1. Exploring Alternatives to GPS Navigation Systems
ECE 791 Oral Proposal
Project Team: Paul Galvin and Shaun McCarthy
Faculty Advisor: Professor Kent A. Chamberlin
Courses Involved: CS 410, ECE 602, ECE 634, ECE 704, ECE714,
ECE 757
Current Date: October 2012
Panned Finish Date: May 2012

2. Topics Why is this Important? General Problem Definition
Design Objectives
System Configurations
Map Matching
Testing
Project Timeline
Budget

3. Why is this Important?
Since the United States government first allowed access to their GPS satellites in 2000 the market for GPS devices has boomed
In 2010 there were million GPS (20.21 million automobile specific) units sold to consumers and (4.828 million ground transportation specific) million were sold for commercial users
From 2005 to 2010 the total market for GPS devices has risen 75%
In an industry survey sent out to commercial users in % of users said it would be extremely difficult or impossible to revert to prior methods in the events of a long term GPS signal disruption

4. Why is this Important? (cont.)
100% GPS disruption would cost the U.S. economy $96 billion per year
Causes of GPS Disruption
Short Team
GPS Masking
GPS Jamming
Long Term
Space Weather
Satellite Collisions

5. General Problem Definition
To design, build, program and compare three different navigation system approaches:
Navigation System using GPS
Navigation System using Inertial Sensors
Navigation System Integrating GPS and Inertial Sensors
To determine the practicality of using inertial sensors to augment GPS when there are disruptions in GPS service

6. Design Objectives
Design and implement a navigation system using a signal from a Global Positioning System (GPS) receiver as its only input
Design and implement a navigation system that has inertial measurements taken from a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer as its only input
Integrate the inertial sensors and GPS receiver into a single navigation system that will sustain an accurate position estimate when the GPS signal is disrupted for a short period of time
Assess the accuracy of each navigation system by storing the position data for each device’s trial runs and comparing the results

7. Navigation System Using Only a GPS Receiver
Features
Asynchronous communication between GPS receiver and Arduino Leonardo microcontroller
Receiver sends the standard NMEA0183 messages
GGA (Global Positioning System Fix Data )
RMC (Recommended Minimum Specific GNSS Data )
GSV (GNSS Satellites in View)
GSA (DOP and Active Satellites )

8. Navigation System Using Only a Inertial Sensors Receiver
Features
Inertial Measurement Unit (IMU)
3-axis Accelerometer
3-axis Gyroscope
3-axis Magnetometer
Kalman Filtering
Weighted average of measurements and predictions

9. Navigation System Integrating GPS and Inertial Sensors
Features
Coordinate Conversion
Converts meters traveled south to north into a change in latitude
Converts meters traveled west into east into a change in longitude
Extended Kalman Filtering
Model measurements and predictions with a Gaussian distribution

10. Map Matching Destination Algorithm Previous Position Algorithm
Two assumptions
The true path to a destination tends to be direct rather than round about
Drivers tend to follow the speed constraints on a road
Previous Position Algorithm
Matches the previous positions to the path of a road

11. Testing
Each approach will be compared to its counterparts and also compared to the true driven route using mapping software
Comparison Conditions
Same weather conditions
Successive system tests
Same driver
Recorder
A recorder will be in the vehicle to take detailed notes of any significant vehicle maneuvers and the time in which they occur

12. Project Timeline

13. Budget Product Quantity Price Arduino Leonardo 1 $24.95
Fastrax UP501 GPS Receiver
$49.95
9-Degrees-of-Freedom – Razor IMU
$124.95
Breadboard Clear Self-Adhesive
$5.95
USB High-Speed 7 Port Hub with AC Adapter (Silver)
$4.42
eForCity 12V DC to 110V AC Power Adapter Inverter for a Car Outlet
$3.99
Raspberry Pi Computer
$0.00
Total
$214.21

14. Questions

15. Sources
Pham, Nam D.. "The Economic Benefits of Commercial GPS Use in the U.S. and Costs of Potential Disruption ." ndp Consulting, Web. 15 Oct <
NASA . Nasa warns solar flares from 'huge space storm' will cause devastation The Telegraph, London. Web. 21 Oct < space/ /Nasa-warns-solar-flares-from-huge-space-storm-will-cause-devastation.html>.
Thieves Lean How to Use GPS Jammers WordPressWeb. 21 October <
Fischer, John. Navigating with more than just GPS Auto ElectronicsWeb October < navigating-with-more-than-just-gps-0517/>.
Lee, Kamen. Cheap GPS Word PressWeb. 30 Oct <