ION GNSS TRENDS, INNOVATIONS AND ENHANCEMENTS FOR LOW-COST PPP

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1 ION GNSS TRENDS, INNOVATIONS AND ENHANCEMENTS FOR LOW-COST PPP September 27 TH, 2017 Session A1: Applications of Raw GNSS Measurements from Smartphones D. Calle, E. Carbonell, P. Navarro, I. Rodríguez, P. Roldán, G. Tobías, GMV, Spain GMV, 2017 Property of GMV All rights reserved

2 OUTLINE GNSS & Smartphones magicgnss Evolutions Test Campaign Conclusions and Way-Forward Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 2

4 GNSS & SMARTPHONES GMV IN PRECISE POINT POSITIONING Algorithms PPP Algorithms: - Gap bridging - Integrity bounds - Hybridization - Services Products PPP Services: - Real-Time PPP via NTRIP - On-line PPP - Australian & New Zealand Testbed Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 4

5 GNSS & SMARTPHONES GMV IN PRECISE POINT POSITIONING 2008 On-line ODTS Algorithms PPP Algorithms: - Gap bridging 2010 On-line PPP Remote Real-Time PPP Processing - Integrity bounds - Hybridization 2011 Real Time GPS+Glonass PPP On-line multi-gnss PPP Real-time Galileo PPP Real-time Multi-GNSS PPP SF PPP Services PPP Services: Products 2016 PPP low-cost magicfast (Regional PPP Corrections) - Real-Time PPP via NTRIP - On-line PPP 2017 PPP for Smart devices - Australian & New Zealand Testbed Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 5

GNSS & SMARTPHONES GNSS CHIPS FOR SMARTPHONES Low-cost GNSS in our daily lives: Gmaps,

Smart-devices market is a huge pie Renewal of devices allows to introduce new

devices Smartphone GNSS chips are evolving: Multi-constellation Reduced power

measurements provision Multi-frequency SOURCE: GSA MARKET REPORT 2017 Market

6 GNSS & SMARTPHONES GNSS CHIPS FOR SMARTPHONES Low-cost GNSS in our daily lives: Gmaps, Waze, Car Navigation, SportTracking Currently 6B devices and growing! Smart-devices market is a huge pie Renewal of devices allows to introduce new capabilities Smartphones account for almost 80% of the global installed base of GNSS devices Smartphone GNSS chips are evolving: Multi-constellation Reduced power consumption Carrier-phase tracking Fusion with other sensors (IMU, Compass) Raw measurements provision Multi-frequency SOURCE: GSA MARKET REPORT 2017 Market Opportunity Accurate positioning is possible for mass-market users. Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 6

GNSS & SMARTPHONES ACCESS TO GNSS RAW DATA Where? Android 7.

What? Pseudoranges, Doppler, C/N0 Carrier Phase but the duty-cycle Thanks Android Nougat

Basic: Our own code-based PVT solution Advance: what about using carrier-phase for

7 GNSS & SMARTPHONES ACCESS TO GNSS RAW DATA Where? Android 7.0 or later Embedded receiver able to provide the raw measurements Location Services API What? Pseudoranges, Doppler, C/N0 Carrier Phase but the duty-cycle Thanks Android Nougat What else for Oreo? Maybe the chairman knows How? Basic: Our own code-based PVT solution Advance: what about using carrier-phase for precise point positioning? Proficiency: what else is available in a Smartphone fusing sensors! Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 7

solution: Better accuracy in harsh environments Dead-reckoning Higher rate solution (> 1Hz) Integrated

8 GNSS & SMARTPHONES FUSING SENSORS Smartphones usually feature a MEMS Inertial Measurement Unit 3D accelerometer and gyroscope sensors Small size (a few mm) IMU can be used to improve GNSS navigation solution: Better accuracy in harsh environments Dead-reckoning Higher rate solution (> 1Hz) Integrated Compass Additional information to improve the solution Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 8

10 magicgnss EVOLUTIONS magicgnss REAL TIME INFRASTRUCTURE END-TO-END PPP SERVICE Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 10

11 magicgnss EVOLUTIONS magicgnss REAL TIME INFRASTRUCTURE UPGRADES FOR LOW-COST PPP magicodts: - multi-gnss Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 11

12 magicgnss EVOLUTIONS magicgnss REAL TIME INFRASTRUCTURE UPGRADES FOR LOW-COST PPP magicodts: - multi-gnss magicppp upgrade: - Multi-GNSS - SF processing - Gap-Bridging - Regional Corrections - Integrity Algorithm - Smart-devices meas. - Fusing sensors Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 12

13 magicgnss EVOLUTIONS magicgnss REAL TIME INFRASTRUCTURE UPGRADES FOR LOW-COST PPP magicodts: - multi-gnss magicppp upgrade: - Multi-GNSS - SF processing - Gap-Bridging - Regional Corrections - Integrity Algorithm - Smart-devices meas. - Fusing sensors Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 13 magicfast for Regional Corrections Generation

Integrity Algorithm - Smart-devices meas. - Fusing sensors GNSS+INS integration!

14 magicgnss EVOLUTIONS magicgnss REAL TIME INFRASTRUCTURE UPGRADES FOR LOW-COST PPP magicodts: - multi-gnss magicppp upgrade: - Multi-GNSS - SF processing - Gap-Bridging - Regional Corrections - Integrity Algorithm - Smart-devices meas. - Fusing sensors GNSS+INS integration! Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 14 magicfast for Regional Corrections Generation

magicgnss EVOLUTIONS magicppp EVOLUTION Android Application

provided by the internal GNSS chip and antenna through the

gyroscope information through the Sensors API (high frequency

15 magicgnss EVOLUTIONS magicppp EVOLUTION Android Application evolved to: Support the retrieval of raw measurements provided by the internal GNSS chip and antenna through the LocationServices API (1Hz) Obtain the accelerometers and gyroscope information through the Sensors API (high frequency >> 1Hz) Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 15

magicgnss EVOLUTIONS PPP+IMU HYBRIDIZATION magicppp + IMU data integration Tight coupling Navigation solution provided at IMU rate Accurate heading/roll/pitch output magicppp

16 magicgnss EVOLUTIONS PPP+IMU HYBRIDIZATION magicppp + IMU data integration Tight coupling Navigation solution provided at IMU rate Accurate heading/roll/pitch output magicppp integrity algorithm (KIPL) extended to solution propagated by IMU Offline and Real-time implementation Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 16

18 TEST CAMPAIGN DEVICES UNDER TESTING - DEFINITION Device #1 (Reference): Trimble R10 + PPP Android Application Device #2 (Tested): Tablet Nexus 9 + PPP Android Application PPP Corrections R10 Obs+NAV Nexus9 Obs+NAV+IMU MADRID TRES CANTOS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 19

19 TEST CAMPAIGN DEVICES UNDER TESTING - EXECUTION TRIMBLE R10 NEXUS 9 (perfectly fixed) Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 20

20 TEST CAMPAIGN DEVICES UNDER TESTING - SCENARIOS Two kinematic scenarios: Open sky + suburban conditions Duration ~ 40 minutes Nexus 9 Tablet+ internal antenna and Trimble R10 placed on top of a car GPS+GLONASS, single-frequency Nexus 9 Tablet has duty-cycling disabled Reference trajectory obtained with Trimble R10 + RTKLib. Applied correction between antenna positions. Regional corrections: magicfast Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 21

TEST CAMPAIGN TEST #1 DESCRIPTION Kinematic scenario: Open sky + suburban conditions Duration ~ 40 minutes During the first 21 minutes the car is at rest Data from

21 TEST CAMPAIGN TEST #1 DESCRIPTION Kinematic scenario: Open sky + suburban conditions Duration ~ 40 minutes During the first 21 minutes the car is at rest Data from tablet s IMU too sparse to be useful Frequent cycle slips found in carrierphase measurements Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 22

22 TEST CAMPAIGN TEST #1 RESULTS 2D RMS SF PPP: 1.51m 2D RMS SF PPP+magicFast: 0.76m Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 23

23 TEST CAMPAIGN TEST #1 RESULTS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 24

24 TEST CAMPAIGN TEST #1 RESULTS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 25

TEST CAMPAIGN TEST #2 DESCRIPTION Kinematic scenario: Open sky + suburban conditions Duration ~ 50 minutes During the first 22 minutes the car is at rest IMU data from

25 TEST CAMPAIGN TEST #2 DESCRIPTION Kinematic scenario: Open sky + suburban conditions Duration ~ 50 minutes During the first 22 minutes the car is at rest IMU data from tablet (3-axis accelerometer and gyro) at 500Hz Frequent cycle slips found in carrier-phase measurements Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 26

26 TEST CAMPAIGN TEST #2 RESULTS 2D RMS SF PPP+magicFast: 0.65m 2D RMS SF PPP+magicFast+IMU: 0.61m Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 27

27 TEST CAMPAIGN TEST #2 RESULTS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 28

28 TEST CAMPAIGN TEST #2 RESULTS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 29

29 TEST CAMPAIGN TEST #2 RESULTS Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 30

CONCLUSIONS ION GNSS+ 2017 ESTO ES UN EJEMPLO DE PORTADA

31 CONCLUSIONS CONCLUSIONS AND WAY-FORWARD Accurate GNSS navigation with smart devices is becoming possible with current and future chips magicppp has a solution for smartphones/tablets. It uses IMU data to improve both quality and rate of the navigation solution First results are encouraging and show the validity of the approach Importance of reducing number of cycle slips Next steps: Some future chips will support two GNSS frequencies (e.g. L1/L5). Use multi-frequency PPP Enhance PPP algorithm for smartphone chips through experimentation Improve IMU data processing, incorporate 3-axis compass Trends, Innovations and Enhancements for Low-Cost PPP 2017/09/27 Page 32

32 THANK YOU Visit us at booth GMV, Property of All reserved

D. Calle P. F. Navarro D. Rodríguez I. Rodríguez R. Rosa G. Tobías. GMV, 2015 Property of GMV All rights reserved

Galileo Science Colloquium 2015 MagicPPP in your Pocket: a Smart, Portable and Efficient Multi-GNSS High-accuracy Solution OCTOBER 27 TH, 2015 SESSION 1A: N1 MultiGNSS D. Calle P. F. Navarro D. Rodríguez