Engineer and Scientist Engineer and Scientist Exchange Program Exchange Program

September 2006-2008September 2006-2008

‘ ‘Advancing US-Poland Engineering and Research Relations’Advancing US-Poland Engineering and Research Relations’

Douglas AguilarDouglas AguilarMajor USAFMajor USAF

Space Research CenterSpace Research CenterWarsaw, PolandWarsaw, Poland

AssignmentAssignment

Space Research Center (SRC)Space Research Center (SRC)• Assigned in cooperation with the Air Force GPS Wings’ IIF Assigned in cooperation with the Air Force GPS Wings’ IIF

program office, Los Angeles CAprogram office, Los Angeles CA• September, 2006 to 2008September, 2006 to 2008• Assigned to Geodesy Department as the resident Assigned to Geodesy Department as the resident

GPS/EGNOS researcherGPS/EGNOS researcher

http://www.cbk.waw.pl

OverviewOverview

ConferencesConferences NetworkingNetworking Research duties and projectsResearch duties and projects Next assignmentNext assignment

ConferencesConferences

ESEP Cologne GE ESEP Cologne GE • November 2006November 2006• Presented overview of SRC and job dutiesPresented overview of SRC and job duties

ESEP Warsaw PLESEP Warsaw PL• September 2007September 2007• Organized all aspects of conferenceOrganized all aspects of conference• Presented current research projects/resultsPresented current research projects/results• Visited Space Research Center, Warsaw Military Visited Space Research Center, Warsaw Military

University of Technology, Warsaw Polytechnic University of Technology, Warsaw Polytechnic University, Polish Air Force Institute of Technology and University, Polish Air Force Institute of Technology and Warsaw Institute of AviationWarsaw Institute of Aviation

ConferencesConferences 5050thth Anniversary of Space Age Anniversary of Space Age

• October 2007October 2007• Honorary guests:Honorary guests:

John Hall - NASA Director for Export Control and John Hall - NASA Director for Export Control and Interagency Liaison.Interagency Liaison.

Shannon W. Lucid - American astronaut.Shannon W. Lucid - American astronaut. Gerard Brachet - Chairman of Committee on Peaceful Use Gerard Brachet - Chairman of Committee on Peaceful Use

of Outer Space (UN).of Outer Space (UN). Victor Ashe - U.S. Ambassador in Poland.Victor Ashe - U.S. Ambassador in Poland. Michał Seweryński - Minister of Science and Higher Michał Seweryński - Minister of Science and Higher

Education of the Republic of PolandEducation of the Republic of Poland Mirosław Hermaszewski - The first Polish astronaut.Mirosław Hermaszewski - The first Polish astronaut. Michał Kleiber - President of Polish Academy of Sciences.Michał Kleiber - President of Polish Academy of Sciences. Grzegorz Woźniak - Minister of Economy of the Republic of Grzegorz Woźniak - Minister of Economy of the Republic of

Poland.Poland. • http://www.ska.pw.edu.pl/konferencja/index_en.htmhttp://www.ska.pw.edu.pl/konferencja/index_en.htm

ConferencesConferences TransNav’ 2007 The 7TransNav’ 2007 The 7thth International Symposium on Navigation International Symposium on Navigation

• June 2007 Gdynia PLJune 2007 Gdynia PL• Presented "Accuracy Analysis of the EGNOS System During Mobile Presented "Accuracy Analysis of the EGNOS System During Mobile

Testing“Testing“• Published in TransNav’2007 publication,” Advances in Marine Published in TransNav’2007 publication,” Advances in Marine

Navigation and Safety of Sea Transportation.” pp.115-119Navigation and Safety of Sea Transportation.” pp.115-119• http://transnav.am.gdynia.pl/http://transnav.am.gdynia.pl/

ESEP LondonESEP London• April 2008April 2008• Presented data from, “Accuracy Analysis of the EGNOS System Presented data from, “Accuracy Analysis of the EGNOS System

During Mobile Testing”During Mobile Testing”• Presented data from Inertial Navigation testing with GPS Presented data from Inertial Navigation testing with GPS

1st International Conference on Information Technology 1st International Conference on Information Technology • May 2008, Gdansk PLMay 2008, Gdansk PL• Honorary guest fill-in for AFOSR/EOARDHonorary guest fill-in for AFOSR/EOARD

TransNav 2007TransNav 2007

ESEP Tour SRCESEP Tour SRC

ESEP conference Warsaw Poland

NetworkingNetworking

Visited Geodesy Satellite and Navigation department at University Warminsko-Mazury in Visited Geodesy Satellite and Navigation department at University Warminsko-Mazury in Olsztyn PLOlsztyn PL

Gave WAAS presentation to: Michal RzewuskiGave WAAS presentation to: Michal Rzewuski• Michal Rzewuski- Head of Planning and Systems Development Division, ‘Polish Michal Rzewuski- Head of Planning and Systems Development Division, ‘Polish

Airports’ State EnterpriseAirports’ State Enterprise• Discussed benefits of WAAS and future use of EGNOS at European AirportsDiscussed benefits of WAAS and future use of EGNOS at European Airports

Met with EUROBETA’s Project Manager, Zaklina PawlakMet with EUROBETA’s Project Manager, Zaklina Pawlak• Discussed various automotive tracking systems available for commercial use and Discussed various automotive tracking systems available for commercial use and

ways to improve implementationways to improve implementation

Contacted Politechnic Univ. of Catalunya, Barcelona, SpainContacted Politechnic Univ. of Catalunya, Barcelona, Spain• Regarding article, “Performance Analysis of an INS/GPS Integrated System Regarding article, “Performance Analysis of an INS/GPS Integrated System

Augmented with EGNOS.”Augmented with EGNOS.”

““GPS: Past, Present and Future” presentation at the Polish Naval Academy in Gdynia, PolandGPS: Past, Present and Future” presentation at the Polish Naval Academy in Gdynia, Poland

Research DutiesResearch Duties Tracking/Evaluating European Geostationary Navigation Overlay System Tracking/Evaluating European Geostationary Navigation Overlay System

(EGNOS) in Warsaw(EGNOS) in Warsaw

Comparing GPS accuracy with/without EGNOSComparing GPS accuracy with/without EGNOS

Comparing EGNOS with WAAS performance/accuracy/availabilityComparing EGNOS with WAAS performance/accuracy/availability• Use real time data from:Use real time data from:

Warsaw RIMS stationWarsaw RIMS station ESA EGNOS tracking sitesESA EGNOS tracking sites FAA WAAS websiteFAA WAAS website

Research with newly acquired Inertial Navigation/Measuring Unit (INU/IMU)Research with newly acquired Inertial Navigation/Measuring Unit (INU/IMU)• Analysis of an INS/GPS integrated system augmented with EGNOSAnalysis of an INS/GPS integrated system augmented with EGNOS• Reviewed over 100 different INU/IMU systems available for purchaseReviewed over 100 different INU/IMU systems available for purchase• SRC acquired new Microbotics MIDG series INU/IMU based on my SRC acquired new Microbotics MIDG series INU/IMU based on my

recommendationrecommendation

Mobile GPS Laboratory

Research ProjectsResearch Projects Accuracy Analysis of the EGNOS System During Mobile TestingAccuracy Analysis of the EGNOS System During Mobile Testing

• Three months of test and evaluation of EGNOS system Three months of test and evaluation of EGNOS system Accuracy and availability during mobile testingAccuracy and availability during mobile testing Complete report with detailed results presented to the Telecommunications InstituteComplete report with detailed results presented to the Telecommunications Institute

Benefits of INS/GPS IntegrationBenefits of INS/GPS Integration• Integrated new INS into mobile testing labIntegrated new INS into mobile testing lab• Simulated GPS signal loss to determine INS position accuracy over timeSimulated GPS signal loss to determine INS position accuracy over time

INS Signal Noise AnalysisINS Signal Noise Analysis• Analyzing data from Allan Variance testAnalyzing data from Allan Variance test• Determining Bias Instability and Random Walk for INS accelerometers and Determining Bias Instability and Random Walk for INS accelerometers and

gyroscopesgyroscopes

WAAS vs EGNOS comparison analysisWAAS vs EGNOS comparison analysis• Compiling data from various sourcesCompiling data from various sources• Finalizing report and editingFinalizing report and editing

EGNOSEGNOS ObjectivesObjectives

• CCheck accuracy corrections of the EGNOS heck accuracy corrections of the EGNOS (PRN 126) (PRN 126) system system against GPS signalsagainst GPS signals

• CCompare integrity and availability of ompare integrity and availability of GPS and GPS and EGNOS EGNOS (PRN (PRN 126) 126) signalssignals

DateDate Number of circleNumber of circle All test [km]All test [km]

11 2007-03-292007-03-29 55 5050

22 2007-04-042007-04-04 44 4040

33 2007-04-172007-04-17 66 6060

44 2007-05-162007-05-16 66 6060

EGNOSEGNOSMobile Test Info

Month Day Receiver MaskSBAS PRN GPS

CSI 15 xSeptentrio 15 x

CSI 15 126 xSeptentrio 15 126 x

CSI 0 xSeptentrio 0 x

CSI 0 126 xSeptentrio 0 126 xSeptentrio 0 xSeptentrio 0 126 xSeptentrio 0 xSeptentrio 0 126 x

May 16

April 4

17April

EGNOSEGNOS

GPS+EGNOS (PRN 126) red line

EGNOSEGNOS

Conclusions:Conclusions: Availability in WarsawAvailability in Warsaw

• Analyzing 10 days of static testing has shown EGNOS Analyzing 10 days of static testing has shown EGNOS availability at 98% of the timeavailability at 98% of the time

Accuracy in WarsawAccuracy in Warsaw• Overall, EGNOS improved accuracyOverall, EGNOS improved accuracy• Inconsistent, during some observations EGNOS did not Inconsistent, during some observations EGNOS did not

improve GPS accuracyimprove GPS accuracy Receiver used less satellites with EGNOS (A minimum of Receiver used less satellites with EGNOS (A minimum of

three RIMS stations need to monitor the same GPS satellite three RIMS stations need to monitor the same GPS satellite to provide EGNOS corrections)to provide EGNOS corrections)

INS/GPSINS/GPS

An An inertial navigation systeminertial navigation system is a navigation aid that uses is a navigation aid that uses motion sensors to continuously track the motion sensors to continuously track the positionposition, , orientationorientation, , and and velocityvelocity (direction and speed of movement) of a vehicle (direction and speed of movement) of a vehicle without the need for external referenceswithout the need for external references

BenefitsBenefits• INS complements GPS, aids in positioning solution in INS complements GPS, aids in positioning solution in

events of cycle slips and signal lossesevents of cycle slips and signal losses• Precise continuous positioning of a moving platformPrecise continuous positioning of a moving platform

Testing ObjectivesTesting Objectives• Determine INS position accuracy during GPS signal lossDetermine INS position accuracy during GPS signal loss• Determine if position accuracy improves with GPS+INSDetermine if position accuracy improves with GPS+INS

INS/GPSINS/GPS

The MIDG II is a loosely coupled systemThe MIDG II is a loosely coupled system

INS/GPSINS/GPSPosition from 1181-1283s.

479379

479699

479655

642300

642350

642400

642450

642500

642550

642600

642650

479200 479400 479600 479800 480000 480200 480400 480600

Distance X (m)

Dis

tan

ce

Y (

m)

Nav

GPS

kinematic

x y mode dx dy SV 479623 642515 INS 45 23 0 19 sec 479639 642511 INS 48 27 0 479655 642507 INS 52 30 0 479379 642594 VG 236 57 0 479379 642594 VG 248 57 0 479379 642594 VG 260 58 0 479648 642536 VG 3 0 5 479699 642513 INS 37 23 5 479692 642527 INS 19 9 5

INS/GPSINS/GPSNav vs GPS Delta Y

0

5

10

15

20

25

30

35

40

0 200 400 600 800 1000 1200 1400 1600

Time (s)

De

lta

(m

)

Nav dy

GPS dy

INS/GPSINS/GPS

Conclusions:Conclusions: INS solution valid for about 20 seconds during GPS outagesINS solution valid for about 20 seconds during GPS outages INS + GPS did not significantly improve accuracy using the INS + GPS did not significantly improve accuracy using the

MIDG-INS, results variedMIDG-INS, results varied Y-axis for Nav was closer to kinematic solution than X-axis Y-axis for Nav was closer to kinematic solution than X-axis

datadata

Allan Variance TestAllan Variance Test

Allan Variance Allan Deviation

Next JobNext Job Wright-Patterson AFBWright-Patterson AFB

• Dayton OhioDayton Ohio The The National Air and Space National Air and Space

Intelligence Center (NASIC)Intelligence Center (NASIC) is is the source of air and space the source of air and space intelligence for the Department of intelligence for the Department of Defense (DoD) and produces Defense (DoD) and produces integrated, predictive air, space integrated, predictive air, space and specialized intelligence to and specialized intelligence to enable military operations, force enable military operations, force modernization and policymaking. modernization and policymaking.

NASICNASIC National Air and Space Intelligence CenterNational Air and Space Intelligence Center

• Duty Title: Duty Title: Chief, Requirements, Development and Reporting Chief, Requirements, Development and Reporting BranchBranch

• Description:  Description:  Leads and directs 7 military, 14 civilians and Leads and directs 7 military, 14 civilians and 140+ contractor Engineers, scientists and technicians. 140+ contractor Engineers, scientists and technicians. Responsible for exploitation of $155M, multiyear research and Responsible for exploitation of $155M, multiyear research and development national intelligence system. development national intelligence system.

• Deputy Program ManagerDeputy Program Manager for $260M, 8-year for $260M, 8-year Measurement Measurement and Signature Intelligenceand Signature Intelligence (MASINT) exploitation contract with (MASINT) exploitation contract with over 400 contractor personnel. Develops prototype capability over 400 contractor personnel. Develops prototype capability to exploit national sensor data. Provides technical to exploit national sensor data. Provides technical recommendations and transitions R&D breakthroughs to recommendations and transitions R&D breakthroughs to advanced sensor acquisition teams, including the $5.2B Space-advanced sensor acquisition teams, including the $5.2B Space-Based Infrared System.Based Infrared System.

DziDzięękujkujęę CBK i ODC CBK i ODC