The Italian Test Bed STENAV

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The Italian Test Bed STENAV
Satellite Test Bed for Navigation and
Communication Services
Presented by Stefano LagrastaTelespazio
S.p.A. - Rome (ITALY)stefano_lagrasta_at_telespazio.
it
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What is STENAV?
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STENAV a joint effort

• STENAV is a joint effort, aiming at exploiting
  GalileoGPS GNSS concepts and navigation
  applications
• commissioned by ENAV, Italian Authority member of
  Eurocontrol
• implemented and co-funded by Telespazio and
  Alenia Marconi Systems
• http//galileo.cs.telespazio.it/stenav/

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STENAVTechnical Objectives (i)

• Simulation of the Galileo system characteristics,
  to set up an experimental platform,
  interoperating Galileo-GPS-EGNOS and supporting
  sole-means navigation verification capabilities
  
• Prototypal demonstration of message communication
  facilities for navigation-related services, based
  upon the hypothesis of a bi-directional data
  exchange capability of User Terminal
• Simulation of Space Segment, Ground Segment and
  User Segment, along with an innovative Service
  Segment layer to support applications ranging
  from Air Traffic Management to Fleet Management,
  Infomobility, Hazardous Goods Transport

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STENAVTechnical Objectives (ii)

• Development of prototype means and capabilities
  to control in-orbit the future Galileo satellite
  constellation
• Definition and implementation of a SIS Flight
  Test Facility reference and analysis platform,
  in order to validate the GNSS performances during
  flight trials
• Execution of Flight, Road, Maritime trials and
  demonstration campaigns to validate the benefits
  of Interoperability and Communication
  capabilities relevant sectors of the navigation
  market

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Recalling STENAV Milestones
NEXT STEP
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STENAV Programme Overview
Flight Trials and applications/ services
demonstration Reviews FTR-1 Early 2003
(FTR-2) Mid 2003
Implementation Review (IR) 7 / 2001
On Site Acceptance Review (OSAR) 2 / 2002
Simulation and Validation Review (SVR)
RR/PDR 12 / 2000
Scenario 3
KO 9 / 2000
CDR 4 / 2001
Scenario 2
Scenario 1
Simulated (Galileo) and Real
(GPS-EGNOS-MTB COM Payload) Environment
User Terminal Prototype-1
Simulated (Galileo) and Real
(GPS-EGNOS-MTB) Environment
User terminal Prototype-0
Simulated (Galileo) Environment
Upgraded MTB
Market Analisys, User Requirements, Operational
Concepts , Design Development
Phase 1
Phase 2 Phase 3
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Approaching In-field Trials
Galileo-GPS-EGNOS Interoperability and
Compatibility Tests and Validation Integrated
NAV solution algorithms prototyping Integrated
NAV solution performance analysis
Scenario 1 (Simulated GALILEO MTB)
Scenario 2 (Simulated GALILEO GPS and
MTB/ESTB augmentation )
Platform
STENAV
Innovative applications/services
demonstration through integrated COM capabilities
prototyping
Scenario 3 ( Trials, with wireless
communication capabilities )
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STENAV System
Test Bed Architecture Overview Simulator
Baseline Elements and Principles
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Test Bed - 1st Level Scenario
Simulated NRS COM Link
Galileo Constellation Simulator (GCS)
Simulated Galileo NAV MSG Observables COM Info
INMARSAT IOR
TC-TM
Configuration FDS / NRS Products
Ground Control Segment
NRS Communication Control Segment
Integrity Remote Stations Simulator (G-RIMS)
TTC Simulator
UDS Simulator
CCFCNM Simulator
OCC Op. Control Centre
?
OSS Simulator
Gateway(s) Simulator
User Terminal Simulator (UTS)
?
NPCF Simulator
NRS Traffic Simulator
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Test Bed - 3rd Level Scenario
Galileo SBAS MSG NRS COM Link
GPS
INMARSAT
GPS real SBAS SIS
GPS real NAV SIS
ESTB
MTB
NRS COM Link
Simulated Galileo NAV MSG Observables COM Info
User Terminal
Galileo Signal Simulator (GSS)
Prototype
CFG Data FDS / NRS Products
STENAV Test
(UTP)
Bed Baseline
Ref. Position
and
STDMA Transponder ( with integrated DGPS
receiver)
Service Centres
ATM data DGPS Corrections
(VHF Link)
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Vehicle for FTR1 Road Trials
Galileo SBAS MSG NRS COM Link
INMARSAT
GPS
GPS real NAV SIS
GPS real SBAS SIS
MTB
NRS COM Link
UTP
GSS
CFG Data FDS / NRS Products
STENAV Test
Bed Baseline
and
STDMA VHF LINK
Service Centres
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Test Bed - FTR2 Scenario
Galileo SBAS MSG NRS COM Link
GPS
COMM S/C
INMARSAT
GPS real SBAS SIS
GPS real NAV SIS
ESTB
Real Gateway
MTB
NRS COM Link
Simulated Galileo NAV MSG Observables COM Info
User Terminal
Galileo Signal Simulator (GSS)
Prototype
CFG Data FDS / NRS Products
STENAV Test
(UTP)
Bed Baseline
Ref. Position
and
STDMA Transponder ( with integrated DGPS
receiver)
Service Centres
ATM data DGPS Corrections
(VHF Link)
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Aircraft for FTR2 Flight Trials
Galileo SBAS MSG NRS COM Link
GPS
INMARSAT
COMM S/C
GPS real NAV SIS
GPS real SBAS SIS
Real Gateway
MTB
NRS COM Link
UTP
GSS
CFG Data FDS / NRS Products
STENAV Test
Bed Baseline
and
STDMA VHF LINK
Service Centres
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Simulator Baseline Elements - I

• The Test Bed Simulator Baseline groups the
  following components within a unique rack
  assembly, made by 8 Compaq industrial computer
  units (1 x SP750 7 x ML370R)
• GCS, OSS , TTC , NPCF, CCFCNM, GWS, GTS
• Additional components are implemented with
  separate Compaq workstations
• ( 5 x ML330T)
• 3 Test Bed Simulator Baseline Control
  Workstations
• Operations Control Centre (OCC)
• TPZ STENAV Service Centre (SSC) Application
  Interface

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Simulator Baseline Elements - II
Baseline Rack System Control Workstations
Gateway to GEO COMM SPACECRAFT
( FUCINO Space Centre) MTB
ISDN or PSTN Routing
ISDN Routing
Monitor ( GCS GTS)
GCS H1
TTCC
TPS SSC I/F WS
OCC
GCS H2
OSS
NRS GWS
NPCF
CCFCNM
NRS GTS
Baseline Rack System
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Galileo Constellation Simulator (GCS)
GCS

• This component simulates all Galileo Space
  Segment, i.e. 30 satellites, organised as 2
  Walker constellations
• Not only the orbit trajectories are represented,
  but some relevant bus elements (i.e. TM / TC
  modules, realtime task scheduling) as well as the
  Navigaton payload
• The GCS is splitted into two computers, one
  hosting the Satellite ToolKit (STK) COTS S/W, the
  other one devoted to real-time applications. STK
  control is fully remotised via TCP / IP network
  and used to compute primary file simulator
  products (about 1 GB of data for a typical
  scenario)
• The GCS is able to exchange telemetries and
  telecommands in general Navigation Messages are
  to be properly uploaded, giving a realistic
  scenario of what it means dealing with a GNSS
  constellation

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Galileo Constellation Simulator (GCS) STK 2D/3D
Visualisation Features
SATELLITE TOOLKIT (STK)
STK 2-D and 3-D Visualization Options
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Galileo Constellation Simulator (GCS) Using STK
as generatorof FDS reference products
STK/Connect Commands
STK REMOTE CONTROL MODULE
?
SOE
SCENARIO CONFIGURATION MODULES
?
PV
SATELLITE TOOLKIT (STK)
GTP
FILE EXCHANGE TOOLS
?
?
LOC
STK FILE POST PROCESSING MODULES
?
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Galileo Constellation Simulator (GCS)STK FDS
Engine Remote Control
GCS1 - SP750 WS
GCS2 - ML370R Server
Derived file products
Constellation Generator Module Orbit and Events
Prediction Graphics SATELLITE TOOLKIT (STK)
Constellation Generator Module Run-Time Support
Components
FTP NFS
SOE
Satellite Subsystems Simulator Module - NAV
Payload not included -
SV PV
STK primary output data files
NAV Payload Simulator Module
Interface Front-End Modules
STK/Connnect TCP/IP Socket
Constellation Generator Module Core STK Management
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Galileo Constellation Simulator (GCS)STK/Connect
Remote Control Language
This is a comment ConControl / AckOn ConControl
/ ErrorOn ConControl / VerboseOn New / Scenario
STENAV DoesObjExist / Scenario/ STENAV SetUnits /
Kilometer SetUnits / Second SetUnits /
Gregorian ShowUnits Scenario/ Connect New /
Scenario//Satellite GSAT_11 SetStateCart
Scenario//Satellite/GSAT_11 J4Perturbation "1
Jan 2005 000000.00" \ "4 Jan 2005
000000.00" 60 Fixed "1 Jan 2005 000000.00"
\ -5559.773760 -29474.344282 14.115216
-0.145966 0.028981 3.022285 ( additional lines
will characterise here each Galileo vehicle )
New / Scenario//Facility TT_C_001 SetPosition
Scenario//Facility/TT_C_001 Geodetic -31.5139
-64.458 0.6718 SetConstraint Scenario//Facility/T
T_C_001 MinElevation 5.0 ( additional lines
will characterise here each Simulated TTC )
And so on.
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Galileo Constellation Simulator (GCS)Task
Scheduling

• GCS implements a RTC syncronous Task Scheduler,
  programmable to activate periodically a generic
  Task over a defined time base
• GCS implements also asynchronous Tasks (e.g.
  RPC server)
• A Shared Memory allows condivision of complex
  data structures between all Tasks

GCS
SHARED MEMORY AREA
TASK SCHEDULER APPLICATION SOFTWARE
TASK 1
ACT
ACT
TASK 2
...
ACT
TASK N
ACT
Task periodic activation scheme
RTC H/W IRQ SYNC
RPC SERVER
RTC TIME SYNC TO OTHER MODULES
RTC Time
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Galileo Constellation Simulator (GCS)Task
Scheduling

• The Task Scheduler allows different Tasks to
  access common resources, as the Shared memory
  area, without conflicts on write
• The read operation on Shared Memory will never
  cause any conflict
• Different Tasks can operate at different cycling
  periods
• The start and the prescribed end time
  allotted for each Task within its execution
  period are strictly surveilled
• The Task Scheduler is an interrupt-driven
  application.
• Interrupts are obtained programming the RTC device

TASK m
RTC Time
W
W
TASK n
RTC Time
W
W
SHARED MEMORY AREA
R
R
R
R
TASK p
RTC Time
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Orbitographic Synchronisation Stations (OSS)
Simulator
OSS Simulator

• Implements detailed models of physics (e.g. time
  error of SV atomic clocks and atmospheric RF
  delays), to generate NAV Observables for all the
  End Terminals of STENAV
• In such a way, the GCS still takes care of NAV
  Message, but not of the large computation effort
  needed for NAV Observables
• Ii also simulates the geographic distribution of
  a number of Galileo reference Receivers for G/S
  Flight Dynamics application purposes

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TTC Simulator
TTC Simulator

• This component simulates a geographic
  distribution of TTC Stations it receives TC
  items from OCC and implements the I-TC and TT-TC
  queues for all satellites of simulated Galileo
  constellation
• In such a way, the GCS will retrieve TC items
  with its own sampling rate and rules, being
  released from the computation effort needed to
  manage large queues for a lot of satellites
• It also performs a check on real visibility of a
  Space Vehicle from a simulated TTC antenna,
  based upon AOS-LOS Sequence of Events

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Navigation Processing Control Facility (NPCF)
Simulator
NPCF Simulator

• This component is the number crunching element
• for the Navigation mission support, including
• full determination of the Navigation Message, to
  be subsequentially up-linked to the simulated
  Space Vehicles (SV) through the OCC and the
  simulated TTC, or directly via GCS capabilities
• generation of a plan for the up-link of the
  Navigation Message components, consistent with
  satellite TC operations
• It also acquires, stores and re-distributes the
  SBAS message produced
• by MTB, accessing the TMS via ISDN connection
  with Fucino

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Navigation Processing Control Facility (NPCF)
Simulator
SV Ephemeris Set and Clock Syncronisation
Parameters Calculation Module
Calculates the SV precise Orbit Parameters and
SV Clock Offset Correction Coefficients
Calculate the overall Constellation Orbit
Parameters for long term, low precision orbit
propagation
Constellation Almanac Calculation Module
Ionospheric Correction Terms Calculation Module
Calculates the Klobuchar compensation parameter
set
Schedules the NAV Data uploading to
SV, generating outputs to the OCC
NAV Data Submission Planning Module
Acquires (via ISDN link) the MTB
message, archives its samples and distributes it
to STENAV clients
Real-Time MTB SBAS Message Distribution Module
NPCF- 1
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STENAV NAV/COM NRS Modelling
GCS
NRS
TPZ / AMS Service Centres
UTS/UTP
Gateway Simulator
GTS

• STENAV
• NRS related elements
• Gateway Simulator (GWS)
• Traffic Simulator (GTS)
• CCF-CNM

CCFCNM
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Communication Control Facility Communication
Network Management (CCFCNM) Simulator
CCFCNM Simulator

• This component is the number crunching element
• for the Communication mission support, including
• Genetic Algorithm - based tools for UDS optimal
  number determination and location over Europe
• Algorithms for NRS signal ground-track theoretic
  determination, used for NRS optimal channel
  assignment
• Generation of configuration data for the Traffic
  Simulator (GTS)
• UDS and User Terminal SOE (Sequence Of AOS- LOS
  Events)
• Satellite tracking schedule for each UDS
• (? Handover management)

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Galileo NRS Traffic Simulator (GTS)
The GTS represents the NRS NAV/COM simulated
network it includes all the nodes of the NRS
scenario. Its core element is the OpNet Modeler
COTS application The main function of the GTS
is to receive ad transmit messages from and to
UTS-UTP / Service Centres For this aim it uses
a CORBA interface with Gateway Simulator every n
secs the simulated UTS-UTP and SC nodes send get
data messages in order to retry from the gateway
queues the messages from real SC and UTS-UTP
GTS
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Galileo NRS Traffic Simulator (GTS) OpNet
Modeler Real-Time Configuration
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STENAV NRS Gateway Simulator
Commutators
CORBA I/F (TPZ Test Terminal) RPC (AMS UTS/UTP)
CORBA I/F (TPZ SSC) TCP Sockets (AMS SC)
CORBA I/F
GTS
Transmitting and receiving queues
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STENAV System
Test Bed Architecture Overview End Terminal
Elements and Principles
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End Terminal Elements - I

• The Test Bed End Terminal groups the following
  components
• UTS ( User Terminal Simulator )
• UTP ( User Terminal Prototype )
• G-RIMS ( Galileo Remote Integrity Stations
  Simulator)
• SIS-FTF ( Signal In Space Flight Test Facility )
• Additional equipment populates the existing AMS
  CNS-ATM Centre
• main new components related specifically to
  STENAV are
• ADSP, GNSSM ( GNSS Monitoring system ), NAV GW,
  COM GW

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End Terminal Elements - II
Baseline Rack System
Comm Gateway
UTS/UTP
GNSSM
G-RIMS
Navigation Gateway
ADSP 1
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UTPSystem Overview
COMM SAT Data Link
GSM Data Link
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UTPOverall Functionalities

• Weighted positioning algorithms exploiting
  different satellite constellations, i.e.
  simulated Galileo and real GPS
• SBAS pseudorange corrections and integrity data
  application based on RAIM techniques
• CNS/ATM and multi-modal applications through NRS
  protocol (e.g. ADS, CPDLC, etc.) via ground and
  satellite based wireless networks
• STDMA transponder information management for
  local VHF communication and to acquire reference
  (DGPS corrected) mobile vehicle kinematic status

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UTPHardware

• Ashtech GG24/EGNOS receiver
• NAV/COM based on VME rack 19, including Ashtech
  receiver, Radstone PPC4 COTS 6U VME64 Single
  Board Computers with PowerPC 750 to 333MHz
  module, Flash memory module, PMX654 Radstone
  Mezzanine and PSU A/C 28 VDC Module
• SAT-COM L-band Tx-Rx composed by
• Omnipless Aero-I/M antenna and controller
• Comdev avionic DLNA (Diplexer/Low Noise
  Amplifier)
• Cernex HPA (High Power Amplifier) and 28 VDC
  power supply,
• Paradise P310-L modem
• SAAB T5 VDL mode 4 transponder
• ETG NFS-5000 CDNU (Cockpit Display and
  Navigation Unit)

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UTPCurrent Status

• The following capabilities of STENAV System have
  been achieved at User Terminal level
• Galileo Navigation standalone
• Galileo Navigation with MTB SBAS complement
• GPS Navigation standalone
• GPS Navigation with EGNOS SBAS complement
• Interoperation GPS Galileo, with or without
  SBAS
• Enhanced Navigation with RAIM protection
  techniques
• Application of NRS for AMS ATM services (CPDLC,
  DLIC, ADS)
• Support to application of NRS for TPZ
  road/maritime demonstration services

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UTPDevelopment Control Interface
Interoperating GPS GALILEO Two Galileo
spacecrafts ( ID 34 and ID 51 ) are declared as
faulty by the User Terminal, according to RAIM
tecniques (in fact, simulator corrupts their
measurements with ramp errors) SBAS compensation
is not currenty active.
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Signal In Space Flight Test Facility
                                             

• SIS Flight Test Facility (SIS FTF) will be used
  to check the obtainable performances of the
  UTS/UTP positioning system, to verify compliance
  with the ICAO RNP accuracy, integrity, continuity
  and availability requirements
• GPS signal will be analysed in terms of
• interference aspects, multipath and jamming issues

ENVIRONMENT ANALYZER 26 GHz
REC. GPS - GLONASS - EGNOS
GYRO
GPS REF. A
Memory
unit A
PROCESS UNIT AND DATA RECORDING
DATA REC. UNIT
GPS REF. B
UTP
Analysis
Memory
Station
unit B
MEMORY UNIT A

MEMORY UNIT B
POST PROCESSING GROUND
GROUND GPS REFERENCE STATIONS
STATIONS
MOBILE EQUIPMENT
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STENAV System
Test Bed Architecture Overview TPZ Stenav
Service Centre Asset
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TPZ Service Centre Asset

• Telespazio Service Centre (I)
• The TPZ Service Centre was originally developed
  and deployed to generate and access services in
  the dedicated fields of Earth Observation and
  Applied Sciences, Navigation, Education and
  Training, Co-operative work, Tele-Medicine
• The value-added service components relay on a
  robust back-office platform, based upon CORBA
  distributed architecture and including
  application-server systems (e.g. for map
  generation and delivery)
• As a results, products like image processing, GIS
  systems, high precision GPS data elaboration -
  including monitoring of landslides and
  subsidences - are supplied to the final customer,
  being accessible also with Web resources

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TPZ Service Centre Asset

• Telespazio Service Centre (II)
• Innovative software solutions relay on a
  configurable fleet management application
  concept, allowing to detail "policies", depending
  upon the "fleet mission" which has to be
  accomplished. The collection of policy
  programmable rules is the core element to
  differentiate the fleet category and its
  individual task
• For example, in the case of an "hazardous goods
  transport"
• check whether the real route might differ, with
  respect to the pre-defined and agreed one, of a
  given percentage figure
• raise a status flag, in response to the
  processing of measurement data originated from
  sensors embarked on fleet vehicles
• check whenever the distance between two
  subsequent vehicles of the fleet trespasses a
  specified threshold
• verify if vehicles approach at too short
  distances some prohibited regional areas

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TPZ Service Centre Asset
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TPZ SSC Administration GUI
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TPZ SSC Business Logic Application Principles
Alarm rule If the mobile not within
tolerance alert fleet owner by SMS
Fleet Owner
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Current StatusTPZ SSC - GUI Examples
TPZ SSC 3D Visualisation Tool
TPZ SSC Fleet Manager
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STENAV System
Test Bed Architecture Overview AMS ATM
Service Centre Asset
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AMS Service Centre Asset

• Alenia Marconi Systems ATS Centre (I)
• It exploits new approaches in Communication,
  Navigation, Surveillance applications for Air
  Traffic Management (CNS/ATM). Among others, the
  following Air Traffic Services (ATS) are
  implemented with simulated NRS COM for
  experimental purposes
• Automatic Dependent Surveillance (ADS)
• Controller-Pilot Data Link Communications (CPDLC)
• Moreover, system is equipped to perform a deep
  analysis of the Sole means navigation concept,
  mainly by means of a Navigation Satellite System
  Monitoring (GNSSM) tool

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AMS Service Centre Asset

• Alenia Marconi Systems ATS Centre (II)
• The GNSSM collects SBAS Data from MTB and
  GPS/Galileo satellite ephemeris/almanac files
  from Test Bed Baseline Simulator
• The GNSSM calculates the current and predicted
  GNSS performances, generating a point grid
  (virtual user position), in which the
  performances have to be evaluated, and estimating
  the RNP values for those points. The grid is
  displayed on a geographic map via a man-machine
  interface suited to ATC application
• The GNSSM tool allows the Controller to know the
  situation of the aerospace around a selected
  area, in a specified time interval, in order to
  avoid the sector to those airplanes that might
  not achieve compliant navigation performance for
  a flight procedure

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GNSSM (GNSS Monitoring Tool)
Prediction Tool Window
Grid Area Situation Window