US ARMY CERDEC/C2D Program in Urban/Indoor Positioning and

Distribution Statement “A” (Approved for Public Release, Distribution Unlimited)

US ARMY CERDEC/C2D Program in Urban/Indoor Positioning and Navigation

Mr. Paul Olson, Chief EngineerBattle Command Applications Division (BCAD)

Command and Control Directorate (C2D)Communication-Electronics Research, Development and Engineering

Center (CERDEC)Research, Development and Engineering Command (RDECOM)

US Army


Overview

Introduction

Positioning/Navigation (Pos/Nav) and Timing information is very critical to most military operations; paramount to

Command and Control.

- Evolving Role of PNT on the Battlefield

- Army PNT User Requirements and Lessons Learned

- Current PNT Shortfalls

- Ongoing US Army Technology Program – Advanced Pos/Nav and Tracking the Future Force.


Expanding Role of Pos/Nav andTiming on a Digitized Battlefield

• Traditional Role of position information is for own platform pilotage and low rate, non-automated Situation Awareness via Voice Comms

• Evolving Role of position information is as a shared resource. Automated high frequency position reporting provides a common blue force deployment picture, adds context to modern digital battlefield systems to enhance

- Maneuver and Maneuver Control

- Logistics

- Intel Data Fusion

- Air Defense

- Fire Support

- Munitions Emplacement

• The accuracy and availability of position and motion information directly affects the future Army’s C2 and Operational effectiveness.


The Path – “Where we were”

Sample GPS Operation inUrban Environments

•Commercial Receiver

•Draper Labs Campus

•Buildings are about 20-30m tall


“Where the GPS thought we were”

Sample GPS Operation inUrban Environments (SPS)

•Commercial Receiver

•Draper Labs Campus

•Buildings are about 20-30m tall


Available Backups to GPS

• Externally Referenced

- Positioning/Navigation Systems/Sensors which are based on sources external to the platform.

- Examples include Loran and other types of RF Ranging.

- System errors are generally consistent over time and distance traveled.

- Limitations are the availability of observations from the source.

• Self-Contained

- Positioning/Navigation Systems/Sensors whose functions are soley based on observations experienced by the platform.

- Examples include Inertial Navigation Systems and other types of Dead Reckoning systems.

- System errors generally degrade with respect to time and/or distance traveled.


Network Assisted GPS Enhanced Dead Reckoning Devices

GPS/MEMS IMU IntegrationRF Ranging (UWB and other RF Technologies)

Advanced Pos/Nav andTracking the Future Force

1000 2000 3000 4000 5000 6000 7000 8000 9000

-4

-3

-2

-1

0

1

2

3

4

Attitude Error with ADXL Gyro (deg)

Time (sec)

PitchRollHeading


• Current

- Commercial system

» C/A code only

» Cell Phone

- Demonstrated with SINCGARS

• Completed Development

- P/Y Code Algorithms (Military)

- Interface with or embed in military radio system

• Future

- Investigations into the entre’ in Network Centric Warfare

ImprovedPositionAccuracy

Operates inDegraded

Environment

Based onCommercialTechnology

Tactical Internet(e.g. EPLRS,SINCGARS)

LocationServer

SA & GPS

Aiding Data

SA Reports &

Data for Aiding

GPSSatellites

GPS Rcvr

Network Assisted GPS

ShortenedAcquisition

Time


“Dead Reckoning”Device Enhancements

• The Land Warrior Nav subsystem uses measurements of distance traveled (DT) and heading to calculate position. DT is measured using an accelerometer triad to detect and count user steps.

• Challenges

- Requires careful control of stride, i.e. walking upright and “rocking steady”

- Cannot distinguish between steps that result in horizontal movement and vertical movement

• Enhancements

- Improved Human Motion Modeling to account for running, crawling, pacing, crab-walking, etc.

- Additional sensors and/or improved sensor processing for the detection of vertical motion to compensate for stair climbing


Lightweight

ContinuousOperation

Leveraging fromMissile/Munitions

Optimizing forSoldier/Vehicles

GPS Calibrates

Inertial Errors

1000 2000 3000 4000 5000 6000 7000 8000 9000

-4

-3

-2

-1

0

1

2

3

4


Time (sec)

PitchRollHeading

Integration of MEMSInertials with GPS

No Electronic Signature


Self Contained Navigation System Performance

• Self Contained navigation systems have errors that drift with time and/or distance traveled.

• Lower quality systems are adequate for fast moving/ short duration missions (missiles/munitions).

• Higher quality systems are required for slower vehicles/longer missions (soldiers, vehicles, aircraft) and require integration with precision velocity aiding.

Erro

r Gro

wth

Time or Distance Traveled

Low Quality Inertiale.g. 1.0-100 deg/hr

Dead Reckoning Devicee.g. 1.0 % DT

High Quality Inertiale.g. 0.01 – 0.4 deg/hr

Continuous Precision Velocity Aiding


RF Ranging/Positioning

Lightweight

MOUT

Computer

TOATransceiver

Penetrates Interior Walls

LPI/LPD

200-400mrange

GPSReceiver


Network Assisted GPS Enhanced Dead Reckoning Devices

GPS/MEMS IMU IntegrationRF Ranging (UWB and other RF Technologies)

Advanced Pos/Nav and Trackingthe Future Force

1000 2000 3000 4000 5000 6000 7000 8000 9000

-4

-3

-2

-1

0

1

2

3

4


Time (sec)

PitchRollHeading


APNTFF Sensor Suite

MEMS IMU: Systron Donner MMQ50 GPS: Rockwell Collins Modified GB-GRAM

Range

TOA Request

Reference

Range

TOA Response

Master

50-200 deg/hr gyro bias stability, 3mg accel bias stability 1σ

12 channel, dual frequency SAASM receiver with PR / DR outputs.

Time-of-Arrival (TOA)-based ranging in comms system, with ad-hoc networking capability.

Relative position accuracy – 2-5% of distance traveled.

RF Ranging: ITT SuoSAS Pedometry: Honeywell DRM® V


APNTFF Mobile Navigation Unit

SuoSAS Radio

DRM/IMU mountedclose to the body

Tablet slides out

Mesh/Pad system allows for greater comfort and weight distribution

GPS Antenna

Houses navprocessor, motherboard, power supply and GB-GRAM


Mixed Course, Forward Walking

m

m

Track Over Course WalkedGPS/INS/DRM PVT/FW/MIXED

40 60 80 100 120 140 160 180 200

40

60

80

100

120

140

160

TrackTruthMarked

0 200 400 600 800 1000 1200 1400 1600-2

0

2

4

6

8

10

12FW/MIXED Radial Error Analysis, N=7

Distance Traveled (m)

Rad

ial E

rror (

m)

Mean error +/- 1-sigmaMean across waypointsIndoor region

• Average radial position error of ~5m

• Error is ~6m indoors


Positioning and Navigationfor the Future Warrior

GPS with AJ

* Comm/Network

Altitude

Magnetic Compass

IMU

Video

Velocity/Angle (∆θ, ∆v)

* Video Camera

Velocity Sensor(s)

Altimeter

Heading/Dead Reckoning

Ranging/Positioning, Time& Net Assisted Information

Navigation Processing

Modular/

Tailorable/

Reconfigurable

Constrained Optimization

Moding

Filtering

Video/Map Registration

X, Y, Z Velocities

GPS Range/Range Rate Display

???Other Technologies

Maps, Elevation, Imagery and ???* Databases

Highly likely that we find that “one size doesn’t fit all”* Parts of other Warrior Systems (no added costs, size or weight and minimal added power)


Urban / IndoorPositioning and Navigation

Summary

Positioning, Navigation and Timing (PNT) information is enormously important to the Warfighter, the Commander, and hence to all Command and Control.

•Size, Weight, Power and Cost have been traditionally performancelimiting factors in PNT equipment.

•CERDEC undergoing efforts to overcome these limiting factors by employing:

- Advanced MEMS IMUs- Integration of Chip Scale Atomic Clocks with GPS Receivers- Employ RF Ranging and Datalinks to Assist GPS Performance- Performance Enhancements to Support Ground Based Users- Merging Communication and Navigation Functions


Backups


Required Characteristics ofa US Army Nav System

• Complete Global Coverage- Indoor, outdoor, urban, subterranean

• High Accuracy- both absolute and relative

• Unaffected by environment

• Efficient real-time response

• Non-ambiguous solution

• Unlimited capacity

• Denial to enemy

• EW proof

• Integrity

• No frequency allocation problems

• Common grid for all users

• High MTBF

• Low volume, weight, cost, deployment time, power

• Wide user applicability

• Communications capability

• Provides 3-dimensional output

• Continuity of function

• Self-contained

We recognize that several of the above characteristics may be contradictory.

Ref 7: Modern Navigation Techniques, Marvin May, PSU ARL Navigation R & D Center, Warminster, PA









• Denial to enemy

• EW proof

• Integrity



• High MTBF






• Self-contained

SWAP & Cost Goals

•Weight - <0; Buoyant in air

•Power Consumption – <0 W ; provides power

•Cost – <$0; Vendor pays a product placement fee

•Accuracy – Absolute value of the error is < 0











• Denial to enemy

• EW proof

• Integrity



• High MTBF






• Self-contained

SWAP & Cost Goals

•Weight - <0; Buoyant in air

•Power Consumption – <0 W ; provides power

•Cost – <$0; Vendor pays a product placement fee

•Accuracy – Absolute value of the error is < 0

So Easy

A Caveman Can Use It



Documents

US ARMY CERDEC/C2D Program in Urban/Indoor Positioning and