High Accuracy Location

HALO
Nationwide Systems Project
Representing the HALO Group:

Raja Sengupta - UC Berkeley

Kannan Ramchandran - UC Berkeley
Warren Havens - Skybridge Spectrum Foundation

Contact information on last slide.

The HALO Group website will soon be public.

June 1, 2009

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HALO - Concept …(slide 1)…
• Make high accuracy location services ubiquitous
by terrestrial GNSS-augmentation infrastructure:
– Start with existing GPS-GNSS + N-RTK + INS,
– Add HALO augmentation in GPS dark areas:
• E.g., pseudolites, AoA along roadways, road
markers, etc.
– HALO will integrate all below, needed for very
wide area very high accuracy systems.

GSP-GNSS +WAAS + N-RTK +INS / Vision HALO

(V%) (W%) (X%) (Y%)

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GSP-GNSS +WAAS + N-RTK +INS / Vision HALO
(V%) (W%) (X%) (Y%)

3
Why? - some examples
• Cooperative Vehicle Safety.
• Leverage Rise of Mobile Internet: add HALO:
– Pedestrian & bike safety (watch out for me).
• Accurate maps.
• E-911 outside and inside buildings.
• “Virtual track transport” -
– Guide vehicles laterally & longitudinally on roads and
through intersections:
– Dramatic decreases in accidents, congestion, fuel use,
pollution, emergency response time.
• Back up GPS in attack or failure - insurance.

…“Green by Precision” …“Google in Real Space”

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HALO - Concept … (slide 2) …
• Make high accuracy location services viable and
ubiquitous by building out:
– HALO augments & integrates GPS-GNSS + N-
RTK + INS.
– Needed only in “GPS dark areas.”
– Big bang for small buck: new HALO
infrastructure only in GPS dark areas:
• Results in integrated systems that are viable and
highly valuable (without HALO, wide-area high-
accuracy safety-critical apps are not viable).
• HALO will use existing secure utility and
government wireless site infrastructure =
further cost efficiency.

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HALO – Spectrum … (slide 1) …
• ITS-Class M-LMS: 6 MHz secured - 80% of US, most all urban.
– 30 W ERP, any antenna height, for wide-area coverage.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Bought in FCC spectrum auctions. (No, not much used by unlicensed.)
• ITS-Class N-LMS: 14 MHz available - nationwide.
– 30 W ERP, 15 m AGL, for bi-directional along-road coverage.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Available for wide-area ITS systems with gov agency involvement.
– Also for fixed point-to-point rural connections of HALO base stations.
• 217-222 MHz: 1-3 MHz secured - 80%+ of US, most all rural.
– 100s W ERP, any antenna height, for very wide rural coverage.
• ITS-Class DRSC: 20 -75 MHz available - nationwide.
– In 5.9 GHz. For mobile short-range coverage. Available for ITS.
– High data-rate, high-capacity, Vehicle-to-V, & V-to-Roadside,
but kept connected by above lower-spectrum wider coverage nets.
– Also for fixed point-to-point urban connections of HALO base stations.

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HALO – Spectrum … (slide 2) …

Sprectrum
& colors
here
do not
fully
match
spectrum
& colors
on next
slide.

From www.telesaurus.com, by Doug Reudink, Ph.D.

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| N
Dynamic GIS based – ESRI, see:
http://www.govtech.com/gt/articles/652976?printall
HALO + ITS Communications
W E

N-RTK

N-RTK

80
+ Inertial

N-RTK

5.9 GHz DSCR N-RTK

Vehicle to-Vehicle to vehicles on
217-222 MHz 902-928 MHz: M-LMS 902- 928 MHz: N-LMS & Vehicle-to-Roadside 200 & 900 MHz

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 HALO - Plan of Action … (slide 1)
• Cost Benefit Analysis: 2009 - 2011
(Clear case exists but CBA useful. Use existing data and iterative projection model.)
– Benefits
• Savings Benefits
– In accidents, congestion & fuel use, pollution & environmental damage, human
health, loss of productive time, vehicle longevity & insurance, quality of life, goods
transport costs, costs of law enforcement &
emergency response, associated indirect costs, etc.
• Increases Benefits
– Basis for green vehicles & roads, smart grid+V2G, custom variable
open road tolling, US competitive advantages & energy independence, etc.
– Costs
• (a) Physical Infrastructure (& software infrastructure: dynamic GIS)
– D-GIS: Structure and cost to start, upgrade, secure: ITS NOC, Fleets, individuals.
– GPS-GNSS: How widespread are dark areas?
– RF Spectra: FCC rules re ERP, antenna heights, operation:
and related density of terrestrial stations, and station technologies.
– Phy Infra & rights: Partner utilities & gov agencies: road & other rights of way and
facilities, and build- operate; and their capacity-use take back: even swap targeted.
• Mobile devices
– Vehicle-installed & Person-borne (in smartphones, etc): each:
– Multi-spectrum, multi-protocol, multi-QoS
– GPS-GNSS, N-RTK, pseudolite, (+road rfid?)
– SDR: software defined radio, (+cognitive radio?)

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HALO - Plan of Action … (slide 2)

• Pilot & Tests Phase: 2009.5 +, San Fran Bay Area:

– Test d-GIS, SDR radios, HALO spectrum, N-RTK.
– With N-RTK+INS Rovers: map GNSS light &
dark areas in San Maeto Co & project to metro areas.
• HALO Phase 1: 2010 +, Cal & other States:
– Deploy secure private N-RTK on HALO spectrum &
stage-1 d-GIS, with core infrastructure partners.
– Use all spectrum for current-grade wireless also.

• HALO Phase 2: 2015 +, Nationwide:

– On tuned d-GIS, deploy pseudolites, roadside AoA;
get cost effective high-grade INS in vehicles, etc.
– Wide-area HALO achieved.
– Increase major ITS & other HALO Applications.

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 Slides
with additional details
follow

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From:

12
 Enabling Accurate Maps
Yiguang Xuan (UCB) (one method)
10

5 Magnetometer
North + accelerometer

0
Y (meter)

-5

-10

-155th floor map

-10 -5 0 5 10 15
Davis Hall X (meter)

An open map concept: Davis Hall -UCB

Building maps by streaming
data from smartphones:
Needs Geo-referencing
HALO
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 Research Challenge: GPS bias

GPS and Estimated Paths Comparison

-22

-24 Dynamic
GPS
-26
AR Model
-28
South-North (m)

-30

-32 Actual GPS bias:

GPS shows wrong lane
-34 Needs advanced modeling
-36

-38

-40

-42
Estimator output
70 75 80 85 90 95 100 105 110
East-West (m)

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Research Challenge: GPS bias
Right turn at intersection

GPS and Estimated Paths Comparison

0
GPS Path
Estimated Path

-50
South-North (m)

-100

-150
Bias during a turn

-200

-250
0 50 100 150 200 250
East-West (m)

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16
17
Led to Research on Active Safety Systems
targeting the Different Crash Types
• Initial Approach:
Blind-spot – Sensor based
radar • Multiple sensors for
Mid-Range
Backing 360°coverage
Forward Collision Radar
radar – Cost remains significant
Mid-Range
• More Recently:
– Cooperative Active
Safety
– Wireless equipped
vehicles communication
GPS coordinates
– Cheap

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ITS World Congress, Javits November’08

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20
 Use an Extended Kalman Filter
2nd Order Bicycle Model

GPS/Vehicle Sensor Integration:

• Wheel Speed Encoder
• GPS (Position, Heading, and Speed)
• Steering angle sensor
• Yaw rate sensor (Fog)

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Summary: Position Estimation

• The current filter structure has been optimally tuned

– Bicycle model based extended Kalman filter
• Fails when
– GPS goes bad during turns leading to incorrect lane
assignment after turn
– GPS goes bad for long durations (15 sec or more)
• Long: Depends on speed
• Bad GPS during turns or prolonged outages remain a problem
– Urban Intersections
– Urban Canyons
• Bad
– No Satellites: Outage
– Satellites on one side: Bias
• Can this be fixed in urban areas?

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HALO Group - contacts:
Warren Havens
Skybridge Spectrum Foundation
warren.havens@sbcglobal.net
510.841.2220

Raja Senpupta
University of California, Berkeley
sengupta@ce.berkeley.edu
510.717.0632

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