© 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.
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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.
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GLAD PROJECT: W HAT IS IT?
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W HA T I S I T ?
GL AD PR OJEC T
Collins Aerospace Proprietary. This document contains no export controlled technical data.4
GLOBAL ARAIM FOR DUAL CONSTELLATION
GSA/GRANT/01/2017
Development of an Advanced RAIM Multi-
constellation Receiver
In response to
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W HY T HI S P R O J E C T ?
GL AD PR OJEC T
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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
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W HA T I S I T A B O UT ?
GL AD PR OJEC T
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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
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PR OJEC T OBJEC T IVES
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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
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C ON SORT IU M OR GAN IZAT ION & R OL ES
Collins Aerospace Proprietary. This document contains no export controlled technical data.8
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W OR K BR EAKD OW N ST R U C TUR E
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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
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W EBINAR CONTENT
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W EBIN AR C ON T EN T
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RAIM
&
ARAIM
BACKGROUND
RECEIVER
DEVELOPMENTIGRIT DEVELOPMENT
STANDARDISATION
ACTIVITIES
21 3
VERIFICATION,
VALIDATION
ACTIVITIES
RECORDED VIDEOSSUMMARY
&
CONCLUSIONS
Q&A
4
5 6 7 8
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1 RAIM & ARAIM BACKGROUND
& CONCEPT
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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
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Area of focus
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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)
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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
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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)
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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
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A R A I M : W HA T I S I T ?
AR AIM BAC KR OU N D
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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
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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
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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
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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
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4
3
2
1
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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
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ARAIM
H-ARAIMV-ARAIM
OFFLINE
V-ARAIM
ONLINE
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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
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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
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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
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Courtesy of WG-C Milestone 2 Report
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V - A R A I M O NL I NE : W HA T I S I T ?
AR AIM C ON C EPT
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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
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V - A R A I M O NL I NE : W HA T I S I T ?
AR AIM C ON C EPT
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Courtesy of WG-C Milestone 2 Report
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A R A I M : R O A D M A P
AR AIM C ON C EPT
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Courtesy of WG-C Milestone 3 Report
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2 RECEIVER DEVELOPMENT
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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
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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
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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
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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
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GL U -2 1 0 0 MU LT I-MOD E R EC EIVER
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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
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RS422-to-USB
GLU-2100 I/F Unit
GLU-2100
Power Supply
Labsat3
Antenna
Laptop
(GNSS Vision)
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GL AD D EMON ST RAT ION EQU IPMEN T VID EO
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3 IGRIT DEVELOPMENT
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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)
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ARAIM
Dual Frequency
Dual Constellation
(DFMC)
H-ARAIM
&
V-ARAIM
RAIM
IntegritySupport
Message(ISM)
• Multi Constellation
• Constellation maturity
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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
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I G R I T P R O C E S S
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
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ICD
Requirements
Design
Development
Validation
Integration with ARAIM Rx
ISM
definition
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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
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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
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• H-ARAIM
• Offline V-ARAIM
• RNP 0.1
• RNP 0.3
• LPV-200
• LPV-250
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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
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• ISM
• TYPE 1A
• TYPE 1B• ISM
rate
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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
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• Real time
• Simulated time
• Execution time
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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
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• External ISM
• Own ISM
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I G R I T 1 A C O NF I G UR A T I O N
IS M G E N E R ATIO N
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• SV mask
• ISM value
• Value Evolution
• Constant
• Constant
offset
• Ramp
• Oscillator
• Random
peak
• Update rate
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I G R I T 1 B C O NF I G UR A T I O N
IS M G E N E R ATIO N
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• SV mask
• ISM value
• Value Evolution
• Constant
• Constant
offset
• Ramp
• Oscillator
• Random
peak
• Update rate
• SV Group
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I G R I T A D V A NC E D C O NF I G UR A T I O N
IS M G E N E R ATIO N
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I G R I T E XE C I NF O
IS M G E N E R ATIO N
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• IGRIT LOG
• IGRIT
Commands
• INFO
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I G UI
IG R IT G R A P H IC A L U S E R IN TE R FA C E
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• Real-Time
• Post-Processing• Receiver
Position/Trajectory
• Flight Procedure
• Execution time
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I G UI
IG R IT G R A P H IC A L U S E R IN TE R FA C E
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RX Position & Velocity
Satellites User/Visible
H/V accuracy
H/V error
H/V PL
Availability
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4 STANDARDIZATION
ACTIVIT IES & TECHNICAL
SUPPORT
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STAN D AR D ISAT ION AC T IVIT IES & T EC H N IC AL SU PPORT
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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
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5 VERIFICATION, VALIDATION &
RECORDED VIDEOS
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T E S T R E S UL T S
AR AIM D FMC VER IFIC AT ION
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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
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T E S T R E S UL T S
AR AIM D FMC VER IFIC AT ION
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Example of a stable test
Configuration 4:
H-ARAIM MCDF
RNP0.3
Psat=10-6
Pconst=10-8
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T E S T R E S UL T S
AR AIM D FMC R EC EIVER VER IFIC AT ION
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Example of a stable test
Configuration 4:
Offline V-ARAIM
LPV-200
Psat=10-6
Pconst=10-8
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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
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• A Flight campaign was performed At Sabadell Airport
• The Cessna 182 was the test aircraft
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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
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• Aircraft path followed during the flight campaign
• A MCMF antenna was
connected to a Labsat 3
Wideband recorder.
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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
• Results of dynamic tests: H-ARAIM MCDF, RNP0.3, Psat=10-6 and Pconst=10-8
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6 RECORDED VIDEOS
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R EC OR D ED VID EOS
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#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
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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
Collins Aerospace Proprietary. This document contains no export controlled technical data.57
• 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.
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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
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R E C O R D E D V I D E O # 2
R EC OR D ED D ATA W IT H A S IMU L AT ED STAT IC AN T EN N A
Collins Aerospace Proprietary. This document contains no export controlled technical data.59
• 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)
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R E C O R D E D V I D E O # 2
R EC OR D ED D ATA W IT H A S IMU L AT ED STAT IC AN T EN N A
Collins Aerospace Proprietary. This document contains no export controlled technical data.60
• This slide will contain 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
• H-ARAIM
• V-ARAIM
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R E C O R D E D V I D E O # 2
R EC OR D ED D ATA W IT H A S IMU L AT ED STAT IC AN T EN N A
Collins Aerospace Proprietary. This document contains no export controlled technical data.61
• This slide will contain 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
• H-ARAIM
• V-ARAIM
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R E C O R D E D V I D E O # 3
R EC OR D ED D ATA IN A L IVE D YN AMIC T EST FL IGH T
Collins Aerospace Proprietary. This document contains no export controlled technical data.62
• This slide will contain 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.
© 2019 C ol lins Aerospace, a U ni ted Technologies company . All rights reserved.
R E C O R D E D V I D E O # 3
R EC OR D ED D ATA IN A L IVE D YN AMIC T EST FL IGH T
Collins Aerospace Proprietary. This document contains no export controlled technical data.63
• This slide will contain 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.
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7 SUMMARY & CONCLUSIONS
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T E C HNI C A L S UM M A R Y
SU MMARY & C ON C L U SION S
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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
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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
© 2019 C ol lins Aerospace, a U ni ted Technologies company . All rights reserved.
T H AN K YOU ’ S
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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
68© 2019 C ol lins Aerospace, a U ni ted Technologies company . All rights reserved.
8 Q & A
Collins Aerospace Proprietary. This document contains no export controlled technical data.68
© 2020 Collins Aerospace
This document does not include any export controlled technical data.