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When a vehicle passes through a GNSS-denied area, its navigation system might be thrown off and report an incorrect position. Conversely, INS is inherently subject to drift — the steady accumulation of errors — and therefore must be periodically re-initialized by an external source, such as GNSS. (Photo: Safran Federal Systems)

The term “original equipment manufacturer”  (OEM) is widely used, yet vaguely described. In general, an OEM product is one that a company creates and sells to be integrated into systems made by other manufacturers.

In the GNSS industry, the purchasers of OEM products typically are manufacturers of products that require precise positioning or navigation capabilities, from precision agriculture, to surveying and mapping, to UAV missions. Often, manufacturers integrate the OEM GNSS receivers with other sensors, such as inertial measurement units (IMUs) and lidar devices.

A large portion of the OEM business goes unnoticed by the end users of the equipment that utilizes OEM components. These components, such as a guidance system, are often hidden from view, due to being housed under a hood or elsewhere deep within the system.

In the following case studies, OEM products complement GNSS in air, land and marine applications. Safran Federal Systems’ INS for land vehicle navigation and Septentrio’s AIM+ anti-jamming and anti-spoofing technology tackle land and air-based defense applications, while an OxTS IMU is used in a coral reef restoration project to accurately record ship motion.

Land vehicle navigation in GNSS-denied environments
Safran Federal Systems

Ground vehicles in defense operations often navigate in challenging environments where traditional GPS signals are contested or unreliable. This includes dense urban areas, heavily forested regions, or any areas where enemies employ electronic warfare to disrupt GPS signals. Having a robust navigation system that can provide both the vehicle’s location in real time as well as its precise orientation and direction/heading is crucial for defense applications. An inertial navigation system (INS) can provide reliable position and heading data for short periods of time or distances without the aid of GPS satellite signals, allowing vehicles to stay on course and maintain awareness of their location.

Precise location and navigation capabilities are essential for mission planning, execution and coordination with other units. Inaccurate navigation can lead to mission failure, unintended engagements, or even friendly fire incidents.

Geonyx INS

Safran’s Solution

Geonyx INS with incorporated M-Code capability

Safran has developed the Geonyx INS, which provides route guidance in GNSS-denied environments. It incorporates hemispherical resonator gyroscope (HRG) technology and does not rely on external satellite signals for navigation and heading. Instead, it uses gyroscopes to detect changes in heading and accelerometers to detect changes in acceleration, then uses those data to calculate the vehicle’s position, orientation and velocity.

The Geonyx will output coordinates of the vehicle’s current location as well as the data on its intended position to the vehicle’s battle management system (BMS). It can maintain an accuracy of a couple of meters after tens of miles of pure inertial navigation.

Geonyx is a combat-proven INS solution for ground vehicles, augmenting battle management systems. It can achieve a heading accuracy as good as 0.5 mils thanks to Safran’s HRG Crystal technology. It has quick and flexible alignment, even in GNSS-denied environments.

Safran is upgrading the Geonyx to incorporate M-Code capability. This enhancement offers a fully integrated solution to tackle the challenges of GPS-denied or spoofing environments, ensuring robust and reliable navigation even in the most demanding conditions.

JammerTest in Bleik, Andøya, Norway. (Photo: Septentrio)

Resilient GNSS receiver
Septentrio

Around the world, there is an increasing demand for better resilience in positioning, navigation, and timing (PNT) systems. U.S. President Joe Biden has signed an executive order to enhance national resilience through PNT services. Geo-political tensions require a higher level of security for operations in areas of navigational warfare (NAVWAR) under contested GNSS conditions.

In countries such as Finland, companies are seeking reliable receivers that can be connected in a network to identify sources of malicious interference. In numerous GNSS applications, such as reference networks, UAV surveillance, delivery and timing synchronization, the repercussions of PNT degradation or loss can be significant.

Septentrio’s Solution

Septentrio took part in the JammerTest 2023 event organized by the Norwegian government on the remote island of Andøya, where live interference testing was conducted in a controlled environment.

While most of these test events are classified and their results cannot be shared publicly, the JammerTest represents one of the first public events of its kind where the sharing of results is encouraged.

After five days of intensive testing in Norway, Septentrio’s AIM+ anti-jamming and anti-spoofing technology proved to work well under live interference conditions. Test results revealed that under real interference, receiver technology plays a key role, while antenna technology plays a supporting role. By testing the receiver under various types of spoofing attacks, it was shown that the best spoofing protection lies in having multiple anti-spoofing mechanisms working together.

Detecting and Mitigating GNSS Jamming

This test used a “cigarette lighter” jammer, which is commonly available for purchase online. It emits signals with power between 10 dBm and 15 dBm and can disrupt GPS L1 and L2 signals. Other jamming tests involved using jammers with signals 10 million times more powerful than GNSS signals.

Over one day of intensive jamming tests, receivers with integrated AIM+ demonstrated 99.5% positioning availability under various forms of jamming from simple continuous narrow-band interference to the most complex wide-band transmissions.

The Magic is in the Receiver

For mission-critical applications, an anti-jam antenna can help achieve maximum resilience against RF interference. During the JammerTest, three receivers were tested under heavy multi-frequency wideband jamming in combination with antennas of varying sophistication. A receiver with a standard wideband helical antenna that did not have AIM+ anti-jamming technology immediately lost tracking of satellite signals during jamming. A receiver with the same antenna, but with AIM+, continued to track signals and deliver positioning. A receiver with AIM+ coupled with an anti-jam antenna displayed that the drop in signal quality is slightly less than with a standard antenna and the receiver continued to track signals and to deliver positioning.

Tests with various anti-jam antennas showed an interference reduction of about 10 dB. While AIM+ plays a role in positioning availability under jamming, an antenna plays a supporting role and can improve the chances of getting positioning in cases where the jamming is still slightly stronger than the ability of the receiver to mitigate it. While anti-jam antennas can be effective in countering wide-band “white-noise” jamming, they are less effective for other types of jamming.

Accurate and available PNT is key to successful industrial or critical operations in challenging environments. By regularly participating in live events such as the JammerTest, Septentrio anti-jamming and anti-spoofing technology is continuously being tested and improved to withstand the latest interference attacks. This technology also has been confirmed to be effective by users out in the field, who are using Septentrio receivers in places of malicious interference, such as near contested borders.

Photo: Tunatura / iStock / Getty Images Plus / Getty Images

INS Used for Coral Reef Restoration Project
OxTS

The Reef Restoration and Adaptation Program (RRAP) is an effort to help a significant ecosystem such as the Great Barrier Reef (GBR) survive climate change. Through its Cooling and Shading sub-program, RRAP’s goal is to determine whether localized cloud brightening — a technique that involves spraying droplets of sea salt into clouds to reflect sunlight and cool Earth — and/or fogging could be a temporary solution to alleviate stress on parts of the GBR during hot summer conditions, which might lead to bleaching.

The Ordnance Survey team was tasked with consistently creating precisely georeferenced point clouds that could be utilized for identifying and classifying features. The GBR is a significant source of biogenic volatile organic compounds (BVOCs), which are likely to be impacted by ocean warming in potential climate change scenarios. In turn, these BVOC emissions can influence Earth’s radiation budget by contributing to the creation of secondary organic aerosols and cloud condensation nuclei, ultimately leading to cooling.

Southern Cross University, an RRAP partner, sought an accurate method to record ship motion for this project. The team needed to measure various parameters such as velocity, acceleration, pitch/roll, angle rate, and ship heading. They approached Industrial Measurement Solutions (IMS) and OxTS to assist them in addressing this challenge. To achieve this accurately, they needed to integrate the measurements from their existing sonic anemometer, which records three-dimensional wind velocity, with the measurements from an IMU.

OxTS Takes the Challenge

Correcting wind speed for platform motion requires two high-resolution sensors to record data simultaneously: a sonic anemometer that records three-dimensional wind velocity, and an IMU that records the movement of the platform/ship. The sonic anemometer and the IMU are two very sensitive sensors, and many of the technology challenges the team faced involved setting them up correctly and getting them to work seamlessly together.

Once the project team realized that they needed an IMU to measure the ship/platform motion, one of their collaborators at the time, Airborne Research Australia (ARA), suggested an OxTS xNAV650.

After they had defined the project requirements, Southern Cross University contacted IMS who helped them navigate the commercial process.

xNAV650 is a miniature INS that uses survey-grade dual-frequency GNSS receivers and custom MEMS IMU for centimeter-level position accuracy, precise orientation and true heading. It logs the navigation data on internal storage for downloading and viewing post-mission. It can be used in many applications, such as corridor mapping and precision agriculture.

OxTS xNAV650 Inertial Navigation System. (Photo: OxTS)

IMU in Action

The xNAV650’s IMU allowed Southern Cross University to accurately measure the motion of the ship. The IMU was configured to “displace output” to the location of the 3D wind measurement instrument — the sonic anemometer. This allowed the project team to record the movement of the instrument directly, thus avoiding any additional complicated processing steps. Additionally, the IMU was configured to output a 1 pulse per second (PPS) signal via serial connection. This allowed the project team to connect the IMU to the sonic anemometer’s data logger to sync the time between the two instruments. This was vital on such a rapidly moving platform.

Once installed, the xNAV650 device was able to measure ship motion accurately and at high time resolution
(100 Hz), which was complementary to the team’s wind velocity and BVOC measurements. The PPS output option allowed for simultaneous measurement/recording, which would have otherwise needed to be corrected in post-calibration and would likely not have been as accurate.

“We managed to accurately record ship motion for the entire length of our second voyage,” said Liz Deschaseaux, RRAP’s research fellow on BVOC emissions. “The reliability and accuracy of the xNAV650 has had a real impact on our ability to collect meaningful data.”

<p>The post How OEM technology is enhancing precision applications first appeared on GPS World.</p>

Photo: Septentrio

Septentrio is closely working with several UAV solutions providers including 3DR, Holybro, ARK Electronics and Systork, resulting in various new products that allow for easier prototyping or integration of the Septentrio mosaic GNSS receiver into UAVs.

mosaic is a compact triple-frequency receiver leveraging signals from all available GNSS constellations to offer the highest degree of positioning availability, even under challenging conditions. Built-in anti-jamming and anti-spoofing technology protects mosaic against intentional or unintentional interference. A high level of positioning reliability is also required by UAVs, which operate in challenging environments such as around high structures, under foliage or in places of possible RF interference. In addition to collaborations with hardware integrators, Septentrio works closely with the open-source autopilot community including PX4 and Ardupilot, which aims to facilitate a smooth integration process for end-users.

The recently available products, which are designed to bring reliable high-accuracy positioning to UAVs, include Holybro H-RTK mosaic-H (dual antenna heading), 3DR mosaic-X5 CAN GPS, Systork Linnet mosaic-X5 and ARK mosaic-x5 GPS. These products offer UAV-centered features such as magnetometer, barometer and UAV CAN communication. The integrated mosaic module receives signals from all GNSS constellations and outputs centimeter-level RTK positioning as well as full GNSS carrier raw data

Dual antenna operation is also supported with mosaic-H for heading and pitch or heading and roll orientation with sub-degree accuracy. Its anti-interference technology AIM+ is designed to protect the system from malicious jamming and spoofing attacks and reduces the risk of self-interference which occurs when nearby electronics like cameras and servos accidentally emit radio signals that interfere with GPS/GNSS.

<p>The post Septentrio expands UAV ecosystem for reliable GNSS positioning first appeared on GPS World.</p>

SURVEYING & MAPPING

GNSS Receiver
Supports tilted measurement

PozStar P5 is a high-precision GNSS receiver. It is powered by a 1,408-channel multi-band GNSS receiver designed to improve surveying in the field. It is equipped with Bluetooth, WiFi and UHF radio. The inertial measuring unit (IMU) supports tilted measurement, which allows users to obtain quick initialization and accurate measurements with an inclination of up to 60°.

The receiver comes with radio connector options used in a frequency range of 410 MHz to 470 MHz and a 5-pin serial port, which allows for external radio system connectivity and NMEA data output. It is also weatherproof, rated IP67.
PozStar P5 can collect control and surveying data for RTK equipment to perform surveying, map input and drawing operations. The receiver can be used with PozPad, an Android-based RTK field software.
PozStar, pozstar.com

Lidar System
Designed for aerial surveying

The TrueView 540 lidar system integrates lidar technology with LP360 3D point cloud processing software to enhance survey-grade lidar applications.
The system is designed to provide enhanced data density, accuracy, and precision for aerial surveying. It combines lidar, an accurate positioning and orientation system and a full-frame industrial camera in a compact, lightweight package. It is suitable for a variety of UAVs, including the DJI Matrice 350.
The TrueView 540 features high-precision lidar technology comparable to high-end industry-standard payloads in terms of range, density and accuracy. It will be made available through GeoCue and its authorized distributors.
GeoCue, geocue.com

GNSS Solution
Combined with Septentrio’s mosaic-X5 module

The SparkFun real-time kinematics (RTK) mosaic-X5 uses the multi-constellation, multi-frequency capabilities of the Septentrio mosaic-X5 module, which aims to improve accuracy and reliability in a variety of position applications.
The RTK mosaic-X5 is a 448-channel receiver that supports all four Global Navigation Satellite Systems (GNSS) — GPS, GLONASS, BeiDou and Galileo — and one of the two regional ones, NavIC. It can function as both an RTK base and rover, which allows users to achieve horizontal positioning accuracy down to 6 mm and updates at a rate of 100 Hz.
The device incorporates the Espressif ESP32-WROVER processor, which allows for high-speed processing and a variety of connectivity options. The ESP32 provides the device with USB-C, Ethernet-over-USB and an Ethernet to WiFi Bridge mode to ensure seamless integration into any project setup.
The device also has power flexibility, including USB-C, Power-over-Ethernet, and external DC sources, along with data logging in multiple formats such as RINEX and NMEA. Housed in a custom-designed aluminum case, the RTK mosaic-X5 features a comprehensive web server interface to simplify configuration and monitoring.
SparkFun Electronics, sparkfun.com

Hybrid Mobile Mapping Solution
Combines mobile scanning with a stationary mode

The X70GO SLAM laser scanner is designed for fast and efficient large-area surveys. It combines mobile scanning with a stationary mode to scan with high resolution to enhance overall surveying capabilities.
X70GO is a real-time 3D model reconstruction device that integrates an inertial navigation module, high-performance computer and storage system. It is equipped with a 360° rotating head, which, combined with the SLAM algorithm, can generate high-precision point cloud data. The built-in 512GB memory disk stores survey results and the dismountable handle has a 1.5-hour battery life.

A 12MP RGB camera offers texture information, while a visual camera aims to enhance the real-time preview with the GOapp. Mapping results can be generated immediately inside the scanner. Users can then color the points and improve their accuracy during post-processing with GOpost software.

The system comes with a hybrid scanning capability. The X-Whizz mode combines the advantages of SLAM mode with the resolution of a static scan, which eliminates the need for multiple scan stations. Users can move around the scene to collect the entire 3D point cloud without time-consuming cloud-to-cloud alignment.

The technology incorporated in the new scanner is designed to provide extended range, a higher number of points per second and advanced onboard processing algorithms. The SLAM laser scanner is well-suited for challenging environments and can be used in a variety of applications, including BIM, industrial sites, real estate, heritage preservation, tunnels and mining.

Users can add an RTK module to set a point cloud in a global coordinate system. This can support adding GNSS information to that from lidar and the inertial measurement unit (IMU) in the SLAM algorithm. In situations with limited GPS connectivity – such as indoors or in challenging environments – the system will rely on lidar and the IMU for positioning purposes.
Stonex, stonex.it

Remote Sensing Payload
Integrates with UAVs and other platforms

The RESEPI lidar Gen-II remote sensing payload instrument comes in three modes: aerial mode for comprehensive airborne data collection, mobile mode for dynamic vehicular data collection and a versatile handheld/backpack that aims to provide portability and ease of use for ground personnel.

The RESEPI lidar Gen-II has a 175% increase in computing power, designed to speed up processing and enhance efficiency during complex tasks. Its memory capacity has been increased by 700%, which allows for extensive data handling and improved system performance. The system’s 50% increase in storage capacity aims to facilitate longer durations of data collection without frequent offloads.
The Gen-II features seamless integration capabilities with UAVs and other platforms. The system’s sensor-agnostic design allows for external sensors to be easily integrated, including lidar and cameras. It also can compute point clouds, trajectories and solutions in real-time, which is critical in time-sensitive missions. The system can be used in a variety of applications including mapping, inspection, autonomous vehicles, navigation and robotics.
Inertial Labs, inertiallabs.com

Mapping Software
With upgraded cloud capabilities

The Correlator3D mapping software now has upgraded cloud capabilities. With its distributed processing capabilities, Correlator3D allows users to scale their processing to match individual operational needs.
With the upgrade, Correlator3D can process large mapping projects and deliver results from UAV, aircraft and satellite imagery. It features a software package – a patented, end-to-end photogrammetry solution — designed to generate high-quality geospatial data from a variety of sources, including satellite and aerial imagery and UAVs. The upgrade aims to improve the technology’s performance in diverse cloud scenarios.
Correlator3D is designed to provide aerial triangulation (AT) and generate dense digital surface models (DSM), precise digital terrain models (DTM), point clouds, orthomosaics, 3D models and vectorized 3D features. By using GPU technology and multi-core CPUs, Correlator3D offers enhanced processing speed to support the rapid production of large datasets.
SimActive, simactive.com

MOBILE

Handheld GNSS Data Collector
Ideal for construction surveying

TDC6 is a handheld GNSS data collector designed for high-performance construction surveying. The device allows contractors to work with more complex data sets more effectively in the field, connect to the office for on-the-spot approvals, and quickly communicate changes to field crews.

The small, rugged device offers integrated Wi-Fi and Bluetooth, built-in cameras and 5G compatibility in a lightweight, shock-, dust- and water-resistant package. The device integrates seamlessly with Trimble data collection applications, including Trimble TerraFlex GIS software and Trimble Access survey field software, as well as third-party apps such as Esri ArcGIS Field Maps.
Trimble Geospatial, geospatial.trimble.com

Military-Grade Antennas
Designed for mission-critical applications

This advanced military-grade antenna product line includes ruggedized GPS, manpack omni and vehicle omni antennas. The products are designed for mission-critical applications such as vehicle navigation, personnel communications, vehicle communications, electronic warfare, and jamming.
The antennas meet MIL-STD-810 to offer durability while adhering to strict quality standards. The antennas also are compliant with the Trade Agreements Act (TAA), which makes them suitable for government and defense applications.
Built to withstand tough conditions, these antennas feature heavy-duty construction and a rugged design for long-lasting performance in challenging environments. They are designed to perform in extreme weather conditions and on rough terrains.
Its robust construction and NATO/U.S. standard mounting options aim to simplify integration into various setups during critical operations.
Fairview Microwave, fairviewmicrowave.com

Trimble SiteVision Software 5.0. (Image: Trimble)

Outdoor Augmented Reality System
With 3D scanning capabilities

SiteVision Software 5.0 is a high-accuracy outdoor augmented reality system, now with a 3D scan tool. The new 3D scan tool allows users to use lidar sensors available on some Apple Pro devices. The Trimble DA2 GNSS receiver is designed to capture point clouds efficiently and accurately with a single handheld solution.
Users can visualize 3D scan data directly in the field with SiteVision’s augmented reality view. The software allows users to create as-builts of the job site on the go, measure and plan resource allocation, reduce scan times, supplement UAV data and more by combining scanning and precision in a mobile solution. The product aims to facilitate practical and accessible field-to-office workflows for surveyors, contractors and engineers.
Trimble Geospatial, geospatial.trimble.com

OEM

Two LTE Modules
With integrated GNSS

The LTE-M cellular module series, the SARA-R52 and LEXI-R52, are designed to meet the needs of industrial applications requiring both positioning and wireless communication capabilities. Based on the u-blox UBX-R52 cellular chip, these modules are designed for a variety of internet of things (IoT) use cases, including both fixed and mobile applications.

The UBX-R52 chip is designed to simplify product design by reducing the need for additional components. It includes SpotNow, a positioning function developed by u-blox, which aims to provide location data with an accuracy of up to 10 m within a few seconds. This function is targeted at applications requiring occasional tracking, such as waste management, personal trackers and industrial machinery.

The chip’s uCPU feature allows the execution of custom software directly on the chip and eliminates the necessity for an external microcontroller unit (MCU). The smart connection manager (uSCM) is a feature designed to manage connectivity automatically, focusing on optimizing performance or minimizing power consumption under varying connection conditions.

The R52 series introduces the SARA-R520M10 combo module, which is equipped with an integrated u-blox M10 GNSS receiver. This module is designed to provide simultaneous GNSS and cellular connectivity, supporting applications that require continuous or periodic tracking with features such as low power consumption, improved time-to-first-fix (TTFF) and increased RF sensitivity.

Unlike many LTE-M modules that typically offer an RF output power of 20-21 dBm, the new R52 series modules offer a higher output power of 23 dBm to improve connectivity in difficult coverage areas. The LEXI-R52 offers the same functionalities as the SARA-R52 but comes in a smaller form factor, making it ideal for applications with space constraints, such as wearable technology.

These additions to u-blox’s LTE-M module portfolio are designed to address the integration of GNSS and wireless communication in industrial IoT applications, offering solutions for a range of use cases that require robust connectivity.
u-blox, u-blox.com

UAV

GNSS-Denied Navigation Kit
For challenging environments

This GNSS-denied navigation kit is designed to offer navigation capabilities in challenging environments. It combines UAV Navigation’s attitude and heading reference system (AHRS), the POLAR-300, with its Visual Navigation System, the VNS01, to offer advanced dead reckoning navigation capabilities with minimal drift.
The technology has error rates as low as 0% to 1% over covered distances. This is made possible by the kit’s visual-based technology, which allows for precise attitude and position estimation to stabilize flights in challenging conditions. The kit is equipped with advanced algorithms that can detect and counter sophisticated spoofing and jamming techniques to offer reliable and secure navigation, even in the face of potential signal disruptions. The kit can be used in both civil and defense sectors.
UAV Navigation-Grupo Oesía, uavnavigation.com

Lidar UAV Solution
Offers immediate access to terrain information

The lidar UAV mapping solution combines the WingtraOne GEN II UAV with a newly developed lidar sensor. This integration aims to advance UAV lidar efficiency, increase accuracy and simplify integration.
The solution incorporates a Hesai scanner, Inertial Labs IMU and NovAtel GNSS receiver designed to optimize data acquisition and reduce the need for post-processing strip alignment. This advancement offers immediate access to precise terrain information following each flight and enhances the efficiency of mapping and photogrammetric analysis in various sectors.
One of the key features of the lidar system is its reduced field time, with no calibration needed and a one-minute initialization process. The Wingtra lidar application and the system’s automated features offer a streamlined data capture process, which makes it accessible even to those new to lidar technology.
The solution offers a vertical accuracy of 3 cm from a 60 m flight height, with leading point density in its class. The WingtraOne GEN II’s design and automated flight patterns offer consistent results across different pilots.
Wingtra, wingtra.com

MACHINE CONTROL

GNSS Smart Antenna
Designed for industrial environments

AntaRx-Si3 is a GNSS/INS smart antenna housed in an ultra-rugged enclosure, designed for straightforward installation on machinery such as agricultural robots. It combines Septentrio’s centimeter-level GNSS positioning with an inertial measurement unit (IMU) within the same enclosure as the GNSS antenna, which uses FUSE+ technology.

The AntaRx-Si3 is designed for challenging industrial environments where GNSS signals are at risk of obstruction, such as under heavy foliage. The antenna’s exterior is crafted from impact-resistant polycarbonate with an IP69K rating and can withstand significant shocks, vibrations, and harsh environmental conditions.
It uses Septentrio’s GNSS+ algorithms to offer advanced multipath mitigation to operate in environments where satellite signals could be reflected off surrounding machinery or structures, such as silos. The antenna delivers high update rates and low latency positioning, which are crucial for the control loops of autonomous movements or rotations.
Septentrio, septentrio.com

3D Machine Control Software
Suitable for construction sites

The Leica MC1 software platform is designed to guide and automate machine control solutions.
Leica MC1 machine control software continues to evolve toward achieving a smart digital reality, with features such as Modify Models and surface logging. It compares the design model to the actual position of the machine’s cutting edge, such as the bucket or blade edge. The technology aims to assist operators in positioning machinery to achieve the planned design while allowing for a live digital representation of the progress. The software automatically controls the position of the machine’s cutting edge.

It is carried by the rugged hardware platform, the Leica MCP80 panel and MDS Series docking station, offering an interchangeable panel between machines on a job site. The MC1 platform is supported by the cloud-based Leica ConX productivity platform to offer more efficient management of heavy construction projects.
Leica Geosystems, part of Hexagon, leica-geosystems.com

<p>The post Launchpad: Lidar systems, machine control and UAV solutions first appeared on GPS World.</p>

Photo: Steer

In recent years, laser leveling has been increasingly replaced by machine control systems that enable operators to compare the position of their machine’s blade with a digital grading map, and then guide it very precisely to cut the proper elevation. These machine control systems combine global navigation satellite system (GNSS) receivers, to provide the position of the machine; inertial navigation systems (INS), to bridge short gaps in GNSS availability and to provide the platform’s attitude (pitch, roll, and yaw); and a variety of other sensors, to determine the movement of the machine’s attachments, such as booms, arms and buckets.

In this month’s cover story, we feature perspectives on machine control from:

• Microchip, which makes inductive position sensors that monitor the angular and linear movements of the attachments.
• Septentrio, which makes the AntaRX series of smart antennas.
• Gundersen & Løken, which makes the DigPilot kit for excavators.

Besides grading, other areas for machine control include trenching at a specific depth, spot-bulldozing to better prepare a site for grading, mass excavation and contouring edges. Artificial intelligence (AI) will soon start taking over the operators’ duties, but that’s for a future article.

<p>The post Guiding machines: Combining GNSS and other sensors is key to effective machine control first appeared on GPS World.</p>

Septentrio’s AntaRx GNSS smart antenna is designed for machine automation and control. (Photo: Septentrio)

From the early stages of the product’s design and development process, Septentrio collaborated with a leading heavy construction machinery OEM, which provided feedback that helped improve the product’s specifications.

I discussed the use of AntaRx for machine control with Silviu Taujan and Danilo Sabbatini, both product managers for the product — the former with a focus on the machine automation market and the latter with a focus on INS.

What type of customers were you addressing?

Taujan: Mainly OEMs and integrators for machine control systems looking for a GNSS receiver with this kind of form factor to build into their control, automation or guidance systems.

Photo: Septentrio

A smart antenna is easy to install on various machines, correct?

Taujan: Yes. It saves space and the cabling is much simpler. We have a single rugged connector for power and data. Our latest generation of GNSS boards has dual antenna support. You can deploy one smart antenna and feed an auxiliary antenna — the AntaRx-AUX — into it for dual antenna heading capability.

Where does the INS come in?

Sabbatini: The GNSS/INS version is the AntaRx-Si3. It has an industrial-grade IMU that gives very high quality sensor fusion to bridge gaps in GNSS or correction signals. It also provides accurate attitude — pitch, roll and heading. We use this INS mostly for applications that require full 3D attitude, and for integrity and availability. It is built for one minute without GNSS.

Does all the processing happen inside the box?

Sabbatini: The output is a 100 Hz fused position. It will be fused by default to GNSS, plus IMU. The system can also accept the platform’s velocity as an extra input for sensor fusion. The output can include the raw GNSS position, the GNSS-only position and the raw IMU data.

What are some use cases?

Sabbatini: For INS, the most important use case is precision agriculture. For many ag robots, a smart antenna is the form factor of choice and most of them require INS sensor fusion. This INS product is the easiest to integrate because everything is fused inside the enclosure. Also, compared to other form factors, the customers do not need to worry about the lever arm between the antenna and the IMU because it’s inside the box, so it’s already taken into account. So, this form factor eliminates all the installation problems inherent to an INS system. The German company Sodex is creating a real time mapping system to install on top of machine controls. Another application is for users who want to close gaps in signals, especially in smaller machines that are going more often between buildings and close to structures.

Taujan: For the version without INS, we’re looking at the more mainstream machine control customers and applications. Even from the conceptual phase of this, we started by engaging with some customers, including one large OEM in the Asian excavator market. Then, from the aftermarket or integrator side, one machine control integrator integrated it into a system for asphalt pavers. These are not yet commercially available systems, but we’re in the development phase with them.

<p>The post Septentrio: Smart antenna reduces cabling first appeared on GPS World.</p>

Image: Septentrio

Gundersen & Løken AS, in Oslo, Norway, founded in 1899, develops equipment for the construction industry. It uses Septentrio’s AntaRx in its Dig Pilot 3D machine guidance system, which it began to develop in 2007. The company is now launching the next-generation DigPilot to assist excavator drivers. Its DigPilot Terra user interface and graphics offer a wide range of functionalities for efficient earthwork. The development of DigPilot Terra is funded partly by Innovation Norway.

DigPilot uses multi-axial CAN bus angle sensors on all moving parts — chassis, boom, arm and bucket — to calculate the position of the bucket tip with centimeter precision. The sensors are gyro-stabilized and hold firmware that predicts angles in the coming milliseconds based on angles from the previous milliseconds. These calculated angles are pushed to the computer in the cabin, which can visualize the bucket position in real-time.

DigPilot is a two-antenna system. Until now, it relied on two Septentrio GNSS antennas installed on the rear of the excavator — one to determine the machine’s position and one to determine its heading. These data are fed to the Septentrio GNSS receiver (rover) inside the machine, which also receives correction data via internet or radio. The data from the GNSS rover is pushed to the computer in the cabin and, when combined with the angular sensor data, provides the exact coordinates of the bucket tip and the delta value of the finished project.

Now, Septentrio’s AntaRx technology makes DigPilot’s installation simpler and more robust because the built-in GNSS rover in one of the rear antennas greatly reduces the amount of cabling and the number of connectors.

I discussed DigPilot with Eric Floberg, the company’s managing director since 2019 when he took over from his father, and Erik Sørngård, the company’s R&D manager, who has been working with Septentrio products for 12 years.

When did you start working with Septentrio on AntaRx for DigPilot? At what stage of deployment is it?

Sørngård: We began to discuss features about four years ago. At that time, we had worked with other Septentrio products for eight years. So, they appreciated our cooperation and wanted to show us where their next stage in development was heading. Last year, they approached us again, to see whether we could start looking further into it.

Floberg: We now have one system here for testing and we have experience from the previous Septentrio products, such as the rover GNSS receivers, which have always given us the best of accuracy. Of course, now, we see the potential to make our system more robust and simpler. As soon as we have sold out the existing Septentrio products, we will incorporate the AntaRx into our next-generation machine control system.

Is DigPilot receiver-agnostic, even though you have a preference for the AntaRx?

Floberg: All the connections, the cabling and the components themselves are exposed to very tough environments and stresses of different kinds, such as extreme temperatures and vibrations. So, reducing the number of components and connections and cabling would definitely give us a higher uptime, which is the most important thing for our end users.

Having the antenna and the receiver in the same box means less cabling and easier installation, correct?

Floberg: Definitely. The anti-theft aspect here is also very important. In certain parts of the world, you will appreciate the opportunity to easily remove it from your excavator or bulldozer when you leave at night.

What are the key challenges?

Floberg: This winter has been the toughest one in Norway in 30 years. We have also had the chance to do some testing in very low temperatures and harsh environments. When we see it work as well as it does, we feel very confident about it.

What accuracy have you been getting?

Sørngård: When it comes to machine control, we look at the end result on the tip of the bucket. We have several sensors, and we have to calibrate the machine accurately. The receiver is not the biggest contribution to the noise in the algorithms. We trust that the Septentrio receiver delivers accurate numbers, and we must push ourselves to make the rest of the system meet the same standards.

Floberg: On 30-ton or 40-ton excavators with booms up to 10 meters long we are able to get sub-centimeter accuracy, but the tip of the bucket in such a machine is 1 in thick. Of course, there are many other factors, such as the wear and tear of the machine.

Is DigPilot typically factory-installed or aftermarket?

Floberg: We’ll do both. We are often called by the distributor — say, Volvo or Hitachi or Kobelco — to install an integrated system.

<p>The post Gundersen & Løken: Tracking the tip of the bucket first appeared on GPS World.</p>

SURVEYING & MAPPING

Handheld GIS Data Collection Solution
For outdoor operations

The handheld P6H solution is designed for GIS data collection and outdoor operations. Featuring a GNSS high-precision positioning module, rugged IP67-rated design, and 6-inch sunlight-readable display, the P6H offers positioning accuracy in harsh environments.
Equipped with a SinoGNSS self-developed high-precision K8 board and antenna, it can track all running and planned constellations with 1,590 channels, including GPS, BeiDou, GLONASS, Galileo, QZAA, IRNSS, and SBAS.

The P6H offers users centimeter- or decimeter-level accuracy. Its IP67 rating protects against dust and water to enhance its efficiency and durability in tough environments.

The device comes equipped with Survey Master and robust GIS functions, which allow users to take measurements of geographic elements and store the results as attribute data for subsequent analysis, calculation, and visualization. It also includes a mock location function for users to accurately share Survey Master’s position with P6H. The location data can then be accessed on a third-party GIS software.

It is also compatible with common GIS software such as ArcGIS Collector, Mapit GIS, and QGIS. Additionally, the P6H features an 8-core 2.0 GHz processor, up to 128 GB of storage and up to 6 GB of RAM to offer users smooth software operation and efficient data processing.

PH6, which features a high-precision GNSS module and antenna, also incorporates 4G LTE, Wi-Fi, and Bluetooth to improve its data transmission and sharing capabilities.

ComNav Technology, comnavtech.com

Bathymetric Lidar System
Maps underwater topography

YellowScan Navigator is a bathymetric lidar system designed for surveyors to map underwater topography in rivers, ponds, and coastal areas.

The system features a laser scanner developed in-house over the course of five years and has been heavily tested to achieve optimal performance. The compact system can map waterbeds with a depth of up to 3 m and can reach a depth of 18 m in perfectly clear water conditions, according to the company. It can be flown up to 100 m above the water surface and provides measurements with an accuracy of 3 cm. Additionally, a camera is embedded for true-color data visualization.

YellowScan, yellowscan.com

3D Model Editing Software
For aerial surveying, transportation, and emergency responses

DJI Modify is an intelligent 3D model editing software. It can be seamlessly integrated with DJI’s enterprise UAVs and 3D modeling and mapping software, DJI Terra. When integrated with these products, the software can be used for aerial surveying, transportation, and emergency responses.

DJI Modify paired with DJI Terra offers users an end-to-end solution from modeling to model editing. Once DJI Modify has been enabled, DJI Terra files for model editing are automatically generated, including pre-identified objects and pre-processing of the model. It is designed to make repairing common 3D model defects seamless and efficient. As of early 2024, DJI Modify will only support repairing models built by DJI Terra.

DJI Modify allows for model files to be quickly imported and exported to the DJI Terra and other third-party software. Its intelligent auto-repair editing supports flattening, editing textures, repairing water surfaces, removing floating parts, and filling holes. Edits can be made using one-click repairs or manually by selecting custom polygons, areas or meshes.

The software’s smoother model display technology allows high- and low-quality models to be viewed and edited in a single interface. Changes made can be synchronized across both models and previewed immediately, which allows users to address model editing issues in real-time.

DJI, store.dji.com

OEM

GNSS/IMU
Uninterrupted position, orientation, and dynamics

RT3000 v4 GNSS inertial measurement unit (IMU) combines two survey-grade GNSS receivers with OxTS’ IMU10 inertial technology. The RT3000 v4 offers uninterrupted position, orientation and dynamics in challenging environments.

The IMU will reach the desired specification within three minutes of low dynamic movements, which reduces the time and space required for high dynamic maneuvers before each data collection.

Users can customize the INS with optional features and software integrations to create the ideal INS for individualized projects, including lidar surveying and mapping or positioning in GNSS-denied or challenged environments.

Oxford Technical Solutions (OxTS), oxts.com

Precision Lidar Technology
Provides vision capabilities in challenging environments

The Eyeonic Vision System Mini (Eyeonic Mini) supports sub-millimeter resolution in a reduced size. The system integrates a full multi-channel FMCW lidar on a single silicone photonic chip and an integrated FMCW lidar system-on-chip (SoC).

The Eyeonic Vision Chip combines crucial photonics functions into a coherent vision sensor. The system’s accuracy stems from a 4-channel FMCW LiDAR chip — supported by Indie Semiconductor Surya SoC technology — to provide robots with sub-millimeter depth precision from distances exceeding 10 m.

The technology offers enhanced precision and can be used in automation, including warehouse logistics and artificial intelligence (AI) machine vision applications. Palletizing robots equipped with the Eyeonic Mini can view and interact with pallets, which aims to optimize package placement and truck loading with greater efficiency and safety.

SiLC Technologies, silc.com

PNT Platform
Used in critical defense operations

The Endura Epoch Platform provides robust and resilient positioning, navigation, and timing (PNT) services critical in defense operations.
The MEMS oven-controlled oscillator (OCXO) can boost the resilience of PNT systems and other equipment, including radars, field and airborne radios, satcom terminals, and avionics against spoofing, jamming and other disruptions in GPS signals.

Based on the Epoch Platform, the Endura Epoch MEMS OCXOs are designed to meet the challenging shock and vibration conditions found in aerospace and defense. These devices are manufactured using semiconductor processes that deliver the reliability and quality expected from silicon devices. The same level of reliability cannot be achieved by quartz crystal OCXOs, specifically in extreme conditions.

The Endura Epoch MEMS OCXOs, compared to quartz crystal OCXOs, includes various features and benefits, including programmable frequencies from 10 to 220 MHz; a 20,000 g shock survivability rating; up to 20 times better frequency stability over temperature; up to three times better Allan deviation, a measure of short-term frequency stability; surface-mountable, small footprint and low height 9.0 x 7.0 x 3.6 mm; low weight of 0.35 g; 420 mW steady state power.

SiTime Corporation, sitime.com

IMU
With an XYZ-axis gyroscope and accelerometer

The SCH16T-K01 is an inertial measurement unit (IMU) featuring a XYZ-axis gyroscope and a XYZ-axis accelerometer, for a total of six degrees of freedom.

The SCH16T-K01 includes a sophisticated gyro with typical bias instability of 0.5 dph and up to 0.3 mdps/√Hz noise density. The accelerometer has a dynamic range of up to 26 g, which provides resistance against saturation and vibration.

The component’s output is internally cross-axis compensated, which eliminates the need for extensive calibration. Through the integration of these features, the SCH16T-K01 can deliver accurate measurements in machine control and guidance without field calibrations.

It is suited for industrial applications such as construction and agricultural machines, material handling equipment, marine instrumentation, robotics, and UAVs.

Murata, murata.com

3-Axis Optical Gyroscope IMU
For GPS-denied environments

The ANELLO X3, a 3-axis optical gyroscope inertial measurement unit (IMU), is designed for GPS-denied and challenging environments.

The IMU leverages ANELLO SiPhOG (Silicon Photonics Optical Gyroscope) technology and serves as a light, low-power tri-axial optical gyroscope offering high accuracy, performance, and reliability for autonomous applications.

The ANELLO X3 can be used in a variety of applications, including autonomous commercial and defense applications involving robots, UAVs, electric vertical take-off and landing (eVTOL) aircraft and various maritime and land vehicle applications, including high-accuracy surveying and mapping.

ANELLO Photonics, anellophotonics.com

MOBILE

Smart Antenna
Centimeter-level RTK positioning

The AntaRx smart antenna is designed for machine automation and control in construction, precision agriculture, and logistics. It is enclosed in a rugged and compact housing for simplified installation and can handle high levels of shocks and vibrations, making it ideal for harsh industrial environments such as construction and mining.

The multi-frequency receiver offers centimeter-level real-time kinematic (RTK) positioning and can be used in inertial navigation system (INS) integration, dual antenna mode, and 4G cellular communication. It is available in several configurations, including as a GNSS smart antenna or a GNSS/INS smart antenna system and can be integrated as an inertial measurement unit (IMU).

The receiver technology integrates the company’s GNSS+ algorithms, including advanced multipath mitigation, which offers uninterrupted operation in challenging conditions such as near high structures or machinery.

Septentrio, septentrio.com

Handheld Scanner
With SLAM technology

The Lixel X1 is a powerful 3D scanner that combines lidar, visible-light and motion cameras, and high-precision inertial sensing using SatLab’s simultaneous localization and mapping (SLAM) technology.

Data and scene reconstruction can be previewed in real time and can be exported immediately after scanning without the need for post-processing, which aims to simplify workflows and enhance efficiency.

The system enables scans to be resumed from breakpoints, which allows surveys to be broken up into convenient segments. It provides up to 60 minutes of continuous operation and can be easily mounted to UAVs and other mobile mapping platforms.

SatLab Geosolutions, satlab.com

Ceramic Antenna
For connectivity on L1 GNSS signals

Admotus is a surface-mount ceramic antenna designed for connectivity on L1 GNSS signals on all constellations, including GPS-L1 at 1575.42 MHz; GLONASS L1, 1602MHz; Galileo L1, 1575.42 MHz; BeiDou (B1); and QZSS. It offers comparable performance to a small patch antenna on a small ground plane.

The ceramic antenna has an ultra-low profile measuring a mere 1.0 x 0.5 x 0.5 mm, requires 7 x 15 mm clearance area and offers improved performance on small PCB sizes.

Admotus offers a peak gain of 0.9 dBi with an average gain of –2.6 dB and offers maximum return loss of –11.5 dB and a maximum VSWR of 1.8:1. A companion evaluation PCB is also available for internal analysis.

It is suitable for all GNSS positioning applications in the L1 band (1559 – 1609 MHz) such as wearable devices for fitness and medical monitoring, small portable tracking devices used to track keys, pets, bikes, UAVs, agricultural robotics, and telematics devices.

Antenova, antenova.com

Rugged Tablet
For mobile field workers

The Mesa 4 Rugged Tablet features a 7-inch display and runs on Windows 11. It is designed to provide powerful rugged computing and data collection to mobile field workers.

The Mesa 4 comes with a new Intel N200 processor. It offers up to three times the CPU performance of the Mesa 3 and has an increased RAM size and speed to enhance its processing power. Mesa 4 has an IP68 rating, MIL-STD-810H certification and ergonomic design for all-day carrying.

Juniper Systems, junipersys.com

UAV

UAV Ground Control System
On an 8-inch rugged tablet

The Ground Control System (GCS) for UAVs is centered around RuggON’s LUNA 3 8-inch rugged tablet. It is designed to provide real-time control, telemetry, and satellite positioning for connected UAVs.

GCS is designed to provide users more control over a variety of UAVs by using the LUNA 3 rugged tablet, which has a large and high-definition screen to provide video feedback during operations. The system is also certified to provide GNSS positioning and tracking services.

Featuring a low-latency video software decoder, GCS allows for real-time high-resolution video viewing and data collection. Engineered to withstand dust, shock, and water, the control system can withstand challenging environments.

The LUNA 3 8-inch rugged tablet stands as a powerful and efficient model within its class, powered by an Intel Core i5 processor (1145G7E) with Intel Iris Xe graphics and the Windows operating system. Its sunlight-readable display supports night and stealth modes, which is cruicial for law enforcement and military applications. The tablet offers touchscreen functionality for enhanced operator convenience, complemented by ethernet and optional Wi-Fi 6, and 4G LTE connectivity.

RuggON, rugon.com

VTOSL
Bridging the gap between land and sea

The VT-Naut, vertical takeoff and short landing (VTOSL) is a versatile aerial solution designed for a variety of applications, including high-precision mapping and surveying for inspection, scouting, observation, and agriculture.

The VT-Naut can land on water, which makes it ideal for shipboard or coastal operations, and opens new ways for users to collect and observe data. It has a long-range telemetry link of 30 km and a flight endurance of up to 90 minutes. Its compact and robust body design provides durability and resilience in harsh environments.

The VT-Naut UAV system offers a cost-effective alternative to full VTOL platforms, particularly for users who require extensive surveying capabilities and have some flexibility in landing site selection. The system eliminates the extra costs associated with acquiring and operating a VTOL multirotor drone.

Aeromao, aeromao.com

Folding UAV
For challenging environments

The AIDrone UAV is designed for a variety of applications, from infrastructure inspections and renewables to defense and public safety.
The UAV features a high-performance payload, fitted with a 64MP EO/IR camera mounted on a dual-axis gimbal that can support vertical rotation of up to 200°. AIDrone can spot millimeter-sized cracks and detect subtle temperature changes in challenging environments.

AIDrone uses Nearthlab’s vision-based autonomous flight technology to operate autonomously — in zero-light and GPS-denied environments — both indoors and outdoors.

It weighs around 4 lbs and has a foldable structure. AIDrone is designed for intelligence, surveillance, and reconnaissance (ISR) purposes, which makes it ideal for crisis management scenarios such as wildfire response and law enforcement.

Nearthlab, nearthlab.com

ISR UAV
With jamming resistant-radio

The Ghost Dragon intelligence, surveillance, and reconnaissance (ISR) UAV offers higher resistance against jamming and spoofing. The UAV is equipped with a thermal and visual light camera and jamming-resistant radio. Its wide frequency hopping radio is used to provide a jamming-resistant video and telemetry link, which makes it difficult to detect the UAV and interfere with the mission.

The Ghost Dragon ISR uses a dual-band GNSS module that operates on both L1 and L5 bands, which allows for flight operations even in challenging environments. The UAV can operate in radio silence mode in the presence of GNSS and store reconnaissance data on an encrypted SD card to view after the UAV has landed. The video and target location information streamed to the operator is also georeferenced.

The UAV can be redirected, flown back to base, or handed to another operator at a different ground control station at any time.

Krattworks, krattworks.com

<p>The post Launchpad: Lidar systems, PNT platforms and UAVs first appeared on GPS World.</p>