Trimble has partnered with HALO Trust, a landmine-clearing non-profit organization, to help expand its demining operations across Ukraine.
The grant from the Trimble Foundation Fund will focus on strengthening the HALO Trust’s ability to locate and remove landmines, unexploded ordnance and other explosive hazards from civilian areas to create safer communities. In addition, it will allow HALO to support the Ukrainian national authorities in planning and coordinating landmine clearance activities by streamlining the mapping and data flow from the operational teams in the field to the national database.
The Russian invasion of Ukraine has left areas of the country contaminated with landmines, unexploded ordnance and improvised explosive devices. These hazards block access to farmland, impede reconstruction efforts, prevent displaced persons from returning to their homes and continue to hinder the safety of Ukrainian civilians. The Ukrainian government estimates that 174,000km2 of the country’s land may be contaminated.
More than a thousand HALO staff members are active daily, both to clear explosives in critical priority areas and to recruit and train hundreds of new staff members to help keep communities safe from dangerous weapons left behind.
Surveying and mapping technology has played a significant role in the success of HALO’s operations around the world, including in Ukraine. Over the last six years, Trimble R1 and Trimble R2 GNSS receivers along with Esri ArcGIS Survey123 software have been used by HALO to identify and clear landmines.
Trimble’s Geospatial and Positioning Services businesses provided HALO with a new deployment of 255 high-precision Trimble DA2 GNSS receivers with Trimble Catalyst corrections service, allowing HALO to modernize and transform its landmine clearance operations by providing improved accuracy for more detailed maps, streamlined data flows and increased operational efficiency and safety.
Kosminis Vytis has released two anti-jamming receivers, the KV-AJ3 and KV-AJ3-A, and an 8-channel, controlled reception pattern antenna (CRPA), anti-jamming development kit.
Image: Kosminis Vytis
The KV-AJ3 tri-band anti-jamming receiver combines a digital antenna control unit (DACU) and a GNSS receiver. KV-AJ3 can be used as a jamming protector for legacy receivers or as a stand-alone GNSS receiver solution.
When used with a Kosminis Vytis multi-band 4-channel antenna array, anti-jamming DACU uses the Null-Steering algorithm based on classic auto-compensator architecture and channel equalization, which eliminates the jamming signals from those processed by the receiver.
The tri-band solution decreases interferences from up to three directions in three frequency bands, including S-band, according to the company. This approach is designed to provide significantly higher protection against interference compared to single-frequency devices.
The receiver has a digital port for navigation data output. Jamming-free RF signals can also be delivered to external non-protected GNSS receivers to obtain position, velocity and time.
KV-AJ3 contains a MEMS inertial sensor, which allows for GNSS-aided INS solutions where coordinates and attitude angles are required.
Image: Kosminis Vytis
The KV-AJ3-A is designed to provide a stable navigation signal in three frequency bands, including S-band, even in the presence of jamming and other harsh conditions. The technology is MIL-STD compliant and meets the EMI/EMC requirements for avionics.
The direction to interfering signals is determined using a phased array antenna, which can then remove jamming signals from up to three directions. The original signal is either restored and delivered to external GNSS receivers or processed by the internal receiver to obtain position data. The device can be used as a DACU for legacy receivers, or as a stand-alone GNSS receiver solution.
According to Kosminis Vytis, the key components of this anti-jamming device are based on custom ASICs that allow users to achieve high jamming suppression and SWaP. KV-AJ3-A can be used for fixed installations and land, sea and air platforms, including UAVs.
Image: Kosminis Vytis
The 8-channel, CRPA, anti-jamming development kit is a set of instruments designed to help users add anti-jamming and anti-spoofing capabilities to their receivers.
The main development tool is NT1069x8_FMC — an 8-channel receiver board. The 8 coherent channels are based on NT1069, the RF application-specific integrated circuit (ASIC) that supports a high dynamic range of input signals.
Each channel performs amplification, down-conversion of GNSS signal to intermediate frequency (IF) and subsequent filtering and digitization by 14-bit ADC at 100 MSPS.
The board is compatible with GPS, GLONASS, Galileo, BeiDou, NavIC (IRNSS) and QZSS signals in L1, L2, L3, L5 and S bands. Each RF channel has an individual RF input with the option to feed power to an active antenna.
The board also has an embedded GNSS receiver and an up-converter, or modulator, which can provide connection to an external GNSS receiver.
Under a technology license, Kosminis Vytis provides users interested in developing their solutions based on the NT1069 chip with a reference design of anti-jamming receiver, anti-jamming algorithms and software tools for the development and evaluation of anti-jamming receivers.
Skydio has entered a strategic collaboration with Trimble to create an integrated workflow of accurate data capture, visualization and analytics. The workflow is designed to address the needs of critical infrastructure industries such as surveying, mapping and inspections.
The collaboration, currently in the developmental stage, aims to offer users centimeter-level accuracy in surveying and mapping projects by integrating Skydio autonomous UAVs with Trimble GNSS receivers and software. The technology can be used by construction and utility companies, as well as state transportation agencies, to streamline workflows for greater precision and project efficiency.
Industry leaders rely on autonomous UAVs with powerful visual and thermal camera sensors, such as Skydio’s X10, for their ability to capture real-time condition reports of critical infrastructure conditions. By capturing images and geospatial data early and frequently throughout construction projects, organizations can easily ensure on-site work matches the design and reduce costly rework.
When bridge or utility site inspections need to scale, the Skydio and Trimble integration can be used to collect comprehensive data and improve the necessary workflow to identify issues early and take action to prevent failures.
According to Skydio, key benefits of the collaboration include:
Automated data integration: An automated, API-based integration enables seamless transfer of aerial imagery and metadata from Skydio Cloud to Trimble Industry Cloud. It accelerates the conversion of reality-capture data into actionable insights to improve efficiency. Further refinement and analysis of the output data can be carried out in professional surveying and mapping environments such as Trimble Business Center (TBC).
Survey-grade accuracy with Skydio X10: The X10 UAV will be fully compatible with Trimble’s GNSS receivers, allowing mutual users to achieve survey-grade accuracy in mapping missions when employing Skydio alongside Trimble’s base stations and GNSS receivers. Beyond RTK, users will also be able to conduct PPK based corrections post-flight.
VectorNav Technologies has released two products, the VN-210-S and VN-310-S, which expand its tactical series of GNSS-aided inertial navigation systems (INS).
The VN-210-S GNSS/INS combines a tactical-grade inertial measurement unit (IMU) comprised of a 3-axis gyroscope, accelerometer, and magnetometer with a triple-frequency GNSS receiver. The integrated 448-channel GNSS receiver from Septentrio adds several capabilities, including L5 frequencies, moving baseline real-time kinematic with centimeter-level accuracy, support for Galileo OSNMA and robust interference mitigation.
These capabilities and high-quality hardware offer improved positioning performance in radio frequency-congested and GNSS-denied environments.
Image: VectorNav
The VN-310-S dual GNSS/INS leverages VectorNav’s tactical-grade IMU and integrates two 448-channel GNSS receivers to enable GNSS-compassing for accurate heading estimations in stationary and low-dynamic operations. The VN-310-S also gains support for OSNMA and robust interference mitigation, offering reliable position data across a variety of applications and environments.
The VN-210-S and VN-310-S are packaged in a precision milled, anodized aluminum enclosure designed to MIL standards and are IP68-rated. For ultra-low SWaP applications, VectorNav has introduced L5 capabilities to the VN-210E (embedded) when using an externally integrated L5-band GNSS receiver.
Belgian government-owned railway company, Infrabel, is responsible for ensuring that the country’s railway systems run smoothly. To do this, the company recently needed to renew the switches and crossings at the Kinkempois site, located in the Liege region of the country.
To ensure an efficient, safe and high-quality changeover, Infrabel partnered with construction specialist Jérouville, and when it came to choosing technology to help guide its machinery, the contractor turned to Topcon Positioning for its total station solutions.
According to Stéphane Lemaire, equipment manager at Jérouville, the team first dismantled and removed the previous set of foundations and the sub-foundations at Kinkempois. From there, the team installed new foundations to ensure the new switches have a good grounding for years to come.
At the site, navigation capabilities were compromised due to interference from overhead power lines. As a resolution, two Topcon total stations were used; one for each crawler dozer. Despite the challenging circumstances, the total stations were able to provide accurate readings for each dozer.
Before the bulldozers could get to work, surveyors used the data from the total stations to create three-dimensional models of the finished project using Topcon’s MAGNET software. These models were then shared with all stakeholders on the project. The MAGNET software allowed the entire team to have complete oversight of the project, whether they were on-site or back in the office.
Stéphane Lemaire said in a press release that Topcon’s total stations played a key role in getting the job done accurately on the first try.
“Traditionally, this has been a time-consuming process for projects like this, with a tracker on site who would manually ensure that the levels were correct,” Lemaire said. “However, with total station technology, the process only took three shifts across two weekends, compared to six shifts across two weekends.”
A roundup of recent products in the GNSS and inertial positioning industry from the November 2023 issue of GPS World magazine.
SURVEYING & MAPPING
MEMS IMU Suitable for rugged environments
The TAC-440 MEMS inertial measurement unit (IMU) is designed for demanding, mission-critical, rugged environments in a wide variety of defense, commercial, industrial, and marine applications. The TAC-440 features 1°/hr gyro bias and 1 mg accelerometer bias stability with 0.05°/√hr angle random walk over a wide temperature range. The solid-state quartz sensors and hermetically sealed IMU construction provide reliable MTBF and storage life, EMCORE stated. The TAC-440 supports four data message synchronization methods with either input synchronization pulse capability or an output time of validity capability. The user can choose whether the synchronization pulse is internally generated and output as a time of validity of the output data or whether the TAC-440 software will identify the synchronization pulse input and synchronize the output data to the input pulse. EMCORE Corporation, emcore.com
RTK GNSS Tablet A rugged device designed for geospatial and mapping operations in the field
The LT800H offers users robust outdoor performance, data security and centimeter-level accuracy for a variety of applications, including construction, environmental surveying and any industry in which Android tablets are used. Featuring a high-performance 1,408-channel GPS, GLONASS, Galileo and BeiDou module and a tracking GNSS helix antenna, the LT800H RTK Android tablet offers centimeter-to-decimeter positioning accuracy in challenging environments. It also comes equipped with a 4G modem to simplify connectivity to GNSS RTK network corrections. The technology also offers an eight-hour battery life, allowing users to collect data in the field uninterrupted. CHC Navigation, chcnav.com
PPK Software For land surveying, hydrography, airborne surveys, construction, and applications that require precise positioning
The Qinertia 4 contains an enhanced geodesy engine that has an extensive selection of preconfigured coordinate reference systems (CRS) and transformations, making it a suitable solution for applications that use diverse geodetic data. To tackle the challenges of variable ionospheric activity, Qinertia 4 features an Ionoshield post-processed kinematic (PPK) mode. This feature compensates for ionospheric conditions and baseline distances, enabling users to perform PPK even for long baselines and/or harsh ionospheric conditions. This ensures surveyors can achieve centimeter accuracy even in regions with unpredictable ionospheric disturbances. Another addition to the Qinertia 4 is an extended network support for continuously operating reference stations (CORS). This feature gives users access to a network of 5,000 SmartNet CORS for reliable GNSS data processing. These base stations add to the network of base stations directly available in Qinertia, bringing the total to more than 10,000 bases in 164 countries.
For data that cannot be processed using PPK, Qinertia 4 offers an alternative solution with its tightly coupled precise point positioning algorithm. This new processing mode, available for all users with active Qinertia maintenance, provides post-processing anywhere in the world without a base station, with a horizontal accuracy of 4 cm and a vertical accuracy of 8 cm. SBG Systems, sbg-systems.com
Airborne Lidar + RGB System Designed to enhance the details of aerial mapping operations
The AlphaAir 10 (AA10) features a high-precision navigation algorithm that provides 5 mm repeated range accuracy and achieves absolute precision in the 2 cm to 5 cm range, even in complex environments. The AA10 is capable of long-range measurements of up to 800 m, rapid scanning at 500,000 points per second, and features a continuously rotating mirror that enables scanning speeds of 250 scans per second. The AA10 enables the creation of mesh models by generating high-quality point clouds. It is powered by a 45 MP orthographic internal camera that provides high-resolution image mapping textures for 3D model reconstruction with realistic point cloud colorization. The AA10 also supports automated reality capture and real-time data visualization accessible directly from the UAV controller. The AA10 lidar system is lightweight and compact, weighing 1.55 kg, and provides a 30 min operating time when integrated with UAVs such as the DJI M350. The system is also IP64-rated. CHC Navigation, chcnav.com
GNSS Receiver Designed for survey projects
The Reach RS3 is a GNSS receiver that features inertial measurement unit (IMU) tilt compensation and a dual-band radio for enhanced compatibility with third-party receivers. The Reach RS3 enables users to survey at large tilt angles while maintaining survey-grade accuracy. The multi-band receiver works both as a base and a rover and comes factory calibrated. The receiver offers versatile options to get corrections from continuously operating reference stations (CORS), another Reach device, or a third-party base, so users can mix and match real-time-kinematic (RTK) receivers in a fleet. Its NTRIP connectivity enables corrections from CORS, NTRIP service, or a GNSS receiver using Emlid NTRIP Caster. When connected over NTRIP, Reach works on a baseline of more than 60 km in RTK and 100 km in post-processed kinematic. Emlid, emlid.com
GNSS Receiver Includes Trimble ProPoint and delivers survey precision and productivity in the field
The R580 GNSS receiver enables professionals in surveying, mapping and GIS, civil construction, and utilities to capture centimeter-level positioning. With the Trimble ProPoint GNSS engine embedded, users can measure points in challenging environments, such as under tree canopy or near buildings, while EVEREST Plus technology can identify and remove unwanted multipath signals for improved accuracy and data confidence. Using the Maxwell 7 chipset technology, the receiver provides fast processing, anti-spoofing capability and the ability to track all available GNSS constellations. The R580 supports Trimble RTX correction services for RTK-level precision without the use of a local base station or VRS network wherever correction sources are available. The receiver can be paired with all current mobile devices on a variety of operating systems and platforms —from a Trimble handheld or controller to a modern smartphone or tablet. It can also be mounted on a pole, vehicle or backpack. Trimble, trimble.com
OEM
GNSS Module Supports L1/L5 GNSS bands from multiple constellations, including NavIC
The NEO-F10N positioning module is based on the u-blox NEO form factor and is equipped with u-blox F10 dual-band GNSS technology. The NEO-F10N supports L1/L5 GNSS bands from multiple constellations — including NavIC — to provide meter-level position accuracy in urban areas. Its firmware is upgradeable and configurable to support several applications such as the vehicle telematics and micromobility markets or industrial applications requiring meter-level position accuracy. The NEO-F10N improves position accuracy in urban environments with its enhanced resilience against multipath interference. By leveraging signals from both the L1 and L5 bands, this module achieves better accuracy than using the L1 band alone. Users currently employing receivers based on modules such as the u-blox NEO-M8 and NEO-M9, can migrate to the new NEO-F10N generation. The module enhances accuracy, reduces power consumption, and offers an alternative solution to users who do not want to deploy dead reckoning set-ups. u-blox,u-blox.com
Multi-Band GNSS Antenna Designed to enhance meter-level positioning solutions
The ANN-MB5 is a multi-band (L1/L5/E5a/B2a) GNSS antenna that is optimized for the u-blox F10 platform and enables precise, reliable, and robust positioning, even in challenging environments. The antenna features concurrent reception of multiple navigation systems, including NavIC. The ANN-MB5 has a compact design with a magnetic base. u-blox, u-blox.com
INS A product for mobile mapping, autonomy, and more
The xRED3000 inertial navigation system (INS) offers quad-constellation GNSS support for multiple applications. The INS weighs 20 g, making it suitable for aerial payloads. At 53.6 mm x 50.6 mm x 9.5 mm in size, it can be incorporated without drastically changing a user’s design. When in a GNSS-denied area, the xRED3000 provides a position accuracy of 0.5 m even after 60 seconds. It features gx/ix tight-coupling algorithms, which improve accuracy in urban canyons and speed up real-time kinematic reacquisition after temporary GNSS outages. The xRED3000 features lidar inertial odometry, which takes data from lidar in post-processing to reduce inertial measurement unit drift and improve accuracy in areas with poor or no GNSS signal. Additionally, embedded NTRIP makes it easier to get GNSS corrections. OxTS, oxts.com
Triple Frequency GNSS Receiver Complete with a compact design for mobile applications
The BD990 supports triple frequency for the GPS, GLONASS, BeiDou and Galileo constellations. The receiver offers quick and reliable real-time kinematic (RTK) initializations for centimeter positioning. It features Trimble Maxwell 7 technology, which provides 336 tracking channels, Trimble Everest Plus multipath mitigation, and advanced RF spectrum monitoring and analysis. With the option of utilizing OmniSTAR or RTX services, the BD990 delivers varying levels of performance down to centimeter-level without the use of a base station. The BD992 also supports dual antenna GNSS heading while the BD992-INS supports position and orientation at high update rates. Trimble, oemgnss.trimble.com
MACHINE CONTROL
Automated Steering System Designed for precision agriculture applications
The SAgro150 automated steering system aims to provide farmers with an easy way to get started with auto-steering. With full-constellation tracking capability, the SAgro150 realizes ±2.5 cm auto-steering accuracy to maximize land use and yield while saving resources such as water and fertilizer. When compared to the first-generation SAgro100 system, the SAgro150 auto-steering system uses a single-antenna solution instead of a dual-antenna solution. It also features simpler integration options, only requiring a strong magnetic chuck to securely attach the antenna to the top of the tractor for satellite signal tracking. The new system also adopts dual gyroscope mode, enhancing the heading data reliability and compatibility with different tractors. The new system aids in applications such as rotary tillage, ridging, sowing and harvesting in straight line, curve, U-turn and more. SingularXYZ, singularxyz.com
Positioning and Heading Receiver Designed for multiple applications
AsteRx SB3 Pro+ is a housed multi-frequency GNSS receiver that uses triple-band GNSS technology for reliable centimeter-level real-time kinematic (RTK) positioning and sub-degree heading. With flexibility to be used as a rover or a base station, AsteRx SB3 Pro+ also has an ultra-high update rate and logging functionality. Enclosed in a ruggedized IP68 housing, the device is suitable for harsh environments. The AsteRx SB3 Pro+ has a high update rate and low latency for fast moving vehicles or machine parts. Septentrio, septentrio.com
GPS Antennas Offers enhanced navigation and tracking for automotive applications
The KP Performance vehicle GPS antennas come equipped with a gain of 28 dB to capture weak signals, even in the most challenging environments. The antennas also feature high out-of-band rejection. By minimizing signal interference and multipath effects, the antennas provide good signal quality and stability. The features of the antennas enable more precise navigation and enhanced user experiences for personal vehicles, commercial fleets, or autonomous systems. The antennas have a IPX6- or IP66-rated waterproof and dustproof design for reliable operation in harsh conditions. KP Performance, kpperformance.com
Warning sirens about the vulnerabilities of GPS to jamming, spoofing, solar activity and other disruptions have been blaring for many years. Now the U.S. Department of Transportation (DOT), which represents other federal civil departments and agencies on all GPS-related matters within the federal government, might finally be moving from study to action. On September 12, at the annual meeting of the Civil GPS Service Interface Committee held in conjunction with ION GNSS+ in Denver, Robert Hampshire, DOT’s Deputy Assistant Secretary for Research and Technology and Chief Science Officer, announced the release of DOT’s Complementary Positioning Navigation and Timing Action Plan. It aims to drive CPNT adoption across the United States transportation system and within other critical infrastructure areas. You can read more here and download the planhere.
Which GPS vulnerabilities does DOT aim to address and how quickly can it “drive adoption” of CPNT? Attempting to answer these questions requires pushing through a dense thicket of bureaucratic jargon. I asked Karen Van Dyke, Director for Positioning, Navigation, and Timing (PNT) and Spectrum Management in Hampshire’s office four questions. What follows are excerpts from her answers. You can read her full response here.
What is your office’s charter within the federal government to advance the development and deployment of complementary PNT?
Her office’s efforts, Van Dyke told me, “support federal policy governing PNT programs and activities for national and homeland security, civil, commercial, and scientific purposes. These include Executive Order 13905, Strengthening National Resilience Through Responsible Use of Positioning, Navigation, and Timing Services (EO 13905) and Space Policy Directive 7, The United States Space-Based Positioning, Navigation, and Timing Policy (SPD-7).”
Which GPS vulnerabilities and at what scale is this plan addressing?
The action plan, Van Dyke told me, “addresses disruption, denial, and manipulation of GPS for critical infrastructure sectors” on “both a widespread and local scale.”
How and when will this action plan move the federal government’s posture on CPNT from study to action?
Van Dyke cited field demonstrations conducted in 2020 by the Volpe Center of candidate PNT technologies that could offer complementary service in the event of GPS disruptions and a 2021 report to Congress that distilled the PNT resiliency recommendations. DOT, she said, should develop “system requirements for PNT functions that support safety-critical services” and “standards, test procedures, and monitoring capabilities to ensure that PNT services, and the equipage that utilize them, meet the necessary levels of safety and resilience”.
How does DOT intend to engage PNT stakeholders?
Van Dyke pointed to a PNT Industry roundtable that DOT held in August 2022 that included representatives from CPNT technology vendors and critical infrastructure sectors and “informed the development” of the action plan. She also pointed out that on September 11, DOT issued a request for information “as one of the steps to drive adoption” of CPNT services “to augment GPS for the nation’s transportation system, and through the executive branch interagency process, for other critical infrastructure sectors.”
Septentrio has been working on port automation projects with Kalmar, a Finnish company that offers a wide range of cargo handling solutions and services to ports, terminals, distribution centers and heavy industry. I discussed this collaboration with Stef van der Loo, market access manager at Septentrio. Following are excerpts of our conversation. For a much longer version, click here.
What are the challenges operating in a port?
In a container terminal or port, everything is interconnected and, therefore, complex. Lately, GNSS has become more popular, especially when coupled with inertial navigation, because the technology has become more capable of delivering centimeter-level accuracy even in challenging environments where the line-of-sight to GNSS satellites may be partially blocked by containers or structures.
What drives higher accuracy?
this Kalmar container handler has a Septentrio high-accuracy GNSS/INS receiver and an inertial system, which operate in challenging environments of low satellite visibility. (Image: Kalmar)
Every year, every terminal stacks a certain number of containers, but not all the information about them is given to the terminal operating system (TOS) automatically. Sometimes, operators must search for misplaced containers, which may require stopping operations and deploying additional personnel. Additionally, it is not very safe to go into these yards. This is one reason why ports began to deploy positioning systems. However, ten years ago, with meter accuracy, they were failing all the time. Now, improvements in the technology have enabled GNSS to become fit for the challenge. In terminals, you can use GNSS or INS systems for vehicle traffic management, autonomous vehicles and tasks, or to get the position of a container.
For example, when a reach stacker reaches into a stack and locks a container in place, it’s crucial to have a very reliable centimeter-level position. Errors grow as the data is processed from the control systems to the TOS. To know for certain the position of a container when it was placed in a stack errors must not exceed half a meter. Therefore, the reliability and accuracy of the GNSS/INS is crucial for container positioning.
Do you buy the IMUs and do all the integration?
We buy the IMUs mostly from Analog Devices. The integrated inertial navigation solution is our own. We focus on inertial navigation in several markets — including logistics, autonomous mining, and agricultural robotics.
What is the division of labor between you and Kalmar?
Kalmar is both an OEM and an integrator. They are a guru for the automation of logistics terminals. We work with them mainly as an integrator. They will go to a terminal, like other integrators, and install the systems and other equipment. Kalmar built a whole sensor stack with all types of sensors and integrated this in their packages, such as SmartPort. With a train-the-trainer principle, our engineers trained Kalmar employees, so they have first line control of the installations and troubleshooting. Then we are ready to support them where we can. We have a continuous feedback loop with several logistics customers for suggestions and product recommendations for the evolution of our products and services for this segment.
Straddling containers
JAVAD GNSS
Straddle carrier in operation equipped with DELTA-3S. (Image: Canva)
One of the largest container companies in the world needed a solution to manage its straddle carriers, which are specialized container handling vehicles at ports that can pick up large containers and move them to trucks, trains, or other container stacks. This is very challenging for container terminal operators because ports are highly complex operating environments that also provide other maritime services, such as storing and managing cargo, forwarding freight, and clearing customs. To handle containers safely and efficiently, modern terminals have buildings, equipment, and cranes in addition to straddle carriers. All this infrastructure creates a lot of multipath that stresses the capabilities of GNSS receivers.
To develop and install this new system for straddle carrier vehicles, the container company turned to JAVAD GNSS and to ALLSAT GmbH, a German engineering, geodetic and electronic company founded in 1991 that has been JAVAD’s German distribution partner since 1995. To address the challenge, in 2022, ALLSAT GmbH applied a new digital twin concept to supply and support the commissioning of several hundred JAVAD GNSS rover solutions at three international seaports. This required obtaining real-time and highly accurate positional data for moving straddle carriers and uploading it to a terminal information system for control and documentation.
ALLSAT deployed a geodetic conceptual design that integrates JAVAD GNSS Delta-3S receivers and RingAnt G5T and GrAnt-G5T antennas to deliver precise surveying of two GNSS reference stations per port, then commissioned the system on all the straddle carrier vehicles from a single source. It also developed a solution employing two redundantly operating reference stations that broadcast RTK correction data for all GNSS (GPS, Galileo, GLONASS, and BeiDou) on different IP addresses/radio frequencies. All the JAVAD RTK rovers can receive and process data from both correction sources in parallel thanks to their 874 channels and parallel processors. This offers two advantages. First, it provides a comprehensive fallback in the unlikely event that one reference station fails. Second, it greatly improves the reliability, speed and accuracy of the rovers, which operate in an environment rife with signal shadowing and multipath influences.
Working closely with its client and JAVAD GNSS, ALLSAT was able to implement this project, from initial idea to verification and commissioning, in only a few weeks. The combination of redundant, multi-constellation reference stations and JAVAD GNSS multi-base RTK yielded a solution that is highly reliable and available, providing for continuous operation despite the challenging environmental conditions. Additionally, JAVAD GNSS provides firmware updates for the life of the devices, which will enable the customer to rely on this base rover solution for the next 10 years.
Tracking trains
M3 Systems
(Image: Logiplus)
M3 Systems, a French-Belgian geolocation company founded in 1999, has long supported the R&D activities of European space and civil aviation agencies. It also markets products that it developed through its R&D activities. In recent years, M3 Systems expanded its activities into the automotive and rail sectors. To develop a new device for trains, it partnered with two Belgian companies: Logiplus, which makes onboard electronic systems for trains, and ALSTOM Belgium, a division of ALSTOM group, which builds trains and equipment for train tracks. “The objective during the product design was the development of a hybrid sensor that uses both a GNSS sensor to provide absolute positioning, and an inertial measurement unit (IMU) to compensate for environmental obstructions such as trees and urban canyons by calculating the train’s position based on its last GNSS-based absolute position,” explained Jérémy Skelton, project lead at M3 Systems.
IMUs have long been coupled with GNSS because each technology compensates for the other one’s limitations: IMUs suffer from drift and GNSS receivers from signal loss in certain environments. In theory, surveying the tracks and using odometry to monitor a train’s linear position on them would suffice to locate it. In practice, however, wheel encoders “are prone to errors because the wheels are subjected to a lot of sliding and skidding,” Skelton said.“So, we need completely independent sensors.”
This requirement led ALSTOM to propose the development of the IGLOO (an acronym for IMU & GNSS vehicle odometry) input device, which integrates all the different sensors. Logiplus designed and manufactured the hardware, while M3 Systems wrote the algorithm.
The project, which was partially funded thanks to a grant from the European Regional Development Fund and supported by the Région Wallonne of Belgium, was divided into three components:
The software to couple the IMU and the GNSS to compute the train’s velocity.
The auto-calibration solution, which eliminates the need for automatic calibration when starting the sensor.
A hardware platform that incorporates a low cost IMU.
The consortium defines three kinds of zones in which a train will operate, depending on the trustworthiness in each zone of the GNSS signals. “For example, an environment with a clear view of the sky and no nearby obstacles is trustworthy,” Skelton said, “while a forest, an urban canyon, or the entry into a tunnel are not. Without GNSS support, eventually the IMU will also become unreliable.”
At very low speeds, errors must be very low, but at higher speeds a greater speed error is allowed. Operators can extract different levels of data from a GNSS receiver. To achieve a tight GNSS-INS coupling, they can use the Doppler delays and hybridize them with the IMU or use the tracking loop and set the range and Doppler. For a loose coupling, they can directly use the GNSS receiver’s positioning, velocity, and timing data. All couplings are performed by using Bayesian filters, for example the Kalman filter. “Loose coupling will give you less accuracy, reliability, and integrity, but it will also be less CPU-intensive,” Skelton said.
For data acquisition on a train, M3 Systems generated a printed circuit board (PCB) with a u-blox GNSS receiver, a Septentrio Asterix GNSS receiver, nine IMUs (which enables them to choose the best one for the use case), a reference trajectory unit that provides ground truth, and a computer that takes the data from the GNSS receivers and the IMUs. “Everything was integrated for measurement purposes on a rack on a train that runs here in Belgium,” Skelton said, “and all the data was retrieved automatically via a 4G internet connection. We have collected a few thousand kilometers traveled, a few hours of tunnels, and both trustworthy and untrustworthy GNSS signals.”
M3 Systems’ partner Logiplus designed the product to support the hybridization software and interface with the European vital computer (EVC), which monitors and continuously calculates the train’s maximum speed and braking curve. “It is critical for the EVC to have perfect knowledge of the train’s speed, which is the main reason we designed this new device,” Skelton said. “What is specific in that hardware is the computing power, the two systems (GNSS and inertial), and the data fusion algorithm, which allows the hardware to evolve. For example, we can switch to a different IMU.”
The IGLOO system complies with the specified safety requirements, contributing to a more reliable knowledge of the train speed, which reduces the risk of accidents and fatalities, improves traffic flow, and improves the efficiency and safety of the train operations, Skelton pointed out.
Surveying a railroad
Eos Positioning Systems
A rail tunnel at Leigh-on-Sea in East of England. Arcadis used Eos Arrow 100 GNSS receivers alongside Esri’s ArcGIS Survey123 to collect rail assets with submeter accuracy in real time. (Image: Amaro)
Network Rail, which owns and manages the railway infrastructure in England, Scotland and Wales, needed an as-is survey of up to 50,000 electrical assets along 400 miles of rails in the eastern region of the country. It turned to Arcadis, a design and consultancy firm that specializes in sustainable design and engineering services. The project required delivering accurate building information modeling (BIM) plans of the rail line to support operations and maintenance of the electrified infrastructure, while ensuring a safe working environment for the surveying teams. Using Arrow 100 GNSS receivers from Canadian manufacturer Eos Positioning Systems and Esri’s ArcGIS Survey123 and ArcGIS Hub software, Arcadis was able to efficiently capture the data with sub-meter accuracy and share it with Network Rail in real-time.
Arcadis decided to conduct a digital field survey to collect the data and to use GIS to manage it, said Gideon Simons, Associate Director of GIS and Geospatial Consultant at Arcadis. “We provided the survey teams iPads, the Esri application, and the GNSS receivers.” For corrections, it used the Ordnance Survey’s OS Net. “We found through a few assessments and testing that the Eos Arrow’s precision was good enough to meet the project’s requirements.”
The region surveyed is mostly rural but the rail line traverses some very urbanized areas. “One of the first challenges was surveying under cover in stations and in quite a few tunnels. So, we developed methodologies using georeferenced plans and imagery and taking temporary datums using GNSS outside the tunnels, to measure distance and offsets to the assets in the tunnels with measuring wheels that allowed for post-survey processing and the location accuracy required,” said Simons.
Photography was also a key to the success of the project. “In just one depot, we surveyed thousands of assets with many inside train sheds,” said Simons. “We use 360-degree cameras and train view cameras, so that we really understand where assets should be placed.”
The next stage for Network Rail is to maintain that equipment — whether it’s replacing it, bringing it up to code, or potentially installing new assets, Simons pointed out. “In the UK, we use a variety of measurements — imperial and metric. So, it’s been very helpful for the client to have just one source of truth reference that supports their work yet that can still link with other systems and ease communication with wider teams.”
An exclusive interview with Stef van der Loo, market access manager, Septentrio. For more exclusive interviews from this cover story, click here.
What are your key markets and how does this port project fit in?
We have many markets, of course, but we have a big focus on machine automation, mainly for large industrial machinery. Think of agriculture and construction. Port logistics is a newcomer in a sense. In the last 20 years, there’s been a lot of testing with GPS receivers in terminals, but not as much as in construction because the two environments are very different. In a container terminal or port, everything is interconnected and, therefore, complex.
You can equip an excavator with a 3D system and import this data into a building information modeling (BIM) system, but sometimes data is missing and the system breaks. If that happens in logistics the whole chain breaks and you’re stuck. Lately, GNSS has become more popular, especially when coupled with inertial navigation, because the technology has become more capable of delivering centimeter-level accuracy even in challenging environments where the line-of-sight to GNSS satellites may be partially blocked by containers or structures.
So, GNSS is becoming more of a fit for the logistics market.
What have been the drivers of higher accuracy in the past 20 years?
The terminal operators want to increase their throughput of containers. Automation will not always speed up the handling of containers, because autonomous vehicles might move slower than those operated by experienced human operators.
In logistics they started looking at positioning to deal with the loss of containers. Every year, every terminal stacks a certain number of containers, but not all the information about them is given to the terminal operating system (TOS) automatically. If you keep on stacking but with missing data every container on top of a missed one will be wrong, so you fill your system with wrong data. Sometimes, operators must search for misplaced containers, which may require stopping operations and deploying additional personnel. Additionally, it is not very safe to go into these yards. This is one reason why ports began to deploy positioning systems. However, ten years ago, with meter accuracy, they were failing all the time. Now, improvements in the technology have enabled GNSS to become fit for the challenge.
Nowadays, in terminals, you see many non-GNSS positioning systems, such as radar systems, to steer cranes and position containers. We’re replacing many of these systems. There are also transponders in the roads, for vehicle traffic management and for area guided vehicles (AGVs), which are fully autonomous and need centimeter-precision everywhere. GNSS does not work everywhere. You always have some disruptions or gaps in coverage. However, the newer inertial systems can compensate for short GNSS outages so that you get reliable centimeter accuracy. Additionally, the cranes are increasingly automated. Gantry cranes, for example, are on rubber tires but constrained in their movements. Reach stackers, forklifts, and terminal tractors, on the other hand, have free movement. These vehicles are typically equipped with the GNSS or INS systems for traffic management or container and cargo positioning.
The next step would be to move to semi- or fully-autonomous vehicles, of course. GNSS is not enough for that; autonomous technology needs to have different sensors. It’s extremely difficult to prove and to test a new system in a terminal, because it’s an uninterrupted chain of interconnection between the sea, the stacking of the containers, and ground transportation. You cannot just go in with an autonomous forklift or an autonomous reachstacker and try out something. However, you can only prove it when you do it in that chain. Otherwise, it’s a standalone kind of test. So, that’s the biggest obstacle.
Don’t containers have a barcode you can scan or a serial number you can see with a camera?
Yes, they do. The problem is not so much the number on the container but its virtual number in the terminal’s layout. Let’s say that you put container A on square C1. What if you deviate half a meter and TOS puts it automatically in the system in C2 instead? That’s often where mistakes occur. So, you can have OCR scanners and easily scan the code on the container. The problem is where you place the container.
What about the virtual image of all the container stacks?
Yes, the digital twin, like in construction. However, in construction you don’t need the infrastructure. You don’t need to install a radar in a certain place, calibrate it, enter it in the maps, et cetera. That’s more the survey part of construction. The biggest win is when you can equip a vehicle with a standalone system. It needs RTK, but it is standalone for the port. You don’t need large infrastructure, you don’t need to drill holes every two meters to place transponders in the roads in the whole area, perhaps just a small part. That saves them a lot of investments and maintenance.
In terminals, you can use GNSS or INS systems for vehicle traffic management, autonomous vehicles and tasks, or to get the position of a container. For example, when a reach stacker reaches into a stack and locks a container in place, it’s crucial to have a very reliable centimeter-level position. Errors grow as the data is processed from the control systems to the TOS. To know for certain the position of a container when it was placed in a stack errors must not exceed half a meter. Therefore, the reliability and accuracy of the GNSS/INS is crucial for container positioning.
Many AGVs carrying containers still work with road transponders. But if we can assist with our GNSS and INS products, they may be able to make a hybrid form of terminal. In perhaps 80% to 90% of the terminal, GNSS/INS works fine because you have a relatively clear view of the sky.
We already play a big role with Kalmar. They are replacing all legacy positioning systems, which are often heavy on the infrastructure side. So, they’re stuck in their layout, they are not flexible anymore. To handle the positioning of the containers, they preferably do not use any fixed infrastructure. That’s one of the drivers within their SmartPort automation service. So, it’s for flexibility, for traffic management, automation and to position the containers.
The autonomous side is a whole other category. There are many semi-autonomous terminals and they’re partly closed, so nobody can enter them. There you need to do everything fully autonomously, of course, because there are no people inside. Here, too, the Septentrio systems play a role, similar to that of other autonomous vehicle markets. Yet the autonomous terminal evolution is still in its early days. The non-container logistics might take a leap here. We have an increasing number of customers who are developing or retrofitting autonomous logistics vehicles such as the terminal tractors, reach stackers and forklifts mentioned before, specifically for yards and factory plants.
It is no secret that the world has been burning for months. Devastating wildfires have encompassed Greece, Canada, the United States, and other parts of the world. These wildfires have incinerated entire communities, taken lives, and has had disastrous environmental effects. This wildfire outbreak can be attributed to several factors, but mainly the global climate crisis.
Why are these wildfires a monumental problem?
Widespread wildfires displace of thousands of people from their homes, raze entire communities and cities, wipe out farmland and other essential resources, create horrific air pollution — that causes inflammation of lung tissue and increases vulnerability to infections — and many other devastating effects.
Image: NASA
As reported by NASA, July has been the hottest month on record since the 1880’s. This has caused extreme dry conditions that are ideal for wildfire outbreaks, among other natural disasters.
Image: NASA
Flames engulfed parts of Hawaii the morning of Wednesday, August 9, which destroyed a centuries-old town and killing at least 106 people as of August 16. The wildfires took natives and tourists on the island by surprise. Residents and tourists were forced to evacuate the area – including some who reportedly jumped into the ocean to escape the flames. The National Weather Service stated the combination of high winds and low humidity is what caused the dangerous fire conditions across the island. The devastating fire left behind burned-out cars on once busy streets and smoking piles of debris where historic buildings once stood.
Image: Screenshot of BBC video
The Greece wildfires swept across the island of Rhodes, Corfu and Evia in July, creating thick clouds of smoke and forcing thousands of people the evacuate. These fires were caused by several human imposed factors such as campfires, arson and sheer negligence. However, the deadly heatwave that scorched Europe this summer — caused by carbon emissions — has not helped prevent the start and spread of these wildfires.
The Air Quality Index (AQI) measures the density of five pollutants: ground-level ozone, particulates, carbon monoxide, nitrogen dioxide, and sulfur dioxide. It was originally established by the Environmental Protection Agency to communicate the cleanliness of the air Americans are breathing every day. The index runs from zero to 500 — the higher the number the more polluted the air is. Effects of air pollution can range from mild symptoms, such as eye and throat irritation, to serious ones such as heart and respiratory issues. Pollution can cause inflammation of the lung tissue and increase the vulnerability to infections.
During wildfires, fine particles in the soot, ash and dust can fill the air.The AQI identifies the concentration of particles smaller in diameter than 2.5 μM. When these particles are inhaled, the tiny specks can increase the risk of heart attacks, cancer, and respiratory infections — especially in children and older adults.
Image: NASA
Based on data from the Canadian Interagency Forest Fire Centre, there are 1037 active fires in Canada: 652 are out of control, 161 are being held in place, and 224 are under control as of August 23. Many of these fires were caused by lightning; however, with above-average temperatures this year and dry conditions, wildfires have been breaking out in Canada since May.
In September, the U.S. Department of Transportation (DOT) released the Complementary PNT Action Plan: DOT Actions to Drive CPNT Adoption. On October 16, Matteo Luccio asked a few questions about the plan to Karen Van Dyke, Director for Positioning, Navigation, and Timing (PNT) and Spectrum Management in the U.S. Department of Transportation’s Office of the Assistant Secretary for Research and Technology (OST-R). Below are Luccio’s questions and Van Dyke’s responses.
What is your office’s charter within the federal government to advance the development and deployment of complementary PNT?
The U.S. Department of Transportation (DOT) is the lead for civil PNT requirements in the United States and represents the Federal civil departments and agencies in the development, acquisition, management, and operations of GPS. The DOT Positioning, Navigation, and Timing (PNT) and Spectrum Management program (within the Office of the Assistant Secretary for Research and Technology) coordinates the development of Departmental positions on PNT and spectrum policy to ensure safety, mobility, and efficiency of the transportation network. The Department also provides civil PNT system policy analysis and coordination representing Federal civil agencies responsible for critical infrastructure in the requirements development, acquisition, management, and operations of GPS.
These efforts support Federal policy governing PNT programs and activities for national and homeland security, civil, commercial, and scientific purposes. These include Executive Order 13905, Strengthening National Resilience Through Responsible Use of Positioning, Navigation, and Timing Services (EO 13905), and Space Policy Directive 7, The United States Space-Based Positioning, Navigation, and Timing Policy (SPD-7).
Which GPS vulnerabilities and at what scale is this plan addressing?
The DOT Complementary PNT Action Plan addresses disruption, denial, and manipulation of GPS for critical infrastructure sectors. These vulnerabilities of GPS include unintentional and intentional jamming and spoofing (both measurement and data spoofing) of the GPS signal and physically impeded environments in which the availability of the GPS signal is impacted (e.g., indoors, underground, and urban canyons). This plan is intended to address vulnerabilities/limitations of GPS on both a widespread and local scale.
How and when will this action plan move the federal government’s posture on CPNT from study to action?
In 2020, the DOT Volpe National Transportation Systems Center (Volpe Center) conducted field demonstrations of candidate PNT technologies that could offer complementary service in the event of GPS disruptions. The purpose of the demonstrations was to gather information on PNT technologies at a high technology readiness level (TRL) that can work in the absence of GPS.
While this demonstration was a snapshot in time, there were two central recommendations from the demonstration:
U.S. DOT should develop system requirements for PNT functions that support safety critical services.
U.S. DOT should develop standards, test procedures, and monitoring capabilities to ensure that PNT services, and the equipage that utilize them, meet the necessary levels of safety and resilience identified in Recommendation 1.
The culmination of the demonstration program was the 2021 Report to Congress, Complementary PNT and GPS Backup Technologies Demonstration Report (2021 Demonstration Report). The PNT resiliency recommendations distilled in the 2021 Demonstration Report were vetted through a Federal interagency review process. During the same period, SPD-7 (directed to U.S. Federal Space-Based PNT service providers) and EO 13905 (directed to PNT users) were issued in a coordinated effort to strengthen U.S. PNT policy.
As part of its ongoing responsibilities as civil PNT lead, the Department has developed a Complementary PNT Action Plan to drive CPNT adoption across the Nation’s transportation system and within other critical infrastructure sectors. The plan describes actions that the DOT plans to pursue over the next several years, including engaging PNT stakeholders; monitoring and supporting the development of CPNT specifications and standards; establishing resources and procedures for CPNT testing and evaluation; and creating a Federal PNT Services Clearinghouse. Taken together with efforts of other Federal partners, these initiatives will continue to strengthen the resilience of the Nation’s PNT-dependent systems, resulting in safer, more secure critical infrastructure.
It should be noted that the U.S. Government is not procuring CPNT systems for non-Federal stakeholders, and as always, all activities are subject to the availability of appropriations.
How does DOT intend to engage PNT stakeholders?
DOT held a PNT Industry roundtable on August 4, 2022 that included representatives from Complementary PNT Technology vendors and critical infrastructure sectors. https://www.transportation.gov/pntindustryround
Feedback from this DOT industry roundtable informed the development of the DOT Complementary PNT Action Plan.
On September 11, 2023, DOT issued a Request for Information (RFI) as one of the steps to drive adoption of Complementary PNT services to augment GPS for the Nation’s transportation system, and through the Executive Branch Interagency Process, for other critical infrastructure sectors. U.S. DOT is planning a resiliency test, evaluation, and performance monitoring strategy for PNT-dependent transportation systems. Taken together with efforts of other Federal partners, these initiatives will strengthen resilience of the Nation’s PNT-dependent systems through the U.S. Government’s purchasing power as a demanding customer of Complementary PNT (CPNT) services, along with critical infrastructure owners and operators, resulting in safer, more secure critical infrastructure for the nation.
The DOT Volpe Center issued this RFI seeking information from industry about availability and interest in carrying out a small-scale deployment of very high technical readiness level (Technology Readiness Level (TRL)≥8) CPNT technologies at a field test range to characterize the capabilities and limitations of such technologies to provide PNT information that meet critical infrastructure needs when GPS service is not available and/or degraded due environmental, unintentional, and/or intentional disruptions. This deployment is intended to test these technologies against CI relevant requirements in order to gain confidence in performance and foster user adoption.
It is likely that DOT will hold future industry roundtables with Complementary PNT technology vendors and critical infrastructure sector owners and operators.
Pasternack has launched its new line of IoT multiband combination antennas. Designed for vehicles, fleets and pivotal base stations, the technology aims to revolutionize how industries perceive and use mobile connectivity.
The antennas integrate 4G, 5G, Wi-Fi and GPS bands to offer emergency teams, on-the-move fleets and first responders an unwavering link, even in harsh environments.
Facilitated with both FAKRA and SMA connectors and extended 17-foot cable leads, users can seamlessly integrate the technology. It also has an IP69K rating, certifying it for both indoor and outdoor deployments.
MIMO capabilities improve data transmission speeds and reliability, ensuring consistent high-bandwidth connections. The antenna’s GPS/GNSS component, enhanced with LNA and amplified by a 26 dB gain, offers users improved navigation and tracking precision.
