Presenters - Loctronix

ASR-2300 GPS, Signals of
Opportunity and Inertial Sensing
Advanced Software Defined Radio Webinar Series
Tuesday, March 4, 2014
10:00 a.m. Pacific / 1:00 p.m. Eastern
© Loctronix Corporation 2008, All Rights Reserved.
Presenters
Michael B. Mathews, Ph.D., CEO / Founder
Loctronix principal technologist
Extensive experience in product development of location technologies and applications
20+ years in GPS, RF Sensing Systems, and Software Engineering
Co-inventor of SCP and DAIN technology / Eight U.S. patents
Contractor/Consultant to develop GPS/Wireless systems for both commercial
(Microsoft, CSI Wireless) and government entities (NASA, Army)
Michael O. Davies, Senior Engineer GNSS Systems and Signal Processing
BS and MS from University of Texas at Austin in Aerospace Engineering
Experience designing and testing GNSS systems for UAV's and spacecraft for NASA, DARPA,
Lockheed Martin
Specialty in orbital mechanics and GPS for spacecraft applications such as navigation and
orbit determination
Webinar Agenda
ASR-2300 Inertial Sensing
Review ASR-2300 IMU functions
Accessing and using the data via A2300 API
Demo
ASR-2300 Capabilities for GPS
Configuration / Procedures for getting good data
Multi-frequency configuration
Demo SDR GPS
Preview Robust Navigation Sensor™ (RNS)
SCP discussion
Demo SCP GPS / SoOps
Applications
Q&A
Loctronix Evolving Towards Robust PNT Solutions
SDR Platform (ASR-2300)
Inertial Sensors (DAIN)
RF GNSS / SoOps (Hybrid SCP)
Advanced Signal Processing / Estimation
Robust
Position,
Navigation,
and
Timing
(`Q2 2014)
ASR-2300 MIMO SDR / Motion Sensing Module
RF / Multi-Sensor Signal Processing
2 x 28 MHz Transceivers 300 MHz to 3.8 GHz Full Duplex
9 RF Paths: 6 RF inputs / 3 RF outputs (U.FL)
Integrated L1 GPS and Wi-Fi Antennas
Integrated 10 axis MEMS sensors
(accelerometer/ gyroscope / compass / barometer)
Expansion Port supports for MIMO / Data I/O
ASR -2300
Electrical Interface
SuperSpeed USB 3.0 interface at 315 MB/s sustained data
transfer
Very Large Spartan-6 FPGA: 6,822 / 58 DSP slices
128 MiB RAM
5 Volts @ 1.2 A (6 W) at full utilization.
1.2 mbps UART
Li-Ion Battery external connection w/charger function
Physical Specifications
9.90 x 6.61 x 0.95 cm
(3.898 x 2.60 x 0.375 in)
Weight ~ 48 grams (1.5 oz).
ASR -2300-HK Bundle
ASR-2300 Functional Blocks
Wideband RF I/O #1
400 MHz to 3.8 GHz
Barometer
Clk
+3.3 VDC
microcontroller
Serial I/O
600 kbps
USB 3.0
Max 315 MB/s
U.FL
2 bi-color
LEDS
Expansion Port
MIMO / Data I/O
8 bit I/O
Accel / Gyro
/ Compass
9-axis
Wideband
RF
Transceiver
#1
U.FL
5V
USB Battery
Charger
3.6 v Li-Ion
32 bit
bus
PCS / UMTS RF Input*
1930 – 1990 MHz
2210 to 2710 MHz
L1 GPS Input
1575 MHz, +3.3 VDC
U.FL
8-bit bus
USB 3.0
SuperSpeed
Controller
Cypress FX-3
Wideband RF Input #1
400 MHz to 3.8 GHz
L1 GPS Antenna
C/A Only (1575 MHz)
FPGA
Xilinx
Spartan-6
4 blue
LEDS
1PPM
TXCO
ISM Band Antenna
Tx/Rx (2.4 GHz)
U.FL
DDR RAM
128 MiB
Wideband
RF
Transceiver
#2
ISM Band RF I/O
2.4 GHz
U.FL
DTV (UHF) RF Input
300 MHz – 720 MHz
Wideband RF Input #2
400 MHz to 3.8 GHz
U.FL
Wideband RF I/O #2
400 MHz to 3.8 GHz
ASR-2300 Inertial Sensing
ASR-2300 IMU functions
Accessing and using the data via A2300 API
Demo
© Loctronix Corporation 2008, All Rights Reserved.
9-axis MEMS Accelerometer / Gyro / Compass
InvenSense MPU-9250
3-axis gyroscope ranges of ±250, ±500, ±1000, and
±2000°/sec
3-axis accelerometer ranges of ±2g, ±4g, ±8g and
±16g
3-axis magnetometer resolution 0.3 μT typical, ±1200
μT maximum range
Accelerometer / Gyroscope maximum sample rate:
1.024 / 8.192 kHz
Integrated motion processing engine, recognizes
gestures and provides wake-up interrupts
Recommended data rate <100 Hz (Max. 200 Hz)
Accessing Motion Data via A2300 API
ConfigMotion Class
Simple configuration
interface: enables, rate, and
number of samples per
report.
Block and Overlapped I/O
operations supported
Motion_DataSet
Structure contains multiple
MPU records and data types
Quaternion, Raw
Acceleration, Raw Gyroscope
A2300SensorDemo
// Attach to the first device we find.
ConfigDevice config;
int result = config.Attach();
...
//Create Motion sensor configuration to report.
ConfigMotion cm("motion", &config);
cm.Reporting( ConfigMotion::Continuous, 50, 6, 1);
//Use helper functions on the ConfigMotion template
//To access Motion data. Note this is a synchronous blocking
//call. Need to implement asynchronous overlapped transfer
//model for reduced latency, increased speed and continuity.
byte buff[DCI_MAX_MSGSIZE];
for( int i = 1; i < 100; i++)
{
Motion_DataSet* pds = cm.ReceiveReport( buff, sizeof(buff));
if( pds != NULL)
{
printf("%xyz: d, %d, %d\r\n", pds->Samples[0].accel[0],
pds->Samples[0].accel[1],pds->Samples[0].accel[2]);
}
}
cm.Reporting( ConfigMotion::Disabled, 50,6,0);
//Detach from ASR-2300
config.Detach();
MPU Demo – The Invensense Teapot Demo
Open GL Demo
MPU Quaternions drives
“teapot” orientation
Modified SDK teapot
demo to use A2300
ConfigMotion class
ASR-2300 Capabilities for
GPS
Configuration / Procedures for getting good data
Multi-frequency configuration
Demo SDR GPS
© Loctronix Corporation 2008, All Rights Reserved.
Single Frequency GPS Configuration
ASR Workbench GPS Receiver Plugin
Comprised of modular/independent receiver elements
SW code-correlators, tracking channels, etc.
User can configure or “hook-up” elements to customize a
receiver
Supports L1 C/A, L2C, and SCP data types
Setting up the ASR-2300 to receive GPS L1 C/A:
User can use the embedded GPS antenna or an external
antenna
External L1 C/A GPS active antenna available on Loctronix
website
External antenna connects to RF1 port on ASR-2300
RF Config Block: Frequency = 1575.42 MHz, BW = 1.75
MHz
DSP Config Block: Sampling Rate = 2-4 MS/s;
GPS Single Frequency
Configuration with L1
Active Antenna
Multi-frequency configuration
ASR-2300 Supports
Multi-Frequency GPS
Component Implementation L1/L2/L5
Some additional HW may
be needed
RF1 has a DC-bias and
RF0 does not
A single multi-frequency
antenna can be used with
2 Bias-T’s and a splitter
L1/L2/L5
Loctronix is developing an
adapter for multi-frequency
users
Port A GNSS Adaptor Module
DC Block
Port C
U.FL
L1 +3.3V
DC Bias
Inline
LNA / Filter
Splitter
Port B
U.FL
U.FL
L1/L2/L5
+3.3V DC Bias
L1/L2/L5
Active
Antenna
GPS SDR Demo using L1 C/A Signals
SDR GPS Example
12 Channel C/A
Fast Parallel Search
Software Correlators
Derived from Hybrid
GNSS technology
Multi-frequency, L1, L2, L5
Multi-channel: C/A, C, P(Y),
M, etc.
SoOps: DTV, cellular
SW GPS Receiver Architecture
Tracking
Data
Source
SampledData
Measurement
Updates
PNT
Estimator
Code Tracking
Channels (0-11)
SubFrame
Data
Gps
Telemetry
Processor
Tracking
Commands
Acquisition
FPS Searcher
SW EPL Correlator
Banks 4 CH
(Banks 0-3)
Acquisition
Commands
Track Status
Emitter
Updates
Controller
TrackingDb
State Database
FPS Data
Pipelined Events (Asynchronous)
Simple Events (Synchronous Bocking)
PNT State
Update
Emitter
Updates
Console
Component
Updates
Preview Robust Navigation
Sensor™ (RNS)
SCP discussion
Demo SCP GPS / SoOps
Applications
© Loctronix Corporation 2008, All Rights Reserved.
17
Spectral Compression Positioning™
(SCP)
A non-linear operation on a broadband
signal that enables extraction of
amplitude, frequency, and phase
information
GPS example with Delay & Multiply
Spectral compression applies a delay and
multiply operation on P(Y) ranging signals.
Fundamental chipping rate signals are
extracted using an FFT on the Spectral
Compressor output
Each peak in the FFT (containing amplitude,
frequency, and phase) represents a single
GPS satellite
Doppler frequency shift is used to uniquely
identify the specific satellite given a GPS
Almanac
No complicated tracking loops or correlators
are required
Spectral Compression Positioning (SCP)
SWaP Advantages
LEO Obs.
1 Channel of SCP signal processing is equivalent to 16 or more correlation channels
SCP Easily Supports Multiple Signal Types
Signals tracked simultaneously with an 4 Ch. SCP Receiver
GPS P(Y), DTV (ATSC), CDMA 2000, UMTS-WCDMA
Demo SCP GPS / SoOps
Show SCP in action:
Observe GPS L1 C/A collected from a GPS simulator generating
signals experienced by a satellite in Low Earth Orbit (LEO)
Process these measurements in Matlab for orbit determination
Observe terrestrial wireless CDMA signals
SCP C/A LEO Hardware Simulation
(Spirent Simulator)
RSS Position Estimate Std. Dev. (LEO)
1.8
Std. Dev. (m)
1.6
1.4
1.2
1
0
500
1500
1000
Relative Epoch (sec)
2000
2500
2000
2500
Satellite Visibility (LEO)
Satellite Visibility (# Sats)
15
10
5
0
0
500
1500
1000
Relative Epoch (sec)
Ionosphere Free Point Positioning , Predicted Accuracy < 4 m,
All satellites in view (Spirent limited to maximum of 12 satellites).
SCP GEO Hardware Simulation
(Spirent Simulator)
Observed, Computed, and Matched Doppler Observables
10
8
C/A Doppler Frequency (Hz)
6
4
2
0
-2
-4
-6
Observed
Computed
Matched
-8
-10
0
200
400
600
800 1000 1200 1400
Relative Epoch (sec)
1600
1800
2000
C/A High Sensitivity: 32 seconds coherent integration
Robust PNT Applications
Robust Navigation Sensor
Interference Detection and Mitigation Sensor
Interference Detection and Location Sensor
Precision Surface Navigation Sensor
Precision Airborne Navigation Sensor
Satellite Navigation Sensor
Loctronix Evolving Towards Robust PNT Solutions
SDR Platform (ASR-2300)
Inertial Sensors (DAIN)
RF GNSS / SoOps (Hybrid SCP)
Advanced Signal Processing / Estimation
Robust
Position,
Navigation,
and
Timing
(`Q2 2014)
© Loctronix Corporation 2008, All Rights Reserved.
ASR-2300 GPS, Signals of
Opportunity and Inertial Sensing
Advanced Software Defined Radio Webinar Series
Tuesday, March 4, 2014
10:00 a.m. Pacific / 1:00 p.m. Eastern
© Loctronix Corporation 2008, All Rights Reserved.

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