Hyundai Motor Company introduced the Autonomous Ioniq concept Nov. 16 at the Automobility LA conference.
Hyundai said the vehicle is one of the few self-driving cars in development to have a hidden lidar system in its front bumper instead of on the roof, enabling it to look like any other car on the road.
The goal in designing the autonomous Ioniq was to keep the self-driving systems as simple as possible. This was accomplished by using the production car’s smart cruise control’s forward-facing radar and lane-keeping assist cameras, which are integrated with lidar technology.
Hyundai is also developing its own autonomous vehicle operating system, with the goal of using less computing power. This should result in a low-cost platform, which can be installed in future Hyundai models that the average consumer can afford, Hyundai said.
The car’s hidden lidar system also allows the autonomous Ioniq to detect the absolute position of surrounding vehicles and objects.
The features build upon the capabilities of the production Ioniq, which offers automatic emergency braking with pedestrian detection, smart cruise control, lane departure warning and rear cross-traffic assist.
Hyundai Motor Research and Development Center.
The Ioniq also incorporates all autonomous controls into existing systems to ensure that drivers can have a seamless transition between active and self-driving modes.
Earlier this year, Hyundai Motor earned a license to test its autonomous cars in urban environments. Hyundai Motor is currently testing three autonomous Ioniqs and two autonomous Tucson fuel-cell vehicles at Hyundai Motor Research and Development Center in Namyang, South Korea.
To showcase its autonomous vehicles in action, Hyundai Motor will debut two autonomous Ioniqs at the Consumer Electronics Show in January 2017, where the cars will be found driving up and down the Las Vegas strip. The testing in Las Vegas will build upon Hyundai’s efforts to bring the most adept and safest self-driving car to market.
Autonomous Ioniq Features
Forward-facing radar that detects the relative location and speed of objects in the vehicle’s forward path to aid in route planning
A three-camera array that detects pedestrian proximity, lane markings and traffic signals
A GPS antenna to determine the precise location of each vehicle
High-definition mapping data from Hyundai MnSoft which delivers location accuracy, road grade and curvature, lane width and indication data
Blind-spot detection radar to ensure even simple lane changes are executed safely
Harxon has released its next-generation triple-frequency Helix Antenna HX-CH7603A, which has excellent performance and high efficiency in a compact form factor, the company said.
Harxon’s new-design helical antenna HX-CH7603A is capable of GPS L1/L2, GLONASS L1/L2 and BDS B1/B2/B3. Though compact, it provides high peak gain (more than 3.5 dBi) and wide beam width to ensure the signal receiving performance of satellite at low elevation angles.
HX-CH7603A is equipped with an O-ring and gold-plated SMA (sub-miniature version A) connector that makes the antenna waterproof-grade, reaching IP67 once installed on a mating surface. The antenna is designed for applications requiring minimal integration effort or for retrofitting existing products.
Features
High gain (3.5dBi) with superior tracking performance
Very low noise figure
High stability and high repeatability at phase center
The Spectratime Force 2020 Rubidium clock is designed for the defense market.
Spectratime, a provider of high precision atomic clocks and a business of the Orolia Group, has launched the Force 2020.
The Force 2020 is a rugged, anti-vibration, GPS/GNSS-lockable, ultra-low-noise Rubidium atomic clock for highly dynamic defense platform applications.
According to Pascal Rochat, managing director of Spectratime, “Next-generation defense airborne radars, drones, helicopters, secure shipboard and radio communications systems use high K-band frequencies which require ultralow noise performance. In tactical missions, ultra-low-noise performance can only be minimally degraded during exposure to dynamic vibration and high-g environments to maintain the integrity of the battlefield systems. Spectratime’s Force-2020 rubidium atomic oscillator is perfect for such critical applications, and thus we are currently working with large defense contractors to integrate our new product into their highly dynamic defense platform systems.”
Product features
Output frequency up to 500 MHz
Can use the patented SmarTiming+ technology, disciplining an external SAASM or a non-SAAMS GPS or GNSS 1PPS reference up to 100,000 seconds with an auto-adaptive loop time operating at 1-ns resolution
State-of-the-art frequency and timing signal stability performance
Integration of an ultra-low-noise OCXO oscillator with optional low g-sensitivity and a single or dual vibration-isolated tray for the OCXO and/or the Rb oscillator to meet various dynamic application requirements.
U-blox has launched the LARA-R3121, a new module comprising a single-mode LTE Category 1 modem and a GNSS positioning engine specifically designed for Internet of Things (IoT) and machine-to-machine (M2M) devices.
The LARA-R3121 is designed for IoT applications including smart utility metering, connected health and patient monitoring, smart buildings, security and video surveillance, smart payment and point-of-sale (POS) systems, as well as wearable devices, such as action cameras.
“Most IoT modules on the market use LTE modem technology, developed by handset-focused silicon vendors. They may not provide the best fit for IoT applications, because they focus on features targeted at Tier 1 handset makers, limited by short life cycles. The LARA-R3121 is different with features and qualifications crafted for the industrial markets,” said Andreas Thiel, u-blox co-founder and executive VP, Cellular Products and IC Design. “This is the only cellular module comprising a LTE Cat 1 modem and a GNSS engine, with complete module hardware and software all developed by a single supplier. With our focus on the IoT market, we bring an ‘IoT first’ approach to silicon design.”
The LARA-R3121 is supplied in the small 24 x 26 mm LARA LGA form factor for compact IoT devices. This standardized package enables straightforward automated manufacturing and is pin-compatible with the u-blox LARA-R2 series, which supports multimode LTE Cat 1 with 2G/3G fallback.
LARA-R3121 module by u-blox.
According to the company, it is a landmark in u-blox’s long-term strategy to create modules based on the UBX-R3 LTE modem technology platform, an internally developed, flexible, software-defined modem architecture specifically designed for IoT and M2M.
The essential modem, positioning and module components of the LARA-R3121 are developed in-house, allowing for freedom for innovative feature development, for enabling end-to-end security and giving full control of product quality, while ensuring the long term product availability required by many IoT applications. Because modem and GNSS technologies were all developed in-house, u-blox is also able to provide unparalleled technical support for developers.
The LARA-R3121 features FOTA, providing customers with a solution to issue firmware over the air updates. It also benefits from end-to-end security features, such as secure boot, secure transport layer, secure authentication, secure interfaces and APIs. Like other cellular modules from u-blox, it complies with a nested architecture, which allows for easy migration, and future-proof, seamless mechanical scalability across cellular technologies.
As a single mode, LTE-only device, LARA-R3121 takes advantage of the fact that LTE networks are becoming universally available. Increasingly, products do not require fallback to 3G or 2G, which means that non-essential components can be removed, reducing cost and power consumption.
The 10 Mbits downstream and 5 Mbits upstream maximum throughput of LTE Cat 1 provides data rates sufficient for good quality video streaming.
The Piksi Multi is a multi-band, multi-constellation receiver for the mass market. Autonomous devices require precision navigation, especially those that perform critical functions. The receiver uses real-time kinematics (RTK) technology, providing location solutions 100 times more accurate than traditional GPS. Piksi Multi supports GPS L1/L2 and is hardware-ready for GLONASS G1/G2, BeiDou B1/B2, Galileo E1/E5b, QZSS L1/L2 and SBAS. The Piksi Multi Evaluation Kit also has been upgraded with all-new components. The new kit contains two Piksi Multi GNSS modules, two integrator-friendly evaluation boards, two GNSS survey-grade antennas and two high-performance radios, so that it can deliver reliability and range — well over 10 kilometers — and all of the accessories required for rapid prototyping and integration.
For dedicated time and frequency transfer applications
The Septentrio PolaRX5TR.
The PolaRx5TR has 544 hardware channels and supports all major satellite constellations including GPS, GLONASS, Galileo, BeiDou, QZSS and IRNSS. A calibration circuit is incorporated to measure and compensate for internal delay, removing the need for calibration using external equipment and ensuring measurement latching is always accurately synchronized with the PPS input. The PolaRx5TR is compliant with the new-format CGGTTS version V2E of Consultative Committee for Time and Frequency (CCTF) recommendations. Also included as standard is Septentrio’s Advanced Interference Mitigation (AIM+) technology, giving outstanding interference robustness in difficult radio environments. Up to eight independent logging sessions can be configured logging to either the 16-GB internal memory or to an externally connected device.
The NCS Titan GNSS simulator has up to 256 channels (and 1024 multipath channels) and up to 4 RF outputs per chassis, providing flexibility and outstanding performance . The extra complexity and cost of using multiple signal generators is avoided, improving reliability without compromising on functionality. Its innovative design allows users configure channels for any GNSS signals and allocate those channels to any of the RF outputs fitted. This flexibility enables the same simulator hardware to be used for an extensive range of tests, for all types of GNSS applications. The NCS TITAN GNSS Simulator was developed in cooperation with WORK Microwave GmbH, Germany.
The GSS200D Interference Detection and Analysis solution, developed with Nottingham Scientific Limited, comprises field-based hardware and a secure data server for automatic capture and analysis of GNSS radio-frequency interference. Deployments of GSS200D probes provide users with a thorough understanding of the RF interference environment at sites of interest. Spirent has already detected thousands of disruptive GPS L1 interference events with its global network of GSS100D detectors. By adding support of additional frequencies and constellations, as well as improving the analysis and reporting, the GSS200D responds to the demand of critical infrastructure and civil aviation customers.
For surveyors, contractors, builders and engineers
The Carlson BRx6 is a multi-GNSS, multi-frequency receiver. It has a multi-band 372-channel GNSS receiver, Athena RTK technology and an integrated Atlas L-band receiver. The BRx6 also contains electronic sensors that measure tilt, direction (electronic compass) and acceleration, supporting Carlson SurvCE’s advanced features such as LDL (live digital level or e-bubble), leveling tolerance, auto by level, tilted-pole correction and advanced stakeout features. SurvCE contains sophisticated checks for compass and acceleration anomalies to ensure accuracy. The BRx6 delivers affordable, high-positional accuracy. Manufactured to Carlson’s exacting specifications by Hemisphere GNSS, the BRx6 can be used as a precise base station or lightweight rover. RTK corrections can be received over UHF radio, cell modem, Wi-Fi, Bluetooth or serial connection.
RTK Assist is a subscription-based service that provides users with satellite-delivered correction data to seamlessly continue centimeter-level accuracy during real-time kinematic (RTK) correction outages caused by communication disruptions. Users are able to maintain RTK-level performance for up to 20 minutes, reducing any associated downtime and optimizing solution productivity. The RTK positioning with correction data is delivered directly to the receiver via satellite, allowing for a continuous centimeter-level solution that is globally available 24/7.RTK Assist is best suited for applications where there are potential obstructions, dead spots or baseline limitations that would cause RTK network correction losses for short periods of time.
The POSPac MMS 8 is GNSS-aided inertial post-processing software for georeferencing data collected from cameras, lidars, multi-beam sonars and other sensors on mobile platforms. POSPac MMS 8 uses the Trimble CenterPoint RTX subscription service to deliver these benefits for mobile mapping from land, air, marine and UAV platforms. With an internet connection, users can achieve centimeter-level accuracy within one hour after data collection — there is no need to wait for delivery of public-domain ephemeris data. Users can map inaccessible regions that have no existing Continuously Operation Reference Stations (CORS) without the cost of deploying local base stations. With Trimble’s private network, users can attain consistent and reliable uptime.
TerraGo GeoPDF software suite version 7 offers new features to enable open, cross-platform, cloud and mobile access to advanced maps, engineering drawings, high-resolution imagery and other types of spatial data assets. Version 7 has tools for publishing GeoPDFs, including TerraGo Publisher for ArcGIS, TerraGo Publisher for ArcGIS Server, TerraGo Composer, TerraGo GeoPDF Platform Toolkit, TerraGo Publisher for Raster and TerraGo Toolbar. Features include PubPy, which extends and enhances integration into ArcGIS ArcPy to enable on-demand web services and GIS portals; and OpenGeoPDF, which adds Open Geospatial Consortium GeoPackage to GeoPDF documents to enable GIS-Lite applications using TerraGo Toolbar 7.0. Other features include mobile-workflow support, advanced layer control and remote desktop.
Aeropoints are desgined for for companies across the industrial sector — including mining, construction, quarries and landfills.
AeroPoints are smart ground-control points designed to make it easy to capture survey–accurate mapping using drones. The portable ground-control markers are visible from the air and capable of quickly capturing their own positions down to 2-centimeter absolute accuracy. AeroPoints work with any camera or drone, and integrate seamlessly with Propeller’s cloud–based data platform and processing engine. They’re solar–powered, durable and weather- resistant, and they don’t require any on-site connection. To use AeroPoints, customers simply lay them down, fly their drone, and then pick them up again. They automatically connect to a wireless or mobile hotspot when back in range to upload captured positional data.
The miniVUX-1UAV is a compact miniaturized 360-degree field-of-view lidar sensor weighing 1.6 kilograms. It is developed for the implementation of emerging survey solutions by small UAS, UAV and Remotely Piloted Aircraft Systems (RPAS). The sensor offers multi-target capability and accuracy using echo digitization and online waveform processing for data acquisition. It is capable of 100,000 measurements per second and offers an operating altitude of 100+ meters. Its small size and low weight make it suitable for mounting under limited weight and space conditions, allowing UAV-based acquisition of survey-grade measurement data for agriculture and forestry fieldwork, archaeology and cultural heritage documentation, glacier and snowfield mapping, and landslide monitoring.
Safer Together is designed to reduce the risk of mid-air collision between aircraft and UAVs. Developed by senseFly and the Air Navigation Pro app makers, it is designed to make the skies a safer place by providing general aviation (GA) pilots and drone operators with awareness of each other’s airborne activities, giving them the knowledge they need to take any actions necessary to avoid mid-air incidents around 200–400 feetabove ground level, where most light-weight drones fly. SenseFly added GA functionality to its eMotion flight-planning software, enabling operators to create a special advisory when activating automated drone flights. eMotion transmits the advisory to Air Navigation Pro’s server, which will push the information to all smart devices of connected app users. In turn, senseFly drone operators will be able to view the Air Navigation users’ flights in real time.
The Geo-iNAV 1000 SAASM is a low-cost, rugged SAASM GPS-aided inertial navigation system. It tightly couples a SAASM GPS sensor with a high-stability Quartz micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) to provide a high-performance navigation solution in challenging environments. Features include simple integration, SAASM GPS with path to M-code, internal high-accuracy quartz MEMS IMU, tight-coupling with Geodetics’ Extended Kalman Filter, in-motion dynamic alignment, and RS-232, RS422 and Ethernet (TCP/UDP) interfaces.
The Hover Camera Passport hovers in place to allow users to quickly and easily take photographs. The self-flying camera is aimed at consumers, flying without the restraints of controllers. Once the camera is unfolded and powered on, the passport can take 13-megapixel photos and 4,000-pixel (4K) video using proprietary embedded artificial intelligence technology. The Hover Camera Passport introduces a new design into the flying camera field, with its propellers and motors encased in a strong, light carbon-fiber structure that ensures fingers can’t slip through during normal use. Features include auto-follow with face and body tracking, 360 spin; orbit; and self-positioning using a combination of sonar, its downward viewing camera and artificial intelligence.
The Karma drone, designed to accompany a GoPro camera, features a compact, fits-in-a-small-backpack design and includes an image-stabilization grip that can be handheld or mounted to vehicles, gear and more. Karma is designed to capture smooth, stabilized video during almost any activity. Compact and foldable, the entire system fits into the included backpack that’s so comfortable to wear during any activity, users will forget they’ve got it on. The game-style controller features an integrated touch display, making it easy to fly without the need for a separate phone or tablet. The three-axis camera stabilizer can be removed from the drone and attached to the included Karma Grip for capturing ultra-smooth handheld and gear-mounted footage.
The Epson Moverio BT-300 augmented reality (AR) smart glasses are light, binocular and transparent with an organic light-emitting diode (OLED) display. Combining silicon-based OLED digital display technology and Android OS 5.1, the Moverio BT-300 enables transparent mobile augmented reality (AR) experiences, including while flying drones. With the DJI GO app and the Moverio glasses, drone pilots are able to see clear, transparent first-person views from the drone camera while simultaneously maintaining their line of sight with their aircraft.The DJI GO app works with the DJI Phantom, Inspire and Matrice series flying platforms as well as the Osmo handheld gimbal and camera.
The GPS-713-GGG-N and GPS-713-GGGL-N ATEX-qualified triple-frequency GNSS antennas come with Inmarsat rejection filters. Hazardous environments — those found on oil platforms, tankers and refineries — require compliance with the European 94/9EC ATEX directive. Based on the company’s Pinwheel technology, both antennas maximize performance with multi-constellation reception of L1, L2, L5 GPS; L1, L2, L3 GLONASS; B1, B2 BeiDou; and E1, E5a/b Galileo frequencies, the company said.The GPS-713-GGGL-N also supports L-band from 1525 to 1560 MHz. Customers can use the same antenna for GPS only, or up to quad-constellation applications, resulting in increased flexibility and reduced equipment costs. The two antennas deliver choke-ring-level antenna performance, but without the size and weight. Both provide enhanced Inmarsat interference rejection, which allows tracking of GNSS signals in the presence of high-powered Inmarsat transmitters typically found on marine vessels.
The GV-86 is a high-sensitivity GPS receiver module supporting dead reckoning, which enables positioning in environments where no GNSS signals can be received, such as tunnels, underground car parking and deep urban canyons. The receiver concurrently receives GPS, SBAS and QZSS satellite signals. The dead-reckoning function is realized by integrating the information from a gyro sensor and a velocity sensor. It has fast time to first fix, and highly improved noise tolerance, and a configurable position output update rate up to 10 Hz (10 times per second.)
Out today, release 16.11 of Skydel Solutions’ SDX simulation software adds BeiDou to the list of constellations that SDX can simulate. Following release 16.7 in July, which added Galileo, the update makes SDX a multi-constellation, multi-frequency GNSS simulator.
Here are major improvements to the SDX simulator:
Added Galileo E1 (16.7)
Improvements to the Sky View and the display of multiple constellations (16.7)
Added Galileo E5a and E5b (16.11)
Added BeiDou B1 and B2 (16.11)
New Output configuration panel, replacing Modulation and allowing use of multiple radios (16.11)
GNSS simulation with four simultaneous constellations.
With the SDX, users can create a complete four-constellation dual-frequency simulation scenario on a single software-defined radio using only commercial-off-the-shelf hardware, Skydel said.
NovAtel Inc. has placed a research contract to determine how GNSS technology can deliver a positioning solution that meets both the safety and accuracy requirements of unmanned automotive vehicles.
The research will include study concepts for high-precision, high-integrity carrier phase algorithms as well as threat models and safety monitors with the purpose of improving the safety of autonomous land transportation.
Tests of the robustness of commercial GNSS devices against threats show that different receivers behave differently in the presence of the same threat vectors. A risk-assessment framework for PNT systems can gauge real-world threat vectors, then the most appropriate and cost-effective mitigation can be selected.
Vulnerabilities of GNSS positioning, navigation and timing are a consequence of the signals’ very low received power. These vulnerabilities include RF interference, atmospheric effects, jamming and spoofing. All cases should be tested for all GNSS equipment, not solely those whose applications or cargoes might draw criminal or terrorist attention, because jamming or spoofing directed at another target can still affect any receiver in the vicinity.
GNSS Jamming. Potential severe disruptions can be encountered by critical infrastructure in many scenarios, highlighting the need to understand the behavior of multiple systems that rely on positioning, and/or timing aspects of GNSS systems, when subject to real-world GNSS threat vectors.
GNSS Spoofing. This can no longer be regarded as difficult to conduct or requiring a high degree of expertise and GNSS knowledge. In 2015, two engineers with no expertise in GNSS found it easy to construct a low-cost signal emulator using commercial off-the-shelf software–defined radio and RF transmission equipment, successfully spoofing a car’s built-in GPS receiver, two well-known brands of smartphone and a drone so that it would fly in a restricted area.
In December 2015 the Department of Homeland Security revealed that drug traffickers have been attempting to spoof (as well as jam) border drones. This demonstrates that GNSS spoofing is now accessible enough that it should begin to be considered seriously as a valid attack vector in any GNSS vulnerability risk assessment.
More recently, the release of the Pokémon Go game triggered a rapid development of spoofing techniques. This has led to spoofing at the application layer: jailbreaking the smartphone and installing an application designed to feed faked location information to other applications. It has also led to the use of spoofers at the RF level (record and playback or “meaconing”) and even the use of a programmed SDR to generate replica GPS signals — and all of this was accomplished in a matter of weeks.
GNSS Segment Errors. Whilst not common, GNSS segment errors can create severe problems for users. Events affecting GLONASS during April 2014 are well known: corrupted ephemeris information was uploaded to the satellite vehicles and caused problems to many worldwide GLONASS users for almost 12 hours. Recently GPS was affected. On January 26, 2016, a glitch in the GPS ground software led to the wrong UTC correction value being broadcast. This bug started to cause problems when satellite SVN23 was withdrawn from service. A number of GPS satellites, while declaring themselves “healthy,” broadcast a wrong UTC correction parameter.
Atmospheric Effects. Single frequency PNT systems generally compensate for the normal behavior of the ionosphere through the implementation of a model such as the Klobuchar Ionospheric Model.
Space weather disturbs the ionosphere to an extent where the model no longer works and large pseudorange errors, which can affect position and timing, are generated. This typically happens when a severe solar storm causes the Total Electron Count (TEC) to increase to significantly higher than normal levels.
Dual-frequency GNSS receivers can provide much higher levels of mitigation against solar weather effects. However, this is not always the case; during scintillation events dual frequency diversity is more likely to only partially mitigate the effects of scintillation.
Solar weather events occur on an 11-year cycle; the sun has just peaked at solar maximum, so we will find solar activity decreasing to a minimum during the next 5 years of the cycle. However that does not mean that the effects of solar weather on PNT systems should be ignored for the next few years where safety or critical infrastructure systems are involved.
TEST FRAMEWORK
Characterization of receiver performance, to specific segments within the real world, can save either development time and cost or prevent poor performance in real deployments. Figure 1 shows the concept of a robust PNT test framework that uses real-world threat vectors to test GNSS-dependent systems and devices.
OPENING GRAPHIC
FIGURE 1. Robust PNT test framework architecture.
Figure 2. Detected interference waveforms at public event in Europe.
We have deployed detectors — some on a permanent basis, some temporary — and have collected extensive information on real-world RFI that affects GNSS receivers, systems and applications.
For example, all of the detected interference waveforms in Figure 2 have potential to cause unexpected behavior of any receiver that was picking up the repeated signal. A spectrogram is included with the first detected waveform for reference as it is quite an unusual looking waveform, which is most likely to have originated from a badly tuned, cheap jammer. The events in the figure, captured at the same European sports event, are thought to have been caused by a GPS repeater or a deliberate jammer. A repeater could be being used to rebroadcast GPS signals inside an enclosure to allow testing of a GPS system located indoors where it does not have a view of the sky.
The greatest problem with GPS repeaters is that the signal can “spill” outside of the test location and interfere with another receiver. This could cause the receiver to report the static position of the repeater, rather than its true position. The problem is how to reliably and repeatedly assess the resilience of GPS equipment to these kinds of interference waveforms. The key to this is the design of test cases, or scenarios, that are able to extract benchmark information from equipment. To complement the benchmarking test scenarios, it is also advisable to set up application specific scenarios to assess the likely impact of interference in specific environmental settings and use cases.
TEST METHODOLOGY
A benchmarking scenario was set up in the laboratory using a simulator to generate L1 GPS signals against some generic interference waveforms with the objective of developing a candidate benchmark scenario that could form part of a standard methodology for the assessment of receiver performance when subject to interference.
Considering the requirements for a benchmark test, it was decided to implement a scenario where a GPS receiver tracking GPS L1 signals is moved slowly toward a fixed interference source as shown in Figure 3.
The simulation is first run for 60 seconds with the “vehicle” static, and the receiver is cold started at the same time to let the receiver initialise properly. The static position is 1000m south of where the jammer will be. At t = 60s the “vehicle” starts driving due north at 5 m/s. At the same time a jamming source is turned on, located at 0.00 N 0.00 E. The “vehicle” drives straight through the jamming source, and then continues 1000m north of 0.00N 0.00E, for a total distance covered of 2000m. This method is used for all tests except the interference type comparison where there is no initialization period, the vehicle starts moving north as the receiver is turned on.
The advantages of this simple and very repeatable scenario are that it shows how close a receiver could approach a fixed jammer without any ill effects, and measures the receiver’s recovery time after it has passed the interference source. We have anonymized the receivers used in the study, but they are representative user receivers that are in wide use today across a variety of applications. Isotropic antenna patterns were used for receivers and jammers in the test. The test system automatically models the power level changes as the vehicle moves relative to the jammer, based on a free-space path loss model.
RESULTS
Figure 4 shows a comparison of GPS receiver accuracy performance when subject to L1 CHIRP interference. This is representative of many PPD (personal protection device)-type jammers.
Figure 5 shows the relative performance of Receiver A when subject to different jammer types — in this case AM, coherent CW and swept CW.
Finally in Figure 6 the accuracy performance of Receiver A is tested to examine the change that a 10dB increase in signal power could make to the behavior of the receiver against jamming — a swept CW signal was used in this instance.
Figure 4. Comparison of receiver accuracy when subject to CHIRP interference.
Figure 5. Receiver A accuracy performance against different interference types.
Figure 6. Comparison of Receiver A accuracy performance with 10db change in jammer power level.
Discussion. In the first set of results (the comparison of receivers against L1 CHIRP interference), it is interesting to note that all receivers tested lost lock at a very similar distance away from this particular interference source but all exhibited different recovery performance.
The second test focused on the performance of Receiver A against various types of jammers — the aim of this experiment was to determine how much the receiver response against interference could be expected to vary with jammer type. It can be seen that for Receiver A there were marked differences in response to jammer type. Finally, the third test concentrated on determining how much a 10dB alteration in jammer power might change receiver responses. Receiver A was used again and a swept CW signal was used as the interferer. It can be seen that the increase of 10dB in the signal power does have the noticeable effect one would expect to see on the receiver response in this scenario with this receiver.
Having developed a benchmark test bed for the evaluation of GNSS interference on receiver behavior, there is a great deal of opportunity to conduct further experimental work to assess the behavior of GNSS receivers subject to interference. Examples of areas for further work include:
Evaluation of other performance metrics important for assessing resilience to interference
Automation of test scenarios used for benchmarking
Evaluation of the effectiveness of different mitigation approaches, including improved antenna performance, RAIM, multi-frequency, multi-constellation
Performance of systems that include GNSS plus augmentation systems such as intertial, SBAS, GBAS
CONCLUSIONS
A simple candidate benchmark test for assessing receiver accuracy when subjected to RF interference has been presented by the authors.
Different receivers perform quite differently when subjected to the same GNSS + RFI test conditions. Understanding how a receiver performs, and how this performance affects the PNT system or application performance, is an important element in system design and should be considered as part of a GNSS robustness risk assessment.
Other GNSS threats are also important to consider: solar weather, scintillation, spoofing and segment errors.
One of the biggest advantages of the automated test bench set-up used here is that it allows a system or device response to be tested against a wide range of of real world GNSS threats in a matter of hours, whereas previously it could have taken many weeks or months (or not even been possible) to test against such a wide range of threats.
Whilst there is (rightly) a lot of material in which the potential impacts of GNSS threat vectors are debated, it should also be remembered that there are many mitigation actions that can be taken today which enable protection against current and some predictable future scenarios.
Carrying out risk assessments including testing against the latest real-world threat baseline is the first vital step towards improving the security of GNSS dependent systems and devices.
ACKNOWLEDGMENTS
The authors would like to thank all of the staff at Spirent Communications, Nottingham Scientific Ltd and Qascom who have contributed to this paper. In particular, thanks are due to Kimon Voutsis and Joshua Stubbs from Spirent’s Professional Services team for their expert contributions to the interference benchmark tests.
MANUFACTURERS
The benchmarking scenario described here was set up in the laboratory using a Spirent GSS6700 GNSS simulator.
Spoofing as it applies to GPS is an attempt to deceive a GPS receiver by broadcasting signals that the receiver will use instead of the live sky signals.
Spoofing is different from jamming. Jamming is easier for a receiver to detect, and while it can disrupt the receiver, it cannot relocate it. Spoofing can be used as an attack on systems that use GPS for navigation, or even for precise time transfer, to misguide a valuable asset for malicious intent.
We all would like to think that receivers should always indicate when something out of the ordinary is happening such as what would happen during a spoofing attack, but if the overall system using the receiver does not monitor or attempt to use any available indications, a spoofing attack may go undetected.
Understanding how a GPS application will respond in a spoofing attack is the key to detecting and mitigating the effects of spoofing. For example, it could be assumed by a navigation system designer that using multiple GNSS systems will prevent a spoofing attack consisting of only GPS. But how do you know, and before a potentially catastrophic event?
The Vulnerability Test System.
Vulnerability Test System
A vulnerability test system (VTS) can be used to understand how a system using a GPS receiver, and the overall system integration, will react to spoofing in order to develop mitigation techniques and countermeasures.
Understanding the behavior of the receiver when faced with a spoofing attack is key to hardening applications for resilient position, navigation and timing (PNT). Spectracom has developed a GPS/GNSS VTS, based on its GNSS RF simulator platform, to help understand the effects of intentional disruption of GPS signals.
In the case of a GPS spoofing scenario, the VTS allows full control over the synchronization between the spoofer and “virtual live sky,” their power levels and position variation in a completely closed system that won’t interfere with actual GNSS signals. The VTS consists of two GPS simulators, one simulating live sky and one representing the attempt of the spoofer. It also uses a synchronization unit, an RF combiner and a PC controller.
Architecture of the VTS.
Critical Test Parameters
Several parameters can be varied in the test system to help understand how vulnerable a specific receiver system is to a spoofing threat. Each of the most critical parameters — time, position and power level — can be manipulated independently, allowing the design of a comprehensive test plan.
Time. The timing accuracy of the spoofing signals to the live signals is the first critical parameter. Utilizing separate outputs from the VTS synchronization unit, the on-time point between the GPS RF generation can be varied. Two pulse-per-second signals are used as triggers to the GPS simulators, therefore creating the offset in time between the two RF signals. This offset is controllable to the nanosecond. Another time-related parameter to consider is the capture time — how long the spoofing signal is applied before attempting to redirect the receiver.
Position. We expect that for spoofing to be successful, the GPS position generated by the spoofer must be accurate to that of the receiver to be spoofed. But exactly how close does the spoofer need to be relative to the receiver’s position? The effect of position in the spoofing scenario is a parameter that can be adjusted to understand the extent of the vulnerability to spoofing.
Using two simulators instead of spoofing live sky makes it much easier to design and execute various test cases to understand the receiver’s susceptibility. The tests can be performed under varying motion trajectories of the receiver under test. For example, we can test if or when the spoofer can anticipate motion or changes in direction. Practically, spoofers are required to be positionally accurate to successfully take control over a receiver, which means spoofing is even harder when in motion.
But to what extent? Testing is the only way to answer the question.
Critical parameters for testing vulnerabilities to spoofing.
Power. The spoofing signal needs to be slightly greater than the live signal to capture the receiver. The test system allows full control of the power levels to determine how much greater the power should be. Too much power will jam the receiver. The test system can determine if there are any indicators given by the receiver when a signal only a few decibels higher than the transmitted signal is received.
Testing Multi-GNSS
Adding multi-GNSS constellations to the GPS application is a valuable tool in hardening systems. The VTS can test GPS with various combinations of other GNSS systems (GPS, QZSS, BeiDou, Galileo, GLONASS) to understand if multi-GNSS is an effective method to overcome spoofing attacks. As attackers get more sophisticated, spoofing will probably not be limited to GPS.
Many other signals and references have been used as a complement to GPS in navigation applications. It is expected that these can also be used to harden receiver systems. However, the complexities of these systems can be difficult to test in a laboratory. For those with the proper safeguards and approvals to emit GPS-like signals in a test-range setting, the VTS can add features to synchronize to live sky and accept input from a vehicle-detection and tracking system.
In the United States, the consideration of such testing would only occur after significant coordination between the Department of Defense, the Coast Guard, the Federal Communications Commission, the Federal Aviation Administration, and others.
Conclusion
A GNSS VTS allows for comprehensive characterization through systematic, repeatable tests of receiver performance in the presence of a spoofer. By designing detection and mitigation actions into a navigation application, it may be possible to identify and even overcome risks of a spoofing attack.
Monitoring loss of lock, receiver noise, using an inertial navigation system, and estimated position error are possible parameters to observe, but each receiver may report different indications. More test cases can be created and performed using a VTS to fully characterize a receiver and how it will respond to a spoofing attack.
Telit‘s Jupiter SE873Q5 module is now available. The SE873Q5 is an ultra-low-power, high-sensitivity GNSS module with very small physical dimensions, completely compatible with its SE873 module.
The new module leverages Telit innovation in miniaturization technology to improve power saving and sensitivity, delivering longer battery life and expanding design possibilities for tracking and navigation application areas particularly in wearable devices.
The multi-constellation receiver module can be set to a number of different power saving modes depending on application requirements and includes an ultra-low noise boosting sensitivity that allows developers to explore a wider variety of device designs, enclosures and relative placement inside personal devices, garments or other space constrained electronics.
The SE873Q5 is a flash-memory-based GNSS module capable of tracking three constellations simultaneously. Compared to the SE873, the new design reduces power consumption by 20%, while boosting satellite signal reception sensitivity. With complete pin-to-pin compatibility, the SE873Q5 can also be applied to existing designs based on the SE873, instantly boosting device performance as well as creating opportunities for new and upgraded products with very short time-to-market.
“When it comes to application areas like wearables and others in the commercial and consumer spaces, there is no such thing as ‘too small’ or ‘too power-efficient’,” said Felix Marchal, Telit’s executive vice president of GNSS and short-range wireless. “And when you add to this type of efficiency, a stellar front-end RF performance in a miniature global satellite positioning receiver module, you immediately open up new product and business opportunities because now your antenna requirements are easier to meet; and you can explore more ‘buried’ designs where the module, used with an integrated antenna, can be encased deeper into the physical environment of the consumer, commercial or industrial application.”
Features
The Jupiter SE873Q5 is packaged in a 7x7x1.85 mm QFN-like package, equipped SQI Flash memory, switching power supply and integrated high-performance low-noise amplifier (LNA). It is designed to support GPS, GLONASS, BeiDou and is Galileo-ready, delivering simultaneous tracking in two modes: GPS+Galileo and GLONASS, or GPS+Galileo and BeiDou.
To extend battery life, the module includes a low-power tracking mode as well as advanced low-power modes: SmartGNSS 1 and 2, duty cycle, push-to-fix. Because it is flash-memory-based, it enables easy firmware updates, customization of operating parameters and supports ephemeris file injection (A-GPS) for up to 14 days, resulting in faster TTFF.
Navigation data is delivered using OSP binary protocol or NMEA through standard UART, SPI or I2C ports. The module supports A-GPS as well as Satellite Based Augmentation System (SBAS) to increase position accuracy. Server-generated and client-generated extended ephemeris are supported and stored in internal Flash memory. The enhanced sensitivity of the SE873Q5 is rated at -147dBm for acquisition, -161dBm for navigation and -167dBm for tracking.
OriginGPS, a manufacturer of miniature GNSS modules, has launched three new products built on the flash-based SiRFstar V from Qualcomm Technologies Inc.
This latest trio of modules has drone features such as low-latency velocity and position outputs and 5-Hz position updates.
The Multi Hornet and Multi Micro Hornet offer drone OEMs a choice between 10 by 10 millimeter or 18 by 18 millimeter integrated, high-performance patch antennas, with benefits that extend to OBDII and under-dash telematics when utilizing the larger Multi Hornet.
The Multi Micro Spider brings all of these benefits into a compact 7 by 7 millimeter package suitable for use with a variety of external antennas. All of OriginGPS’ modules are designed with patented Noise Free Zone technology which minimizes noise, producing the maximum signal-to-noise ratio.
“No other supplier out there rallies these new flash-based additions on such advanced GPS/GNSS modules of this size,” says Haim Goldberger, president and CTO at OriginGPS. “Our plug-and-play Multi Hornet and Multi Micro Hornet offer the fastest time-to-market while maximizing performance even in the harshest of signal environments. The Multi Micro Spider also supports these flash-based additions with a variety of custom antenna solutions. Regardless of antenna placement or mechanical drone design, OriginGPS now offers the software features required in the smallest and lightest weight package.”
OriginGPS will be showing these new modules, along with their entire portfolio of GPS/GNSS modules, at Electronica, Hall A4, Stand 281.
Features include:
Onboard flash for enhanced drone functionality. Based on the SiRFstar 5eB02 GNSS SoC from Qualcomm Technologies, Inc, OriginGPS’ new offerings are the ideal solution for drone manufacturers looking to quickly integrate GNSS functionality without adding sizeable hardware or weight. The low-latency speed and velocity outputs make these the world’s smallest, fastest responding GNSS modules.
Multiple antenna configurations offers a solution for every application. With two new additions to the Hornet product line, designers can opt for the miniature 10×10 mm footprint with best-in-class performance or the larger 18×18 footprint for maximum performance when GNSS signal levels are low. The new Spider offering can be implemented with a variety of external antennas.
OriginGPS’ Noise Free Zone (NFZ). The ORG4033 utilizes OriginGPS’ patented and proprietary NFZ technology for continued noise immunity and razor-sharp sensitivity even in poor signal conditions.
Intuitive design that facilitates shorter time to market. The new flash-based modules each use an existing OriginGPS Hornet or Spider footprint. Developers can easily transition from ROM-based to flash-based modules or GPS to GNSS in the same footprint, thereby reducing overall development costs and shortening time to market.
Hemisphere GNSS has announced the Eclipse P328, the next offering in a line of new and refreshed, low-power, high-precision, positioning OEM boards.
The multi-frequency, multi-GNSS P328 is an all signals receiver board that includes Hemisphere’s new and innovative hardware platform and integrates Atlas GNSS Global Corrections.
Hemisphere GNSS is showcasing the Eclipse P328 OEM positioning board at Intergeo in Hamburg, Germany, October 11-13, in hall A1, stand F1.013.
Designed with this new hardware platform, the overall cost, size, weight and power consumption of the P328 are reduced. It offers true scalability with centimeter-level accuracy in either single-frequency mode or full performance multi-frequency, multi-GNSS, Atlas-capable mode that supports fast RTK initialization times over long distances.
The 60 x 100 millimeter module with 24-pin and 16-pin headers is a drop-in upgrade for existing designs using this industry standard form factor.
The latest technology platform enables simultaneous tracking of all satellite signals including GPS, GLONASS P-code, BeiDou, Galileo, and QZSS making it robust and reliable. The updated power management system efficiently governs the processor, memory, and ASIC making it ideal for multiple integration applications.
The P328 offers flexible and reliable connectivity by supporting Serial, USB (On-The-Go with future firmware upgrade), CAN, and Ethernet for ease of use and integration. Optional output rates of up to 50 Hz are also supported.
Capabilities
Powered by the Athena GNSS engine, the P328 provides best-in-class, centimeter-level RTK. Athena excels in virtually every environment where high-accuracy GNSS receivers can be used.
Tested and proven, Athena’s performance with long baselines, in open-sky environments, under heavy canopy, and in geographic locations experiencing significant scintillation is nothing short of cutting edge.
Together with SureFix, Hemisphere’s advanced processor, the P328 delivers high-fidelity RTK quality information that results in guaranteed precision with virtually 100% reliability.
Advanced Technology Features
Integrated L-band adds support for Atlas GNSS global corrections for meter to sub decimeter-level accuracy while new Tracer technology helps maintain position during correction signal outages.
The P328 also uses Hemisphere’s all-new aRTK™ technology, powered by Atlas. This feature allows the P328 to operate with RTK accuracies when RTK corrections fail. If the P328 is Atlas-subscribed, it will continue to operate at the subscribed service level until RTK is restored.
The P328 is ideal for land or marine survey, machine control, and any application where high-accuracy positioning is required.
Hyundai is also developing its own autonomous vehicle operating system, with the goal of using less computing power. This should result in a low-cost platform, which can be installed in future Hyundai models that the average consumer can afford, Hyundai said.
