2006 Space Based Augmentation Systems

Global Navigation Satellite Systems
Space Based Augmentation Systems
Copyright 2006 EUROCONTROL
Agenda

Space Based Augmentation Systems Principles Implementations: EGNOS Implementations: USA's WAAS Implementations: Japan's MSAS

SBAS: The Principle

True Location Indicated Location Satellite Broadcast of: 1. Vector Correction 2. Use/Dont Use 3. Ranging Signal
Atmospheric Effects
Single Frequency Avionics

(x,y,z) (x,y,z) (x,y,z)
Reference Stations (RSs) Dual or Single Frequency

NAV32516.3602
Master Control Site (MCS)

3
Typical SBAS Requirements

Lateral Vertical Accuracy Accuracy 95% 95%
(1)(3)
Integrity
(2)
Time to Alert (3)
Continuity
(4)
Availability
(5)
En-Route ER, Terminal Initial and Intermediate Approach, NPA, SID APV-I APV-II PA- CATI (8)
2 NM (6) 0.4 NM 220 m
N/A N/A N/A
1-10 /h
-7
-7
5 min 15 s 10 s
1-10 /h to -8 1-10 /h 1-10 /h to 1-10 /h

-8 -4
-4
0.99 to 0.99999 0.99 to 0.99999 0.99 to 0.99999 0.99 to 0.99999 0.99 to 0.99999 0.99 to 0.99999
1-10 /h
-7
1-10 /h
1-10 /h to -8 1-10 /h 1-8x10 in any 15 s 1-8x10 in any 15 s 1-8x10 in any 15 s

-6 -6 -6
-4
16.0 m 16.0 m 16.0 m
1-2x10 /h per approach -7 8.0 m 1-2x10 /h per approach 6.0 m to 1-2x10-7/h per 4.0 m (7) approach
20 m
-7
10 s 6s 6s
Overview of SBAS Objectives

Augment GPS & Possibly GLONASS Achieve Aviation Requirements With Added
Integrity - monitoring and use/dont use message Accuracy - with differential corrections Availability & Continuity - with ranging signals
Serve En-route Down to Category I Precision Approach Time Scales: Introduction beginning 2006+
The Role of the Geostationary Satellite

Geostationary satellite
Uplink Corrections Repeat, Broadcast Corrections
GEOS Satellites in Service: Examples

INMARSAT-III
POR IOR AOR-W AOR-E
ARTEMIS
Launch Failed Eventually reached correct orbit end of Jan 03
Copyright 2006 EUROCONTROL 7
INMARSAT III AND ARTEMIS Broadcast Areas

AOR-W AOR-E ARTEMIS IOR
POR
POR
Three Interwoven Services (1)

Ranging
the geostationary satellite(s) broadcasts a spreadspectrum ranging signal avionics adds this GPS-like signal to the existing set of GPS measurements improves availability and continuity
Integrity
supporting ground network monitors the health of all SVs use/dont use warnings broadcast via geostationary satellite(s) improves flight safety
Three Interwoven Services (2)

Accuracy
ground network also develops differential corrections for all SVs broadcast via geostationary satellites (along with integrity data) separate corrections for SV clock, SV ephemeris & ionosphere such a vector correction is valid over continental areas improves accuracy from 100 meters to better than 8 meters
10
Ionospheric Measurements: MCS Outputs

Vertical Ionospheric Delay (m) Local Time: 13:17:60
5 4 3 2 1 0 55
-105 -110 -115 35 -120 30 -125 Latitude (deg) 25 -130 Longitude (deg) -135 20 -140 40
50
Arcata
45
Elko San Diego Stanford
Vertical Ionospheric Delay Estimated at Stanford University (West Coast Region of United States)
GEO Navigation Signal Characteristics

Frequency: Modulation: PRN code: Data rate:
1575.42 MHz BPSK 1023 bit Gold codes with good orthogonality to GPS codes 250 bit per second (encoded with forward error correction to 500 bps throughput) Right handed circular
Polarisation:
12
SBAS Messages Types

Type Contents
0 1 2-5 6 7 9 10 12 17 18 24 25 26 27 63 Others GEO information useless (SBAS test mode) PRN Mask Fast corrections Integrity information Fast corrections degradation factor GEO ranging functions parameters Degradation parameters SBAS Network Time/UTC offset parameters GEO satellite almanacs Ionospheric grid point masks Mixed fast corrections/long term satellite error corrections Long term satellite error corrections Ionospheric delay corrections SBAS service message Null Message Reserved
13
Predicted Performance Over CONUS

Availability of expected Positioning Accuracy for CONUS Region 99.999% Full WAAS INMARSAT and Stand-Alone GPS 99.99% Limited-SA GPS and INMARSAT 99.9% 99% 90% 0% 0 50 100 150 sv (metres)
Availability
Stand-Alone GPS s = 32 m
200
250
300
14
Global Navigation Satellite Systems
15
Problems at High Latitudes

Concern about the visibility of geostationary satellites at the edge of the coverage footprints Reception may be particularly difficult during aircraft maneuvers Reception is particularly critical during approach & landing Eurocontrol organized flight trials: to investigate reception at high latitudes real flight data rather than simulation designed flight trials with UK CAA and DRA Bedford October 1994: trials conducted with DRAs BAC-1-11
High Altitudes: Flight Trial Route
Svalbard Thule Tromso Sondrestrom Keflavik Bergen Boscombe Down Trondheim Stockholm
17
Agenda


18
What is EGNOS?

European implementation of SBAS Operating using INMARSAT GEOs and ESA ARTEMIS Aimed to provide:
Integrity Continuity Accuracy Availability

Use with GPS and GLONASS Planned to be compatible WAAS, MSAS and GAGAN
EGNOS Milestones
96 97 98 99 00 01 02 03 04 05 06
AOC INITIAL PHASE: Baseline System Design Early Trials Preliminary System Design TEST BED: Development & Integration Verification Operation AOC IMPLEMENTATION: System Development Deployment & Verification Initial Operations
MRR BSDR PDR
PDR
CDR
FQR ORR
20
EGNOS Timescale: Initial Operations

2006
ORR Operations performance ODR
2007
OQR
Ramp-up Stabilization Qualification

ESA Reqt ESA Reqt ESA Reqt
+3
+6
+9
+12
+15
Time (in months)

EGNOS: Service Area
Geostationary Broadcast Area
Corrections for Accuracy Ranging for Availability Continuity and Integrity for Flight Safety
EGNOS AOC Phase

Advanced Operational Capability (AOC)

Ranging function Ground Integrity function Wide Area Differential function Operations down to APV II 2006 onwards
System consists of:

Space Segment Ground Segment
EGNOS FOC

Final Operational Capability (FOC)

No longer considered Did not provide additional functionality Additional system components to increase availability and continuity performance Sole means (Volpe Report) of operation, down to CAT-I precision approach Originally planned 2 years after AOC
24
European Tripartite Agreement

Development - Deployment - Technical Validation.
Institutional and policy matters, the coordination of the implementation of a Transeuropean navigation and positioning network, identification of user requirements. Funding the navigation transponders.
Mission requirements for civil aviation, operational test and validation for aviation, support for safety regulation.
Participating States
26
Financing EGNOS to Operational Use
EC EOIG ESA
Total cost to Operational Readiness Review (Apr 04): 310 Million Annual running costs: 33 Million (15% of GALILEOs costs) Approval Procedure costs and additional expenses: 14.4 Million
NAV32516.3627
Advantages of EGNOS
General: Technical Enabled Europe to develop capability and know how Enhance GPS and GLONASS services Will be provided free (at outset!) Will provide some guarantees Political Completes first phase of European GNSS Offers opportunities in developing countries with poor infrastructure A product of US, Russian and EU cooperation Sectors Civil aviation has the most demanding requirements NAV32516.3628

EGNOS Expected Performance

GEOs provide 3 additional ranging sources 3 satellites to fix position in 2 dimensions +/- 3 metres expected 4 satellites to fix position in 3 dimensions +/- 5 metres expected Significant improvement in integrity expected Probability of SBAS not detecting a failure is 10-7 RAIM will used to protect against local effects
29
EGNOS: System Design

Geostationary Satellites GPS GLONASS
Navigation Reference Signal (C-band)
Navigation Signals (L-band)
NLES Transmits navigation and integrity data
Master Control Centre Generates NAV signal Processes integrity information Provides WADGNSS corrections
Wide Area Ground Segment Provides monitoring network Checks integrity Collects GPS/GLONASS/GEO data
30
EGNOS: Ground Segment (1)
RIMS (x 34)
NLES (x 6)
EWAN
MCC 1
MCC 2
MCC 3
MCC 4
PACF
ASQF
DVP
31
EGNOS: Ground Segment (2)
MCC
RIMS
NLES
EGNOS Representative RIMS Locations
33
EGNOS: Master Control Centres (MCC)

MCC: Master Control Centres

Spain, UK, Germany and Italy Pre-planned rotation of MCC
Comprised of 2 parts:
CPF CCF
Functions
Determine the integrity Determine Pseudo Range differential corrections for each monitored satellite Determine ionospheric delay Generate GEO satellite ephemeris
EGNOS: Ranging and Integrity Monitor Stations (RIMS)

33 RIMS:
Type A - Raw measurements of GPS,GLONASS,GEO for CPF processing Type B - Raw measurements of GPS,GLONASS,GEO for CPF checking Type C (15 only) - Evil waveforms - GPS only
Paris RIM (Type A)

Measure difference between UTC and EGNOS Network Time
Functions
Data collection Transmit data to all MCCs every second
EGNOS: Navigation Land Earth stations (NLES)

NLES: Navigation Land Earth Station Functions Select the message provider CPF Modulate the message generated by the CPF Synchronise the up-link signal to GPS time Up-link data IOR-W IORAOR-E AORArtemis
36
EGNOS Wide Area Network (EWAN)

RIMS SubNetwork
NLES-1
NLES-6
MCC2 Back-Bone 2 Mbps NLES-1 MCC1
MCC3
MCC4
37
EGNOS Support Facilities: ESTB

EURIDIS RS Hfn (Iceland) Seatex RS MTB RS Processing Facility NLES Rotterdam (NL) Scilly Isles (GB) Toulouse (F) Hnefoss (N) Troms (N)
Cadiz (E) Kourou (French Guyana)
Lario (I) Fucino (I) Matera (I)
Ankara (T) Hartebeeshoek (South Africa)
38
ESTB to EGNOS
80 N
ECAC
60 N
40 N
20 N
0 AOR-E 20 S ARTEMIS IOR W
40 S
60 S
80 S Minimum elevation angle contours for E=5 degrees 150 W 100 W 50 W 0 50 E 100 E 150 E
39
EGNOS Performances: Horizontal Accuracy

Metres
NAV32516.3566
EGNOS Performances: Vertical Accuracy

Meters
EGNOS Level 3A average VNSE (2 ) map

EGNOS Stability Tests - September 2004
42
Horizontal Accuracy - November 2005
43
GALILEO/EGNOS Integration

3 Options: Cut Public Expenditure

Signals end of programme Loss of technical know how Loss of 310 Million

Complete Independence
EUs single European policy on satellite navigation? Duplication of effort and expenditure

Full Integration
Technically Institutionally

NAV32516.3629
EGNOS Operational Test and Validation: Challenges

International acceptability Distributed infrastructure Institutional concerns System complexity Time/space performance dependence WAAS/MSAS interoperability Lessons learned for GBAS & Galileo
Agenda


46
WAAS: Initial Schedule

1983:
1988: 1994: 1996:
RTCA SC 159 chartered to study GPS for aviation

DO-202 GPS MASPS WAAS signal specification DO-229 WAAS MOPS for en-route, terminal & non-precision approach
1996+: WAAS MOPS for precision approach

1992: 1994: 1996:
FAA establishes National Satellite Testbed (NSTB) to develop WAAS FAA issues WAAS Request for Proposals First contract for WAAS terminated & new award made

WAAS: Initial Schedule

Date 1997 Status Flight Verification System (FVS) 2MCSs, 5WRSs, 2GES, 1GEO 1997-8 Initial WAAS Service Volume
y 2MCSs, 24WRSs, 6GES, 2GEO y Primary Means NPA, terminal & en-route y Supplemental Means CAT-I
1999- End State WAAS 2001 y Additional WRSs and GEO

y Primary Means for CAT-I
WAAS: Original Schedule

00 01 02 03 04 05 06 07 08 09 10 11
Level - I I
20
WAAS
Supportability Upgrades
Level - I I I Inmarsat (2 GEOs) Acquisition GEO # 1 GEO # 2
?
GEO # 3 GEO # 4 (If Required) Additional GPS ?? L5
SATs
24 Satellites
GPS NAVAIDs
Full
49
WAAS: Independent Review Board

10 April 2001
FAA should commit to WAAS Enormous benefits for all GPS Users LNAV and VNAV by 2003 GEO Redundancy is biggest risk
GI51989_1000
13 Feb 2002: Inspector General of DOT

FAA must decide whether to stop WAAS development in 2003 or continue to refine the technology to meet more demanding precision approach capability known as a Category precision approach.
The current implementation does not lead to cost savings
NAVGI51989_1006
WAAS Schedule Update

00 01 02 03 04 05 06 07 08 09 10 11
Level - I I
20
WAAS
IOC
Supportability Upgrades
FOC
Inmarsat (POR and AOR-W) Acquisition GEO # 3 GEO # 4 GEO # 3 Average of 27 Satellites Available
GEOs
Acquisition
?
L5
If Required
GPS NAVAIDs
Full
IOC
FOC GPS III
?
52
WAAS
WAAS
GEO + GPS satellites EGNOS
Ground Earth Station Wide Area Master Station
Wide Area Reference Stations
53
WAAS Service Area
54
WAAS Future GEO Coverage

POR AOR-W
GALAXY XV
ANIK F1R
55
PRN 22 Failure on 28 July 2001

On Canadian Space Geodesy Forum (24 Aug 2001) Late on 28 July 2001, PRN22 sufferred a clock failure and the satellite broadcast erroneous data for over an hour.. It appears that as soon as the receiver started tracking PRN22, the position solution became in error by about a couple of hundred kilometres. Richard B. Langley Geodetic Research Laboratory Dept. of Geodesy and Geomatics Engineering
GI51987_1001
WAAS and the PRN 22 Failure on 28 July 2001
First Step: Immediately Broadcast Clock Corrections 6 Minutes
Second Step Declare satellite unusable
NAVGI51989_1004
WAAS Vertical Performance
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Agenda


59
Implementations: Japan's MSAS

MSAS (MTSAT Satellite Based Augmentation System) based on ICAO FANS concept & provides:
GNSS for navigation Aeronautical Mobile Satellite Service (AMSS) for two way voice/data including ADS
Hosted on Multi-functional Transport Satellite (MTSAT), which has aeronautical & meteorological mission. First launch in 1999, Subsequent launches every 5 years 1994: Initiate design of MSAS 1996-2000: First phase of development 1999: Launch Failed!

15 November 1999
61
MTSATMTSAT-1 Launch Failure

The National Space Development Agency of Japan (NASDA) launched the H-II Launch Vehicle No.8 carrying the Multi-functional Transport Satellite (MTSAT) from Tanegashima Space Center at 16:29, Nov. 15, 1999 (JST). However, the vehicle went out of the planned flight path due to the abnormal stoppage of the combustion of the 1st stage engine, and the command for destruction was sent to the H-II Launch Vehicle No.8. In this reason, it became impossible to inject MTSAT into the orbit as planned.
Replacement: MTSAT-1R, Launch 2003 2004 2005

MSAS
MTSAT-1R GPS L1 / L2 Overlay Primary Ka/Ku MTSAT-2 GPS
L1/L2
GMS
GMS
GMS
GMS NES-1 NES-2 CPF NCS NES-1 NES-2 CPF NCS Ibaraki MCS
MRS
MRS
Naha FukuokaTokyo Sapporo ACC ACC ACC ACC
Hawaii Australia
MCS NES CPF NCS MRS GMS
Master Control Station Kobe MCS Navigation Ground Earth Station Central Processing Facility Network Communication System Monitoring and Ranging Station Ground Monitor Station
International Network
63
MSAS Service Area
AOR-E
IOR
MTSAT POR
AOR-W
64
End of this Module

DATE/TIME 09:00 12:30 13:30 16:30
Monday 20/03/06
Introduction
Terrestrial Navigation
The History of Satellite Navigation
Tuesday 21/03/06
Satellite Navigation: Theory and Application
GLONASS
Current System Status
Navigating with GPS
Wednesday 22/03/06
From GPS to GNSS
Airborne Based Augmentation Systems
Thursday 23/03/06
Ground Based Augmentation Systems
Data Integrity
Modernisation Programmes
Friday 24/03/06
Towards the Future
Debrief
65

2006 Space Based Augmentation Systems

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2006 Space Based Augmentation Systems

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Global Navigation Satellite Systems

Space Based Augmentation Systems

Copyright 2006 EUROCONTROL

Copyright 2006 EUROCONTROL

SBAS: The Principle

Single Frequency Avionics

Reference Stations (RSs) Dual or Single Frequency

Master Control Site (MCS)

Typical SBAS Requirements

Time to Alert (3)

2 NM (6) 0.4 NM 220 m

N/A N/A N/A

1-10 /h to -8 1-10 /h 1-10 /h to 1-10 /h

1-10 /h to -8 1-10 /h 1-8x10 in any 15 s 1-8x10 in any 15 s 1-8x10 in any 15 s

16.0 m 16.0 m 16.0 m

Copyright 2006 EUROCONTROL

Overview of SBAS Objectives

Copyright 2006 EUROCONTROL

The Role of the Geostationary Satellite

Uplink Corrections Repeat, Broadcast Corrections

Copyright 2006 EUROCONTROL

GEOS Satellites in Service: Examples

INMARSAT III AND ARTEMIS Broadcast Areas

Copyright 2006 EUROCONTROL

Three Interwoven Services (1)

Three Interwoven Services (2)

Copyright 2006 EUROCONTROL

Ionospheric Measurements: MCS Outputs

Elko San Diego Stanford

GEO Navigation Signal Characteristics

Frequency: Modulation: PRN code: Data rate:

Copyright 2006 EUROCONTROL

SBAS Messages Types

Copyright 2006 EUROCONTROL

Predicted Performance Over CONUS

Global Navigation Satellite Systems

Space Based Augmentation Systems

Copyright 2006 EUROCONTROL

Problems at High Latitudes

High Altitudes: Flight Trial Route

Copyright 2006 EUROCONTROL

Copyright 2006 EUROCONTROL

MRR BSDR PDR

Copyright 2006 EUROCONTROL

EGNOS Timescale: Initial Operations

Ramp-up Stabilization Qualification

Time (in months)

EGNOS: Service Area

Geostationary Broadcast Area

EGNOS AOC Phase

Advanced Operational Capability (AOC)

System consists of:

Final Operational Capability (FOC)

Copyright 2006 EUROCONTROL

European Tripartite Agreement

Copyright 2006 EUROCONTROL

Financing EGNOS to Operational Use

EGNOS Expected Performance

Copyright 2006 EUROCONTROL

EGNOS: System Design

Navigation Reference Signal (C-band)

Navigation Signals (L-band)

NLES Transmits navigation and integrity data