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ESA UNCLASSIFIED - For Official Use
GNSS Raw Measurements experience from app competitions
2nd ESA Galileo App Competition 2018/2019
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 2
Applications
12 proposalsreceived 12 November 2018
8 selected to proceed to Step 2
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 3
Final Competition• Final event took place on 18/04/2019 at ESTEC
• 5 teams selected for the Final:
• GADIP3 by O’ThiSaVRoS
• Inari by Inari Team
• NavGate by Team GNSS Tonic
• Step with GNSS by Space Walkers Team
• POINTapp by University of Nottingham
• Prior to the Final the apps were extensively tested by ESA at ESTEC
• Results from the tests of the 5 apps have been compared with the results of
Google analysis app and ESA PPP s/w.
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 4
Competition Apps Outline
757+
GADIP3 NavGate Step with GNSS INARI PointApp
PPP & iono GeoReferencedmessages & AR
Gamification & Raw meas database
AGC & spoofing detection
Carrier Smoothing
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 5
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 6
… and the winners
1. GADIP3 by O’ThiSaVRoS
2. NavGate by Team GNSS Tonic
3. Step with GNSS by Space Walkers Team
• Innovation price of GSA
and Winner of Public Vote: Inari by Inari Team
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 7
GalileoPVT: ESA reference Android app
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 8
GalileoPVT - Augmented Reality View
GalileoPVT
Compatible with any phone with Android 7 (2500+ downloads)
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 9
Retrieval of Satellite and Clock Orbits
SLP – SUPL Location Platform (server)
http://www.ppp-wizard.net/caster.html
NTRIP CASTER(CNES, ESOC)
Broadcast real-time corrections for precise orbits and clock
SSL data connection
Android GnssNavigationMessageCallback
Broadcast ephemerids (near real-time)
Broadcast ephemerids (real-time)
Navigation message broadcast on L-Band
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 10
SUPL SSL server connection and Navigation Data view of the Galileo PVT app
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 11
Velocity computation
From https://www.onosokki.co.jp/English/hp_e/products/keisoku/automotive/lc8_principle.htm
Estimation based on:• satellites’
Doppler shifts or• time differenced
carrier phase
provided through Android API (PseudorangeRatemetersperSecond)
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 12
Doppler based Velocity estimation in Galileo PVT
Cruise control 80 km/h
Galileo PVT estimates~78 km/h
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 13
Loosely Coupled GNSS + INS
Correct inertial sensors
Attitude update
Gravity update
Velocity update
Position update
Measurement update
GNSSReceiver
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 14
Loosely Coupled GNSS + INS with and without INS calibration
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 15
Matlab Toolbox
• Common Log File for:
•Raw measurements (GNSSLogger format)
•GPS and Galileo Ephemerids (from SUPL & live broadcast)
•Ionospheric model parameters
•INS measurements (acceleration + gyro) log at 10 Hz
•Common time scale between INS and GNSS meas
• Post-processing tool for fast prototype of new GNSS algorithms
• Loosely Coupled EKF with GNSS + INS
• Converter from Raw measurements to RINEX (raw measurements
screening, pseudo-range ms ambiguity resolution, multi-frequency, half/quarter
cycle phase bias resolution)
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 16
Offline real-time PPP processing
GalileoPVTlog with Android
GNSS Raw Meas.
ESA RINEX Converter
MSP3PPP with ambiguity resolution
Broadcast Navigation Message
NTRIP Corrections
SP3, CLK, SINEX BIASFiles
Precise position
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 17
MSP3 and Android GNSS raw measurements
Inputs: CNES PPP Wizard
MSP3 (NSL) processing tool (result of ESA TRP act.):
• Multi-GNSS, multi freq
• PPP-like (fix ambig.) approach
• Sequential Extended Kalman Filter (EKF)
• uncombined observations
• iono-weighted model
• RAIM
• It can be fed with raw measurements coming either from professional RX +
prof. grade antenna or from the smartphone
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 18
Accuracy context during the pedestrian test…
Write the two words ESA and
Galileo on the football pitch
Level 1: ESA with a font
height of 15 m
Level 2: GALILEO with a
font height of 7 m
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 19
GNSS Analysis App @ g.co/gnsstools
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 20
GPS+Galileo, Raw PR and Carrier Smoothed PRFrom GNSS Analysis App
Dual frequency
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 21
GPS+Galileo, L1 only and L1/E1+L5/E5a (smooth)From GNSS Analysis App
Single Frequency Dual Frequency
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 22
GNSS is better with E5
E5a/L5 measurements
boost PVT performances!
PR smooth GPS+GAL
L1/L5
PR smooth GPS+GALL1 only
From GNSS Analysis App
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 23
Horizontal position error gain with second frequency(raw pr)
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 24
Results with MSP3 + GalileoPVT logs
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 25
MSP3 single vs dual frequency
GPS+GALL1 only
GPS+GALL1/L5
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 26
PPP with single and dual frequency measurements
HorizontalError [m]
MSP3 GAL+GPS E1/L1
MSP3 GAL+GPS E1/E5a+ L1/L5
Std. dev 1.82 m 0.89 m
50 % 3.01 m 1.80 m
68 % 3.78 m 2.44 m
95 % 6.19 m 3.85 m
Availability 98.6%
E5a/L5 measurements
boost PPP performance!
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 27
What’s in the near future?
New chips and smartphones with dual frequency GNSS (Xiaomi, Samsung,
Lenovo, Huawei)
Third frequency?
Better antennas?
Support to new constellations: BDS-3, NAVIC
Android apps with PPP (Gadip3, Galileo P3VT, …)
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ESA UNCLASSIFIED - For Official Use Paolo Crosta | 26/06/2019 | Slide 28
Thank you!