Pseudolite INDOOR

real time precise

positioning
GNSS Technologies Inc.
 Pseudolite definition
n GPS-signal compatible transmitter, a pseudo-satellite
transmitting GPS-like signals
n Can use non-standard frequencies, spreading codes, data formats
n Receiver software changes
new ephemeris and almanac for PLs
new navigation algorithms
 Tsukuba City Test (2002)
Area of poor visibility n Results:
PRN36
Positioning in limited visibility
areas
PRN39 PRN33
Improved accuracy
PRN34

BASE PRN35

PRN40

n Together with
IntegriNautics USA
Tokyo Downtown Test (2002)
NTT
communications
GNSS
Technologies Inc.
Fuji Electric
Industry
Sumitomo Electric
Industry
Nakanippon Air
Service
Mitsubishi Estate
GPS positioning vs. Indoor

n Satellites are synchronized

n Satellites are moving

n 4 coordinates required 4
satellites
n X, Y, Z, and t (user receiver
clock)
Reference indoor / synchronization
n Reference station for unsynchronized
pseudolite
simple clock, not set to GPS time
much lower cost
only useful as part of DGPS system
example: IN200, IN400
n External clock synchronization
Using GPS signal
Using atomic clocks
Master clock
Master PL signal
Problems in indoor positioning
n Initial position
Linearization near the true position
Error in directional cosines

n Impossible to use the same algorithm

 Algorithms
n Code initialization
No limitations on user initial position
Meter accuracy
n Dead reckoning
Relative positioning
Millimeter accuracy
n Ambiguity Resolution
capable of processing signals from close
by sources, nonlinear problem
No limitations on user initial position
Centimeter accuracy
n Multipath calibration
 Code positioning

Accuracy: meter
Initial position not required
 Dead Reckoning
n Start from known position
n Accuracy (relative): cm/ mm
 Requirements

n Corrections
PL clock
PL coordinates
room coordinates.
n Accuracy:
Code mode (absolute accuracy)
1.5 2 meter,
Dead reckoning mode (relative
accuracy) - centimeters
 Basis of GPS RTK
n Satellites are
moving
n Number of cycles
is integer
n RS position is
known
n RS is not far from
rover
Carrier phase positioning indoors
n Ambiguity resolution
Problems with solution
linearization
Source of the signals are
not moving
Should be no limitation
on the Rover receiver
motion.
n Dead reckoning (relative
position)
Start from known
position
Cycle slip cannot be
repaired
 AR Indoors
n Minimum 3 receivers are involved.
n 1 functions as RS fixed to the known location
n 2 functions as Moving RS
n 3 user rover receiver, no limitations on his movements
n 1st step ambiguity is resolved for baseline 1-2 relative to RS-1.
n 2nd step ambiguity is resolved for baseline 3-2 relative to RS-2.

Problems:
-Multipath
-Error doubling
 New

Robot Robot Robot

n Higher reliability
n Less time for ambiguity resolution
n Not optimized 3 min to stay
 Future

n Stand-alone receiver
n Special signal design for synchronization
purposes
iPos
Proprietary RTK for Indoor positioning
n Position domain vs. ambiguities domain
n Patent and Core GPS library (GNSS Technologies Inc.)
Implementation
n In cooperation with
Mirai University
Hakodate
n PC post-mission
Batch processing
RT simulation

n PC real-time
 Equipment
n Novatel OEM-3
n PL IN400
 Equipment
n Indoor and outdoor
n GPS Repeater
MATLAB simulator
Real time
Serial port
RS, rover
 Multipath calibration
n We map multipath
double differences for
code and carrier phase.
n Distance must be
calculated separately as
input.
Applications
n Robotics
n CAD
n QZSS
n ITS with PL
Applications
CAD
Applications
Hazardous environment
Applications
Automation
Applications
Entertainment