resilient(and(accurate( autonomous(vehicle(navigation( via...
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Resilient and Accurate Autonomous Vehicle Navigation
via Signals of Opportunity
Zak M. Kassas
Autonomous Systems Perception, Intelligence, and Navigation (ASPIN) LaboratoryUniversity of California, Riverside
Stanford University | Stanford, CA | November 8, 20171
Future Autonomous Vehicles3
Future Autonomous Vehicles4
Navigation with Signals of Opportunity (SOPs): COpNav5
Kassas (2013). Collaborative opportunistic navigation. IEEE Aerospace and Electronic Systems Magazine, (28)6, 38–41.
SOPs: Opportunities and Challenges6
Opportunities
¤ Abundant
¤ Available at varying geometries & frequencies
¤ Free to use
¤ Are significantly more powerful than GPS
Challenges
¤ States may be unknown a priori
¤ Observables need to be extracted
¤ Clocks are not as stable and not synchronized
¤ Signal models and error budgets are unavailable
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The SOP signal landscape state space is NOT stationary
SOP Signal Landscape
Software-‐Defined Radio for SOP-‐Based Navigation (MATRIX)
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Cellular CDMA Navigation SDR (LabVIEW)10
Experimental Setup – Ground Vehicle11
MATRIX
Khalife, Shamaei, & Kassas (2016). A software-‐defined receiver architecture for cellular CDMA-‐based navigation. IEEE/ION Position, Location, & Navigation Symposium (PLANS), 816–826, (Best student paper).
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SOP Mapping
SOP Mapping13
SOP = Fake Tree!14
Experimental Demo: UAV Navigation with Cellular CDMA
https://www.youtube.com/watch?v=GkfUxie2wnA
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Cellular LTE Navigation SDR (LabVIEW)16
Shamaei, Khalife, & Kassas (2016). Performance characterization of positioning in LTE systems. in Proceedingsof ION GNSS Conference (IONGNSS+), 2262-‐2270, (Best paper presentation).
Cellular LTE Navigation SDR (LabVIEW)17
Shamaei, Khalife, & Kassas (2016). Exploiting LTE signals for navigation: Theory to implementation, IEEE Trans. on Wireless Communications, submitted.
LTE Receiver Structure18
ESPRIT: estimation of signal parameters by rotational invariance techniques
Shamaei, Khalife, Bhattacharya, & Kassas (2017). Computationally efficient receiver design for mitigatingmultipath for positioning with LTE signals. in Proceedings of IONGNSS Conference (IONGNSS+), 3751-‐3760, (Bestpaper presentation).
Experimental Demo: Ground Vehicle Navigation with LTE
https://www.youtube.com/watch?v=fIDgNgrJuZQ
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SOP-‐Aided Inertial Navigation20
¤ Traditional tightly-‐coupled GNSS-‐aided INS
¤ Objectives:1. Estimate SOPs’ states when GNSS pseudoranges are
available (mapping)2. When GNSS psuedoranges become unavailable, continue to
estimate SOPs’ states and use to correct INS errors (SLAM)
SOP-‐Aided INS Framework21
Inertial Navigation System
EKF Prediction
EKF Update
DetectorIMU PPS
data
GNSSReceiver
SOPReceiver
flag
Tightly-coupled
Simulator Overview
¤ Mission Planning & Scripting¤ Accelerate/ Decelerate, Climb/ Descend,
Turn, Loops, Rolls, Aerobatics…
¤ Kinematic Models¤ 6DOF Aircraft¤ 3DOF & 6DOF Automobile
¤ Sensor Models¤ GPS L1/L2 (constellation & sub-‐frames)¤ IMU¤ Magnetometer¤ Air Data: Pitot & Static¤ (and several others…)
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SOP-‐Aided INS: Simulated Environment
SOP
SOP
SOP
SOP
SOP-‐Aided INS: Simulated Environment24
SOP-‐Aided INS: Simulated Environment25
Error
EKF Results: Vehicle Position and Velocity26
0 50 100 150 200 0 50 100 150 200
Error
SOP-aided INS*
Traditional GPS-aided INS
GPS Cut-off
*With consumer grade IMU
Morales, Roysdon, & Kassas (2016). Signals of opportunity aided inertial navigation. ION Global Navigation Satellite System (ION GNSS+) Conference, 1492-‐1501, (Best paper presentation).
Navigating with Cellular CDMA & LTE27
Kassas, Morales, Shamaei, & Khalife (2017). LTE Steers UAV. GPS World Magazine, (28)4, 18-‐25 (Cover Article).
Experimental Results28
Kassas, Morales, Shamaei, & Khalife (2017). LTE Steers UAV. GPS World Magazine, (28)4, 18-‐25 (Cover Article).
Collaborative Navigation29
Centralized Collaborative Framework30
¤ Modes of operation:1. Collaborative Mapping2. Collaborative SLAM (C-‐SLAM)
Central fusion center
o Single point of failure
o Large communication bandwidth
Morales & Kassas (2016). Collaborative autonomous vehicles with signals of opportunity aided inertial navigation systems. ION International Technical Meeting (ION ITM), 805-‐818.
Distributed Collaborative Framework31
AV 2
AV 3
AV 4
AV 1 AV N
Morales & Kassas (2017). A Low communication rate distributed inertial navigation architecture with cellular signal aiding. IEEE Vehicular Technology Conference (VTC), submitted.
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Monte Carlo Analysis
Morales & Kassas (2017). Distributed signals of opportunity aided inertial navigation with intermittent communication. ION Global Navigation Satellite System (ION GNSS+) Conference,2519-‐2530. (Best paper presentation).
Approximation robustnessPerformance robustness
Experimental Demo: Distributed UAV Navigation with SOP-‐Aided Inertial
https://www.youtube.com/watch?v=gljRk2OgspM
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Precise Carrier Phase Navigation34
Experimental Demo: UAV Navigation with Carrier Phase Cellular Signals
https://www.youtube.com/watch?v=WSqDUoLkTWo
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Acknowledgment36