The May issue of GPS World carries these three expert opinions on the question: How are autonomous vehicles and V2V technologies driving innovation within the GNSS industry?
Chaminda Basnyake
Chaminda Basnyake
Principal Engineer, Market Development,
Locata Corporation
We still have technical and cost versus performance challenges to meet the PNT needs of V2V and AV. Positioning and even timing expectations in deep urban areas are still not met reliably. As a result, ad hoc methods such as HD map-based nav — methods that work but are not scalable — have emerged. Innovations to deal with multipath, signal visibility and geometry are critical. Solutions that enable real-time mapping will be essential for scalable AV deployment.
Curtis Hay
Curtis Hay
Technical Fellow, GPS & Maps,
General Motors
Four key areas the commercial GNSS industry is pursuing include: low-cost, high-volume dual-frequency chipsets; broadly available PPP and network RTK corrections delivered either through mobile IP or satellite; precise maps for highways, urban centers and trunk roads that achieve 10-cm localization relative to WGS-84; and improved integrity monitoring and fault detection. The National Highway Transportation and Safety Administration also released a proposed rule-making with tight standards for GNSS performance: 1.5 meters, 1-sigma confidence.
Jonathan Auld
Jonathan Auld
Director, Safety Critical Systems,
NovAtel
Unlike traditional GNSS applications, automotive positioning requires high-precision accuracy at extremely low cost and size. Most importantly, this performance must be achieved with high reliability while operating in the toughest environments. Solving this positioning challenge is driving innovation in the system engineering of multi-frequency receivers and antennas along with extending performance through sensor fusion with lower cost devices. Additionally, there is significant work in the area of safety and integrity for land-based applications.
Here’s a preview of the V2V countdown article from the May issue, introduced by Chaminda Basnyake, an engineer at Locata Corporation:
The U.S. Department of Transportation (USDOT) released a Notice of Proposed Rulemaking (NPRM) in December 2016 for the deployment of Dedicated Short Range Communications (DSRC)-based vehicle-to-vehicle (V2V) safety applications as part of the connected vehicles (CV) and automated vehicles (AV) initiative. If all goes well, this mean a V2V deployment mandate for new passenger vehicles likely starting in 2021 and reaching all new vehicles within 2–3 years.
Standards required for V2V deployment were published in 2016 or before, including the V2V Minimum Performance Requirements SAE 2945/1, leading the way for commercial product development. The USDOT, which has been the catalyst behind V2V industry R&D starting from the automaker collaboration CAMP (Crash Avoidance Metrix Partnership) in 2001, is conducting CV Pilot programs in New York, Wyoming and Florida. These offer the opportunity for state DOTs, vendors and all other stakeholders to test the technology in real-life scenarios.
Automotive OEMs have been developing this technology for more than a decade, and the NPRM is the beginning of a race toward integrating V2V to production vehicles. Deploying V2V technology requires the close cooperation of OEMs, their suppliers and many other stakeholders.
This article captures the views of major players in the CV marketplace on expected deployment timelines, remaining challenges such as reliable positioning technology, integration with existing systems, and the implications on AV technology.
On March 15, drone-maker MMC strung power lines across the Ragged Mountain in Thailand using its Spider drone and specialized wire-pulling tools.
The project was carried out for EGAT (Electricity Generating Authority of Thailand) and served as a transnational demonstration for MMC. By cooperating with MMC, EGAT hopes to use professional drones to string more lines helps the nation in its quest for 100 percent electrification in Thailand.
In recent years, the Thai government has increased the investment in the development of power projects to meet the requirement of its rapid economic growth. The traditional method of stringing power lines using human labor doesn’t fit with the green economy and humanism, wasting time, human resources and sacrificing the environment, EGAT said.
We asked major players in the connected vehicles marketplace for their views on expected deployment timelines, remaining challenges such as reliable positioning technology, integration with existing systems, and the implications on autonomous vehicle technology.
Curated and introduced by Chaminda Basnayake, Principal Engineer, Market Development, Locata Corporation
State of the Industry: Connected Vehicles
Intersection Movement Assist warns the driver if it is not safe to enter an intersection, for example, if another vehicle is running a red light or making a sudden turn. (Image: U.S. Department of Transportation)
The U.S. Department of Transportation (USDOT) released a Notice of Proposed Rulemaking (NPRM) in December 2016 for the deployment of Dedicated Short Range Communications (DSRC)-based vehicle-to-vehicle (V2V) safety applications as part of the connected vehicles (CV) and automated vehicles (AV) initiative. If all goes well, this mean a V2V deployment mandate for new passenger vehicles likely starting in 2021 and reaching all new vehicles within 2–3 years.
Standards required for V2V deployment were published in 2016 or before, including the V2V Minimum Performance Requirements SAE 2945/1, leading the way for commercial product development. The USDOT, which has been the catalyst behind V2V industry R&D starting from the automaker collaboration CAMP (Crash Avoidance Metrix Partnership) in 2001, is conducting CV Pilot programs in New York, Wyoming and Florida. These offer the opportunity for state DOTs, vendors and all other stakeholders to test the technology in real-life scenarios.
Automotive OEMs have been developing this technology for more than a decade, and the NPRM is the beginning of a race toward integrating V2V to production vehicles. Deploying V2V technology requires the close cooperation of OEMs, their suppliers and many other stakeholders.
The following transportation article captures the views of major players in the CV marketplace on expected deployment timelines, remaining challenges such as reliable positioning technology, integration with existing systems, and the implications on AV technology.
By Curtis Hay Technical Fellow, GNSS and Precise Maps, General Motors
General Motors is the first automaker to offer V2V technology in North America with the 2017 interim model year Cadillac CTS. These V2V-equipped vehicles share information to alert drivers of upcoming potential hazards. Cadillac’s V2V uses DSRC and GPS, and can handle 1,000 messages per second from vehicles up to nearly 1,000 feet away. For example, when a car approaches an intersection, the technology scans the vicinity for other vehicles and tracks their positions, directions and speeds, warning the driver of potential hazards.
GM continues to make technology investments in V2V to achieve greater global market volumes. We have been developing V2V technology for the past several years and are exploring potential enhancements to the V2V features currently offered. Nearly all global OEMs are developing V2V today, but market readiness, adoption and technology maturity vary greatly between regions and manufacturers. I expect other OEMs will begin to deploy V2V systems beyond model year 2017.
We believe that autonomous vehicles will require some level of connectivity — there is no way around this. V2I connectivity is required for precise map updates, emergency call alerts, GNSS corrections, remote diagnostics, traffic and weather updates, and many more applications — both existing and emerging. V2V communication will also be an important technology to improve safety and reliability as autonomous vehicles become more broadly deployed.
As a technical challenge, the limitations of GNSS are certainly understood by automakers for applications such as vehicle navigation, stolen vehicle tracking and emergency response services. Many recent advances in vehicle positioning technology mitigate the effects of urban multipath and poor sky view. These include higher quality micro-electro-mechanical systems (MEMS) sensors, low-cost lidar, visual inertial odometry, wheel encoders, precise maps and more GNSS satellites in view.
We believe that high-confidence lane classification is becoming possible even in dense urban environments, thanks to these and other advancements. Infrastructure augmentation will certainly help, and these investments are gradually being made by state and local governments. However, technology development occurs at a faster pace inside the vehicle versus along our roadways.
There is growing demand for low-cost, high-quality automotive cameras and radar components that will be critically important for CV and AVs. I expect some degree of sensor data sharing over V2V will enter the industry within a 4–5-year time frame. Today, not all automotive cameras are designed to provide real-time video output across a high bandwidth interface such as low-voltage differential signaling (LVDS).
Furthermore, DSRC protocol and LTE Release 14 are not yet broadly accepted among competing OEMs. V2V innovations will occur as OEMs see what is possible, and customer demand for safety and reliability increases. Once the auto industry has passed the 50% milestone for market penetration of V2V vehicles, the rate of adoption will be much higher for new vehicle builds.
Denso’s autonomous vehicle research and development ranges from head-up display to voice recognition and human machine interfaces.
As we know, GM offers V2V in the current model year CTS, and Toyota deployed ITSConnect in Japan in 2016. So, multiple OEMS have cars on the road and appear to see the value of V2V.
A retrofit V2V, a universally acceptable U.S. National Highway Traffic Safety Administration (NHTSA)-compliant solution that could be installed at a dealership, is an interesting concept that has been around in recent years. This will allow OEMs to comply with the rule much quicker. However, that concept is easier said than done, and it hasn’t been the focus of the industry up until now.
I see connectivity as nearly a requirement to get to highly AV in the future. On a limited-access highway, connectivity is probably not a requirement, as there are predictable and infrequent “high anxiety” encounters. In an urban setting, however, many other elements complicate the necessary behavior and reaction; and therefore I see the most value from connectivity.
Sensors such as cameras can detect the state of a traffic light with some level of certainty, but often the situation is complicated, such as the need to differentiate between a straight versus a turn signal. Even in highway scenarios, we can see how connectivity can favorably impact use cases like truck platooning and cooperative automated cruise control.
For positioning, it may be that a terrestrial solution will be necessary in difficult GNSS environments such as New York. It’s clear traditional GNSS is not capable of performing at the level required for the cooperative crash avoidance capability that NHTSA desires. Ranging systems that operate as a part of V2I and high-definition maps with lidar could be potential augmentations. I can relate the latter to how humans drive: Although we are not aware of our position, we can certainly drive in Manhattan (with difficulty!) by observing lanes, curbs and other relative
I envision V2V as part of a typical in-vehicle sensor suite at some point without exception; vehicles will eventually communicate what they see with their sensors to others via DSRC. Denso holds a patent that proposes to use on-board sensing to detect the presence of unequipped vehicles and send a proxy basic safety message (BSM) to other vehicles through DSRC.
In the V2V NPRM, NHTSA defines benefits in terms of lives saved under full penetration, but we believe benefits can be shown under much lower levels. For example, in the Ann Arbor Safety Pilot, even with under 5% penetration, anecdotally the University of Michigan buses averaged about one warning every 150 miles during the trial, a significant number of warnings.
By Roger C. Lanctot Director, Automotive Connected Mobility, Strategy Analytics
We think the best-case U.S. V2V deployment scenario might be 2021 — but given the challenges in security management, the ongoing testing of spectrum sharing by the Federal Communications Commission (FCC), and the lack of infrastructure support — we think an even later commencement is likely. This means that early 5G deployments will already be beginning.
It is worth noting that the NPRM provides for alternative technologies as long as the performance requirements are met. The interest in DSRC in Europe has waned significantly, and Toyota appears to be the only company aggressively investing in Japan. China appears to be heading towards 5G for V2X.
In our view, given the vast uncertainties, it makes little sense to proactively add a box that will add cost along with driver distraction and security vulnerabilities. Vehicles will benefit from connectivity regardless of the technology used, but many more miles must be driven before a level of sufficient confidence is reached to integrate V2V with safety systems.
We believe DSRC-based V2V is decades away from delivering a reliable and warrantee-able or life-saving value proposition. Even NHTSA has suggested it may take as long as 20 years before significant value is returned to the manufacturers, let alone the consumer, making the investments today.
We do not think the industry is prepared to integrate safety systems with V2V for a broad range of reasons — GNSS vulnerabilities in urban canyons being one of them. This is the scenario in which additional sensors and high-definition maps can add to location accuracy. Details not only on the road, but also on the location and geometry of buildings, trees, street furniture and more can be gathered by sensors during the mapping process. The vehicle camera and/or lidar sensors can then be used to position the vehicle against this map.
We think a base map will be generated by the mapping entity using vehicles equipped with high-quality sensors and location technology, and then this will be updated by user-gathered data, as well as continued use of the mapping vehicles. This is the approach taken by the likes of TomTom, Mobileye and Civil Maps.
Cellular networks are de facto infrastructure assistants today, and we expect those capabilities to be enhanced. Connectivity is a nice-to-have for AV — not necessary. With the onset of 5G this will change a little bit, but AVs will always have to be able to operate without a connection, in our opinion.
Connected Car a Critical Stepstone to Automated Vehicle and Driverless Driving
By Jonathan Auld
Director, Safety Critical Systems, NovAtel Inc.
I think some OEMs and Tier1s will integrate the technology in advance of the full mandate and thereby reduce the time to widespread adoption. The benefits of V2V may not be fully realizable at first, but will increase as more equipped vehicles and infrastructure becomes available.
It’s a false assumption that any one technology will resolve CV or AV positioning challenge. The challenging environments and user expectations for high availability and safety will require multiple sensors and systems.
In this context, we see the CV as a critical stepping stone to the AV. CV provides a critical link for V2V communications in low/no-visibility/hidden-object situations as well as a pipe for critical mapping and road network information to the car. As part of this, the GNSS receiver plays a role in being an all-weather absolute position and time reference that can tie all the other sensors together. GNSS has its limitations, as do other sensors, which leads to the multi-sensor fusion approach for accuracy, availability and safety.
The automotive industry’s understanding of GNSS performance is largely driving from the perspective of L1-only single- and dual-constellation receivers. In both the CV and AV use cases, there is a push for more accuracy from GNSS. When moving to a higher performance expectation from GNSS, issues come up that are new to the automotive industry.
For consistent sub-meter-level performance, we start to consider multi-frequency receivers with correction/integrity services supporting them. This is where we see PPP (precise point positioning) as a key technology. Taking advantage of our global PPP correction network for corrections, authentication and safety services will make this performance possible. Also, antenna quality and location become more important. In urban environments where GNSS is less available, we expect a multi-sensory solution to aid GNSS through outages, but still keep lane-level performance as long as possible and safe.
Given the significant challenges on the automotive environment, I would expect that new and innovative ways of gathering and sharing additional information between vehicles and the infrastructure will be developed. It’s entirely feasible that future systems will share as much data as is practical, with the cloud to allow for better map generation and data dissemination. All of this will be driven by the need to keep the systems as available as possible while still maintaining safety.
Dual-Band Carrier Phase for Lane Position
By Rod Bryant
Senior Director, Positioning Technology, u-blox
We expect to see early adopters integrating the technology ahead of the mandate in selected models such as GM with Cadillac-CTS planned for this year. Depending upon the applications to be supported, DSRC fleet penetration of over 70–80% is probably needed for it to become a truly all-round sensor. That’s why the forthcoming legislation in the U.S. is so important for solving the chicken-and-egg problem, as well as the development of aftermarket V2X.
The combination of CV safety applications with features that use in-vehicle sensors would be a natural evolution. Sooner or later every vehicle will be able to see what others see.
For Level 4 AV systems, GNSS is needed to unambiguously identify the road segment. Highway pilot should not be used off the highway; for lane-accurate positioning with integrity on the urban highway and main roads, we are using dual-band carrier phase positioning with wide area State Space Representation (SSR) corrections and automotive-grade INS. This combination of technologies can cope with the level of interruptions to carrier phase lock and the multipath distortion caused by bridges, signs, trees and buildings in such environments.
As we move deeper into the urban canyon, additional measures will be needed. More advanced multipath mitigation, terrestrial ranging and beamforming techniques could contribute to the solution. V2I ranging is a particularly attractive and obvious example. However other ranging sources could also be utilized. Various beamforming approaches are possible with various levels of disadvantage regarding the accommodation of antenna arrays into the car.
Inevitably, there will be periods of unavailability of GNSS-based lane-level accurate position deep in the urban canyon when required protection limits cannot be met within the required level of integrity risk. It is essential that these are managed properly in the reliance on different sensors at different times and, for lower levels of autonomy, in the interactions between machine and driver.
We see automated driving as a related but separate evolution. The crux of the automated-driving problem is how to manage risk in such a complex scenario. Multiple sensors are being used by OEMs to determine the position of the vehicle with respect to roads and for collision avoidance. Those sensors include GNSS/IMU, radar and lidar, which have overlapping capabilities across conditions. This allows the decomposition of the Automotive Safety Integrity Level (ISO26262 ASIL) requirements.
A combination of all of these sensors is required to meet the stringent safety goals. In that context, V2X will clearly play a role, but may not be seen as a prerequisite. The cooperative nature of V2X operation presents challenges for the application of functional safety methodologies like ISO26262. Partly for that reason, we do not expect the application of V2X to autonomous driving before 2025.
Using UAVs, TUV India, under TÜV Nord Group, is conducting an assessment of a 25-MW solar photovoltaic (PV) power project 160 kilometers from Bengaluru spread across 90 acres. TÜV Nord Group is a technical service provider working in 70 countries.
For the Indian solar project, the first phase involved a site assessment, flight planning, undertaking drone flights, uploading data from the drone to advanced software, data processing, analysis, documentation, interpretation and delivering the final report. The second phase will take place after installation of solar modules and operation of PV power projects for at least six months.
Having executing this solar PV power project successfully with the drone, TUV India is confident it can use UAV technology for assessment, surveillance and inspection of infrastructure projects such as rail, roads, seaporta, airports and utilities.
This week, the Federal Aviation Administration (FAA) and its partners are conducting detection research on unmanned aircraft (UAS) at Dallas/Fort Worth International (DFW) Airport.
The DFW evaluation is the latest in a series of detection system evaluations that began in February 2016. Previous evaluations took place at Atlantic City International Airport; John F. Kennedy International Airport; Eglin Air Force Base; Helsinki, Finland Airport; and Denver International Airport.
Drones that enter the airspace around airports can pose serious safety threats. The FAA is coordinating with government and industry partners to evaluate technologies that could be used to detect drones in and around airports. This effort complies with congressional language directing the FAA to evaluate UAS detection systems at airports and other critical infrastructure sites.
At DFW, the Texas A&M University-Corpus Christi UAS test site is performing the flight operations using multiple drones. Gryphon Sensors is the participating industry partner. The company’s drone detection technologies include radar, radio frequency and electro-optical systems.
The FAA’s federal partners in the overall drone detection evaluation effort include the Department of Homeland Security; the Department of Defense; the Federal Bureau of Investigation; the Federal Communications Commission; Customs and Border Protection; the Department of the Interior; the Department of Energy; NASA; the Department of Justice; the Bureau of Prisons; the U.S. Secret Service; a and the U.S. Capitol Police; and the Department of Transportation. The work is part of the FAA’s Pathfinder Program for UAS detection at airports.
The FAA intends to use the information gathered during this assessment and other previous evaluations to develop minimum performance standards for any UAS detection technology that may be deployed in or around U.S. airports. These standards are expected to facilitate a consistent and safe approach to UAS detection at U.S. airports.
China Eagle’s Sharp Sword is in prototype testing.
China Eagle is building the country’s largest production base for industrial drones.
A Beijing-based UAV developer, China Eagle is maker of the Divine Eagle and the Sharp Sword stealth drones. The firm also works with the state oceanic administration to produce drones for shore patrols.
The production base in Jingjiang’s economic and technological development zone in east China’s Jiangsu province is expected to produce its first industrial UAV this month. The drones will be designed for mapping, aerial inspection and unmanned cargo transport.
With an investment of 510 million yuan ($74 million), China Eagle’s new production base is designed with an annual production capacity of 5,000 units. Its total output value is estimated at 3 billion yuan a year. Analysts say the general aviation sector is unable to meet the needs of industrial customers in China, where demand is high.
Ultra stable for low jitter and phase noise applications
The RHT1490 series of high-frequency and low-jitter ultra-stable TCXOs are available in frequencies from 50 MHz to 204.8 MHz. It delivers telecommunications-grade stability with a low real mean squared (rms) phase jitter of <200 fs (12 kHz–20 MHz). The platform’s frequency output enables lower system jitter, allowing communication system architects to optimize noise budget and performance. It can serve as a reference clock for SyncE and packet clock requirements (ITU-T G.826x and G.827x). It works with both discrete and integrated IEEE 1588 solutions, providing medium-term stability for low loop bandwidth applications. Its ultra-low noise floor performance, combined with system phase locked loop filtering, helps achieve very low system clock rms jitter numbers required by reference clocks of physical layer devices for high -speed interfaces (40 G and 100 G applications).
The 50-channel 8835 GPS reference clock serves satellite communications, defense and wireless applications. It has extreme power and interoperability options while maintaining GPS accuracy and reliability. Tracking GPS, the clock exhibits a frequency accuracy of <1 x 10-12 and a 1 PPS accuracy with <50 nanoseconds real mean squared. The proprietary oscillator steering discipline algorithm can enhance the rms accuracy of either the double-oven crystal oscillator or optional enhanced rubidium oscillator for greater depths of accuracy. It operates from –30° C to +60° C with a terminal node controller GPS receiver port.
The Algiz 8X ultra-rugged tablet computer is built for field workers who require a powerful, portable computer for mobile tasks. It offers communication features such as LTE and dual-band WLAN, along with an 8-inch projective capacitive touchscreen for outdoor use. Enabling glove mode or rain mode allows for operation in changing weather. The chemically strengthened glass survives an impact test in which a 64-gram steel ball is dropped on the screen 10 times from a height of 1.2 meters. The Algiz 8X has optional active capacitive stylus. Built-in features include Windows 10 Enterprise LTSB; u-blox GPS and GLONASS; WLAN a/b/g/n/ac; BT 4.2 LE; a rear-facing 8-MP camera with autofocus and LED flash; and 4G/LTE.
The X-52 entry-level machine control system for excavation features the new intuitive MC-X1 controller, compatible with all brands and models of excavators. Its reliable and rugged TS-i3 tilt sensors detect the precise positioning of the boom, stick and bucket at all times. Later this year, the X-52 will be upgradeable to a full 3D system with GNSS. The X-52 not only allows operators to work faster and with better accuracy, but also promotes a safer work site by keeping grade checkers out of the trenches. The system is designed to pair with the GX-55 touchscreen control box to offer sunlight-readable indicate grade reference in any climate.
Integrated display and keypad for configuration without controller
The Precis-TX204 receiver is a light-weight, rugged, all-in-one GNSS receiver with a built-in centimeter-accuracy RTK engine, onboard storage and versatile connectivity. The built-in battery can support up to 10 hours of continuous field work. Up to 16-GB SD card support makes field work easier, and the rugged enclosure enables the receiver to work in harsh environment. The receiver is designed for infrastructure applications such as providing differential data or logging observations; centimeter-level position and velocity information; precise tracking for internet of things; precise navigation for UAV and robotics. It supports GPS L1 and L2, and BDS B1 and B2.
The CMA-6024 aviation GPS/SBAS/GBAS sensor, featuring an embedded VHF data broadcast (VDB) receiver, is a complete, self-contained, fully certified, precision approach and navigation solution certified to Design Assurance Level A (DAL-A). Designed as an easy-to-integrate solution for all aircraft, the plug-and-play standalone unit requires no specialized installation or integration support. The new CMA-6024 provides a navigation solution that is fully compliant with automatic dependent surveillance-broadcast (ADS-B) and Required Navigation Performance (RNP). The CMA-6024 includes SBAS Localizer Performance/Localizer Performance with Vertical Guidance (LP/LPV) and GBAS GNSS Landing System (GLS) GAST-C/D precision approach guidance for all aircraft. Built on the success of the CMA-5024, the CMA-6024 is the next step forward, adding a complete GBAS/GLS solution. All CMA-5024 receivers can be upgraded to a CMA-6024.
Alternative to paper logs streamlines fleet management
The GPS Insight Hours of Service solution has a feature set designed to streamline fleet management and ensure Federal Motor Carrier Safety Administration (FMCSA) compliance. Hours of Service bundles an Android tablet hardwired to a GPS tracking device. The ruggedized Electronic Logging Device (ELD) tablet features an intuitive user interface to ensure ease of use for all drivers. The management portal is web-based, secure and accessible via PC, tablet and smartphone. Features include messaging between drivers and dispatch; audible and visual directions using designated truck-specific routes; and e-logs combined with GPS monitoring, alerting and reporting. The GPS Insight Hours of Service Solution offers a simple alternative to paper logs and provides many benefits beyond compliance.
Rugged platform designed for aerial inspection, data collection
The Matrice 200 drone series (M200) is built for professional users to perform aerial inspections and collect data. The folding body is easy to carry and set up, with a weather- and water-resistant body for field operations. It offers DJI’s first upward-facing gimbal mount, for inspecting the undersides of bridges, towers and other structure. It is compatible with DJI’s X4S and X5S cameras, the high-powered Z30 zoom camera and the XT camera for thermal imaging. A forward-facing first-person-view camera allows a pilot and camera operator to monitor separate images on dual controllers. Obstacle avoidance sensors face forward and up and down, and it has an ADS-B receiver for advisory traffic information from nearby manned aircraft.
PCI Geomatics’ STAX UAV image alignment and analysis tool.
Designed to ease image alignment
The STAX UAV image alignment and analysis tool provides automated tools for aligning and analyzing UAV imagery without a full photogrammetric software suite. STAX was built to address the challenges of collecting and aligning multiple UAV surveys of the same location over time. By automating the alignment process, UAV operators can reduce or eliminate the use of ground control points that are traditionally installed and measured in survey sites. Relative corrections can be applied by using one of the surveys in a stack as a reference. Alternately, a highly accurate reference image of similar resolution over the area of interest can be used to automate the image alignment process. Once multi-pass UAV surveys have been aligned, customers can accurately make comparisons between surveys to measure changes over time or perform feature extraction. STAX provides tools to calculate vegetation indices as well as visualization and basic cartographic capability. Stacked data sets
can be exported for deeper analysis.
Enables long-endurance missions for very small UAVs
The miniature, lightweight BlackRay 72Ka terminal enables long-endurance missions for very small UAVs. The ultra-compact airborne SATCOM terminal for unmanned aircraft systems delivers exceptional throughput for its size. Tactical, long-endurance unmanned aircraft systems (UAS) are commonly used to gather and send intelligence, surveillance and reconnaissance information to ground stations in real time. Reliable, high-performance satellite communications are crucial for ensuring uninterrupted broadband connectivity in beyond line-of-sight missions. Weighing less than 5 Kg, the BlackRay 72Ka combines high performance and throughput with minimal footprint.
Long endurance aircraft equipped for military applications
The carbon-fiber HyDrone 1800 is designed for use in tough conditions. The drone is wind-resistant, rain-resistant, cold-resistant and lightweight. Its hydrogen fuel-cell technology provides a flight endurance of 4 hours — 50+ hours when combined with MMC tethered technology. The HyDrone 1800 achieves extended flight time while maintaining altitude limits of 4,500 meters with a payload capacity of up to 5 kg. Constructed for safety and durability, an auxiliary lithium battery starts the fuel cell and provides a backup power source. Hydrogen drones can be flown in extreme temperatures from –10° C to 40° C. Payloads include a thermal imaging camera, low light camera, laser equipment or zoom camera, making the system suitable for many military applications such as intelligence gathering, border patrol, aerial fire support, laser designation or battle management services to tactical military operators. MMC also offers packaged solutions in target acquisition and reconnaissance technology (ISTAR).
Navmar Applied Sciences Corp. (NASC) and UAV Turbines Inc. (UAVT) have announced plans for a joint flight demonstration of NASC’s TigerShark aircraft with a UAVT micro-turboprop propulsion system.
First flights are scheduled before the end of the year. This will mark the first time that a Group 3 UAV (medium endurance and size) is powered by a micro-turboprop engine with a new recuperator design that significantly increases engine efficiency, the companies said.
CAD Representation of the UAVT UTP50R Turbobrop Propulsion system to be demonstrated in flight in the NASC TigerShark XP. (Credit: UAV Turbines Inc.)
“We are delighted to partner with one of the leading UAV aircraft system developers and be able to access their expertise on these first flights of our proprietary micro-turboprop propulsion technology,” said UAVT President Kirk Warshaw. “The opportunity to work with NASC’s TigerShark speeds development significantly, and we look forward to the time when the technology itself becomes the standard propulsion system for Group 3 and 4 UAVs.”
“Where many major companies have tried and failed, we were pleasantly surprised at the significant engineering milestones achieved by the UAVT team, technical coordination between our teams and the ability to monitor UAVT’s prototypes in operation during the past year were instrumental in giving us confidence to participate in the flight demonstration program using the TigerShark aircraft,” said NASC president Tom Fenerty. “This first step is a big one, but as micro-turbine technology becomes the standard for UAVs, the missions will change and the support provided to our warfighters will be greatly enhanced.”
“The benefits of turbines were clear to the air transport industry when turbojets first came into service in 1958, and they quickly dominated the industry,” Warshaw said. “The same advantages of high reliability, long life, smooth quiet operation, and the use of safe heavy JP fuel have long made turbine propulsion desirable for UAVs, although no one until now has produced a viable system. Development of turboprops for UAVs presented extreme challenges due to the high temperatures and physical forces involved in obtaining sufficient power from very small systems. UAVT has spent seventeen years and tens of millions of dollars to overcome these challenges and achieve reliable solutions.”
Both Navmar Applied Sciences Corporation and UAV Turbines Inc. are privately held. This joint project is funded by NASC and UAVT outside of any government program or agency affiliation.
Since we’re running essentially a navigation magazine, someone had the bright idea that maybe we could bring together the monthly review of UAS/UAV activities combined with some hint of navigation content. Seems reasonable. So delving into the academic world once more, we’ve been searching for prior papers that address novel ways for divining where a UAV might be and how it might find its way about.
Promising non-GNSS approach
Turns out investigators at the Institute of Systems Optimization (ITE) at the Karlsruhe Institute of Technology (KIT) in Germany have been working on a promising approach that does not use GNSS.
The initial premise of the ITE approach is that for future autonomous flight, especially in the potentially difficult indoor environment of search and rescue (SAR) such as in a building fire, GNSS signal reception may be little to none. But most UAVs are equipped with GNSS and inertial, so aiding the inertial solution with a back-up system is preferred. ITE chose to use a monocular camera and a 2D laser rangefinder combined into a hybrid laser-camera sensor for navigation aiding.
The camera and laser-range finder were initially calibrated by focusing from multiple different adjacent locations on one object, and so determining the attitude and translation between the two sensors. Basic navigation sans GNSS is established using the acceleration and angular rate information provided by the IMU, but inertial drift rapidly decreases accuracy, so aiding is essential.
The aiding solution has several components which are first integrated together. The camera sensor provides an initial “keyframe” from which relative motion can be derived.
The next phase was to verify the initial performance of the inertial/hybrid solution, by flying the UAV down a corridor towards a wall. Horizontal position began to degrade around 67 seconds.
Corridor test.
The next more challenging demonstration involved transit down the corridor then into an adjacent room and leaving via a different exit. In addition, solutions using hybrid aiding and laser scanning aiding were evaluated.
Corridor-room test.
The hybrid approach appeared to satisfy the anticipated test constraints very accurately with a deviation of about 0.8? during the 274 second flight, while the laser scanning approach had a horizontal error between start and end point of about 3.7?. It was felt that the structured environment in the test rooms presented challenges for laser scanning and resulted in vertical variations coming from the dependence on the UAV’s attitude, while the hybrid solution overcame these problems.
The conclusion from the testing was that the hybrid sensor performance was not limited by the structured test environment. So missions in more challenging environments could be better navigated in future with the hybrid system, compared to those where existing laser-scan-matching approaches would be used. The researchers intend to now focus on better perception of the test environment. For exploration missions, not only is accurate positioning crucial but also an accurate representation of the environment is necessary, for which the hybrid sensor is a promising tool.
Acknowledgments
Both research projects covered here were presented at ION ITM 2017 in Monterey, California.
Jamal Atman and Manuel Popp, Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Germany. Gert F. Trommer, Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Germany & ITMO University, St. Petersburg, Russia
Improved maneuverability
Another project ITE has undertaken has been to increase the level of control of quadrotor drones by adding tiltable rotors and associated control systems. The object is to maintain a certain orientation of the UAV and its payload without altering platform attitude, to manage maneuvering more effectively and to compensate for disturbances faster and possibly enlarge the area of operation for rescue forces.
For fire disaster recovery, hovering multi-rotor UAVs can provide invaluable information within buildings, rather than risking the lives of first responders. Locating survivors or difficult to find fire sources using video transmitted by drones may save time and reduce exposure for critical personnel.
A two-part nonlinear control system has been implemented by ITE — the first part takes the measurements of the vehicle dynamics and connects these measurements to a back-stepping controller to generate the desired forces and torque to change vehicle motion.
At first the commanded signals have to be fed through a filter in order to provide smooth and continuous command signals and to produce the derivatives required by the control algorithm. The smoothed command signal is then used by an arbitrary controller to create vectors of required forces and torque to control the attitude and velocity of the vehicle.
Desired force and torque is fed into an adaptive and dynamic control allocation algorithm to generate the values for the actuators – there are four propulsion motor commands and four servo motor commands. The control allocation algorithm is an adaptive algorithm – used in order to adjust for changing situations and environments. For example, when flying in a hallway and near walls, ceiling or floor, flight characteristics change significantly due to different aerodynamic effects. On the other hand, outdoors flight behavior is usually much easier to manage as the only nonlinear behavior occurs relatively close to the ground.
3D modeled performance versus flight data. Source: GPS World
3D modeled performance versus flight data (both diagrams show the same flight).
In order to verify the performance of the system it was modeled — flight dynamics and operator control inputs were simulated. Performance was found to closely match actual recorded flight data. This novel approach could have a number of possible applications — possibly to serve as an alternative to a gimbal mount for a camera?
Acknowledgments
Both research projects covered here were presented at ION ITM 2017 in Monterey, California.
Georg Scholz, Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Germany. Gert F. Trommer, Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Germany.
A key feature of the tilt rotor approach is insensitivity to wind gusts; enabling successful operation in situations where standard UAVs could fail. So we might anticipate applications such as all-weather reliable delivery of goods, surveillance tasks even in storms, inspection of operational wind-generation parks, and uninterrupted searches for avalanche victims regardless of continuing stormy weather.
It’s easy to see that other applications may well want production solutions for ways to navigate when GNSS signals are blocked. It’s possible SAR in rugged mountainous terrain could also suffer intermittent GNSS signal blockage, as could UAV flight in heavily wooded forests, or anywhere where a canopy blocks out the sky. So could survey be a potential commercial application for this type of augmentation? What about mining and subways as well as indoors and outdoors search and rescue?
Q: Where is leading technology trending for UAV navigation in complex, unstructured, and uncertain (GNSS-denied) environments in industrial applications?
A: Tight integration between GNSS and inertial navigation systems (INS) can provide accurate, reliable navigation in GNSS-challenged environments, and advances in MEMS inertial technology continue to push the performance of systems that meet the size, weight and power requirements for UAV systems. These GNSS/INS sensors will continue to improve and form the core of the navigation system as additional navigation aids, such as computer vision, are added to address more demanding GNSS-denied applications.
Alexis Guinamard, Chief Technical Officer, SBG Systems
A: Industrial UAVs need trustworthy navigation units. Drastic sensor selection, thermal calibration, and signal processing techniques are mandatory to cope with high temperature / vibrating environments. Advanced algorithms design is also a key to make UAV navigation more reliable in challenging environments: An extended Kalman filter that fuses inertial and GNSS data maintains an accurate trajectory, even during GNSS outages. Next challenge is to get real-time inertial data fusion with GNSS, and vision or Lidar sensors!
Jan Van Hees, Director Business Development, Septentrio
A: Inertial sensors, vision and radar-based distance sensors provide positioning in GNSS-challenged environments. However, experience teaches that even there, GNSS signals can often be received, albeit intermittent or badly disturbed. And GNSS is still the easiest absolute positioning reference available. Therefore, much effort goes into developing robust GNSS technology with reliable quality information, which continues to play a crucial role in the positioning solution, fused with the aforementioned technologies.
Octopus ISR Systems, a division of UAV Factory Ltd., has released a precision geo-pointing feature for its miniature Epsilon series of gyro-stabilized gimbals. The feature, Precision Geo-Lock, combines a GPS-aided inertial navigation system (GPS/INS) with dedicated software algorithms and payload operator software.
To guarantee the successful implementation of the Precision Geo-Lock feature, UAV Factory partnered with VectorNav Technologies of Dallas.
Precision Geo-Lock provides the user with highly accurate target geo-location, range-to-target, as well as Geo-Lock functionality and moving map user interface.
Equipping a miniature airborne gimbal with precision geo-location presents a multitude of challenges. The gimbal operates in a high vibration environment and is subjected to high accelerations and extreme ranges in temperature. In addition, small size and low power consumption are significant factors for miniature gyro-stabilized gimbals which are often used in unmanned aircraft.
The attitude solutions commonly available onboard unmanned aircraft typically do not present a reliable solution.
“Traditionally, small gyro-stabilized gimbals use an external heading source to estimate the geo-location of the target,” said UAV Factory CEO Konstantins Popiks. “Onboard the unmanned aircraft, the attitude data is usually supplied by an autopilot, and the estimate accuracy is not very precise due to the nature of low-cost sensors used in miniature autopilots. Miniature autopilots simply do not need the precise heading data required by the gimbal, and as a result, the heading error generates large geo-location errors and provides little to no use for the unmanned aircraft operator. There are also additional errors due to misalignment of the gimbal and autopilot, as these are separate subsystems mounted in different locations on individual soft vibration mounts.”
VectorNav’s VN-200 surface mount GPS/INS.
To enable the Geo-Lock feature, an external GPS/INS needed to be integrated, and such a GPS/INS needed to provide a high level of accuracy.
“Today, the state- of-the-art miniature gyro-stabilized gimbals have a narrow field of view of less than 1.3 degrees; therefore, the accuracy of the pointing should be significantly better than 1.3 degrees to prevent the target pointing location from going out of the video frame,” Popiks said.
VectorNav is a developer and manufacturer of high-performance inertial navigation systems using the latest in MEMS sensor and GPS/GNSS technology. VectorNav’s industrial series line of inertial navigation solutions provide small, light and low-power consumption solutions in the industrial-grade inertial navigation performance category (attitude accuracy 0.1-0.3).
“VectorNav’s VN-200 was the only product on the market that offered a high-level of performance but small enough form factor that it could be integrated directly into the optical bench of the gimbal,” Popiks said. “When the product delivered that level of accuracy despite the high vibrations, accelerations and temperature fluctuations of our application the choice was obvious.”
UAV Factory’s Precision Geo-Lock provides better than 0.3 degree accuracy and is plug-and-play, so the customer can install the Epsilon gimbal and get accurate results on any platform and in a high-vibration environment.
Epsilon gyro-stabilized turrets will be available with both VectorNav’s VN-200 single GPS-based INS solution, as well as the VN-300 dual GPS-based INS. A single GPS/INS solution is suitable for dynamic platforms such as manned and unmanned aircraft, while dual GPS/INS is a necessity for platforms with low dynamics, such as aerostats, ships and helicopters.
One-third of GPS World readers who responded to the latest poll think air traffic control and the FAA regulatory environment constitute the biggest challenges facing the UAV industry today. Other answers receiving top votes, from 10 to 27 percent of the total, included
Better, smaller, more lightweight sensors: inertial, Lidar, infrared, spectral, etc. (16 percent)
Integration of other sensors with GPS/GNSS. (10 percent)
Competition from satellite and aircraft imagery/mapping. (9.8 percent)
Definition of sensor performance specifications for navigation, in particular GNSS & SBAS MOPS-like standardisation.
Something simple that will make it visible on primary radar
Longer flight time
To learn more about overcoming such challenges, tune into the free April 20 webinar, “From Flying Drones to Doing Business,” addressing ease of use for the user in business applications. The webinar will cover a broad range of issues concerning sensor integration aboard a flying platform, and in particular their use for commercial purposes. Webinar attendees will have the opportunity to ask direct questions of the speakers, both upon registration and during the live event. Register free at env-gpsworld-integration.kinsta.cloud/webinar.
Speakers
Gustavo Lopez, product manager GNSS solutions for UAV applications, Septentrio
Jan Leyssens , managing director, Sales and Business Development, Airobot
Francois Gervaix, product manager – Surveying, senseFly SA
Zak Kassas, assistant professor in the Department of Electrical and Computer Engineering, University of California, Riverside
