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© 2020 Collins Aerospace

GLAD PROJECT W EBINAR:

ARAIM RECEIVER DEVELOPMENT PROTOTYPE

2 4 T H J U N E 2 0 2 0

This document does not include any export controlled technical data.

© 2019 C ol lins Aerospace, a U ni ted Technologies company . All rights reserved.

PR ESEN T ERS’ B IO

Collins Aerospace Proprietary. This document contains no export controlled technical data.2

David

HAGAN

Guillermo

Fernandez

SERRANO

• GNSS Systems Engineer & Technical Lead• Collins Aerospace since 2004 – Present; • GNSS Systems Modelling, Receiver Development and Testing• Projects – GIANT-1, GIANT-2, ACCEPTA, PROSBAS

• GNSS Project Manager• GMV since 2011 - Present• Experience with GNSS systems, SBAS demonstrators and ARAIM activities.

3© 2019 C ol lins Aerospace, a U ni ted Technologies company . All rights reserved.

GLAD PROJECT: W HAT IS IT?



W HA T I S I T ?

GL AD PR OJEC T


GLOBAL ARAIM FOR DUAL CONSTELLATION

GSA/GRANT/01/2017

Development of an Advanced RAIM Multi-

constellation Receiver

In response to


W HY T HI S P R O J E C T ?

GL AD PR OJEC T


Where we were ?

Where we are today ?

Where do we want to go ?

How do we get there ?

How will we get it done ?

History in Global

Navigation

Systems

Develop DFMC

receivers for

aviation navigation

and integrity

Developed the first

certified MMR for

GBAS (2005),

SBAS (2010)

Collaborate with

GNSS industry on

future GNSS

developments

Partner with GNSS SMEs

in R&D programmes to

develop, standardise and

certify DFMC SBAS

receivers


W HA T I S I T A B O UT ?

GL AD PR OJEC T


Implement the ARAIM algorithm developed by GNSS subject matter experts on a Collins’ Dual Frequency Multi-Constellation (DFMC) Multi-Mode Receiver (MMR) baseline

The ARAIM algorithm should support three possible architectures enabling different levels of performance, leveraging the use of Integrity Support Messages (ISMs)

The solution to ensure navigation integrity for en-route flight, terminal and approach operations supporting lateral and vertical guidance operations down to 200 feet decision height


PR OJEC T OBJEC T IVES


T HE R A T I O NA L E

•Attendance of GNSS Working Groups

•Technical Support to GSA

•Whitepaper Development & Presentations

•Workshop Participation & Dissemination

•ARAIM CONOPS

•Roadmap for Operations

•Airport Considerations

•Develop & Test ARAIM Algorithm

•Conduct Error Characterisation

•Flight Experimentation

Develop ARAIM Receiver

CONOPS & ANSP

Requirements

Standardisation Activities

Dissemination Activities


C ON SORT IU M OR GAN IZAT ION & R OL ES



W OR K BR EAKD OW N ST R U C TUR E


Receiver Architecture

System Architecture &

Definition

Receiver Test Architecture Framework

Standardisation & Technical

Support

ISM Generation &

Receiver Interface Tool

Operational Implementation

Dissemination Activities

Activities

conducted to

support the

Receiver

Development


W EBINAR CONTENT



W EBIN AR C ON T EN T


RAIM

&

ARAIM

BACKGROUND

RECEIVER

DEVELOPMENTIGRIT DEVELOPMENT

STANDARDISATION

ACTIVITIES

21 3

VERIFICATION,

VALIDATION

ACTIVITIES

RECORDED VIDEOSSUMMARY

&

CONCLUSIONS

Q&A

4

5 6 7 8


1 RAIM & ARAIM BACKGROUND

& CONCEPT



T E C HNI Q UE S F O R D E T E C T I NG A ND C O R R E C T I NG F A UL T S I N A NA V I G A T I O N S Y S T E M

R EC EIVER AU TON OMOU S IN T EGR IT Y MON ITOR IN G (R AIM)

GNSS Failure Modes

Satellite Faults

Unusual Atmospheric Propagations

Local channel failures in

user equipment

General User Equipment

Faults


Area of focus





Low Transmission

Power

Satellite Clock Faults

Faulty Navigation

Data

Irregular Waveforms

GPS Receiver

Sensor

Satellite/s Faults transmitted as part of Signals In Space

Sat #1

Sat #2

Sat #n





RAIM Output

Fault Detection

& Exclusion

Fault Detection

& Isolation

Fault Detection

& Recovery

Receiver ProcessingPositionVelocity

Time

IntegrityParameters

GPS Receiver Sensor

RAIM

implemented

in avionics

sensors early

2000


A R A I M : W HA T I S I T ?

AR AIM BAC KR OU N D


ARAIM – Advanced Receiver Autonomous Integrity Monitoring

An extension to the legacy GPS single constellation, single frequency

Receiver Autonomous Integrity Monitoring (RAIM)

ARAIM concept extends the RAIM concept to be applicable to

multiplicity of GNSS constellations, including two or more frequency

signals from the same satellite

Benefits of ARAIM is to ensure world-wide integrity and continuity for

aviation navigation – terminal, en-route, oceanic and approach

operations

The notion of Integrity Support Messages (ISMs) fundamentally

underpins the ARAIM concept


O R I G I NS A ND O B J E C T I V E S O F A R A I M S UB - G R O UP ( 1 )

AR AIM BAC KGR OU N D


Working Group C (WG-C) established the Technical Sub-group established on 1st July 2010

US/EU Agreement GPS-Galileo Co-operation signed in 2004 for cooperation of activities in field of satellite Navigation

Goal of the working group: To develop GPS-Galileo integrated applications for Safety-of-Life Services


W O R K I NG G R O UP C T E C HNI C A L S UB - G R O UP ( T S G ) A R A I M O B J E C T I V E S

AR AIM BAC KGR OU N D


4

3

2

1


A R A I M : T HE F L A V O UR S O R P I L L A R S

AR AIM C ON C EPT


ARAIM

H-ARAIMV-ARAIM

OFFLINE

V-ARAIM

ONLINE


H- A R A I M & V - A R A I M O F F L I NE : W HA T I S I T ?

AR AIM C ON C EPT


H-ARAIM

&

V-ARAIM

(OFFLINE)

RNP 0.1, RNP 0.3, LPV-200 AND LPV-250

DUAL CONSTELLATION (GPS &

GALILEO) DUAL FREQUENCY

SINGLE CONSTELLATION (GPS) DUAL

FREQUENCY (L1, L5)

SINGLE CONSTELLATION (GALILEO)

DUAL FREQUENCY (E1B, E5A)

To support horizontal and vertical navigation based on a monthly ISM from the ground

OFFLINE MONITORING


H- A R A I M & V - A R A I M O F F L I NE : W HA T I S I T ?

AR AIM C ON C EPT


Courtesy of WG-C Milestone 2 Report


V - A R A I M O NL I NE : W HA T I S I T ?

AR AIM C ON C EPT


V-ARAIM

VERTICAL

ARAIM

(ONLINE)

TO SUPPORT LPV-200 AND LPV-250

DUAL CONSTELLATION (GPS &

GALILEO) DUAL FREQUENCY

SINGLE CONSTELLATION (GPS) DUAL

FREQUENCY (L1, L5)

SINGLE CONSTELLATION (GALILEO)

DUAL FREQUENCY (E1B, E5A)

To support horizontal and vertical navigation based on an hourly ISM from the ground

OFFLINE, EPHEMERIS OVERLAY &

ONLINE MONITORING


V - A R A I M O NL I NE : W HA T I S I T ?

AR AIM C ON C EPT




A R A I M : R O A D M A P

AR AIM C ON C EPT




2 RECEIVER DEVELOPMENT



HA R D W A R E B A S E L I NE , A R A I M A L G O R I T HM & R E Q UI R E M E NT S C A P T UR E

R EC EIVER D EVEL OPMEN T


GLU-2100 Hardware Baseline

• Legacy GPS with GBAS and SBAS

• Upgraded to DFMC GPS and Galileo

ARAIM Algorithm Design Document (ADD)

• Provided by Stanford University

• Algorithm Reviewed & Feedback provided via GSA

• ADD 3.0 revised 3.1

Requirements Capture

• Systems Requirements

• Software Requirements


HA R D W A R E B A S E L I NE , R E Q UI R E M E NT S C A P T UR E & S O F T WA RE I M P L E M E NT A T I O N

R EC EIVER D EVEL OPMEN T


Software Implementation

• Software Architecture

• Embedded SW Implementation in C++ using ADD 3.0

• Use of In-Circuit Emulation

• Design Reviews

• Software Source Control

Software Verification

• Test Cases & Procedures Development

• Software Unit Testing

• High Level Requirement Based Testing

• Reviews

Systems Verification & Validation

• Test Cases & Procedures

• Conduct Testing with Simulated and Live GNSS Signals

• Reviews & Document Results


GL U -2 1 0 0 MU LT I-MOD E R EC EIVER



T E S T R I G ( 3 )

A R A IM D F M C R E C E IV E R A R C H ITE C TU R E


RS422-to-USB

GLU-2100 I/F Unit

GLU-2100

Power Supply

Labsat3

Antenna

Laptop

(GNSS Vision)


GL AD D EMON ST RAT ION EQU IPMEN T VID EO



3 IGRIT DEVELOPMENT



A R A I M – US E O F I NT E G R I T Y S UP P O R T M E S S A G E ( I S M )

IS M GE N E R ATION & R E C E IV E R IN TE R FA C E TOOL

( IG R IT)


ARAIM

Dual Frequency

Dual Constellation

(DFMC)

H-ARAIM

&

V-ARAIM

RAIM

IntegritySupport

Message(ISM)

• Multi Constellation

• Constellation maturity


I G R I T A R C HI T E C T UR E

IS M G E N E R ATIO N & R E C E IV E R IN TE R FA C E TO O L



I G R I T P R O C E S S



ICD

Requirements

Design

Development

Validation

Integration with ARAIM Rx

ISM

definition


I G R I T A R C HI T E C T UR E




I G R I T G E NE R A L C O NF I G UR AT I O N

IS M G E N E R ATIO N


• H-ARAIM

• Offline V-ARAIM

• RNP 0.1

• RNP 0.3

• LPV-200

• LPV-250





• ISM

• TYPE 1A

• TYPE 1B• ISM

rate





• Real time

• Simulated time

• Execution time





• External ISM

• Own ISM


I G R I T 1 A C O NF I G UR A T I O N



• SV mask

• ISM value

• Value Evolution

• Constant

• Constant

offset

• Ramp

• Oscillator

• Random

peak

• Update rate


I G R I T 1 B C O NF I G UR A T I O N



• SV mask

• ISM value

• Value Evolution

• Constant

• Constant

offset

• Ramp

• Oscillator

• Random

peak

• Update rate

• SV Group


I G R I T A D V A NC E D C O NF I G UR A T I O N


Collins Aerospace Proprietary. This document contains no export controlled technical data.


I G R I T E XE C I NF O



• IGRIT LOG

• IGRIT

Commands

• INFO


I G UI

IG R IT G R A P H IC A L U S E R IN TE R FA C E


• Real-Time

• Post-Processing• Receiver

Position/Trajectory

• Flight Procedure

• Execution time


I G UI

IG R IT G R A P H IC A L U S E R IN TE R FA C E


RX Position & Velocity

Satellites User/Visible

H/V accuracy

H/V error

H/V PL

Availability


4 STANDARDIZATION

ACTIVIT IES & TECHNICAL

SUPPORT



STAN D AR D ISAT ION AC T IVIT IES & T EC H N IC AL SU PPORT


Participation in EUROCAE Working Group 62 (WG-62) Meetings

Progress of ARAIM Prototyping & Results presentation

Recommendations for improvement

Co-operation with the European Commission (EC) on ARTEX

Project

Technical Support engagement with GSA on ARAIM algorithm

CONOPS activities performed will contribute to future standardisation forums – ICAO, RTCA and WG62

Standardisation Activities &

Technical Support


5 VERIFICATION, VALIDATION &

RECORDED VIDEOS



T E S T R E S UL T S

AR AIM D FMC VER IFIC AT ION


Summary of Dynamic tests for Psat= 10-6 and Pconst=10-8:

H-ARAIM

Tests

Offline

V-ARAIM

HARAIM

GPS

HARAIM

GALILEO

Total

Number of

Tests

(Plots)

14 14 5 5 38

Stable tests 8 5 4 0 17

Unstable

Tests

6 9 1 5 21

44.74%

success



AR AIM D FMC VER IFIC AT ION


Example of a stable test

Configuration 4:

H-ARAIM MCDF

RNP0.3

Psat=10-6

Pconst=10-8



AR AIM D FMC R EC EIVER VER IFIC AT ION


Example of a stable test

Configuration 4:

Offline V-ARAIM

LPV-200

Psat=10-6

Pconst=10-8


D E M O NS T R A T I O N A C T I V I T I E S

A R A IM D F M C R E C E IV E R VA L ID ATIO N


• A Flight campaign was performed At Sabadell Airport

• The Cessna 182 was the test aircraft





• Aircraft path followed during the flight campaign

• A MCMF antenna was

connected to a Labsat 3

Wideband recorder.




• Results of dynamic tests: H-ARAIM MCDF, RNP0.3, Psat=10-6 and Pconst=10-8



6 RECORDED VIDEOS



R EC OR D ED VID EOS


#1

Recorded data with simulated static antenna:

Recorded data with a live static antenna

VIDEO ID DESCRIPTION

Recorded data in a live dynamic test flight

#2

#3


R E C O R D E D V I D E O # 1

R EC OR D ED D ATA W IT H A L IVE STAT IC AN T EN N A


• This slide contains the video showing the output of the GLAD ARAIM prototype using the Human Machine Interface

(HMI) from the IGRIT Tool.

• The input to the receiver will be data recorded from live GNSS Radio Frequency signal from an antenna on a static

position.



R EC OR D ED D ATA W IT H A L IVE STAT IC AN T EN N A




R EC OR D ED D ATA W IT H A S IMU L AT ED STAT IC AN T EN N A


• This slide contains the video showing the output of the GLAD ARAIM prototype using the Human Machine Interface

(HMI) from the IGRIT Tool.

• The input to the receiver will be GNSS Radio Frequency signal from a simulator with a static antenna

• Two videos

• H-ARAIM (showing Horizontal Protection Levels)

• V-ARAIM Offline (showing Horizontal Protection Levels and Vertical Protection Levels)





• This slide will contain the video showing the output of the GLAD ARAIM prototype using the Human Machine

Interface (HMI) from the IGRIT Tool.


• H-ARAIM

• V-ARAIM








• H-ARAIM

• V-ARAIM



R EC OR D ED D ATA IN A L IVE D YN AMIC T EST FL IGH T





position.


7 SUMMARY & CONCLUSIONS



T E C HNI C A L S UM M A R Y

SU MMARY & C ON C L U SION S


The concept of providing ISM parameters to the ARAIM algorithm has been proven; The

behaviour of ARAIM algorithm due varying ISM parameters still needs assessing

ARAIM algorithm implementation requires further development in order to achieve the

initial H-ARAIM RNP 0.3 operational capability

The overall design, development and experimentation has been a success

The CPU Loading on the GLAD “Receiver Prototype” has been a challenging aspect of the project.

The “Receiver Prototype” is a result of a rapid-prototyping effort and is not a representative effort of a typical Collins design practice which would include CPU loading analysis to ensure proper operation

The limitations of the GLAD “Receiver Prototype” are addressed through Software

implementations under the MUGG Programme


C ON T IN U OU S D EVEL OPMEN T

2000

Selective Availability

Turned Off-----

GLU-920

2005

GPS Landing System

Emerges-----

GLU-925

2018

Increased Integration and

SBAS for ADS-B-----

GLU-2100

Collins Aerospace Proprietary. This document contains no export controlled technical data.

C O L L IN S ’ L E AD E R S H I P AN D C O M M IT M E N T T O E VO L U T IO N

2010

SBAS Benefits Begin to Surface

-----GPS-4000S/GLU-925S

Poised for Growth

2020+

MF/MC,GLS Cat II/III & LPV

RFI Detection and Mitigation

1995

OEMs Required GPS and Increased

Integration-----

GLU-920/GPS-4000

https://www.collinsaerospace.com/newsroom/News/2020/06/Collins-announces-

first-time-commercial-satellite-navigation-capabilities-air-transport-aircraft

http://teamspace/cs/csmarketing1/Pictures/GLU-920_basic.jpg




https://www.collinsaerospace.com/newsroom/News/2020/06/Collins-announces-first-time-commercial-satellite-navigation-capabilities-air-transport-aircraft


T H AN K YOU ’ S


Collins Aerospace, on behalf of the GLAD Partners, would like to express their gratitude

to the GSA for offering the opportunity to work together on the ARAIM project

Collins Aerospace would like to thank the GLAD Partners for their contribution and

collaboration on the ARAIM project over the last two years

Finally, much appreciation for your attention


8 Q & A


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