DARPA Positioning, Navigation, And Timing (PNT) Technology And Their .
DARPA Positioning, Navigation, and Timing (PNT)Technology and their Impacts on GPS usersJohn BurkeProgram ManagerDARPA/MTOGPS Advisory Board6 June 2019DoD Distribution Statement A: Approved for public release; distribution is unlimited.1
DARPA PNT programs overviewPastMultiple, redundant and complementary RF sources for navigationNDB/ADFTACAN (VOR/DME)PresentLORAN-CGPS has supplanted all RFnavigation aids as theprimary means of ic Direction FinderDistance Measuring EquipmentGlobal Positioning SystemLong Range NavigationNon-Directional BeaconRadio FrequencyTactical Air NavigationVery Low FrequencyVHF Omnidirectional Range1970198019902000Future201020202030Precision NDB/ADFNo1000LORAN-CNo250Jam-resistant VLFTACANNo50Signals of ource robustnavigation and timingDoD Distribution Statement A: Approved for public release; distribution is unlimited.Ultra-stable ClocksImageryCelestialOthers2
DARPA PNT programs overviewAchieve GPS-level PNT without GPS / Outperform GPS for disruptive capabilitiesTIMEoptical clocksINERTIALatom interferometrylow SWaPEXTERNALMEASUREMENTSjam-resistant rangingprecision time transferC-SCAN, PRIGM, A-PhIfrequency combsundersea rangingFUSIONASPNall-source adaptable navigation systemsACES, A-PhISTOIC, mwv/DoD Distribution Statement A: Approved for public release; distribution is unlimited.3
ASPN: All Source Positioning and Navigation (Dr. Dave Tremper/STO)ASPN has developed a standardized sensor integration system which incorporates non-traditional sensorsources to augment PNT in GPS-denied environmentsASPN ydata/ships/destroyers/okane/okane-arr.jpgSensor Abstractionand Data EO, lidar)ASPN has been demonstratedon air, land, and sea platformsNavigation ComputerSpeedsensorsIMU(s),ClocksAdapt to any sensorwith spatial or temporalinformationSingle-board navigationcomputer with I/O rdized interfaces:Input/OutputTraditionalOperational sensors andsystems on platformMulti-Sensor FusionTwo current algorithmic solutions:1.Adaptive Rao-Blackwell particle filter2.Factor Graphs with heuristic smoothingIMUEOI/OInertial Measurement uted from fusion oftraditional and nontraditional sensors ofopportunityDoD Distribution Statement A: Approved for public release; distribution is unlimited.4
ASPN: FY15 Airborne DemonstrationReal-time Position Error vs. TimePosition Error (m)41010,0003101000GPS available10210010110100ASPN SolutionIMU only110Columbus, ed Time (sec)Rapid configuration/onsite integration of navigationsensors -- ASPN Solution-- Ground TruthIMUEO ImageryAirspeedMagnetometerRadar altimeterOhio University DC-3Maintained 20 m positioning without GPSDistance travelled: 107 kmDoD Distribution Statement A: Approved for public release; distribution is unlimited.5
STOIC: Spatial, Temporal and Orientation Information in ContestedEnvironments (Dr. Dave Tremper/STO)Integrated system comprises three independent capabilities that together form an independent backup to GPS1. VLF positioning system: Omnipresent, robust reference signals provide GPS-level accuracy2. Ultra-stable optical clocks: Ruggedized, next-generation high accuracy clocks maintain GPS timing for critical applicationfor over one year without the need to sync with an external source3. Precision time transfer over tactical data links: 10 nsec (threshold) time transfer using existing communications linksto maintain relative timing; 10 psec (objective) time transfer to enable coherent effects.VLF: Very Low Frequency (3 – 30 kHz)DoD Distribution Statement A: Approved for public release; distribution is unlimited.6
STOIC: Key Accomplishments1. VLF positioning systemAt-sea testing results:3. Time transfer over TDLsAirborne testing results:Both performers: results show 450 meter positioning errorwithout EIW compensationEIW prediction provides rangingerrors of 40 metersCombination of results support the program achieving for 40meters at-sea applicationsAverage error ( 5 nsec) meets threshold metricwith existing hardware2. Optical clocksComb, cavity and laser componentsproduced and a laboratory benchtopconfiguration assembledTDL: Tactical Data LinkEIW: Earth Ionospheric WaveguideDoD Distribution Statement A: Approved for public release; distribution is unlimited.7
AMBIIENT: Atomic Magnetic Biological Imaging in Earth’s Native Terrain(Dr. John Burke/MTO)Scalar magnetometers have shown tremendous potential for map-based navigation https://ngdc.noaa.gov/geomag/emag2.htmlError (m)Aaron Canciani (AFIT)Error (m)NOAA EMAG2Long-term stabilityImmune to jammingConceptually the same as terrain followingWorks over shallow water, desert, and other featurelessareasEarly work suggests platform effects can be removedwith appropriate filtering.Scalar magnetometers are mature and fieldedNorth Position Error3020100-10-20-30403020100-10-20-30-40 0East Position Error10DoD Distribution Statement A: Approved for public release; distribution is unlimited.2030Time (minutes)4050608
ACES: Atomic Clock with Enhanced Stability (Dr. John Burke/MTO) andA-PhI: Atomic-Photonic Integration (Dr. John Burke/MTO)MobileNot MobileDoD Distribution Statement A: Approved for public release; distribution is unlimited.9
ACES, A-PhI, and PULSE:Program in Ultrafast Laser Science and Engineering (Dr. Ale Lukaszew/DSO)PULSE Time Transfer resultsReal WorldConditionsNature Comm Vol 10, Article number: 1819 (2019)DoD Distribution Statement A: Approved for public release; distribution is unlimited.10
Advanced Inertial Measurement TechnologyPRIGM: Precise Robust InertialGuidance for Munitions(Dr. Ronald Polcawich/MTO)A-PhI: Atomic-Photonic Integration TA2(Dr. John Burke/MTO)Size sµsHourMonthsYearsns & mN/AHoursMonthps & mmN/AN/AHourDoD Distribution Statement A: Approved for public release; distribution is unlimited.11
PRIGM: Navigation-Grade Inertial Measurement UnitPRIGM:NGIMU (6.3): Navigation-grade IMU performance with MEMS CSWaPPRIGM:NGIMUvs. Honeywell HoneywellSOA Nav-Grade IMUSOA Tactical-Grade IMURing laser gyros, quartz accelsMEMS gyros & accelsHoneywellSOA MEMS gyros & accelsNorthrop Grumman / Teledyne HoneywellNavigation Grade Gyro andVBA accelerometerNav-Grade IMU in Tactical-Grade CSWaP Northrop Grumman Northrop GrummanQuad Mass Gyroscope(QMG)SiAcTM accelerometer HoneywellStatus:Status:Progressing in Phase 2Progressing in Phase 2DoD Distribution Statement A: Approved for public release; distribution is unlimited.12
PRIGM: AIMS and A-PhI TA2: Advanced IMU technologyNovel Materials/StructuresUC IrvinePhotonic SandiaU. MichiganDoD Distribution Statement A: Approved for public release; distribution is unlimited.13
Blackjack (Mr. Paul “Rusty” ackDoD Distribution Statement A: Approved for public release; distribution is unlimited.14
DARPA PNT Programs DARPA Strategic Technologies Office (STO) Overview All Source Positioning and Navigation (ASPN) – Dr. Dave Tremper Spatial, Temporal and Orientation Information in Contested Environments (STOIC) – Dr. Dave Tremper GPS alternative from three joined systemsDARPA Microsystems Technology Office (MTO) Overview Atomic Magnetic Biological Imaging in Earth’s Native Terrain (AMBIIENT) – Dr. John Burke Atomic Clock with Enhanced Stability (ACES) – Dr. John Burke Atomic-Photonic Integration (A-PhI) – Dr. John Burke Precise Robust Inertial Guidance for Munitions (PRIGM) – Dr. Ronald Polcawich Alternative use case: navigation by Earth’s magnetic field using atomic magnetometers Producing portable atomic clocks with fractional instabilities 1000x better than the CSAC Capitalizing on recent advances in photonic manufacture to create accurate and robust atomic clocks and gyroscopes Highly-accurate accelerometers capable of withstanding tremendous vibrationDARPA Tactical Technology Office (TTO) Augmenting PNT through a synthesis of other information in GPS-denied environmentsBlackjack – Mr. Paul “Rusty” Thomas LEO PNT payloads for GPS augmentationDARPA Defense Science Technology Office (DSO) All Together Now (ATM) – Dr. Tatjana Curcic Program in Ultrafast Laser Science and Engineering (PULSE) – Dr. Rosa Alejandra Lukaszew Better atomic clocks using collective quantum effects Optical time transfer at the femtosecond levelDoD Distribution Statement A: Approved for public release; distribution is unlimited.15
www.darpa.milDoD Distribution Statement A: Approved for public release; distribution is unlimited.16
Technology and their Impacts on GPS users John Burke Program Manager DARPA/MTO GPS Advisory Board 6 June 2019 1. DoD Distribution Statement A: Approved for public release; distribution is unlimited. 2 DARPA PNT programs overview Precision Inertial 1930 1940 1950 1960 1970 1980 1990 2000 2010 2020 NDB/ADF TACAN (VOR/DME)
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Warfare Manufacturing Novel Concepts Photonics Positioning, Navigation and Timing Thermal Management STO Networks, Cost Leverage & Adaptability Battle Mgmt, Command & Control Comms & Networks ISR Space Electronic Warfare Positioning, Navigation and Timing TTO Weapons, Platforms & Space Air Systems Ground Systems Marine Systems Systems
As shown in Figure 1, positioning systems can be classified into two categories: 1) Global Positioning 2) Local Positioning Global Positioning Systems (GPS) allow each mobile to find its own position on the globe. Local Positioning System (LPS) is a relative positioning system and can be classified into Self and Remote Positioning.
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Navigation Systems 13.1 Introduction 13.2 Coordinate Frames 13.3 Categories of Navigation 13.4 Dead Reckoning 13.5 Radio Navigation 13.6 Celestial Navigation 13.7 Map-Matching Navigation 13.8 Navigation Software 13.9 Design Trade-Offs 13.1 Introduction Navigation is the determination of the position and velocity of the mass center of a moving .
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These navigation systems are strictly limited to indoor use. Outdoor AGV navigation is problematic with the Transbotics AGVs. My research will propose a solution to this obstacle by developing a global positioning system (GPS) navigation system. This positioning system will be designed so that it can be retrofitted to any Transbotics AGV.
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