed by
using active, traffic-aware cruise control. Digital control of motors, brakes
and steering helps avoid collisions from
the front and sides, as well as prevent
the car from wandering off the road.
Your car can also scan for a parking
space, alert you when one is available,
and parallel park on command, Tesla
said.
Release of version 7.0 also features a
significant visual refresh of the digital
display. The instrument panel is focused
on the driver and includes more functional apps to help monitor the ride.
Tesla founder Elon Musk said during
a press conference that drivers should
exercise caution in the initial months of
the rollout, and consider Version 7.0 a
beta release. "We're advising drivers to
keep their hands on the wheel at this
early stage," Musk said. The car's dash
alerts drivers when they need to take
the wheel.
Just days after the launch, videos
began appearing on the Internet showing near misses and other errors.
WWW.GPSWORLD.COM
NOVEMBER 2015
MAGELLAN is
integrating its
RoadMate RC9496TLMB fleet navigation
device with
Position Logics
advanced GPS tracking software solution.
The integration delivers an end-to-end
communication and navigation solution for
fleets, and includes the RC9496T-LMB, an
active mobile terminal, allowing real-time
two-way communication between driver
and dispatch when paired with Position
Logics GPS tracking software.
COBHAM LAUNCHES
MARINE RECEIVERS
COBHAM SATCOM has launched two new
Sailor satellite navigation receivers. Both
the Sailor 656X GNSS and new Sailor 657X
DGNSS work with the touchscreen Sailor
6004 Control Panel, which provides access
to set-up, functions and diagnostics.
TRANSPORTATIONUPDATE
NEWTECH
NOVATEL TO DEVELOP WAAS G-IIIGALILEO RECEIVER FOR FAA
The U.S. Federal Aviation Administration (FAA) and NovAtel have
exercised a bilateral option to produce
a Wide Area Augmentation System
(WAAS) G-IIIGalileo prototype
receiver. Maintaining core NovAtel
WAAS G-III functionality for GPS
and SBAS signal processing, the new
receiver will operate in the WAAS
reference station test environment to
facilitate research on multiple GNSS
constellation utilization.
The prototype receiver will also
add functionality to support tracking and demodulating associated
navigation data for Galileo satellites
including:
TRIA
E
E
FR v
ASK
R
ur
YOUcom/ezs
R
FO is.
effg
NovAtels existing WAAS G-III receiver hardware and application software, and delivered as a field-loadable
firmware package. The WAAS
G-IIIGalileo receiver will not be
qualified to DO-178B Level D as part
of this contract.
NovAtels WAAS G-III reference
receiver platform was designed with
expandability and multi-GNSS SBAS
evolution in mind, and can be customized to meet the needs of
individual satellite networks. NovAtel
has already delivered G-III based
reference receivers to several programs worldwide, including the
WAAS G-III receiver.
Compatible with
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G P S W O R L D 53
DEFENSEUPDATE
echnology Advancement
Group (TAG) has designed
a GNSS survey system to
meet the rigorous demands
of military geodetic, construction, and
field artillery and airfield surveying.
TAGs Precise Positioning Service
Global Positioning System Survey (PPS
GPS-S) system gives military survey
teams access to centimeter-level GPS
accuracy with the benefits of a fully
certified Selective Availability Antispoofing Module (SAASM) GPS receiver
supplemented with a GNSS receiver
for real-time kinematic surveying with
multi-constellation operations.
PPS GPS-S is the first military
Program of Record that we are aware of
to supplement a SAASM receiver with
data from a civilian GNSS receiver, said
John Borden, vice president of Programs
and Technologies at TAG.
TAG was able to meet the Chairman
of the Joint Chiefs of Staff (CJCS)
mandate for use of a SAASM receiver
for military support operations while
also providing the capabilities of a multiGNSS receiver needed by the modern
warfighter. Borden credits the companys
PNT integrity engine, which ensures
that suspect data will not be used in our
position solution, he said.
The PPS GPS-S system gives the
military surveyor the tools needed to
complete missions with minimum
time on station, even in the face of GPS
signal interference, attempted spoofing
or electronic warfare.
TAG was recently awarded a $24
million contract by the U.S. Army Corps
of Engineers, making PPS GPS-S the
Armys Program of Record military
survey system, designated AN/GSN-16.
Core components of the PPS GPS-S
system include a base station and two
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DEFENSEUPDATE
NEWTECH
LOCKHEED UNVEILS ICARUS TO COUNTER UAS THREATS
At this years Association of the
United States Army (AUSA) Annual
Meeting, Lockheed Martin unveiled
a new capability that will allow users
to detect and counter emerging
threats from unmanned aerial
systems (UAS).
The solution, ICARUS, was
designed to operate defensively in
various threat environments. The
AUSA meeting was held Oct. 1214
in Washington, D.C.
The U.S. government is seeing an
increase in the use of commercially
available UAS platforms for
surveillance and weaponization,
said Deon Viergutz, vice president
of Cyber Solutions for Lockheed
Martin. What Lockheed Martin
has developed in ICARUS is a
UAV
Continued from page 49 >>
ICARUS identifies
and intercepts
commercial UAS.
Manufacturers
The MAV is based on a MikroKopter
OktoXL assembly kit of HiSystems
GmbH. It uses NavXperience 3G+C
GPS antennas. The system consists
of a dual-frequency NovAtel OEM
615 GPS receiver, a single-frequency
u-blox LEA6T receiver, an Analog
Devices ADIS 16488 IMU, a Honeywell
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MACHINECONTROLUPDATE
Dredging Replenishes
Australias Sorrento Beach
>>
HYDROGRAPHIC TECH
To achieve the job specifications and efficient operation
of their dredge, Sandpiper needed hydrographic survey
technology on board. SITECH Construction Systems, a
Trimble distributor, provided the company with:
Trimble SPS461 GPS heading and positioning receiver
Inclinometer to measure the angle of the cutter head
frame
Trimble HYDROpro dredge software to display and log
seabed levels. The software can be configured for a
wide range of dredgers.
After speaking about the challenges we had been
facing, SITECH came back with the solution of the Trimble
HYDROpro system, which meant we could dredge in
exactly the right place and maintain coverage, all the
while protecting the environment of the beach, said
Daniel Fristch, owner of Sandpiper.
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MACHINECONTROLUPDATE
NEWTECH
DREDGING
<< Continued from page 56.
and the AHD height of the dredge head.
The software also allowed the dredge operator to focus on
controlling the dredge rather than trying to determine where
to dredge. Using GPS and AUSGeoid09 removed the need
for considering tide data because the software displayed
the AHD height. The logged data could be delivered to the
client as an as-built drawing.
The beach was replenished within budget and on time
for the holiday season, and the community is now enjoying
the restored beach.
NEWSBRIEFS
SEPTENTRIO OFFERS TWO
DUAL-ANTENNA RECEIVERS
THE SEPTENTRIO AsteRx-U and
the AsteRx-U Marine multiconstellation dual-antenna
receivers incorporate the latest
GNSS tracking and positioning
algorithms and interference mitigation. Machine-control users
in the agricultural and construction industries, as well as users in
marine and mining industries, benefit from a complete system
with integrated UHF radio, Wi-Fi, USB, Bluetooth and cellular
connectivity, and a spectrum analyzer, Septentrio said. All
configurations can be done via the on-board web interface.
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G P S W O R L D 57
ENHANCED LORAN
A Wide-Area Multi-Application PNT Resiliency Solution
BY STEPHEN BARTLETT, GERARD OFFERMANS
WHAT IS eLORAN?
eLoran is the latest in the longstanding and proven series
of low-frequency, LOng-RAnge Navigation (LORAN)
systems, one that takes full advantage of 21st-century
technology. It meets the accuracy, availability, integrity
and continuity performance requirements for maritime
harbor entrance and approach maneuvers, aviation
non-precision instrument approaches, land-mobile
vehicle navigation and location-based services. Its a
precise source of time (phase) and frequency. Additionally, eLoran provides user bearing (azimuth) and has
built-in integrity. In full disclosure, however, eLoran is
only a 2D positioning solution unless integrated with a
simple altimeter.
eLoran is a low-frequency radionavigation system that
operates in the frequency band of 90 to 110 kHz. eLoran
is built on internationally standardized Loran-C, and
provides a high-power PNT service for use by all modes
of transport and in other applications. eLoran is an inde-
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UN-150 eLoran
performance
INNOVATIONINSIGHTS
BY RICHARD B. LANGLEY
WHERE HAVE ALL THE SYSTEMS GONE, long time passing? Radionavigation systems,
that is (and apologies to Pete Seeger). If we look at the 1990 Federal Radionavigation
Plan (FRP), published by the U.S. Departments of Transportation and Defense, as I did in
this column in March 1992, we see that there were 10 radionavigation systems in use
by different user segments: Loran-C, Omega, very high frequency (VHF) Omnidirectional
Range/Distance Measuring Equipment, Tactical Air Navigation, the Instrument Landing
System, the Microwave Landing System, Transit, aviation radiobeacons, marine
radiobeacons and GPS. The latest FRP, issued in 2014, includes only seven or six and
a half when you consider that marine radiobeacons were mostly phased out in the
intervening years. Systems were shut down because with the advent of GPS, they were
considered to be redundant. While there were attendant cost savings, the closure of
the various systems has resulted in a dangerous virtual sole dependence on GPS for
navigation without any backup.
Transit, was the first to go. It consisted of a constellation of six or seven active
satellites in circular, polar orbits at altitudes of roughly 1,100 kilometers. The satellites
transmitted signals on 150 and 400 MHz, and receivers measured the integrated
Doppler frequency shift of the received signals. Transit was terminated at the end of
1996.
Transit was followed by the Omega hyperbolic navigation system. Omega consisted
of eight stations around the globe transmitting time-shared carrier-wave signals on
four frequencies between 10.2 and 13.6 kHz. The Omega system was closed down in
September 1997.
The marine radiobeacons have been mostly shut down in recent years, although
aeronautical beacons continue to operate. Radiobeacons are nondirectional transmitters
that operate in the low- and medium-frequency bands. Some marine radiobeacons
became Differential GPS stations and subsequently part of the Nationwide DGPS
network. That network is being scaled back to provide only coastal and Great Lakes
coverage.
And that brings us to Loran-C. Like Omega, it was also a hyperbolic navigation system.
A receiver measured the difference in times of arrival of pulses transmitted at 100 kHz
by a chain of three to five synchronized stations separated by hundreds of kilometers.
At one time, the operation of Loran-C was the responsibility of the U.S. Coast Guard.
Together with a number of host nations, the Coast Guard operated 17 chains of stations
around the world, including one jointly operated with Russia. These stations provided
coverage of the coastal areas of North America and the U.S. interior, northern Europe,
the Mediterranean Sea, the Far East and the Hawaiian Islands. Additionally, several other
countries operated Loran-C stations. Although moves were already underway to update
the Loran technology, the Obama administration decided to terminate Loran-C in the U.S.,
considering it to be an unnecessary antiquated system. The Coast Guard terminated the
transmission of all U.S. Loran-C signals in February 2010 and began dismantling stations.
So, is there no longer a viable non-GNSS alternative or backup system for GPS
navigation? While there are other possibilities for time transfer, one of GPSs other
applications, there is no widely available substitute navigation system. Currently.
However, as we will see in this months column, a new version of Loran Enhanced
Loran or eLoran has been developed and is being tested on the U.S. east coast. Not
your fathers Loran, eLoran seems to be the perfect solution for PNT resiliency.
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G P S W O R L D 59
10
Unwrap angle (radians)
Frequency (Hz)
60.04
60.02
60.00
59.98
59.96
0
-10
-20
-30
-40
-50
59.94
0
500
1000
Time (seconds)
1500
2000
500
Frequency (Hz)
59.995
59.990
59.985
59.980
1000
Time (seconds)
1500
2000
2
0
-2
-4
-6
59.975
40
60
80
100
Time (seconds)
120
140
20
40
60
80
100
Time (seconds)
120
140
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eLORAN APPLICATIONS
We are staunch advocates of GPS and believe it should be fully
funded, kept technically advanced, protected, toughened and
augmented. When GPS is available and trustworthy, it should
be used. However, no technology is failsafe, and prudent users
should not rely on a sole source for their PNT needs. GPS
has been called a single point of failure for much of the U.S.
economy and critical infrastructure. Applications and requirements vary widely from wireless network communications of
1.5 microseconds, to maritime harbor entrance and approach
requirements of 20 meters, to phasor measurement unit
requirements in the electric power grid of 500 nanoseconds.
It is important to recognize the challenge of providing assured
PNT while also taking advantage of the efficiencies gained by
implementing a common solution across all sectors, industries
and users. Point solutions can provide complementary PNT
for specific individual or modal needs, and any resilient PNT
ecosystem includes multiple levels of redundancy.
Some key application areas in which eLoran can provide
complementary PNT are telecommunications, energy, finance
and transportation. We believe these will be some of the first
sectors to adopt and exploit eLoran as a component of their
critical infrastructure protection and possibly as a co-primary
PNT solution alongside GPS.
Telecommunications Sector. A March 2014 letter from the Alliance for Telecommunications Industry Solutions (ATIS) to the
National Security Telecommunications Advisory Committee
contained an attached document, Recommended Updates to
Telecom Vulnerability to Loss of GPS Signals Documentation, that
outlined three areas of concern that ATIS has identified relating
to the exposure of commercial communications systems to a
loss of the GPS signal. Included in the documentation was the
statement: With the Loran systems decommissioned, GPS is
currently the only technology that can meet synchronization
requirements for E911 as there is no other widely available access to UTC time of day in the United States. eLorans Loran
data channel provides the UTC time-of-day information that
the telecommunications industry seeks, as well as providing
complementary timing (phase) and/or frequency solutions
that would mitigate ATISs concerns about: (1) the size of the
area and duration effects of a GPS outage, (2) the effects of
spoofing, (3) the inability of oven-controlled crystal oscillators (OCXOs) to maintain phase alignment for 24 hours at 1.5
microseconds, and (4) the phase performance of OCXOs in
varying temperature environments.
The European Telecommunications Standards Institute
Primary Reference Clock mask is one tool used by the telecommunications industry to determine the quality of timing signals
in telecommunication applications. FIGURE 2 shows that eLoran
is able to meet maximum time interval error (a measurement
of wander or time stability) requirements, often outperforming
NOVEMBER 2015
Application
Maritime harbor entrance and approach
Aviation non-precision approach
(required navigation performance 0.3)
Timing
Accuracy
20 meters (95%)
0.3 nautical mile or 556 meters (95%)
Availability
0.998 over two years
0.999 0.9999
Integrity
10 seconds time to alarm
1 10-7 per hour
Continuity
0.9997 over three hours
0.999 0.9999 over 150
seconds
GPS. Testing was performed independently in a cooperative effort between the United Kingdom National Physical Laboratory
and Chronos Technology Ltd., UrsaNavs reseller in England.
Energy Sector. At present, GPS is the only time source for
phasor measurement unit (PMU) (also known as synchrophasor) and frequency data recorder (FDR) sensors used to collect
data that measures the state of an electrical system and manages power quality. PMUs/FDRs are a necessary component
of the movement to a smart-grid approach to improve energy
efficiency on the electrical grid and in businesses and homes.
PMUs and FDRs cease to work if the GPS signal is lost or unstable. In 2013, UrsaNav began working with the University of
Tennessee at Knoxville (UTK) to demonstrate the capability
of eLoran, alongside GPS, to provide the necessary timing accuracy for UTKs high-precision FDRs to collect synchrophasor
data from the U.S. power grid. The required accuracy of the
timing reference source is 500 nanoseconds, needed by each
device performing synchrophasor measurements.
The laboratory setup in Bedford, Mass., used side-by-side
FDRs: one using a GPS receiver and one using an eLoran receiver. Other than replacing the GPS receiver with an eLoran
receiver in one of the FDRs, no other changes were made. The
eLoran signals were being transmitted from a former U.S. Coast
Guard (USCG) Loran Support Unit in Wildwood, N.J., more
than 300 miles (483 kilometers) from our Bedford laboratory.
Raw eLoran was used for the test, that is, with no
differential corrections nor continuous receiver antenna
calibration. FIGURE 3 shows the resultant frequency and phase
angle comparisons between GPS and eLoran. Green is eLoran;
black is GPS. Frequency comparisons are on the left, top
and bottom. Phase angle comparisons are on the right, top
and bottom. The bottom left graph is a blow-up of the area
encircled in red in the top left graph. The bottom right graph
is a blow-up of the area encircled in red in the top right graph.
In both cases, eLoran performs on par with GPS.
Financial Sector. A European Securities and Markets Authority
(ESMA) report, dated May 22, 2014, indicates that the majority
of trading venues are already coordinated with GPS time, and
further states that the deployment of these systems might be
costly and technically challenging. ESMAs view is that each
trading venue and market participant should rely on an atomic
clock to issue timestamps. An eLoran timing alternative would
be less costly, less technically challenging, and, when used in
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NE
MARWKETO
T!
ACKNOWLEDGMENTS
The authors wish to acknowledge the assistance of Dr.
Ron Bruno, Harris Corp., and Dr. Paul Williams and Chris
Hargreaves, GLAs.
MANUFACTURERS
UrsaNav (www.ursanav.com) provided the eLoran receiver
and Symmetricom, now Microsemi (www.microsemi.com)
provided the GPS receiver for the timing tests shown in
Figure 2.
STEVE BARTLETT is vice president of operations at UrsaNav, Inc., North
Billerica, Mass.
MORE ONLINE
Further Reading
GPSWORLDBUYERSGUIDE.COM
Have a question about the directory? Contact Chloe Kalin at 216-363-7929.
64 G P S W O R L D
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SEAMLESS INDOORS
SENSOR AUGMENTED INDOOR
NAVIGATION AND POSITIONING, by
M. Gemelli and Keith Nicholson, Bosch
Sensortec. An overview of technologies that guide us indoors in a seamless
and reliable manner, highlighting key
requirements for motion and pressure
sensing, low-power processing, efficient code design, wireless beaconing
and map matching. Fusion software
needs new data sources: Bluetooth
low-energy, Wi-Fi fingerprinting, magnetic fingerprinting, ultrasound. Presented at ION GNSS+ 2015.
DISTURBED IONOSPHERE
MITIGATING SATELLITE MOTION IN
GPS MONITORING OF TRAVELING
IONOSPHERIC DISTURBANCES (TIDS),
by R.W. Penney and N.K. JacksonBooth. Discusses the impact of satellite
motion on the use of compact arrays
of GPS receivers for estimating the
velocity of travelling ionospheric
disturbances (TIDs). It is shown that
satellite motion has subtle effects
upon standard techniques of waveform
cross-correlation, or time-difference
of arrival (TDOA), which can easily lead
to spurious TID velocity estimates. In
RADIO SCIENCE, an AGU journal.
n alternative to GNSS in
urban canyons can be
provided by signals from
cellular base stations, particularly
new signals from long-term evolution
(LTE) networks, since LTE coverage
will be high in cities. Wide LTE
downlink bandwidth provides good
resolution of multipath components,
which also assists positioning.
A test used a universal software
radio peripheral N210 synchronized
to a GPS-locked Rubidium frequency
standard. A personal computer
stored LTE data samples together
with GNSS sentences from a u-blox
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ADVERTISER
PAGE(S)
NAVCOM
NOVATEL
NVS TECHNOLOGIES
ROHDE & SCHWARZ
SEPTENTRIO
SPIRENT FEDERAL
SUZHOU FOIF
TALLYSMAN
TRIMBLE
U-BLOX
UNICORE COMMUNICATIONS
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BACK COVER
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G P S W O R L D 65
SEEN HEARD
SHAPE-CHANGING GUIDANCE
FOR THE BLIND
A handheld GPS device uses touch to let the
visually impaired know where to walk, reports
YaleNews. Made with a 3D printer, the cubeshaped Animotus was designed by Adam
Spiers, a Yale University post-doctoral associate
in mechanical engineering.
PRISON BREAK
Drug lord El Chapo
Guzman had a television
in his cell equipped with
GPS tracking, according to
the Mexican newspaper La
Jornada. El Chapo escaped
through a mile-long tunnel
on July 11. The GPS device
might explain why El
Chapos associates were
able to precisely excavate
a tunnel into his cell.
ROAMING FREE
GPS collars have stopped working on
two of three tigers released into the
wild in May 2014 by Russian President
Vladimir Putin. However, Siberian Times
reports one tiger was seen by wildlife
cameras on a grand tour of the Russian
Far East.
A CORNY TRIBUTE
University of Georgia precision
agriculture students used GPS to
design a corn maze in honor of
football coach Mark Richt. Covering
6.1 acres, the maze is the largest ever
constructed at Rutland Farms, and
received national coverage on ESPN.
DRIVE ALONG WITH DAD
Czech automaker KODA is
offering a tablet game that gives
kids the opportunity to follow
along as their parent drives. With
the LittleDriver app, children can
imitate the drivers actions using
real data from the car, and collect
points to design a virtual KODA.
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