1. www.DLR.de Chart 1> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 The on-board maritime PNT Module – Concept & Status of Realization as a Demonstrator Ralf Ziebold, Z. Dai, Th. Noack, E. Engler German Aero Space Centre Institute of Communications and Navigation Nautical Systems Group

2. www.DLR.de Chart 2> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Table of content Introduction / PNT Module concept PNT Unit demonstrator development

3. www.DLR.de Chart 3> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 PNT relevant user needs within E-Navigation PNT information Improved reliability Indication of reliability Alert management “Before mariners can feel confident about relying on systems under the e-navigation concept, they must prove far more reliable than many of the present systems” IMO, NAV 55/WP.5

4. www.DLR.de Chart 4> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Current status: single sensor based PNT determination Shipboard Sensor Layer Shipboard Processing Layer GNSS Receiver DGNSS Receiver etc. WWRNS sensors Gyro / Compass Speed / Log Other shipboard sensors etc. ROTI interface, point of type approval PVT N N N Onboard staff Captain is responsible for fusion of information from different sensors and displays

5. www.DLR.de Chart 5> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Current status: Integrated Navigational System (INS) Shipboard Sensor Layer Shipboard Processing Layer GNSS Receiver DGNSS Receiver Multi Radio Navigation Receiver etc. WWRNS sensors Gyro / Compass Speed / Log Other shipboard sensors etc. ROTI interface, point of type approval PVT N N N Check Matrix of PNT data realized by INS PNT Integrity (plausibility, consistency) Alerts INS is not a mandatory system, but if it is installed it can replace single sensor requirements

6. www.DLR.de Chart 6> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Integrity definitions -IMO Integrity Definition: (IMO Resolution A.915(22) Requirements for a future GNSS) The ability to provide users with warnings within a specified time when the system should not be used for navigation Integrity : timely (TTA) warning, based on accuracy estimation  Protection level (PL): bounds true error under consideration of remaining integrity risk  Available: PL < Alert limit (AL) Continuity of integrity and accuracy Availability : probability that the positioning service and the integrity monitoring service are available and provide the required accuracy, integrity and continuity performance General structure of GNSS service specification Accuracy : The degree of conformance between the estimated or measured parameter of a craft at a given time and its true parameter at that time. (95% confidence)

7. www.DLR.de Chart 7> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 From service to user level integrity Current user level integrity definition -IEC INS standard (61924:2006) property of information as being accurate and valid with regard to specified requirements and verified by comparing data from more than one independent source large gap between service level integrity and user level integrity 1st. Approach: Establish user level integrity comparable to GNSS service specification (based on accuracy estimation) onboard the vessel => Over bound all possible errors (threads)

8. www.DLR.de Chart 8> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 PNT Unit Approach Shipboard Sensor Layer Shipboard Processing Layer GNSS Receiver DGNSS Receiver Multi Radio Navigation Receiver etc. WWRNS sensors Gyro / Compass Speed / Log Other shipboard sensors etc. ROTI interface, point of type approval PVT N N N PNT (data processing) Unit as part of INS best PNT Integrity (accuracy) Alerts Other PNT relevant Input Data (Radar, MSI, AIS,…) raw

9. www.DLR.de Chart 9> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 PNT Unit Processing Channel 1 Processing Channel 2 Processing Channel 3 Processing Channel 4 Processing Channel N Version dependent Check Matix PNT Unit Approach

10. www.DLR.de Chart 10> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Need for additional sensors User needsNeed for additional sensors redundant, backup, or contingency -Improved reliability (IALA R129 2008) Redundant system Provides the same functionality as the primary system, allowing a seamless transition with no change in procedures Redundant system Provides the same functionality as the primary system, allowing a seamless transition with no change in procedures Backup system Ensures continuation of the navigation application, but not necessarily with the full functionality of the primary system Backup system Ensures continuation of the navigation application, but not necessarily with the full functionality of the primary system Contingency system Allows safe completion of a manoeuvre, but may not be adequate for long-term use Contingency system Allows safe completion of a manoeuvre, but may not be adequate for long-term use

11. www.DLR.de Chart 11> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Additional Sensors for an integrated PNT Module GNSS + augmentation e-Loran + Independent backup for GNSS - Only regional coverage - No clear commitment of operating states Inertial Measurement Unit + Self contained navigation - Only short term backup - Integration with other sensors required to compensate long term drift Terrain Referenced Nav. + Possible additional sensor for integration with inertial sensor - Need of accurate digital terrain model and suitable terrain R-Mode for MF beacon and AIS + Development based on existing infrastructure o Functionality needs to be proven Radar VTS & shipborne radar + usage of existing sensors o Functionality needs to be proven - Need of appropriate surrounding Visual (Electronic pelorus) + Possible integration with inertial sensor - Need of appropriate surrounding - Need of good visual conditions (IALA WWRNP 2009) Possible backup Possible contingency system

12. www.DLR.de Chart 12> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Actual development status of possible additional sensors -In a first step within our development project the focus lies on the development of an integrity concept with existing sensors GNSS + augmentation e-Loran Inertial Measurement Unit (IMU) Terrain Referenced Nav. Visual (Electronic pelorus) Radar VTS & shipborne radar R-Mode for MF beacon and AIS ? sensormaps, RACON-s sensor maps

13. www.DLR.de Chart 13> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Kalman filter estimates (bias check) Kalman filter estimates (bias check) Integrity monitoring Individual sensor data check Plausibility check (e.g. speed ≤ max. ship speed) Individual sensor data check Plausibility check (e.g. speed ≤ max. ship speed) Three step process of integrity monitoring 1 1 Consistency check comparison of outputs generated by different sensors  x ≤ Threshold Consistency check comparison of outputs generated by different sensors  x ≤ Threshold 2 2 Fault detection and identification in the integration algorithm Using capabilities of sensor fusion methods e.g. Kalman Filter Fault detection and identification in the integration algorithm Using capabilities of sensor fusion methods e.g. Kalman Filter 3 3 Innovation- based approaches Innovation- based approaches Residual- based approaches Residual- based approaches Parallel solution of multiple sub-filters Parallel solution of multiple sub-filters

14. www.DLR.de Chart 14> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Table of content Introduction / PNT Module concept Status of demonstrator development Single Sensor characterization Results tightly coupled GNSS -IMU Integration

15. www.DLR.de Chart 15> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Measurement campaigns: July /August 2011 -Survey and research vessel DENEB (BSH) First experimental results (2) (3) (1) -Standard sensors -IALA Beacon DGPS -Doppler Log -EM Log -Gyro compass -Additional sensors -IMU -3x GNSS receiver (dual frequency RTK)

16. www.DLR.de Chart 16> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Characterization of sensors quasistatic scenario: GPS Compass – IMU leveling Pitch angle Roll angle Yaw angle GPS compass IMU leveling GPS compass IMU leveling 1 2 3

17. www.DLR.de Chart 17> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Introduction of Consistent Common Reference System -Large distances on ship => need of CCRS -Precondition for definition of a CCRS (a)Survey of all sensors within a defined ship coordinate system (b)Knowledge of ships attitude and change of attitude minimum: heading + Rate of turn => 2d CCRS better: roll, pitch, yaw + change of roll, pitch, yaw (heading) => 3d CCRS  Consequences for integrity functionality (a) Integrity of output data relying on CCRS is only given if integrity of CCRS is given (b) accuracy estimation needs to consider error budget of CCRS

18. www.DLR.de Chart 18> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Introduction of Consistent Common Reference System: example SOG (speed over ground) First experimental results SOG determined by different GNSS antenna + receiver SOG of ships CCRS determined by different GNSS antenna + receiver

19. www.DLR.de Chart 19> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Characterization of Sensors for heading determination: GPS Compass – Gyro Compass Calm sea (7/5/2011 8-9 a.m. UTC) larger gyro compass error after turning maneuver

20. www.DLR.de Chart 20> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Tightly-coupled GPS/IMU integration with satellite filtering Tightly-coupled GPS/IMU integration with satellite filtering Accuracy improvement Tightly coupled GPS/IMU

21. www.DLR.de Chart 21> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Innovation of satellites Spurious Measurements Satellites with low elevation angles Low weight Cancellation

22. www.DLR.de Chart 22> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Dynamic model (herein IMU) can smooth the positioning results Dynamic model (herein IMU) can smooth the positioning results Integrity monitoring on each measurement has dominant effects in the accuracy improvement Integrity monitoring on each measurement has dominant effects in the accuracy improvement Integration with/without satellite filtering

23. www.DLR.de Chart 23> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 PNT Unit interface Open question: Input interface -accuracy, integrity, continuity, availability depended on -operational region -maneuver status: automatic docking, ???  How this information is transferred to PNT Module? - operational region: ENC layer ? - maneuver status ?? Output interface: -What integrity information should be delivered how? -Visualization of integrity information

24. www.DLR.de Chart 24> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Next steps -Finalize implementation of PNT Unit demonstrator v 1.0 -Implementation of new sensors -Refinement of integrity monitoring schemes -New sensor fusion schemes

25. www.DLR.de Chart 25> The on-board maritime PNT Module> R. Ziebold > IALA e-Nav 12 09/25/2012 Thank You For Your Attention © Hafenentwicklungsgesellschaft Rostock mbH