RHINOS Workshop - Sogei
Transcript of RHINOS Workshop - Sogei
RHINOS “Railway High Integrity Navigation Overlay System”
RHINOS Workshop 21st June 2017
Performance Analysis Activity
R. Capua (Sogei)
Objectives
• Simulation and Analysis of High Precision and High Integrity positioning in the Rail Scenario for GNSS PVT only (No ERTMS)
• Simulation of SIS and Augmentation System Faults
• Design and Integration of a Performance Analysis Tool
• Performance Analysis
• Virtual Test Bed:
• Injection of Faults into raw data recorded by a GNSS Receiver installed On-Board and into Augmentation data
• Simulated Data
• Analysis performed through the RadioLabs GNSS3inSim
Participants
• Sogei: TAAN Network Control Centre developments, 2-Tiers FDE, Fault Generations
• RadioLabs: Performance Analysis Simulation developments
• University of Notthingam: Environmental Faults Simulation
• Ansaldo STS: Rail Sector requirements and review
• University of Pardubice: Fault Scenarios and Requirements Analysis
Performance Analysis Tools
• RadioLabs: Train Integrity Simulator (Virgilio)
• Sogei: 2-Tiers Sardinia ERSAT-EAV network raw data and Control Centre, SIS and LA fault generation, GNSS SDR and Spoofer
• University of Notthingam: Spirent Simulator
Extended Fault Tree
ETCS Core Hazard
THR=2e-9 / 1 hr / train
Odometry
Hazard
Radio subsystem
Hazard
Communication among RBC, TALS GNSS OBU
Virtual Balise Detection Hazard
THRVB = 1e-9/ 1 hr
Balise / Loop Hazard
cross talk (balise insertion)
Track-side GNSS SIS/ augmentation
failure and RBC contribution
&
Ʃ 0.5e-9/ hr 0.5e-9/ hr
Environmental anomalies
and OBU function failures On-board
Ʃ Ʃ
GNSS SIS/
augmen. failure
RBC contribution to VB detection/ reporting failure
Track database excessive error
OBU contribution to VB detection failure
Excessive error due to multipath
Excessive error due to spoofing, EMI
Ʃ
Augmen. syst . failure (PE>PL)
SV faults Iono + tropo effects
Multipath, spoofing
Function B must be based on different technology than ARAIM to achieve physical, functional and process independence.
2e-10/ hr 0.25e-10/ hr 2e-10/ hr 0.25e-10/ hr
Function A: ARAIM
Function B
0.25e-10/ hr
Level 1
Level 2
Level 3
Level 4
Level 5
Level 6
2e-10/ hr
~1e-6/ hr
< 1e-10/ 1 hr 1e-11/ hr
4.5e-10/ hr
4.5e-10/ hr
THRVB of 1e-9/ hr was derived
according to SUBSET-088 under
assumption that independent
diagnosis during Start of Mission
(SOM) is available (track circuits,
axle counters) and thus hazard due
to cross talk effect (detection of wrong
virtual balise) ban be mitigated.
Train position: UNKNOWN
at the beginning of SOM
5e-10/ hr 5e-10/ hr
1e-10/ hr 2e-10/ hr 2e-10/ hr 0.25e-10/ hr
LDS Start of Mission on parallel
tracks is required (AL=3 m)
Local Augmentation Architecture
Example of Extended Scenarios Definition
Simulation Architecture
ERSAT-EAV
ERSAT-EAV Reference Station Network Architecture
GRDNet Control Centre
Final Review Meeting
ERSAT-EAV
Guspini
Municipality
Cagliari
Tax Police
Sanluri
“Giovanni XIII” Primary School
Vallermosa
Municipality
Vallermosa
Municipality
ERSAT-EAV Reference Station Network
Virgilio Simulator
RS
TALS OBU
GNSS RX
GNSS RX RINEX
RINEXGNSS
RX
GNSS RX RINEX
RINEX
RS
RS
Timing
Wall Clock Time
SimulatedTime
Track DB
SyntheticObservations
Generator
Track & Motion Model
Generator
External tools
Logging
GNSS 3InSim
GRDNet RS and SIS Integrity Monitoring
• Reference Stations and SIS FDE through Real Time 2-Tiers (EDAS+Local Augmentation) algorithm (from ERSAT-EAV)
Sogei GNSS SDR Spoofing Simulation
• GPS/EGNOS Single-Frequency SDR
• Totally Software Signal Processing
• No FPGA, No Low Cost Receivers
• Front-End design & development
• Programming:
• C++, GPU, Parallel Programming
• C/N0 monitoring Anti-Spoofing
• Real-time SDR running on Desktops, Notebooks and Tablets
• RTK through standard NTRIP/RTCM connection to a GNSS Network
Extended Local Augmentation Fault-Tree
Signal
Fault Cases
• SIS Fault
• Ephemeris/Clock Faults
• Augmentation Faults
• RS Interferences
• Local Effects:
• Multipath
• Trees
• Interferences
• Communication Losses
• Multiple Failures
Scenario n Single Fault Multiple Fault
Constellation x
Sats x
Communication x
SBAS
LAAS x
Human x
……
Scenario 2 Single Fault Multiple Fault
Constellation x
Sats x
Communication x
SBAS
LAAS x
Human x
……
Scenario 1 Single Fault Multiple Faults
Constellation x
Sats x
Communication x
SBAS x
TAAN x
Multipath x
Spoofing x
…
RHINOS “Railway High Integrity Navigation Overlay System”
Performance Analysis Results and Execution
Performance Analysis Test Scenarios • Full Supervision/Nominal Operation
• Nominal Operation (Clear-Sky)
• SIS Failure simulation, Evil Waveform
• Ephemeris fault simulation
• Satellite Clock Error simulation
Open Sky Simulation
%of epoch for System Unanailable 0.068135
% of epochs for System in Normal Operation 99.93186
% of epochs for System is in MI/HMI 0
Evil Waveform Evil Waveform simulation: Fault–Free PRN compared to Digital and Analogic distortion on PRN code (generated through the Qascom Simulator)
Evil Waveform
%of epoch for System Unanailable 0.141044
% of epochs for System in Normal Operation 99.85896
% of epochs for System is in MI/HMI 0
Ephemeris Fault generation
Clock Fault Generation
Ephemeris Fault
%of epoch for System Unanailable 0.070522
% of epochs for System in Normal Operation 99.92948
% of epochs for System is in MI/HMI 0
Ephemeris Fault generated through GNSS SDR on satellite 12
Multiple Failures
One satellite faulted every 240 s 3 GPS + 1 Galileo remaining at the end
%of epoch for System Unanailable 0.085179
% of epochs for System in Normal Operation 99.91482
% of epochs for System is in MI/HMI 0
Presence of Spoofing
No Railway RAIM) PVT associated with HMI would be detected and discharged by ERTMS & Railway RAIM
%of epoch for System Unanailable 13.05832
% of epochs for System in Normal Operation 85.06401
% of epochs for System is in MI/HMI 1.877667
Spoofing signal generated by a Qascom simulator
Start of Mission Performance Analysis • Start of Mission SoM (Simulated Data)
• Urban Area - Severe Shadowing
• Urban area - Severe Multipath
• Interferences (Spoofing)
• RTK positioning (start from position unknown)
Start of Mission – RTK Positioning (Floating)
RTK Floating Ambiguities Solution (Weak Multipath)
Start of Mission – RTK Positioning (Fixed)
%of epoch for System Unanailable 0
% of epochs for System in Normal Operation 100
% of epochs for System is in MI/HMI
Fixed Ambiguities Solution (Weak Multipath)
Reference Stations Fault Monitoring
• Effective tools integrated for GNSS Local Augmentation and SIS FDE Performance Analysis (ERSAT-EAV)
RS 6 CTNB RIMS RS 5 GUSP RS 4 SANL RS 3 VALL RS 2 CAGR RS 1 VILL
CAGR RS Fault
RS FDE
Conclusions
• Effective tools integrated for GNSS Local Augmentation and SIS FDE Performance Analysis
• Simulation Scenarios defined through GNSS data recorded from an On-Board GNSS receiver and simulated GNSS data
• Rail Operations Environmental Scenarios tested for the GNSS positioning only with several Faults (Ephemeris and Clock, Evil Waveforms, Interferences, Multiple Failures). No ERTMS functional blocks and Railway RAIM included
• 2-Tiers Algorithm is able to perform FDE for Single and Multiple Satellite Faults and Reference Stations Failures
• RTK Positioning Integrity Performances Evaluated in float and fixed ambiguity states
• Next step: Multipath impacts analysis
ION GNSS+ 2016
Thanks for the attention