Real-Time GPS Navigation of LEO Satellites

Real-Time Onboard Navigation of LEO Satellites
using GPS
O. Montenbruck, DLR/GSOC
Slide 1
Satellite Navigation Colloquium > TUM > 13 Jan 2009
Real-Time Onboard Navigation of LEO Satellites

using GPS
Navigating in Space
Mission needs ...
... and how to meet them
Real-Time Navigation Systems

Concept
Models and measurements
Filter Design
Applications
Sample Implementations
How good can we get?
Summary
Slide 2
Mission Needs ...

Timing (~ 1 s)
Synchronization of onboard clock
Local Orbital Frame (~ 10 m, ~ 1 cm/s)

Conversion of star camera attitude
Instrument pointing (nadir or other)
Geocoding (1 10 m)
Blending of payload data with position information (SAR, optical)
Autonomous Instrument and Mission Operations (1 m 100 m)

Open-loop altimeter operations
Target and ground station acqusition
Slide 3
Example: Sentinel-3 Open Loop Altimeter Operations

(R,T,N) pos rms < (3,6,6) m
(R,T,N) vel rms < (2,2,2) cm/s
Gate window 60 m
Slide 4
... and how to meet them

Adequate maturity and availability of spaceborne GPS technology
Single-frequency (navigation)
Dual-frequency (science, POD)
Conservative, bulky, costly!

Performance in LEO compatible with Standard Positioning Service
No urban canyons, lower ionosphere
Few satellites above the poles
Typical positioning accuracy of 10 (-20) m
Slide 5
Really?
Limited kinematic positioning accuracy

Pseudorange noise 0.1 m 3 m
Broadcast ephemeris errors (SISRE 1-1.5 m)
Ionospheric delays (few m)
Other issues
Insufficient velocity accuracy (few cm/s)
Lacking continuity (gaps, bad PDOP, outliers)
Theoretical accuracy potential not fully exploited

Conservative design and requirements engineering
Slide 6
Real-Time Navigation Systems
Improved accuracy (0.5-1 m 3D rms)

Reduced impact of measurement noise
Optional elimination of ionospheric delays in single-frequency processing
Partial elimination of broadcast ephemeris errors
Reduction of velocity error (long-term averaging)
Continuity and predictability

Use of dynamical trajectory model
Problems
Computational complexity (coding, verification)
Processor load
Slide 7
Real-Time Navigation Cookbook

Ingredients
Dynamical model
Numerical integration
Measurement model
Filtering
Montenbruck O., Ramos-Bosch P.; Precision Real-Time

Navigation of LEO Satellites using Global Positioning
System Measurements; GPS Solutions 12(3):187-198
(2008). DOI 10.1007/s10291-007-0080-x
Slide 8
Reference System Considerations

Terrestrial Reference Frame (ITRF, WGS84)
Standard for modeling of GPS orbits and observations
Baseline for modeling of Earth gravitational acceleration
Inertial Reference Frame (ICRF, EME2000)

Standard for celestial body ephemerides (Sun, Moon)
Common baseline for satellite trajectory propagation
Rigorous transformation requires full knowledge of Earth orientation

parameters
Pole coordinates
UT1-TAI time difference
Typical user needs accurate ITRF position, but relaxed ICRF accuracy
Slide 9
Earth-Fixed Formulation
ITRF formulation of real-time navigation systems
simplifies the filter design
reduces the sensitivity to EOP errors
but increases the complexity of the equation of motion
(law of conservation of trouble)
Apparent acceleration
Coriolis and centrifugal terms
Rotation vector from ICRF-ITRF trafo
transformation and its derivative
aCC = 2 v + r
= 2 v + r
= [ ] = U U T
Practical approximation
Constant angular velocity
Polar motion offset between ITRF z-axis and rotation axis
Accuracy ~100 nm/s2
0
0

Slide 10
Gravitational Accelerations
Earth gravity field
Spherical harmonics expansion
GM
a =
r
Rn
rn
Pnm (sin )(Cnm cos m + Snm sin m )
n =0 m =0
Cunningham L. E.; On the Computation of the Spherical Harmonic

Terms needed during the Numerical Integration of the Orbital Motion
of an Artificial Satellite; Celestial Mechanics 2, 207216 (1970).
Degree and order 20 to 50

Optional: solid Earth tide (k2)
Luni-Solar Perturbations
Point mass model
Low-order analytical series of luni-solar coordinates (1 to 5)
Simplified ICRF-to-ITRF transfomation (precession, Earth rotation)
Slide 11
Non-Gravitational Accelerations
Air Drag
No r/t access to solar flux & geomagnetic indices
Simple desity model (Harris Priester)
1
A
a = CD v v
2
m
Adjustable drag coefficient
Solar Radiation Pressure

Cannon-ball model
A s
a = PSun CR 3 AU2
m s
Cyclindrical shadow model

Adjustable rad. pressure coefficient
Maneuvers
Empirical Accelerations
a = ar e r + at et + an en
Adjustable parameters
Compensation of force model deficiencies
Slide 12
Numerical Integration
Real-time navigation systems
Frequent measurement updates
Short propagation intervals (0.001 to 0.01 revs)
Limited resources
Use low order Runge-Kutta methods
h
h
2h
t0
t1
t2
RK4 with Richardson Extrapolation

Combines two RK4 steps of size h
with one step of size H=2h
Gives 5th order at 6 function calls per h
Hermite interpolation
5th order polynomial for y(t)=(r,v)
from y0, y1 , y2 , y0, y1 , y2
Gill E., Montenbruck O., Kayal H.; The BIRD Satellite Mission as a Milestone Towards GPS-based
Autonomous Navigation; Navigation - Journal of the Institute of Navigation 48/2, 69-75 (2001).
Montenbruck O., Gill E.; State Interpolation for On-board Navigation Systems; Aerospace Science
and Technology 5, 209-220 (2001). DOI 10.1016/S1270-9638(01)01096-3).
Slide 13
Measurement Model
Ionosphere-free measurements
Dual-frequency pseudorange (P12)
Dual-frequency pseudorange and carrier phase (P12 & L12)
GRAPHIC (GRoup and PHase Ionospheric Calibration) (C/A+L1)
Average of code and carrier phase measurement
Biased measurement
Noise reduced by 50%
Requires only C/A code tracking (better signal-to-noise ratio)
Broadcast ephemerides
Signal-In-Space-Range-Error ~ 1-1.5 m
ICD-GPS-200 models for GPS position, velocity, clock
Slide 14
Filter State Vector and Process Noise Model

State Vector
Parameter
Dim
Process Noise
CR
Y = CD
aemp
c
t
Position
Velocity
3
3
Maneuver-free arcs: none
Radiation pressure coeff.
None
Drag coefficient
None
Empirical accelerations
Expon. Correlated Random Vars.
Clock Offset
White noise
Biases
NCH
(White noise)
Maneuvers: white noise
Slide 15
Update Scheme
Time Update
Data Screening
Trajectory Integration
Time Update
State Reconfiguration
Data Screening
Measurement Update
State Reconfiguration
Trajectory Integration
Measurement Update
Interpolation
High-Rate Processing
Low-Rate Processing
Slide 16
Phoenix-XNS
Extension of DLRs Phoenix GPS receiver
32-bit ARMTDMI microprocessor @30 MHz
12 Channels L1 tracking
Real-time Kalman filtering of GPS raw

measurements
Ionosphere-free C1+L1 combination
Code noise ~ 0.4 m, carrier phase <1 mm
Complements Phoenix standard software for

GPS tracking and navigation
C++ software extension
40x40 gravity model
30s filter update rate
First in-flight demonstration on PROBA-2

Montenbruck O., Markgraf M., Santandrea S., Naudet J., Gantois K., Vuilleumier P.;
Autonomous and Precise Navigation of the PROBA-2 Spacecraft; AIAA-2008-7086;
AIAA Astrodynamics Specialist Conference, 18-21 Aug. 2008, Honolulu, Hawaii (2008).
Slide 17
Phoenix-XNS Signal Simulator Test (PROBA-2)
Slide 18
RTNav Software
DLR analysis and development tool for trade-off and design studies
Offline implementation of real-time navigation filter
RINEX observation interface
SP3 or RINEX ephemeris interface
Gravity model interface
User configurable processing parameters
Close match with XNS design

Same core models and filtering scheme
Simple RK4 integrator (no need for interpolation)
Add ons
Attitude and antenna offset modeling
Data editing
Maneuver handling
Slide 19
RTNav with Broadcast Ephemerides (GRAS)

55 cm
3D rms
Slide 20
GRAS Preformance Study

Data Type
Radial [m]
Along [m]
Cross [m]
3D rms
2F CP (& PR)
-0.01 0.24
-0.05 0.44
-0.01 0.21
0.55 m
2F PR
-0.06 0.36
+0.31 0.69
+0.01 0.67
1.08 m
1F PR & CP
-0.05 0.27
-0.23 0.69
+0.01 0.21
0.81 m
Broadcast ephemerides, 70x70 gravity field

Ephemeris
Radial [m]
Along [m]
Cross [m]
3D rms
Broadcast
-0.01 0.24
-0.05 0.44
-0.01 0.21
0.55 m
IGU predicted
+0.00 0.18
-0.03 0.28
+0.01 0.10
0.35 m
JPL R/T
+0.04 0.08
+0.03 0.08
+0.01 0.05
0.14 m
Dual Frequency Carrier Phase, 70 x 70 gravity field
Slide 21
Outlook
Galileo
Targeted SISRE 0.8 m
Improved clocks (H-Maser)
Needs to demonstrate competetivness
TDRSS Augmentation Satellite System (TASS)

Real-time transmission of precise GPS orbit and clock information via
geostationary satellite
Enables real-time navigation at the 10 cm level
Future users
Radio-occultation missions ?
SAR imaging ?
Are we too good?
Slide 22
Summary
Dynamical filtering of GPS measurements offers improved
Accuracy
Robustness
Predictability
Reference algorithms defined

Compatible with low power microprocessors
Real-time capability demonstrated (Phoenix)
Proper accuracy (0.5 m 3D rms) demonstrated

Broadcast ephemerides sufficient for current applications
Even single-frequency GPS can provide excellent performance
Next steps
Implementation in Sentinel-3 GPS receiver (RUAG)
XNS flight demonstration on PROBA-2
Slide 23

Real-Time GPS Navigation of LEO Satellites

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Real-Time Onboard Navigation of LEO Satellites

Real-Time Onboard Navigation of LEO Satellites

Real-Time Navigation Systems

Mission Needs ...

Local Orbital Frame (~ 10 m, ~ 1 cm/s)

Autonomous Instrument and Mission Operations (1 m 100 m)

Example: Sentinel-3 Open Loop Altimeter Operations

... and how to meet them

Conservative, bulky, costly!

Limited kinematic positioning accuracy

Theoretical accuracy potential not fully exploited

Real-Time Navigation Systems

Improved accuracy (0.5-1 m 3D rms)

Continuity and predictability

Real-Time Navigation Cookbook

Montenbruck O., Ramos-Bosch P.; Precision Real-Time

Reference System Considerations

Inertial Reference Frame (ICRF, EME2000)

Rigorous transformation requires full knowledge of Earth orientation

Pnm (sin )(Cnm cos m + Snm sin m )

Cunningham L. E.; On the Computation of the Spherical Harmonic

Degree and order 20 to 50

Adjustable drag coefficient

Solar Radiation Pressure

Cyclindrical shadow model

RK4 with Richardson Extrapolation

Filter State Vector and Process Noise Model

Maneuver-free arcs: none

Radiation pressure coeff.

Expon. Correlated Random Vars.

Maneuvers: white noise

Real-time Kalman filtering of GPS raw

Complements Phoenix standard software for

First in-flight demonstration on PROBA-2

Phoenix-XNS Signal Simulator Test (PROBA-2)

Close match with XNS design

RTNav with Broadcast Ephemerides (GRAS)

GRAS Preformance Study

Broadcast ephemerides, 70x70 gravity field

Dual Frequency Carrier Phase, 70 x 70 gravity field

TDRSS Augmentation Satellite System (TASS)

Reference algorithms defined

Proper accuracy (0.5 m 3D rms) demonstrated

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