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Developement of new concepts in navigation

Navigation group of INT : objectives. Developement of new concepts in navigation Small scale validation approaches Modelisation Simulations Experiments Simplicity of implementation. Indoor Navigation : Introduction. MULTIPLE SOLUTIONS Badges Ultrasound

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Developement of new concepts in navigation

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  1. Navigation group of INT : objectives. • Developement of new concepts in navigation • Small scale validation approaches • Modelisation • Simulations • Experiments • Simplicity of implementation

  2. Indoor Navigation : Introduction. MULTIPLE SOLUTIONS Badges Ultrasound RF GSM/UMTS Bluetooth … OUR APPROACH GPS Universal Positioning System

  3. Indoor Navigation with GPS : the real difficulty. Weakness of signals

  4. Indoor Navigation with GPS : current efforts. • Receiver Sensitivity Improvement • (TRIMBLE, THALES Navigation, etc.) • « Terrestrial Constellation » approaches (pseudolites) • (Northrop Grumman, DLB Ltd, • Seoul National University , etc.)

  5. Indoor Navigation with GPS : Nav Group approach. • Transmission from outdoor to indoor environment with « GPS repeaters » • Navigation equation resolution and raw data exploitation • Definition of indoor navigation system architectures

  6. The GPS repeater. n Satellites (RnS) 1 Satellite (R1S) Sk Sk Sj Sj Si Si Sm Sm RnS R1S Si .. Sm Sk

  7. Actual receiver induced problem. Since , the current receiver resolution method is no longer valid. t1 t3 t2 Need for new receiver algorithms to solve the navigation equations.

  8. The navigation equations : basics.

  9. The navigation equations : an interesting feature with RnS. RnS d

  10. RnS j RnS i dj di dm dk The RnS indoor positioning solution.

  11. The RnS indoor positioning resolution. « 4-Sphere expansion method »

  12. The RnS indoor positioning appraoch : works to be carried out. • cDtu stability (receiver internal clock stability). • Sequential running mode of a GPS receiver. • Indoor positioning accuracy versus resolution methods.

  13. The R1S indoor positioning system architecture. R1S j R1S i dj di dk dm R1S k R1S m Spatial diversity Position calculated by receiver obviously wrong

  14. The R1S indoor positioning possible methods. • Find correlations between the calculated location and the true receiver position. • Solve, from raw data, the new navigation problem, given the repeater positions. • Solve, from raw data, the new navigation problem, not knowing the repeater positions.

  15. The R1S indoor positioning resolution, knowing about the repeater positions (1). dri R1S i Measured by the GPS receiver di

  16. The R1S indoor positioning resolution, knowing about the repeater positions (2). dri R1S i di * Hyperboloïds of 2 sheets intersection * Spheres expansion

  17. The R1S indoor positioning resolution, without knowing repeater positions (1). Triple measurements from fixed point lead to repeater position d’ri d’’ri dri R1S i di We compute (XR1Si, YR1Si, ZR1Si) using a 3-sphere expansion method with sphere centers at satellite positions

  18. d’rj drj d’ri d’’rj dri d’’ri d’rk R1S j drk d’’rk R1S i d’rm drm d’’rm dj di R1S k dk R1S m dm The R1S indoor positioning resolution, without knowing repeater positions (2). • To find the repeater positions at the receiver, one could: • perform 4 simultaneous triple measurements from fixed point • perform 4 sequential calculations using RnS at repeater positions • The repeater positions are then known, once and for all ...

  19. Comparison of RnS and R1S solutions. RnS Repeater electronic architecture Ease of installation cDtu stability Sequential approach (receiver modifications) R1S No modification of receiver hardware architecture Data transmission required to decrease processing complexity Repeater complexity Advantages Neither Disadvantages

  20. Universal navigation : remaining questions ... • How does the navigation receiver know that one is indoors? • What happens in the region where direct satellite signals are of a similar strength to signals from repeaters? • … and certainly a few others.

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