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Welcome to Stanford! Civil Aviation Administration of China & Federal Aviation Administration

Welcome to Stanford! Civil Aviation Administration of China & Federal Aviation Administration. Welcome to Stanford. Ms. Lu Xiao Ping, Deputy Director General, ATMB Ms. Zhang Jing, Director, Inter. Cooperation Division, ATMB Mr. Li Xin, Director, R&D Division, ATMB

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Welcome to Stanford! Civil Aviation Administration of China & Federal Aviation Administration

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  1. Welcome to Stanford!Civil Aviation Administration of China &Federal Aviation Administration

  2. Welcome to Stanford • Ms. Lu Xiao Ping, Deputy Director General, ATMB • Ms. Zhang Jing, Director, Inter. Cooperation Division, ATMB • Mr. Li Xin, Director, R&D Division, ATMB • Mr. Pan Yong Dong, Deputy Director, Planning Division, ATMB • Mr. Cao Hui, Manager, Aeronautical Data Communication Company • Mr. Cai KaiQuan, Engineer, ADCC • Mr. Shi Le, Engineer, ADCC • Mr. Chris Dufresne, Computer Engineer, FAA • Mr. CJ Jones, FAA / ATO • Mr. Dave Burkholder, FAA / ATO • Mr. Sam El-Zoobi, FAA / ATO • Mr. J.C. Johns, Navigation Director, FAA

  3. Agenda 7:30     Parking and Logistics 8:00 Welcome from the FAA ATO International, Mr. David Burkholder 8:15 Introductory Remarks and GPS/RAIM Objectives, Madame Lu 8:30 Overview of FAA Satellite Navigation, Mr. J.C. Johns 8:45 History of Stanford Involvement with FAA SatNav, Prof Per Enge 9:00 Absolute RAIM, Dr. Todd Walter 9:30 Break 9:45 Civil Monitoring, Dr. Xingxin Gao 10:15 GPS Modernization, Prof. Brad Parkinson 10:45 Open discussion on potential for GPS RAIM cooperation between FAA, Stanford and CAAC ATMB 11:30 Lunch at the Faculty Club 1:00 Closing Remarks and document agreed to Next Steps for presentation at JATSG/6 on 4/21  (FAA, ATMB and Stanford)

  4. History of Stanford Involvement with FAA Satellite Navigation: From 1990 to the GEASfor the Civil Aviation Administration of Chinaby Per Enge (with the help of many)April 20, 2009

  5. The Global Positioning System User Segment Control Segment

  6. Worldwide approach capability with vertical guidance, but no airport equipment. Worldwide landing capability (Cat. I/II/III) with high availability. Robust against Faults Rare normal Ionosphere Scheduled RFI Unscheduled RFI Safety Analyses Stanford Scope: Maximize Aviation Benefits from GNSS

  7. Very Brief History of Stanford Work for the FAA 1990 2000 2010 Brad Parkinson gathers a GPS team at Stanford Early work on LADGPS, WADGPS & RAIM LADGPS flight trials based on in-track pseudolites WADGPS flight trials based on vector corrections Co-chair RTCA WG-4 LADGPS flight trials based on airport pseudolites Work on operational benefits Tunnel in the sky displays, wake vortex, CSPA, etc. Design for safety: faults & rare normal events Interaction with prime contractors WAAS integrity performance panel (WIPP co-chairs) LAAS integrity performance panel (LIPP) WAAS Operational LAAS Operational All of the above was funded by the FAA through Cooperative Agreements 93-G-004, 95-G-005, 97-G-012, 00-G-012 & 08-G-007.

  8. First 10 Years Focused on Flight Trials

  9. Second 10 Years: Faults & “Rare Normal” Events October 1993 modulation fault Clock “runoffs” 7/28/01, 5/26/03 6/11/03 & more 40 notable iono events during the last solar peak • RFI events: • San Diego • St Louis • Santa Cruz April 10, 2007 ephemeris fault & 24 smaller faults over the last 5 years

  10. 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 Truncation of the Error Tail ground screening (Cat I) dual freq. GBAS (Cat I/II/III) air & ground screening (Cat I/II/III) PDF 0 5 10 15 20 25 30 35 40 45 User Vertical Position Error (meters)

  11. Evolution of GNSS-Based Safety 2010 2020 2030 • L1 Only • RAIM • SBAS • GBAS • Dual freq. SBAS & GBAS • 24 SVs Minimum • 10-4 from GNSS • Dual freq. ARAIM • Open service • GPS: 30+ Slots • Multi-constellation • 10-4 from GNSS • GNSS Integrity Within • GPS IIIC (1st 16) ++, or • GNSS Safety of Life • 24 SVs (GPS alone) • 10-7 from GNSS

  12. Our Current Emphasis: L5 & New Constellations 2010 2020 2030 • Dual freq. SBAS & GBAS • 24 SVs Minimum • 10-4 from GNSS • Dual freq. ARAIM • Open service • GPS: 30+ Slots • Multi-constellation • 10-4 from GNSS

  13. Compass Galileo VPL VPL VPL VPL GLONASS Absolute Receiver Autonomous Integrity Monitoring (ARAIM) for 2020 GPS

  14. University Professors Penny Axelrad, UColorado Changdon Kee, SNU Boris Pervan, IIT Glenn Lightsey, UT Austin Demoz Gebre-Egziabher, UMinn. Gabe Elkaim,f UCSC Shau-Shiun Jan, Taiwan David Bevly, Auburn U. Novariant* Clark Cohen Stewart Cobb Dave Lawrence Paul Montgomery Mike O'Connor Tom Bell Frank Bauregger Televigation*, Y.C. Chao Traxis* Roger Hayward Jock Christie Rich Fuller Nav3D* Andy Barrows Keith Alter Chad Jennings Rossum* Matt Rabinowitz Guttorm Opshaug Ju-yong Do M Shift*, Awele Ndili Mapbar.com*, Donghai Dai Meta-VR*, Andrew Hansen NordNav* Per-Ludwig Normark Sasha Mitelman OlinkStar*, Junlin Zhang FAA Supported Graduates of the GPS Lab (1/2)

  15. Medium Size Companies Jiyun Lee Ping-Ya Ko Yeou-Jyh Tsai Jaewoo Jung Gang Xie, SiRF Alexander Mitelman, NordNav Ung-Suok Kim Michael Koenig, SiRF Lee Boyce: Consultant Seebany Datta-Barua, ASTRA Euiho Kim, Wilcox Hiroyuki Konno, TopCon Harris Teague, Seagull Sharon Houck, Seagull University or Govt. Researchers Sam Pullen Eric Phelts Sherman Lo Juan Blanch Konstantin Gromov, JPL Eric Olsen, Johns Hopkins APL Jenny Gautier, UC Ran Gazit, Rafael Hiro Uematsu, NASDA Andrew Hansen, FAA Volpe Large Companies Andy Rekow, John Deere Eric Abbott: L3 FAA Supported Graduates of the GPS Lab (2/2)

  16. Updated Stanford Work Plan for FY09for JC Johnsby Per Enge (with the help of many)April 20, 2009

  17. Evolution of GNSS-Based Safetyfrom the GEAS 2010 2020 2030 • L1 Only • RAIM • SBAS • GBAS Task 1: Optimize Single Frequency WAAS Task 2: SDM from WAAS to LAAS Task 3: GAST-D Task 4: DCPS

  18. Task 1: Optimize Single Frequency WAAS • Provide added robustness for upcoming solar maximum • Work with Raytheon to implement kriging • Retune algorithms and storm detectors to ensure maximum CONUS availability • Work with Raytheon to implement improved SQM for better continuity • Provide training to Oklahoma City to ensure they understand intent and design of WAAS algorithms

  19. PRN Number Task 2: Use WAAS SDM to Validate Nominal Model for New LAAS SVs SV11 & 23 cause LAAS SDM to trip during SLS4000 development WAAS SDM Trip Threshold

  20. Task 2: Use WAAS SDM to Validate Nominal Model for New LAAS SVs [From WAAS PAN report]: Increasing trend used to confirm SLS-4000 SDM was operating correctly by flagging and excluding PRN 11.

  21. 425 Flat 375 mm/km Flat 425 mm/km 375 300 Slant iono. gradient bound (mm/km) 200 100 5 15 30 45 65 90 SV elevation angle (deg) Task 3: GAST-D is Seeking Iono FreedomIonosphere Anomaly Threat Model

  22. 0.14 Most errors are exactly zero due to, e.g., CCD detection and exclusion before anomaly affects users, but all zero errors have been removed from the histogram. 0.12 0.1 0.08 PDF Safety limit derived from OCS  28 m 0.06 Worst-case error  41 m 0.04 0.02 0 5 10 15 20 25 30 35 40 45 0 User Vertical Position Error (meters) RTCA-24 Constellation; All-in-view, all 1-SV-out, and all 2-SV-out subsets included; 2 SVs impacted simultaneously by ionosphere anomaly Task 3: GAST-DTruncates the Error Tail

  23. 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 Task 3: GAST-DTruncates the Error Tail ground screening (Cat I) dual freq. GBAS (Cat I/II/III) air & ground screening (Cat I/II/III) PDF 0 5 10 15 20 25 30 35 40 45 User Vertical Position Error (meters)

  24. Task 3: GAST-D Availability Tool LAAS ground and user PR error models GPS SV almanac Loop through 12 U.S. airport locations Loop through all time epochs over 1 day Loop through all outage cases (0, 1, 2, 3 SV out) Compute User Protection Levels for current SV geometry Are GAST-D req’ts. met? Increment availability counters & terminate outage counters Yes No Increment outage counters • Availability requires: • VPL ≤ 10-meter VAL • max. Svert constraints met • max |Svert|  3.0 • max |Svert| + 2nd max |Svert|  5.0

  25. 0 10 IRT 21-SV -1 10 IRT 24-SV IRT 27-SV -2 10 Wk465 26-SV IRT 30-SV Wk465 31-SV IRT 33-SV -3 10 IRT 36-SV Un-availability -4 10 -5 10 -6 10 0 SVs Out 1 SV Out 2 SVs Out 3 SVs Out Number of SV's Unhealthy Task 3: GAST-D Availability vs Constellation

  26. Task 3: GAST-D (L1-only CAT II/III) • Fall 2008 review led by Jason Burns & John Warburton • SU, IIT, & other KTAs reviewed GAST-D technical status • Identified issues that need further study (e.g., multiple faults, time-to-alert) • SU supporting FAA review of ionosphere anomaly mitigation alternatives • ICAO/RTCA technical concept validation desired by end of 2009

  27. Task 4: DCPS • Latest LAAS MOPS (DO-253C) limits DCPS to horizontal navigation (i.e., no VPL for DCPS) • Further changes needed - seek best combination of several options: • Implement a “screening HAL” of 50 – 200 meters  below this value, HPL is not guaranteed to bound worst-case HPE • Add airborne geometry screening via max. Shoriz (similar to GAST-D), min. Nsat, or max. (NLGF_corr – Nsat) • Add airborne RAIM integrity monitoring (for DCPS only) • These include changes to MOPS and to iono. threat model (relative to PA  1 SV impact only)

  28. Evolution of GNSS-Based Safety 2010 2020 2030 • Dual freq. SBAS & GBAS • 24 SVs Minimum • 10-4 from GNSS Task 5: Dual freq WAAS (L5 Roadmap) Task 6: Dual freq GBAS & JPALS

  29. Worldwide approach capability with vertical guidance, but no airport equipment. Worldwide landing capability (Cat. II/III) with high availability. Robust against Ionosphere Scheduled RFI Unscheduled RFI Malevolent RFI Aviation Benefits from New Constellations & Signals

  30. Task 5: Dual Frequency WAASConvert Orange to Green

  31. Task 5: Dual Frequency WAAS • Finalize & support the L5 transition plan based on • L5 roadmap meetings • L2 semi-codeless sunset • Support L1/L5 avionics • Meetings with service providers, RTCA & Eurocae • Publish scintillation white paper based on: • International working group • Jiwon Seo: outage statistics & correlation • Tsung-Yu Chiou: receiver design • L5 SBAS MOPS development at RTCA & EUROCAE • Determination of message contents and formats • Determination of user algorithms • Coordination with receiver manufacturers

  32. Task 6: Dual-Freq. LAAS Combines Divergence-Free & Ionosphere-Free Smoothing

  33. GPS SIS Database A SISRAD MQM Smooth SQR B LAAS SIS SQM DQM VDB Message Formatter & Scheduler VDB TX Executive Monitor (EXM) LAAS SIS Correction VDB Monitor VDB RX Average MRCC sm-Monitor LAAS Ground System Maintenance Task 6: Land-Based JPALS Ground Facility In JPALS, adjust thresholds based on observed local RF interference Changed to divergence-free (DF) smoothing in LDGPS –iono-free (IF) smoothing and LAAS-like SF smoothing are backups Removed in JPALS– air and ground receivers have similar designs JPALS includes multiple corrections for L1 vs. L2 and different smoothing types Multiple sets of B-values are computed and monitored

  34. Evolution of GNSS-Based Safety 2010 2020 2030 • Dual freq. ARAIM • Open service • GPS: 30+ Slots • Multi-constellation • 10-4 from GNSS • GNSS Integrity Within • GPS IIIC (1st 16) ++, or • GNSS Safety of Life • 24 SVs (GPS alone) • 10-7 from GNSS Task 7: System Def., Requirements & PL equations Task 8: Experimental Validation Task 9: International outreach Task 10: F/A-18 Hornet

  35. Compass Galileo VPL VPL VPL VPL GLONASS Task 7: System DefinitionARAIM for 2020 GPS

  36. Task 7: System DefinitionARAIM for 2020 Compass GLONASS GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Galileo dual frequency open service Ground Control Ground Monitors Air Traffic Status • How do we close the loop? through Air Traffic • What do we ground monitor? URA & biases • How often do we close the loop? once per hour • What monitor network do we use? civil monitoring net • What do we ask of other service providers? same as us

  37. Task 7: System Definition2030: GPSIII C Compass GLONASS GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Compass GLONASS Galileo GPS Galileo dual frequency PPS Ground Control Ground Monitors • How do we close the loop? through the GPS SVs • What do we ground monitor? ephemeris + URA to 10-7 • How often do we close the loop? once per minute (RRAIM) • What monitor network do we use? GPS • What do we ask of other GNSS service providers? Not so much (ARAIM?)

  38. Task 7: Proposed VPL Equations • GPS IIIC • ARAIM

  39. Task 7: Proposed Translation from Probabilities to Ground Monitoring

  40. Task 7: Assertions Under Consideration 1. Ergodicity 2. Smoothness 3. Short Temporal Correlations 4. Symmetry 5. Independence of Errors 6. Full Threat Analysis 7. Corrective Action

  41. Task 7: System Definition, Requirements & Protection Level Equations • Continue work briefed by Todd Walter at February 2009 GEAS • Finalize URE definition • Finalize URA monitoring • PL equations for multi-constellation ARAIM • PL equations for GPS IIIC • Seek wider review • Coordinate with PSICA group to ensure FAA assurance requirements are being monitored and met.

  42. Task 8: Validate Civil Monitoring(Collaboration with FAATC & AMTI) • Civil monitoring is a trade between: • Constellation size • Robustness to SV failures • Network size (URA bounding)

  43. L-band Feed Task 8: Validate Civil Monitoring of Signals(Collaboration with FAATC & AMTI) Cavity Filter Low NoiseAmplifier 15 m cable 45dB Digital filter bank with control circuits Azimuth/Elevation Control Automatic data recording based on triggers Agilent Vector Signal Analyzer (VSA) Nova for Windows Satellite Tracking Software

  44. Task 8: Validate Civil Monitoring of Measurements(Collaboration with FAATC & AMTI) • Objectives • Nominal range errors & URE • Detect & characterize range error & URE blunders • Challenges • Compute range error without post-processed truth • Volume of data and computational load • Milestones • MATLAB Interface is ready • Integrate the algorithm within the current monitoring • Migration from nationwide network to worldwide network • Migration from L1/L2 to L1/L5

  45. Task 8: Validate Flight Performance Detection Process Undetected Fault

  46. Task 9: International Outreach to Enable Multi-Constellation ARAIM Key: common understanding of providers responsibility • All parties need to participate in requirement development • Each constellation can choose level of performance • Performance must be monitored to enable ARAIM • New document for constellation requirements • New document for avionics requirements • MOPS & SARPS • PL equations • Message contents

  47. Task 9: International Outreach(Schedule for next 4 months) • March 2-3 ICG Workshop on GNSS Interoperability: Benefits of multi-constellation ARAIM and requirements from GNSS service providers • March 3-5 Munich Satellite Summit: GEAS vision and benefits of multi-constellation ARAIM • March 25-26: First meeting of Working Group C on interoperability of integrity service provision. • April 2-4: Outreach to African nations on GNSS - aviation applications and the importance of understanding ionospheric behavior.  Emphasis on getting measurements during the upcoming solar maximum. • April 2-4: SBAS iono working group meeting. • April 20: Civil Aviation Administration of China ATMB will visit Stanford (HoD: Deputy Director Madam Liu) • April 21-23: Eurocae WG-62 is having substantial discussion on the use of multi-constellation ARAIM for vertical guidance. • May or June: IWG to be hosted at Stanford.  Will discuss L5 plans • June 23: RTCA WG-2 need to start serious work on L5 MOPS

  48. Task 10: Naval Aviation Enterprise has use for LPV worldwide. • What research or study is • required to certify the system? • Joint testing? • ARAIM with one constellation • SBAS in coverage • SBAS/ARAIM in mixed • WAGE based URE • Availability/integrity • requirements in theatre • TIM at Stanford in early April F/A-18 Hornet

  49. Optional Task 11: Security Against DoS & Spoofing Attacks:Tri-lateration Based on Mode-S Bring the safety perspective early on. What VALs & HALs can be supported? Preliminary FMEA

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