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Advanced Navigation Solutions - ANAVS Company presentation September 2013 Slide 2 Company presentation September 2013 2 Table of contents 1. Advanced Navigation Solutions - ANAVS 2. PAD System hardware 3. PAD System software 4. Applications 4.1 Automotive 4.2 Maritime 5. Patents 6. Contact Slide 3 Company presentation September 2013 3 1. Advanced Navigation Solutions - ANAVS Company founded as GmbH, spin-off of the Institute of Communications and Navigation, Technische Universitt Mnchen, Germany ANAVS Position and Attitude Determination (PAD) System: GNSS / INS based software and hardware for automotive and maritime applications 1 st Prize in Bavaria at the European Satellite Navigation Competition - Galileo Masters 2010 Vodafone Prize for Science and Engineering 2011 Funding by ESA, Federal and Bavarian Ministries 50+ presentations at international conferences 10+ journal publications 4 international patents on relative carrier phase positioning by ANAVS Slide 4 Company presentation September 2013 4 1. Advanced Navigation Solutions - ANAVS ANAVS Position and Attitude Determination (PAD) System: GNSS / INS based software and hardware for automotive and maritime applications RTK Positioning with GNSS Code Carrier phase Attitude: relative positioning of two receivers with known baseline length Constrained ambiguity resolution Max. a posteriori prob. estimator Geodetic precision with low cost GNSS receivers Slide 5 Company presentation September 2013 5 1. Advanced Navigation Solutions - ANAVS Partners and clients Slide 6 Company presentation September 2013 6 2. PAD System hardware ANAVS main processing unit: PAD System software 2 low cost GPS receivers (u-blox LEA 6T) INS (Invensense MPU 9150) Intel I7 processor, WLAN, hard disk, battery Two external GPS L1 patch antennas Visualization on a tablet (position and attitude) Much lower cost, size and weight than geodetic receivers or high end INS Optional: implementation on ARM processor (Raspberry Pi) Slide 7 Company presentation September 2013 7 2. PAD System hardware ESA Director General, Jean-Jacques Dordain and ANAVS CEO, Dr. Patrick Henkel on a live demonstration of ANAVS PAD System Slide 8 Company presentation September 2013 8 3. PAD System software Modularized software in C language Soft-constrained float ambiguity estimation Maximum a posteriori (MAP) estimator for integer ambiguity fixing Coasting of fixed baseline solution Cycle slip detection and correction by MAP estimator GNSS / INS sensor fusion Input Code / carrier phase measurements and navigation messages from low cost GPS receivers Output Absolute position (sigma: 0.5 m) Relative position in local ENU coordinate frame (sigma: 1 cm) Heading (sigma: 0.5 / baseline [m]) and rate of heading Baseline length (sigma = 1 cm) For more than 2 receivers: 3D attitude (roll, pitch, yaw) Phase residuals Supports NMEA standard Update rate according to rate of measurements (5 Hz or better) Slide 9 Company presentation September 2013 9 Antenna of 1st GPS receiver Antenna of 2nd GPS receiver 4.1 Applications: automotive Skidding detection / prevention First step for lane keeping detection and autonomous driving Parking assistance Orientation for first stage of drives Heading determination with an accuracy of 0.5 Slide 10 Company presentation September 2013 4.1 Applications: automotive Test drive at Nymphenburg Palace, Munich GNSS-based heading (compass information) 10 Slide 11 Company presentation September 2013 4.1 Applications: automotive Test drive at Nymphenburg Palace, Munich Precision level (phase residuals): few centimeters 11 Slide 12 Company presentation September 2013 4.1 Applications: automotive Test drive west of Munich: benefits of GPS / INS sensor fusion 12 -100.1 Start severe multipath Slide 13 Company presentation September 2013 13 Navigation assistance for freight vessels and cruise liners Today: navigation using radar and inertial sensors More than 30 severe accidents / year in Germany ANAVS system: reliable and accurate attitude and RTK position determination using low cost GNSS / INS sensors Applications: navigation in shallow water, narrow canals, harbors N E 4.2 Applications: maritime Slide 14 Company presentation September 2013 14 1st receiver2nd receiver 4.2 Applications: maritime First lock of the Mosel river Slide 15 Company presentation September 2013 15 4.2 Applications: maritime Heading determination: 0.02 accuracy Slide 16 Company presentation September 2013 16 4.2 Applications: maritime Pitch angle determination: 0.05 0.1 accuracy Slide 17 Company presentation September 2013 17 4.2 Applications: maritime Baseline length: 20.65 m, few mm accuracy Slide 18 Company presentation September 2013 18 GEOID height not yet subtracted (~ 47.9 m) 4.2 Applications: maritime Height change in lock Slide 19 Company presentation September 2013 19 4.2 Applications: maritime Verification: phase residuals of fixed solution (few cm) Slide 20 Company presentation September 2013 Patrick Henkel and Juan Manuel Crdenas, Method for Determining a Baseline between Two Receivers, European Patent Application, 28.12.2012. Patrick Henkel and Patryk Jurkowski, Method for Determining the Heading of a Moving Object, European Patent Application, EP 12 153 398.8, Application date: 31.01.2012. Patrick Henkel and Patryk Jurkowski, Maximum a posteriori probability ambiguity estimation with soft baseline length and orientation constraints, European Patent Application, Application date: 24.01.2011. Patrick Henkel and Patryk Jurkowski, Verfahren und Vorrichtung zur Bestimmung der Relativposition zwischen zwei Empfngern und Verwendung der Vorrichtung zur Stabilisierung schwebender Lasten, Intern. Patent Application, Appl. Nr.: PCT/ EP2011/ 067554, 7.10.2011, Priority date: 18.10.2010 based on Appl. Nr. 10 2010 038 257.4, Publ. date: 26.04.2012, WO 2012/052307. 20 5. Patents Slide 21 Company presentation September 2013 21 Advanced Navigation Solutions - ANAVS Hestrae 36 80798 Munich, Germany Phone: +49 (0) 89 46134306 Fax:+49 (0) 89 46134309 Website:www.anavs.de Dr.-Ing. Patrick HenkelM.Sc. Juan M. Crdenas Managing directorProject manager Phone: +49 (0) 89 28923462Phone: +49 (0) 89 46134306 +49 (0) 171 4472343+49 (0) 163 7595838 Email: patrick.henkel@anavs.de Email: juan.cardenas@anavs.de 6. Contact Slide 22 Company presentation September 2013 Company Presentation 22 1. Q. 2012 Advanced Navigation Solutions Providing Orientation