1GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Ghosthunter – Telematics System against Wrong Lane Drivers with the help of GNSS

Institut for Space Applications and Space Technology

Christian Lichtenberger & Himanshu Sharma

2GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Agenda

• Project Goals

• Overall Project Architecture

• Android App Architecture

• Android App Functionalities

• Server/Post Processing

3GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Project Goals – Overview

C-ITS

car2X Communication

e-Call

Information toBOS and Radio

Certified Service

Wrong Lane Driver Warning

4GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Difference between existing solutions

• e.g. Bosch Mobility Solutions (Cloud-based wrong-way driver warning SDK)

• Only SPP position is used• Only highway entries/exit are monitored

• Video-based Solutions• Low reliability due to weather

• Physical barriers or signs• Very expensive • No cooperative warning

5GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Project Goals – Increase of Detection Integrity

• Proven minimization of false alarms and missed detections• Increased position accuracy and integrity through, for example, RTK and (A)

RAIM• Improvement of map matching by, for example, precise maps• Increase in detection integrity through

• adapted probability distributions• Consideration of several epochs and prediction with e.g. particle filter

• Integrity of warning messages essential for certification of the service

6GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Project Goals – Distribution of Warning Messages

• Building a fleet of smartphones• for the simulation of cooperative warnings via a simulated control center• for demonstration purposes under real conditions

• Server-based communication between the smartphones• Simulation of different warning options (eCall, C-ITS, C2I)• Storage of raw data to optimize algorithms in post-processing

7GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Overall Project Architecture

Warnings +GNSS Raw Meas.

Warnings

Replay ofGNSS Raw Meas.

Storage ofGNSS Raw Meas.

Cloud-DatenbankCloud-Server

Smartphone-Clients

Post-ProcessingWorkstation

8GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Android (Smartphone)

Android App Architecture Overview

Android APIGNSS Raw

Measurement

Data-LoggerModul

Ghosthunter API

ClientModul

Map UI

Cloud-Server

GNSS Raw Measurements

Map Data

GNSS Raw Meas. + State

State

State

9GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Android App Functionalities (1)

Ghosthunter Module

integration of ISTA/IIGS Ghosthunter Module (fully encapsulated module, can be easy adapted or replaced)

Logging + Buffering

• logging and buffering (up to 500 epochs) of GNSS Raw Data + robust data stream to server DB

10GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Android App Functionalities (2)

Display

• display of map + overlays and cooperative warning messages

Cooperative Warning

• send + receive warning messages from/to server

ArcGis Loader Module

• load ShapeFile data as mapreference for Map Matching(automatic selection ofcorresponding ShapeFile based on initial position)

11GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

GNSS Raw Meas.

Android App Ghosthunter API

Ghosthunter API

Map Matching

Detection

WarnModul

GNSS-Processing

(A)RAIMIntegrity Check

SPP / RTKPVT State Estimation

Map Data

State

State

Result Map MatchingPVT State

PVT State +Position Integrity

12GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Server/ Post Processing

Cloud DatabaseCloud-Server Post-ProcessingWorkstation

-+_

Data Playback

Result AnalysisDatabase request forselected records

Ghosthunter API

13GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Wireframes (1)

14GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Wireframes (2)

15GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

NEWS

RINEX Logging

Sensor Logging

• ISTA Logger• Android based GNSS/IMU Logger• First Logger Capable of Logging

RINEX and IMU data from the Smartphone

• Based on GNSSLogger by Google • Capable of Logging

• RINEX 3.03 with dual frequency and Multi-Constellation

• GNSS Raw Measurements • IMU data (Accelerometer,

Gyroscope and Magnetometer)• Time Synchronized GNSS/IMU

data to be directly used in GNSS/IMU Fusion

Will be available on Play Store soon...

16GSA - 4th Annual Raw Measurements Task Force WorkshopThursday, May 28

Thank you for your attention!

Project initiative based on the space management department of the DLR