Transcript Company Presentation 2_2012

Advanced Navigation Solutions - ANAVS
Company presentation
September 2013
Table of contents
1. Advanced Navigation Solutions - ANAVS
2. PAD System hardware
3. PAD System software
4. Applications
4.1 Automotive
4.2 Maritime
5. Patents
6. Contact
Company presentation
September 2013
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1. Advanced Navigation Solutions - ANAVS
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Company founded as GmbH, spin-off of the Institute of Communications
and Navigation, Technische Universität München, Germany
ANAVS Position and Attitude Determination (PAD) System: GNSS / INS
based software and hardware for automotive and maritime applications
1st Prize in Bavaria at the European
Satellite Navigation Competition Galileo Masters 2010
Vodafone Prize for Science
and Engineering 2011
Funding by ESA, Federal
and Bavarian Ministries
50+ presentations at
international conferences
10+ journal publications
4 international patents on relative
carrier phase positioning by ANAVS
Company presentation
September 2013
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1. Advanced Navigation Solutions - ANAVS
RTK Positioning with GNSS
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Code
Carrier phase
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Attitude: relative positioning
of two receivers with known
baseline length
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x 10 -9
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x 10
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Constrained ambiguity resolution ©
Max. a posteriori prob. estimator ©
Geodetic precision with low cost GNSS receivers
Company presentation
September 2013
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ANAVS Position and Attitude Determination (PAD) System: GNSS / INS
based software and hardware for automotive and maritime applications
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1. Advanced Navigation Solutions - ANAVS
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Partners and clients
Company presentation
September 2013
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2. PAD System hardware
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ANAVS main processing unit:
 PAD System software
 2 low cost GPS receivers (u-blox LEA 6T)
 INS (Invensense MPU 9150)
 Intel I7 processor, WLAN, hard disk, battery
Two external GPS L1 patch antennas
Visualization on a tablet
(position and attitude)
Much lower cost, size and weight than
geodetic receivers or high end INS
Optional: implementation on
ARM processor (Raspberry Pi)
Company presentation
September 2013
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2. PAD System hardware
ESA Director General, Jean-Jacques Dordain and ANAVS CEO,
Dr. Patrick Henkel on a live demonstration of ANAVS PAD System
Company presentation
September 2013
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3. PAD System software
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Modularized software in C language
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Input
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Soft-constrained float ambiguity estimation ©
Maximum a posteriori (MAP) estimator © for integer ambiguity fixing
Coasting of fixed baseline solution
Cycle slip detection and correction by MAP estimator
GNSS / INS sensor fusion
Code / carrier phase measurements and navigation messages from low cost GPS receivers
Output
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Absolute position (sigma: 0.5 m)
Relative position in local ENU coordinate frame (sigma: 1 cm)
Heading (sigma: 0.5º / baseline [m]) and rate of heading
Baseline length (sigma = 1 cm)
For more than 2 receivers: 3D attitude (roll, pitch, yaw)
Phase residuals
Supports NMEA standard
Update rate according to rate of measurements (5 Hz or better)
Company presentation
September 2013
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4.1 Applications: automotive
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Skidding detection / prevention
First step for lane keeping
detection and autonomous
driving
Parking assistance
Heading
Orientation
determination
for first stage
with an
of drives
accuracy of
Antenna of 2nd GPS receiver
0.5°
Antenna of 1st GPS receiver
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4.1 Applications: automotive
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Test drive at Nymphenburg Palace, Munich
 GNSS-based heading (compass information)
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4.1 Applications: automotive
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Test drive at Nymphenburg Palace, Munich
 Precision level (phase residuals): few centimeters
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September 2013
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4.1 Applications: automotive
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Test drive west of Munich: benefits of GPS / INS sensor fusion
severe multipath
-100.1°
Start
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4.2 Applications: maritime
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Navigation assistance for
freight vessels and cruise
liners
Today: navigation using radar
and inertial sensors
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More than 30 severe
accidents / year in Germany
ANAVS system: reliable and
accurate attitude and RTK
position determination using
low cost GNSS / INS sensors
Applications: navigation in
shallow water, narrow canals,
harbors
Company presentation
September 2013
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4.2 Applications: maritime
1st receiver
2nd receiver
First lock of the Mosel river
Company presentation
September 2013
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4.2 Applications: maritime
Heading determination: 0.02° accuracy
Heading of coasted fixed solution [deg]
315
310
down lockage
305
300
303,00
302,95
295
302,90
302,85
302,80
290
302,75
285
Company presentation
302,70
590
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400
600
600
610
800
1000
Time [s]
September 2013
620
1200
1400
1600
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4.2 Applications: maritime
Pitch angle determination: 0.05° – 0.1° accuracy
Baseline pitch angle of selected fixed solution [deg]
2.7
2.65
down lockage
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2.55
2.5
2.45
2.4
2.35
2.3
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1200
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1600
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4.2 Applications: maritime
Baseline length: 20.65 m, few mm accuracy
Error of fixed baseline length estimate [m]
0.03
0.02
down lockage
0.01
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-0.01
-0.02
-0.03
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Time [s]
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1600
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4.2 Applications: maritime
Height change in lock
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Height [m]
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6.5 m
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128
700
750
800
850
900
950
Time [s]
Company presentation
September 2013
1000
1050
1100
GEOID height not yet
subtracted (~ 47.9 m)
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4.2 Applications: maritime
Verification: phase residuals of fixed solution (few cm)
0.08
Residuals of coasted fixed solution [m]
0.06
down lockage
0.04
0.02
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-0.02
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25
30
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-0.04
-0.06
-0.08
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Time [s]
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1200
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5. Patents
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Patrick Henkel and Juan Manuel Cárdenas, Method for Determining a
Baseline between Two Receivers, European Patent Application,
28.12.2012.
Patrick Henkel and Patryk Jurkowski, Method for Determining the
Heading of a Moving Object, European Patent Application, EP 12 153
398.8, Application date: 31.01.2012.
Patrick Henkel and Patryk Jurkowski, Maximum a posteriori probability
ambiguity estimation with soft baseline length and orientation constraints,
European Patent Application, Application date: 24.01.2011.
Patrick Henkel and Patryk Jurkowski, Verfahren und Vorrichtung zur
Bestimmung der Relativposition zwischen zwei Empfängern und
Verwendung der Vorrichtung zur Stabilisierung schwebender Lasten, Intern.
Patent Application, Appl. Nr.: PCT/ EP2011/ 067554, 7.10.2011, Priority
date: 18.10.2010 based on Appl. Nr. 10 2010 038 257.4, Publ. date:
26.04.2012, WO 2012/052307.
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September 2013
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6. Contact
Advanced Navigation Solutions - ANAVS
Heßstraße 36
80798 Munich, Germany
Phone: +49 (0) 89 46134306
Fax:
+49 (0) 89 46134309
Website: www.anavs.de
Dr.-Ing. Patrick Henkel
Managing director
Phone: +49 (0) 89 28923462
+49 (0) 171 4472343
Email: [email protected]
Company presentation
September 2013
M.Sc. Juan M. Cárdenas
Project manager
Phone: +49 (0) 89 46134306
+49 (0) 163 7595838
Email: [email protected]
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Providing Orientation
Advanced Navigation Solutions
Company
Company presentation
Presentation
September 2013
1. Q. 2012
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