Sogei’s R&D activities and results
Relatore: antonio bottaro
22 aprile 2013
how we began
In 2003 our main shareholder (Dipartimento delle Finanze) invited Sogei to
follow the development of the GALILEO project.
Sogei’s R&D team began working in multi-constellation satellite
technologies GNSS(Global Navigation Satellite System)
2
background
at the start of the last decade Sogei introduced two best practices for
the Italian Land Agency:
PREGEO – topographic survey data capturing using both traditional
and GPS measurement technologies, processed in an
innovative model which produces survey booklets;
WEGIS
– web GIS solutions which automatically update cadastral
digital cartography coming from PREGEO’s survey
booklets
both solutions
continue to be used
today in the Italian
Land Agency’s
system
3 2003
Paris, 16th September
results of Sogei’s applied research
• real time high precision satellite measurement


GRDNet (GnssR&DNet)
SDR (Software Defined Radio)
• cartographic framework
•
GEOPOI® (GEOcoding Points Of Interest)
4
GRDNet Network
High precision for Institutional GNSS
applications
The GRDNet (Gnss R&D Network) for high precision applications
•
•
•
•
developed in 2003 to provide institutional Real-time and Post Processing centimeter
level positioning services
currently covers the central area of Italy (8 GNSS Reference Stations)
works with advanced technologies (MRS/VRS)
is supported by a Software Control Centre -in Sogei - which is based completely on
standard data formats and protocols
6
GRDNet in a nutshell
Achievable accuracy
• Less than 5 cm with 30 sec. ambiguity fixing
Technological model:
•
MRS/VRS (Multi Reference Station/Virtual Reference Station)
Communications:
• Reference Station-Control Centre: High QoS PA WAN (SPC)
• Real Time Reference Station Monitoring 24/7/365
• Services Dispatching over IP
Geodetic Reference:
•
Weekly Network Geodetic Solution (Bernese): SINEX files generation
•
Reference System: ETRF00/RDN, other systems: IGS08
• Reference Stations Data Storing :
•
Hourly download and storing of raw measurements files
•
Quality check (teqc), RINEX files generation and compression (hatanaka format)
•
Storage Integrity e centralised backup
Communication standards:
•
User: NTRIP Protocol
•
Real-time services Data format: RTCM 2.3 and RTCM 3
•
Reference Station to Control Centre: BINEX and RTCM 3
7
real-time surveying results: MRS/VRS surveying
Typical Surveying Fixing Time
Floating
Fixed
•
•
•
Virtual Reference Station generated close to the user
Accuracy: < 5 cm
Time To Fix Ambiguity: < 30 s
VRS RTK positioning
1.4
1.2
Errors wrt Institutional Reference Points
(144901- Italian Military Geographic Institute)
1
error (m)
0.8
0.6
Height
Easting
Northing
0.4
0.2
0
-0.2 1
23 45 67 89 111 133 155 177
-0.4
-0.6
Time (s)
Position Error (VRS)
0.6
0.5
Northing (m)
0.4
0.3
Average
Max
Min
Standard Dev
0.2
0.1
0
-0.06
-0.04
-0.02
0
0.02
0.04
-0.1
Easting (m)
8
East
0.0271
0.0315
0.0407
0.0201
0.0016
0.0052
0.0065
0.0071
0.0014
0.0022
0.0017
0.0009
0.0236
0.0130
0.0407
0.0009
0.0132
Northing
-0.0083
-0.0046
-0.0014
-0.0019
0.0038
0.0015
0.0084
0.0128
0.0137
0.0203
0.0140
0.0148
0.0084
0.0063
0.0203
-0.0083
0.0084
Up
0.1518
0.1396
0.1335
0.1595
0.1372
0.1411
0.1403
0.1435
0.1548
0.1516
0.1585
0.1572
0.1737
0.1494
0.1737
0.1335
0.0110
GRDNet architecture
9
evolution and perspectives of high precision techniques
1980
Static Post-Processing
Rapid-Static
Kinematics
(AFM, FASF, Lambda)
RTK
Multi-Reference Station
Network-RTK/VRS
Precise Point Positioning
1990
present
Multi-Frequency
Multi-Frequenza
TCAR/MCAR
WARTK-3
WARTK-3
Real-Time PPP
hours/min
< 1 min
Point occupation time/TTFA
10
Instantaneous
GNSS SDR Platform
GNSS Software Receiver R&D
The SOGEI GNSS SDR Platform
• Objective: Developing a low cost, flexible and license free GNSS receiver
for governmental applications running on General Purpose Processors
• technical features:
 GNSS Front-End:
- Internal design and
GNSS Front -End
development
- Commercial IC components

FRONT -END
Downconversion
A /D CONVERTER
DATA
DISPATCHER
Software Development:
- C/C++
- SIMD
- Parallel programming

ANTENNA
PVT
TRACKING
ACQUISITION
Software Modules
Fully Real-Time
12
GNSS Front-End and GUIs
13
multi-constellation acquisition and tracking
GPS
In-Phase Correlator Output
7
3
x 10
I2Prompt
1
1
0.5
0
100
Q2Late
Q2Early
1.5
0.5
0
Q2Prompt
2
I2Early
1.5
x 10
2.5
I2Late
2
200
300
400
500
600
Quadrature Correlator Output
7
3
2.5
EGNOS
GIOVE-A/B
700
800
900
0
1000
0
100
200
Time [msec]
600
700
800
900
1000
4000
Amplitude
Frequency [Hz]
500
6000
1900
1800
1700
1600
1500
0
400
Time [msec]
Navigation message
FLL Output
2000
300
2000
0
-2000
-4000
100
200
300
400
500
600
700
800
900
-6000
0
1000
100
200
300
400
500
Time [msec]
Time [msec]
14
600
700
800
900
1000
Navigation solution
• PVT implemented through Extended KF and Unscented KF
• Use of EGNOS augmentation and optimal Carrier Smoothing
• Position accuracy: less than 2 m
15
GEOPOI ® 2.0
a cartographic framework
GEOPOI® (GEOcoding Points Of Interest) 2.0
GEOPOI® 2.0 – is a SaaS
component developed for
institutional Customers
is a cutting edge PaaS component
which enables developers to build
solutions in a reusable and
programmable way
‘make to order’-> ‘assemble to order’
17
Geopoi 2.0 Community
18
visual programming by graphical widget
19
data layer
 Streets Map (Navteq data)
 Vectorial geometrical entities (0,1,2-dimensions: points,
lines, polygons)
 bitmap markers

high resolution orthophotos even in rural areas
(AdT - Agenzia del Territorio private layer)

“shared” data layers (ie Istat Italian Census)
20
statistics
2.5D
21
road routes&poi
22
mobile location services
23
what's in store for the
future?
IoT, web 4.0, ubiquitous web
towards the Internet of Things
all different topics belonging to the research activities are to be
considered as part of a more general context:
Internet of Things (IoT).
paradigms of the Internet of Things contemplate:
• the simultaneous management of information captured both - in the
web - and - in the GNSS technologies in order to fix ‘the
positioning' of people and things (outdoor-indoor)
• outdoor to indoor representation through a virtual 3D model
• timely Geographical Context Analysis
the identity of users and data has to be
obtained in a completely secure way
25
a new way for 3D modelling
26
3D modelling 4 IoT indoor-outdoor
27
towards Geopoi 4.0
28
Sogei’s GNSS SDR evolution
Achievements
COTS GNSS Sampler
Single Freq. GNSS
DSP benchmarking
Yesterday
Rapid-Prototyping
Post-Processing on PC
GNSS Sampler L1/L2 GNSS L1/L2/?
Double Frequency
Multiple Frequency
WAAS/EGNOS
RTK precision
GNSS Sampler L1
Single Freq. GNSS
Carrier Smoothing
WAAS/EGNOS
Today
C/C++
SIMD
Parallel Programming
Real-Time on Notebooks
Technology
29
Tomorrow
C/C++
SIMD
Parallel
Programming
Real-Time on
Notebooks
C/C++
SIMD
Parallel
Programming
Outdoor vs Indoor
Real-Time/
smartphone
GNSS SDR progresses for Anti-Jamming/Anti-Spoofing
• Anti-Jamming and Anti-Spoofing require easily reconfigurable
receivers in order to follow attacks schemes (e.g. virus-antivirus)
• SDR is completely reconfigurable by definition
• SDR based Anti-Jamming/Anti-Spoofing evolutions:
Today
Tomorrow
si
dφ
Spoofer
Dual Antenna SDR
Spoofing detection
30
Controlled Radiation
Pattern Antenna SDR
Multiple Front-End
Signal Authentication
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