[[Editor’s note: After this story was posted, and after the Navigate! enewsletter containing it was sent out to 27,128 subscribers, GPS World received notice that in fact the U.S. Navy canceled plans to jam GPS signals in the vicinity of the China Lake, California, Naval Air Weapons Station. The Aircraft Owners and Pilots Association (AOPA) had raised concerns about the impact on civilian air traffic and the size of the affected area. The Navy did not reveal the cause of the cancellation, other than to say the reason was “internal.”]]
According to a June 4 Federal Aviation Administration advisory, GPS testing is scheduled several days this month that may affect GPS reception on the West Coast of the U.S. with an unreliable or unavailable GPS signal.
The time periods discussed in this advisory may be reduced or cancelled with little or no notice. Pilots are advised to check NOTAMs frequently for possible changes prior to operations in the area. NOTAMs will be published at least 24 hours in advance of any GPS tests.
GPS Interference testing this June on the West Coast of the United States.
Location: The location is centered at 360822N1173846W or the BTY VOR 214 degree radial at 059 NM.
Dates and times
7 JUN 16 1630Z – 2230Z
9 JUN 16 1630Z – 2230Z
21 JUN 16 1630Z – 2230Z
23 JUN 16 1630Z – 2230Z
28 JUN 16 1630Z – 2230Z
30 JUN 16 1630Z – 2230Z
Duration: Each event may last the entire requested period.
NOTAM INFO:
NAV (CHLK GPS 16-08) GPS (including WAAS, GBAS and ADS-B) may not be available within a 476 nautical mile radius centered at 360822N1173846W (BTY 214059) FL400-UNL DECREASING IN AREA WITH A DECREASE IN ALT DEFINED AS:
432NM RADIUS AT FL250
375NM RADIUS AT 10000FT
340NM RADIUS AT 4000FT AGL
253NM RADIUS AT 50FT AGL
THIS NOTAM APPLIES TO ALL AIRCRAFT RELYING ON GPS. ADDITIONALLY, DUE TO GPS INTERFERENCE IMPACTS POTENTIALLY AFFECTING EMBRAER PHENOM 300 AIRCRAFT FLIGHT STABILITY CONTROLS, FAA RECOMMENDS EMB PHENOM PILOTS AVOID THE ABOVE TESTING AREA AND CLOSELY MONITOR FLIGHT CONTROL SYSTEMS DUE TO POTENTIAL LOSS OF GPS SIGNAL.
Affected Centers: Pilots are encouraged to report anomalies only when ATC assistance is required.
Prince’s death on April 21 highlights a fatal flaw in the United States’ antiquated 911 emergency system. When you call from cell phone, 911 doesn’t automatically know where you are. 911 often can’t determine the location of an emergency, even when the call for help comes from a GPS-equipped smartphone. Often the 911 operator can only zero in the nearest cell tower, which can be several miles away or in the next county.
In the transcript of the 911 call from Prince’s house comes this exchange:
911 operator: OK, what’s the address?
Caller: We’re at Prince’s house.
911 operator: OK, does anybody know the address? OK, your cell phone’s not going to tell me where you’re at, so I need you to find me an address … OK, have you found an address yet?
Caller: Yeah, um, I’m so sorry, I’m so sorry. (The caller is heard asking others if they know the address.)
911 operator: Is there any mail around that you could look at?
While a quicker response may not have saved Prince’s life, some experts estimate that cutting 911 response by one minute could save one person every hour every day nationwide.
The FCC and the four largest cellphone carriers say they’re doing their best to address the problem. One possible solution is LaaSer, a technology suite that runs in the cloud. LaaSer updates your precise location at the exact same time that the call to 911 is being made, so that the answering operator is immediately presented with your information.
With Laaser, any mobile device delivers accurate location information about the caller to 911 operators immediately. It does this using existing infrastructure, so carriers, handset manufacturers and 911 call centers wouldn’t have to change their systems to receive the benefits.
Unlike current 911 mobile phone technology, LaaSer takes advantage of all of the location information already available in smartphones, including GPS, Wi-Fi, Bluetooth, near-field communications (NFC)/RFID, compass, accelerometer, barometer and more.
Rambus Inc. and Movimento are partnering to deliver secure, personalized over-the-air (OTA) vehicle updates critical to safety and performance in the era of the connected car.
Rambus is a specialist in digital security that provides a secure foundation for a connected world, and Movimento specializes in OTA software lifecycle and data management for the automotive/IoT sectors.
Movimento and Rambus are demonstrating the joint solution at TU-Automotive in Detroit. Visitors can see how the solution works on a live demo using a Dodge RAM truck in Movimento’s booth C67.
Moviemento also took home a TU-Automotive Award for Best Telematics Product/Service for its OTA platform.
The CryptoManager platform adds an important layer of security to the Movimento OTA solution. Vehicle updates provided by the combined Movimento and Rambus solution offers one-time, single-use keys unique to each vehicle, minimizing vulnerabilities and maximizing security.
As part of the collaboration, Movimento’s OTA technology uses the Rambus CryptoManager platform, enabling in-field provisioning of encrypted keys generated for each vehicle and allowing for secure communication between a vehicle and the cloud.
“As cars continue to increase in complexity and connectivity, often depending on more than 100 million lines of code to function, car makers and consumers alike are demanding simple and secure methods to download, authenticate and install vehicle updates,” said Mahbubul Alam, CTO of Movimento. “By partnering with Rambus and integrating the CryptoManager security platform with Movimento’s OTA solutions, we are able to further our strategy of building a best-in-class ecosystem of integrated solutions to enable the software defined car and data analytics.”
Movimento’s tools and technologies are designed to reduce complexity when making software and firmware updates by updating all the ECUs in a car in one go securely. From the chip to the cloud, Movimento builds on more than a decade of experience in automotive industry with the company updating more than 3 million vehicles every year.
“Many current OTA solutions deliver functional updates and security patches for vehicles using the same software encryption key for multiple vehicles, increasing the vulnerability of the update,” said Martin Scott, general manager of the Rambus Cryptography Research Division. “The Rambus CryptoManager solution provides an integrated security platform with flexible implementation from the hardware root-of-trust to the secure firmware which, when combined with Movimento’s OTA technology, enables the next level of integrated chip-to-cloud-to-car security.”
The CryptoManager platform allows for cost reduction by enabling security features already embedded in automotive chipsets and requires no additional security hardware. By utilizing an embedded hardware solution, the CryptoManager platform minimizes the attack surface of the vehicle by providing end point security.
Savari Inc., a V2X (vehicle-to-everything) communication and safety technology company, is showcasing its advanced V2X safety communications solutions at TU-Automotive Detroit, taking place June 8-9 in Novi, Michigan.
At the show, Savari will be hosted by Qualcomm Technologies and will offer live demonstrations in Qualcomm booth #C69. The live demonstrations simulate real-life automotive traffic scenarios and how in-car V2X applications make driving safer and more efficient. It will feature predictive applications such as intersection movement assist (IMA), forward collision warning (FCW), blind-spot warning (BSW) and lane-change warning (LCW).
Savari’s and Qualcomm’s V2X technology delivers superior reliability compared to other solutions, eliminating the need for cameras that require line of sight, and ensuring lane level accuracy up to 0.6 mile/1 kilometer of communication range. These capabilities make V2X suitable for for future transportation initiatives, including self-driving cars.
A pioneer in V2X safety communications technologies, Savari delivers a suite of solutions that enable connected vehicles to interact with other vehicles, roadside infrastructure, smartphones and pedestrians, the company said.
Savari has achieved more 400,000 hours of public testing of its on-board units, covering more than 15 million miles traveled. Savari is also an active participant in major public U.S. smart city testbeds, with more than 90 percent of currently installed road-side-units, covering 130 public square miles.
TU-Automotive announced the 2016 winners of the TU-Automotive Awards at a reception in Novi, Michigan, held before the June 8-9 TU-Automotive Detroit trade show. The 10 winners were selected by 30 expert judges in 10 categories.
The award categories showcase specific aspects of the connected-car industry. The winners were selected by 30 top industry experts and judged based on the following criteria: innovation, industry engagement, user experience and market update.
“We launched the TU-Automotive Awards in December of last year with the objective of recognizing innovation and success across the globe from companies established and new,” said Ruthana Foulkes, managing director at TU-Automotive. “We received a record number of nominations this year — over 400 in total. And we would like to thank and congratulate every company for taking part in this process. The quality of entries as always was incredibly high.”
The 2016 TU-Automotive Awards winners are:
OEM of the year – Joint winners: Volvo Car Group and Ford Motor Company
Telematics Service Provider of the year – Wireless Car
Lochbridge, a provider of automotive connectivity services and solutions, is presenting and exhibiting at TU-Automotive Detroit 2016, held June 8-9 in Novi, Michigan.
Through the company’s keynote presentation, newly released maturity model and suite of connected solutions, Lochbridge will demonstrate how OEMs need connectivity to create a competitive edge.
Lochbridge’s keynote presentation, “Are Your Connected Cars Ahead of the Curve?,” will unveil a new model that maps connected-car investments to the core outcomes of connectivity — loyalty, differentiation, monetization and quality. Delivered by Raj Paul, vice president of IoT & Connected Services, the presentation will show how connected solutions — including predictive analytics, OTA updates and digital integration — can be leveraged to achieve these outcomes. Using this model, Paul will present an industry scorecard to highlight how well OEMs today are applying connected solutions to gain a competitive edge. Lochbridge’s keynote presentation is scheduled at 2 p.m. ET on June 9.
At TU-Automotive Detroit 2016, the Lochbridge team will also be showcasing a suite of new connected vehicle solutions at booth 204:
Risk Analytics: Demonstrating how usage-based insurance (UBI) progresses in parallel with the future world of urban mobility where drivers will carry a “lifetime-driving-score.” In collaboration with Harris Corporation integrating the Helios environmental intelligence platform, traditional driving behavior data, such as hard braking and accelerating, is combined with real-time contextual data, such as road conditions and environmental conditions.
App Certification Ecosystem (ACE 2.0): Providing a cloud based “virtual bench” that allows developers to bring new ideas to life faster while offering OEMs control of the application development, certification and support process.
IoT Device Management Platform: Enabling car manufacturers to extend new vehicle enhancements and manage recalls through a single solution. The solution provides OEMs a robust device management and Over-The-Air capability (OTA) supporting upgrades en masse or at an individual level.
Fleet Management: Integrating Oracle’s IoT Cloud Service platform, the new fleet concept demonstrates how device tracking, management and analytics can be deployed with rigor rapidly.
Hands-on demonstrations of all four connected solutions will be available at Lochbridge’s exhibit at booth 204.
“It’s no longer about developing new and cool features. Connected car solutions need to provide automakers a competitive edge in the market and help create a great customer experience,” said Romil Bahl, Chief Executive Officer, Lochbridge. “We are excited to debut our new model and a suite of solutions that will allow our automotive clients to unlock new opportunities, drive growth and create value.”
The 16th annual TU-Automotive Detroit conference and exhibition is being held June 8-9 in Novi, Michigan. This year’s event is focusing on the converging trends of connectivity, mobility and autonomy revolutionizing the automobile industry — specifically infotainment, V2X, apps, navigation, cybersecurity, mobility, autonomy, safety, insurance telematics, data aggregation, fleet management and tracking.
GPS World staff is at the event capturing news, photos and videos, compiled below.
How many times have you heard of a nearly 20-year-old space constellation being modified with a new technology? It almost never happens.
I will never forget when the general slid the sensitive Iridium folder across my desk; I knew from his facial expression that he was not happy. The folder contained a controversial civilian plan to de-orbit the entire multi-billion dollar Iridium communications satellite constellation less than a year after it was launched.
Fortunately, the folder also contained a proposed military, U.S. government (USG) and joint civilian proposal to sustain the constellation, with the only caveats being that a buyer be found and that the military and/or USG provide “indemnity” (insurance policy) for the Iridium constellation if it were to be utilized by the USG and our Allies, especially during wartime. At the time I was serving as the deputy chief scientist at Air Force Space Command headquarters. Our job was to determine the technical feasibility of both proposals and make a recommendation.
Iridium satellites
Replica of Iridium satellite. (Photo courtesy of Iridium)
Launched in 1998 by Motorola, Iridium is a satellite communications constellation that is a “technological marvel,” as John Bloom writes in his new book about Iridium, Eccentric Orbits. Additionally, Iridium was and remains a capability sorely needed by the USG that in many ways revolutionized global communications — unfortunately, just not in the manner or time frame Motorola originally envisioned.
Indeed, eventually not 66 or 77, or even 88, Iridium satellites would be launched, as you will read in many places. Rather, a total of 95 Iridium satellites have been launched to date, which should give the constellation the name Americium, since 95 is the atomic number for the element americium. But I digress.
The problem with Iridium was not technical or even space-related. Motorola, which developed the technology and launched the constellation into low Earth orbit (LEO) — an amazing feat in so many respects — totally missed the correct marketing strategy. Motorola developed Iridium as a quick (five-year lifetime) money-making capability and profit center when in fact it proved to be a much longer term project. Today, there are Iridium satellites that are fully expected to be on orbit and fully functioning for more than 20 years.
The original Iridium satellite was — and still is — a technological marvel that broke almost all the so-called rules for manufacturing spacecraft:
The satellites were built without any fully space qualified or certified parts.
The satellites were not built in a clean room.
The satellites were built “horizontally” on a moving assembly line, like automobiles, versus vertically, individually and historically as a stationery static device. The moving assembly line produced a satellite every five days by a little-known company that eventually became part of Lockheed Martin (LMCO).
The satellites were launched by nearly every space-faring nation that had a launch capability at the time.
The original Iridium satellites were built for a projected lifetime of five years — that was more than 18 years ago. The current Iridium constellation of 66-plus satellites (remember, 95 have been launched) has exceeded its projected lifetime by nearly 400 percent, and is still going strong.
In 2010, Iridium Communications entered into a long-term agreement with Boeing for maintenance, operations and support of the satellite network. Boeing operates the constellation and provides support for Iridium’s satellite control system (SCS).
How many times have you heard of an almost 20-year-old space constellation being modified with a new technology? It almost never happens.
The constellation’s legacy
Amazingly, the only reason the Iridium constellation still exists today, in several respects, is due to the intervention of the USG and a major program that suffered a production failure. Originally Motorola contracted for an additional hosted payload that just never came to fruition. The nameless company developed an Iridium test program, on which it failed to deliver. This “major glitch” caused a weight and balance problem for the Iridium satellites, which Danny Stamp, an Iridium program engineer, solved at the time by recommending a quick fix: adding an additional fuel load of the same weight as the failed payload to the satellite. It was a simple fix just to get the satellites launched on time that no one thought much about at the time. However, the result was a key component — remaining or residual fuel — that ensures the satellites are still in orbit, and can be maneuvered and working properly today.
As I mentioned earlier, one of the major reasons the entire Iridium constellation was not de-orbited was because the USG decided it was a necessary tactical capability during wartime for our warfighters, as well as being an amazing R&R tool for morale purposes. (The Iridium system enabled conversations with loved ones back home.)
Add to that a civilian plan put together by some true visionaries, individuals such as Dan Colussy and corporate partners such as Boeing, that were able to purchase the entire constellation for pennies on the dollar, and you have an incredible success story.
The result is one of the most successful — certainly the largest and most well known — satellite communication constellations ever flown. Plus, as I mentioned earlier, Iridium has proposed a brand-new capability that, if it comes to fruition, has the potential be a huge boon for GPS by serving as a key global PNT augmentation.
The way ahead
Just last week, Iridium announced that it is proposing, or has developed, in conjunction with other companies, an augmentation or compliment to GPS. Reuters quoted the CEO of Iridium Communications, Matthew Desch as saying the new technology used chips that were the size of a postage stamp, and could ultimately be integrated into other devices, heavy machinery, automobiles and the power grid.
The system, known as STL or Iridium Satellite Time and Location System, transmits signals via Iridium’s satellite constellation, delivering codes to ground positions that are independently authenticated, Reuters reported.
Both Iridium and the private firm Satelles said STL as a system has been demonstrated in military, academic and commercial applications. The Reuters article didn’t provide specific details on the exact nature of the devices or any launch customers. (Satelles and Boeing entered into a patent and technology license agreement for STL in 2013).
Iridium NEXT, Iridium’s next-generation global satellite constellation, will support the STL solution. Iridium NEXT is scheduled for completion by late 2017. Along with supporting the current Iridium constellation, Boeing is under contract from prime contractor Thales Alenia Space to provide system integration and testing support for Iridium NEXT.
So, while STL is far from concrete, it makes for an interesting possibility that Iridium is proposing or has apparently built an on-orbit satellite augmentation to GPS, and PNT in general. My government inquires brought the to-be-expected, “We can neither confirm or deny” response. As far as Iridium and Satelles are concerned, I suppose it is a wait-and-see proposal.
Still, it is good to see company internal R&D funding being used to further support our global PNT infrastructure. Now that the word is out, we can look for more details on the horizon. So stay tuned. By the way, many of you may remember that this is not the first time Iridium has gone down this path; perhaps this time it will actually work.
Yes, sometimes 18 years ago seems just like yesterday.
Abstract: The iGPS high-integrity precision navigation system combines carrier-phase ranging measurements from GPS and low-Earth orbit Iridium telecommunication satellites. Large geometry variations generated by fast moving Iridium spacecraft enable the rapid floating estimation of cycle ambiguities. Augmentation of GPS with Iridium satellites also guarantees signal redundancy, which enables fault-detection using carrier phase Receiver Autonomous Integrity Monitoring (RAIM). Over short time periods, the temporal correlation of measurement error sources can be exploited to establish reliable error models, hence relaxing requirements on differential corrections.
In this paper, a new ionospheric error model is derived to account for Iridium satellite signals crossing large sections of the sky within short periods of time. Then, a fixed-interval positioning and cycle ambiguity estimation algorithm is introduced to process Iridium and GPS code and carrier-phase observations. A residual-based carrier phase RAIM detection algorithm is described and evaluated against single-satellite step and ramp-type faults of all magnitudes and start-times. Finally, a sensitivity analysis focused on ionosphere-related system design variables (ionospheric error model parameters, code-carrier divergence, single and dual-frequency implementations) explores the potential of iGPS to fulfill some of the most stringent navigation integrity requirements with coverage at continental scales.
ION Joint Navigation Conference
The highly anticipated and always rewarding Institute of Navigation Joint Navigation Conference (ION JNC) kicks off this week, June 6-9, at the Convention Center in Dayton, Ohio, and at Wright Paterson Air Force Base.
There are the expected technical and joint presentations, along with a classified day (U.S. only) and a Warrior Panel. It all sounds like a great time and an educational experience. Be sure to visit the National Museum of the U.S. Air Force, including the website where you can take a virtual tour; it is an amazing venue. Also take time to visit the Wright Brothers exhibits in the “Birthplace of Aviation” while you are there.
Wright Brothers 1901 Wind Tunnel on display in the Early Years Gallery at the National Museum of the United States Air Force. (Photo: U.S. Air Force)
ION always puts on a great event. I hope many of you are there to participate.
Until next time, happy navigating, and remember: GPS is brought to you free of charge, courtesy of the United States Air Force.
u-blox has released its fourth generation firmware for 3D Automotive Dead Reckoning (ADR) GNSS modules and chip sets, the company announced during TU-Automotive 2016, which is being held June 8-9 in Novi, Michigan.
The Swiss-based company develops GPS technology, chip sets, miniaturized GPS modules, smart antennas and dead reckoning products. Designed for first mount or aftermarket road vehicle applications, such as in-car navigation, infotainment systems, telematics units and fleet management, the upgraded GNSS receiver now offers real-time continuous navigation output with an update rate of 20Hz, enabling low latency for applications such as interactive head-up displays.
The new firmware supports Galileo, GPS, GLONASS, Beidou, QZSS and SBAS. It also supports the Galileo-based eCall European emergency call system, which will be required in new vehicles starting in 2018.
The DR performance has been enhanced, the company says, which improves navigation performance, especially in highly urban environments where satellite signals are heavily blocked by and reflected from buildings. The high performance of the u-blox M8 concurrent positioning engine combined with the latest u-blox 3D ADR technology results in 100 percent coverage and continuous 3D positioning.
The new firmware will be delivered on u-blox NEO-M8L modules and is available for UBX-M8030-Kx-DR dead reckoning chips, including the new automotive grade variant supporting operation up to 105 degrees Celsius.
Google has announced that raw GNSS measurements will be available to apps in the Android N operating system, which will be released later this year. This means pseudoranges, dopplers and carrier phase will be obtainable from a phone or tablet computer.
The announcement came during Google’s I/O 2016, its three-day developer conference which was held May 18-20. The specific announcement occurs during a video summary of the conference, shown below.
“This is groundbreaking,” says Steve Malkos, a technical program manager at Google. “It is the first time in history that a mobile application will have access to the raw GPS measurements. This is beneficial to many, but especially the phone makers, because they can use these measurements to help them in their performance testing. And if you ever had a bright idea on how to use GPS measurements, now’s your time to shine.”
Malkos co-wrote “The Fashion Demands of Always-On: Ultra-Low-Power, High-Accuracy Location for Wearable GNSS Devices: From Host-Based to On-Chip” in the December 2014 issue of GPS World, and “Putting the (ultra-low) Power in GeoFence” in the November 2013 issue. His blog post in the upcoming July 2016 issue will include more information about the new Google development, including a hands-on demonstration course to be offered at ION-GNSS+ 2016 in Portland, Oregon in September.
Android N is the codename of an upcoming release of the Android operating system. It was first released as a developer preview on March 9, with factory images for current Nexus devices, as well as with the new Android Beta Program which allows supported devices to be upgraded directly to the Android N beta via over-the-air update. The stable release of the operating system is expected in mid-2016.
Google I/O is an annual developer-focused conference held by Google in the San Francisco Bay Area. It features technical, in-depth sessions focused on building web, mobile, and enterprise applications with Google and open web technologies such as Android, Chrome, Chrome OS, APIs, Google Web Toolkit, App Engine, and more. Google I/O began in 2008. The “I” and “O” stand for input/output, as well as the slogan “Innovation in the Open.”
The Federal Aviation Administration (FAA) is offering a $500 rebate for aircraft to install Automatic Dependent Surveillance – Broadcast (ADS-B) surveillance technology ahead of a 2020 deadline.
Today on a national press call, U.S. Transportation Secretary Anthony Foxx and Deputy Administrator Michael G. Whitaker announced the $500 rebate incentive for General Aviation (GA) aircraft owners who equip their aircraft with required avionics technology.
Accelerating compliance is critical to ensuring that pilots, manufacturers and retail facilities have adequate time and capacity to equip aircraft ahead of a 2020 regulatory deadline, the FAA said.
ADS-B is a foundational element of the FAA’s NextGen program, which consists of a suite of technologies that are modernizing the nation’s air traffic control system. ADS-B transforms aircraft surveillance using satellite-based positioning.
“This announcement signals our commitment to NextGen, which has played an important role in ensuring that our airspace is safe and efficient for the American people,” Secretary Foxx said. “We are focused on achieving its full potential, and by working with our General Aviation community, I’m confident we can successfully integrate aircraft and technology into the national airspace system.”
The rebates will be available this fall, and the FAA will announce the specific date soon.
In the meantime, the FAA has published information regarding the goals and structure of the program and is encouraging aircraft owners to look at the available equipment on the market and to schedule an installation appointment with a qualified installer starting in the fall of 2016. Aircraft owners will only qualify for the rebate if the installation is scheduled after the FAA begins offering the rebates.
The FAA published a final rule in May 2010 mandating that aircraft flying in certain controlled airspace be equipped with ADS-B by Jan. 1, 2020. That airspace is generally the same busy airspace where transponders are required. Aircraft that fly only in uncontrolled airspace where no transponders are required, and aircraft without electrical systems, such as balloons and gliders, are exempt from the mandate.
“We’re calling on all aircraft owners who plan to fly in busy airspace to equip with ADS-B before the deadline,” Administrator Huerta said. “Owners who wait too long to equip may not be able to get an installation appointment before the deadline. This limited-time rebate provides an incentive for early retrofitting, and will help draw attention for the urgent need for owners to comply so that they can continue to fly their aircraft in 2020.”
The $500 rebate will help offset an owner’s cost to equip U.S.-registered, fixed-wing, single-engine piston aircraft with avionics that comply with FAA technical standard orders and meet the rule requirements. The FAA is not offering rebates for software upgrades for aircraft already equipped, for new aircraft or for aircraft for which the FAA already has paid or committed to upgrade.
The FAA will be able to distribute 20,000 rebates — one rebate per aircraft owner. The FAA is encouraging owners of fixed-wing, single-engine piston aircraft to apply as soon as the program is launched this fall because the rebates are available on a first-come, first-served basis for one year, or until all 20,000 rebates are claimed, whichever comes first. The FAA estimates that as many as 160,000 aircraft need to be equipped by the deadline.
“ADS-B provides the General Aviation community with increased safety, efficiency, and situational awareness,” said Whitaker. “We’re getting closer to the 2020 deadline, and we need 100 percent equipage in the required airspace to realize the full benefits of this NextGen technology.”
General aviation and air taxi aircraft equipped with ADS-B Out enjoy more efficient spacing and optimal routing in some non-radar environments, including busy airspace in the Gulf of Mexico, mountainous regions of Colorado, and some areas in Alaska. ADS-B improves life-saving search-and-rescue with accurate and timely last-reported positions. General aviation pilots may also benefit from air traffic control services outside radar coverage.
The FAA is continuing to work with stakeholders such as the Aircraft Electronics Association, the Aircraft Owners and Pilots Association, the General Aviation Manufacturers Association, and others to inform and educate the aviation community about the ADS-B requirements.
Aircraft are required to be equipped with ADS-B by January 2020 as part of the agency’s effort to implement the satellite-based NextGen system to improve the nation’s air traffic control.
ADS-B technology, which costs around $2,000 to install, can save lives because it improves situational awareness, allows real time weather and traffic updates and improves communication where radar is limited. It also has the ability to improve route efficiency and air traffic.
Unmanned tactical wheeled vehicles for logistics and route clearance missions provide a significant force protection advantage — removing personnel from targeted vehicles, extending standoff distance from explosives, and empowering a single operator to simultaneously supervise multiple unmanned assets in convoy. This article discusses some of the enabling technologies and the motivations behind them, for safer and more efficient logistics and route clearance operations in a tactical environment.
By John Beck
Unmanned ground vehicles (UGVs) that can semi-autonomously operate over complex terrain represent a promising technological enabler for effective logistics supply and route clearance functions.
Oshkosh Defense has developed autonomous systems for tactical wheeled vehicles (TWVs), working closely with government agencies on autonomous appliqué systems with developed tactics, techniques and procedures that together offer a more efficient and less perilous means to perform critical missions in theater.
The system is designed to be unobtrusive, so that the host platform retains its original mobility, payload capacity, survivability (minimal impact to armor) and manual operation. By upgrading existing fleet vehicles with the capability for unmanned operation, the TerraMax UGV technology can economically and innovatively deliver force protection and force multiplication advantages.
MOTIVATION
Improvised explosive devices (IEDs) pose one of the greatest threats to today’s ground forces carrying out logistics missions in hostile environments. While the up-armoring of tactical vehicles has been effective in reducing casualties, the warfighter remains at risk to the ever-increasing net explosive weights. By fielding UGVs, militaries will be able to remove personnel from TWVs and mitigate the danger of armor overmatch.
To increase efficiency of a reduced force structure, UGVs will serve as force multipliers, enabling a warfighter in a protected vehicle to supervise the coordinated operation of multiple UGVs from a safe standoff distance. These UGVs will be able to operate for extended periods of time, during day and night, and through dust and adverse weather conditions without fatigue or loss of awareness. UGVs will precisely maintain vehicle separation, enabling greater security, improved efficiency and fewer collisions.
Environment Drives Design. To be sustainable in theater, unmanned TWVs must equal their manned counterparts in performance, reliability and mobility in austere tactical environments. For the purposes of overcoming complex terrain, prevailing TWVs are engineered to be capable of feats such as fording 1.5 meters of water and traversing 60% gradients and 30% side slopes.
In addition, these vehicles are expected to operate across broad temperature extremes in dusty, sandy or muddy environments, enduring all manner of precipitation, vegetation and weather conditions. The stringent operational requirements of expeditionary forces influence both individual component selection and overall system design for manned vehicles; the same is true for an unmanned appliqué complement, which must be capable of interpreting and operating in these harsh and complex environments.
ENABLING FULL MOBILITY
TerraMax UGVs are actuated by a tightly integrated drive-by-wire system enabling precise vehicle control using MIL-STD system components to ensure reliability and durability in a tactical environment. It is a safety-critical system that integrates with relevant vehicle components, including steering, engine, brakes, transmission and auxiliary driving functions (such as the central tire inflation system, drive line locks and engine braking), preserving the broad mobility characteristics of the host platform.
The drive-by-wire system both enables higher level robotic control functionality and provides independent benefits in the form of advanced driver assistance system (ADAS) features to benefit manual driving, reducing accidents and collisions.
To facilitate detecting errors absent in an in-vehicle driver’s intuition, the drive-by-wire system communicates with core vehicle diagnostic sensors. It also utilizes add-on sensors that enable monitoring of vehicle and auxiliary subsystem attributes such as hydraulic and pneumatic pressures, ambient and local temperatures, fuel and fluid levels, battery charges and power usage.
All of this data is accessible from the control interface. In addition, threshold values are configured for each monitored sensor such that an operator will be advised if any components exceed warning or critical levels. This ensures that severe conditions do not go unnoticed by an operator, who could be at a distance beyond direct line of sight and may be preoccupied or otherwise unable to dedicate full attention to monitoring multiple UGVs downrange.
Perception Sensors. The TerraMax UGV sensor suite (Figure 1) uses multiple sensor modalities to provide robust sensing capability. The primary sensor for analyzing terrain and obstacles is the high-definition (HD) laser detection and ranging (LADAR), with 64 scanning lasers sweeping 360 degrees.
Figure 1. Sensor suite aboard TerraMax UGV.
In addition, radars are positioned around the vehicle to detect moving obstacles such as other vehicles. Wide-angle cameras are also positioned around the periphery to give a remote operator the ability to visually check vehicle surroundings.
A navigation solution using GPS and an inertial navigation system (INS) supports the ability to drive accurately even with limited GPS signal availability. On the roof facing forward are two cameras used for teleoperation of the vehicle: a wide dynamic range (WDR) camera for daytime use and a short wavelength infrared (SWIR) camera for night operations.
Perception Software. The TerraMax UGV perception software leverages a multi-sensor suite that compensates for the weaknesses of one sensing modality with the strengths of another; for example, relying upon the dust-penetrating ability of automotive radar when LADAR and visible-spectrum camera feeds are obscured.
The perception software uses several modules to interpret the world around it: terrain detection, which assesses roughness of the nearby terrain and informs the selection of appropriate speeds; terrain classification, which distinguishes among foliage, dust or other airborne obscurants and obstacles (Figure 2) and enables traversability appraisals of the surrounding area; and dynamic obstacle detection, which tracks vehicles and dismounts and allows the UGV to exhibit defensive driving behaviors. This software also affords situational awareness and a means for remote supervision of the vehicle by providing processed output for display at the operator control unit.
Figure 2. Perception system display in the TerraMax UGV.
In addition, fused sensor data are combined using novel registration techniques that couple the vehicle’s perception of its surroundings with ground-truth geospatial mapping data to correct for errors in GPS position estimates. This allows the system to be enhanced by, rather than dependent upon, GPS and vehicle-to-vehicle data. Government testing has demonstrated the ability of the TerraMax UGV system to endure complete GPS blackout for more than 19 kilometers with no noticeable impact on mission performance.
Key features of the perception system are:
operable in all environments under all weather and lighting conditions;
installed inconspicuously on the base vehicle and capable of covert modes of operation;
able to deliver reliable system performance under extreme GPS degradation or denial.
Motion-Planning Software. This onboard software takes in an operator’s objectives regarding routing, speed and inter-vehicle spacing as entered during mission planning or on-the-fly. It consequently observes processed sensor data from the perception system and calculates and executes speed and steering commands that guide the vehicle along an optimal path. The motion planning software has been developed with machine learning techniques to emulate smooth human driving behaviors such as avoidance of obstacles and terrain hazards while maintaining appropriate vehicle speed on various terrains.
Key features of the motion planning system are:
intelligent speed and path selection in all terrain, including secondary roads and trails;
capability of sustaining high platform mobility (for example, handling fording and grade climbs);
ability to support high operational tempo (OPTEMPO).
Modes of Operation. When enabled for unmanned operation, a TerraMax UGV can be placed in one of three different modes: semi-autonomous, follower,or tele-operation. The mode selection for each vehicle is controlled from the primary OCU that can be installed in any other tactical or combat vehicle.
In semi-autonomous mode, basic waypoint navigation via GPS coordinates is supported. In addition, mission plans can be created that include information such as check-points, intended vehicle separation distances, speed limits by region, and exclusion zones. These missions are planned from the OCU on a route map that is produced from standard geospatial vector data and predefines the roads on which the UGVs may travel.
This feature, illustrated in Figure 3, allows for on-the-fly mission planning and route changes by selecting “via points” on the road network (similar to a Google Maps functionality) that are automatically connected into a full route plan.
Figure 3. Waypoint navigation.
This requires significantly less effort than manually selecting each individual waypoint for each unmanned vehicle. Once a route has been established, the UGVs traverse the assigned road using their fused global position estimates (leveraging GPS signals as well as the sensor-enhanced map registration to stay on the road) and take advantage of the data link between the vehicles to ensure they maintain prescribed leading and following distances.
In follower mode, no predetermined mission plan is required; a manned vehicle such as the command and control vehicle (C2V) is simply designated as the leader by the operator, and the unmanned vehicles will follow anywhere on the roadway (while still performing intelligent road-keeping and obstacle detection). Two modes of leader tracking are supported: coordinate-based and direct observation.
In the primary mode of coordinate-based following, the lead vehicle transmits its GPS-based position to the follower via the radio data link. The follower vehicle correlates this position to the route map and subsequently appends a waypoint to its upcoming path that would bring the follower to a position on the road directly behind the leader.
In tele-operation mode, an operator assumes remote control of a single UGV and directly commands vehicle speed, steering and other functions via a rugged handheld controller. The operator has a selection of either live video feeds, or an augmented reality view supported by perception data overlaid on aerial imagery, displayed on the OCU display.
OPERATOR CONTROL UNIT
The operator control unit (OCU)hardware and software (Figure 4) are designed to be installed in any other tactical vehicle, along with a low-cost GPS receiver and radio data link that enables communication with multiple TerraMax UGVs from up to 1 kilometer. The OCU allows a single operator to manage coordinated mission command and control of mixed convoys comprised of manned and unmanned vehicles. Route information and convoy behaviors can be pre-planned, saved, loaded and modified as needed during operations.
Figure 4. TerraMax UGV operator control unit.
Touchscreen and function keys allow rapid input using relevant and contextual menus including configurable preset values. Live position and status of each vehicle is displayed on a zoom-able overhead map, and camera feeds from any of the UGVs may be displayed in a familiar picture-in-picture format.
A distilled version of the perception information can be selectively overlaid, aiding the operator’s situational awareness of the vehicles’ surroundings. Remote control and tele-operation is supported using a ruggedized game-style controller for situations when the operator wants direct control of steering and throttle.
TRAINING
Because pre-deployment training opportunities may be limited and any near-term requirement for highly specialized troops is untenable, ease of skill acquisition is critical. In two warfighter experiments for the U.S. Marine Corps Warfighting Lab’s recent Cargo UGV project, the TerraMax system was demonstrated to be operable by veteran motor transport operators after a three-day training course comprising classroom instruction, a realistic desktop simulation environment, and hands-on exercises with the vehicles.
The capstone experiment integrated two TerraMax UGVs into a manned logistics convoy, which was then subjected to a variety of realistic operational scenarios including unexpected road blocks, simulated IED strikes and night operations. Results showed the novice users were able to successfully complete mission objectives using the unmanned systems.
At the conclusion of each of the warfighter experiments for the Cargo UGV project, operators believed they could comfortably control three to five UGVs from a single user interface without suffering cognitive overload.
CONCLUSION
With onboard sensing and decision-making, these unmanned TWVs can provide a force multiplier by empowering a single operator to simultaneously supervise several unmanned assets traveling in convoy, operating semi-autonomously for extended-duration movements. This advantage is significant because it permits more efficient completion of missions by lowering both risk to, and demand for, ground forces.
The procurement, operations and maintenance costs for a robotic capability on TWVs will also be minimized by modernizing existing fleet vehicles with an appliqué kit, but to become viable in theater operations, unmanned TWVs must be able to contend with the same performance, reliability, and mobility in the austere tactical environments as their manned equivalents.
TerraMax UGV technology can be applied to any tactical vehicle and has already been prototyped on the Medium Tactical Vehicle Replacement (MTVR), Palletized Loading System (PLS), Family of Medium Tactical Vehicles (FMTV) and the Mine Resistant Ambush Protected (MRAP) All-Terrain Vehicle (M-ATV).
TERRAMAX HISTORY
Oshkosh has been developing and fully autonomous UGVs since 2003. Among its several generations:
In the 2005 Defense Advanced Research Project Agency (DARPA) Grand Challenge, TerraMax was one of only five vehicles to complete the entire 132-mile course.In 2007, the TerraMax vehicle was one of 11 qualifiers at the DARPA Urban Challenge.In 2012, a second unmanned MTVR was built to evaluate multiple UGVs supervised by a single operator.In 2013, TerraMax UGV M-ATV demonstrated capabilities for route-clearance missions. (Featured on the June 2016 cover.)
ACKNOWLEDGMENT
This article is based on a technical presentation given at AUVSI xPONENTIAL, May 2016 in New Orleans.
John Beck is chief engineer, Unmanned Systems, at Oshkosh Corporation.
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