Bangkok University

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Bangkok University Robotics Laboratory
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Agenda

• Car Navigation
• Global Positioning System GPS
• Digital Map
• Navigation System for Intelligent Vehicle
• Conclusion

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Car Navigation

• History of Car Navigation (Japan Case)
• Vehicle Information Communication System (VICS)
• Intelligent Transportation Systems (ITS)

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Brief History of Car Navigation

• In Japan the early 80s, the first car navigation
  equipment was invented, using analog-map and
  gyrocompass.
• After that, development of digital map has begun.
  The navigation equipment with digital map CD-ROM
  was brought to market in 1987, and the device
  with GPS (global positioning system) was released
  in 1990

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Brief History of Car Navigation

• In 90s, Japanese roadmap was digitized on a scale
  of 1 to 25,000, in an effort to improve accuracy.
• Autonomous navigation had been major method,
  using gyrocompass and geomagnetic sensor. But at
  the end of year 1993, when US military global
  positioning system (GPS) formally became open to
  commercial use.

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Brief History of Car Navigation

• At the time, major technologies such as CD-ROM,
  Digital map, GPS, and LCD display had been
  developed. The heyday of car navigation system
  was about to begin.
• Up to the present time, Japanese car navigation
  system has become one of the most excellent
  products in the world through the persistent
  efforts by manufactures and various improved
  features route guidance for congestion, audio
  assist, maps with 3D effect, zoomed image of
  traffic intersection, destination information
  sign, improvement in driver assist, indication of
  lane information, wide screen for better
  visibility, high-quality picture technologies,
  pursuit of high accuracy, etc.

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Vehicle Information Communication System

• VICS is an innovative information and
  communication system, enables to receive
  real-time road traffic information about
  congestion and regulation, This information is
  edited and processed by Vehicle Information and
  Communication System Center (VICS)
• In Japan, car navigation equipments are more
  widely used than in any other country in the
  world.
• In the future, you will be able to receive
  real-time information on faraway region (traffic
  information, for example), by the development of
  telematics and communication technologies.

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Vehicle Information Communication System
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Vehicle Information Communication System

• FM Multiplex Broadcasting
• ??????????????? ? ??
• Radio wave Beacon
• ??????????????????????????????? 200 km
• Infrared Beacon
• ??????????????????????????? ? 30 km

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Global Positioning System GPS

• ???????????????????????????????? ?????????? 3
  ????????? ???
• NAVSTAR (American)
• GLONASS (Russian Federal)
• GALILEO (European Consortium)

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NAVSTAR, GPS

• ???? GPS ??????????????????????????? U. S.
  Department of Defense (DOD). ?????????????????????
  ??????????????????????????????????
• ???? GPS ?????????????????????????? ???????? ????
  ??????????? ? ?????????????????????? GPS (GPS
  Receiver)
• ????????????????? GPS ????? 4 ????????????????????
  ????? (Position) ??????????????????????? 3
  ??????????? (Time) ?????????????????????? GPS

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GPS System
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GPS Signal

• ????????????? GPS ????????????????? 2
  ??????????????
• L1 1575.42 MHz
• L2 1227.60 MHz
• ????????????????? GPS ????????????????????????????
  ????????
• C/A Code (Coarse Acquisition Code)
• P-Code (Precision Code)
• Navigational Code

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GPS Signal

• ????????????? L1 (1575.42 MHz) ???????????????????
  ?????????? (Standard Positioning Service SPS)
  ????????????????????? L2 (1227.60 MHz)
  ??????????????????????????????????????????????????
  ???? ionospheric ??????????????????????? Precise
  Positioning Service (PPS)?????????????????????????
  ????????
• ????????????????????????????????????? L1 ??? L2
  ???????????????????????
• ?????? C/A (Coarse Acquisition)
• ?????? P-Code (Precise)
• ?????? Navigation

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GPS Signal

• ?????? C/A (Coarse Acquisition)
  ????????????????????????? L1 ?????????????????? 1
  MHz ??????????????? Pseudo Random Noise (PRN)
  Code. ?????? C/A ?????????????????????????????????
  ?? 1 MHz ????????????? ? 1023 bits (???????????)
• ?????? P-Code (Precise) ??????????????????????????
  ??? L1 ??? L2 ???????????????????????????? (??? 7
  ???)???????????? 10 MHz. ?????? P-Code
  ?????????????????????????? Y-Code
  ????????????????? Key ?????????????????? ??????
  P-Code (???? Y-Code) ?????????????????????????????
  ??? Precise Positioning Service (PPS)
• ?????? Navigation ?????????????????????? L1 ???
  C/A ???????????? 50 Hz ???????????????????????????
  ????????????????????????????????
  ???????????????????????????????? Clock
  ?????????????????????? ? ?????? GPS

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GPS Signal
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GPS Navigation Data
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GPS Error

• ????????????????????????????????????????????????
  2 ???????? ? ???
• a) ?????????????????????? (Correctable Errors)
• - clock error
• - ephemeris and orbit errors
• - ionospheric and tropospheric delays
• - selective availability
• b) ???????????????????????????????
  (Uncorrectable Errors)
• - receiver noise
• - multipath errors

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Differential GPS

• ????????????? DGPS ??????????????????????? GPS
  ????? 2 ??? ??????????????????????????????????????
  ????????????????????? (?????? Base Station)
  ?????????????????????????????????????????????
  (????????????? Remote Station) ???????????????????
  ???????????????????????????????????????

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Differential GPS
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?????????????????? GPS
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????????????????????????????????? GPS
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Digital Map

• Mapping the Earth
• Map Projection
• Reading Map
• Map Scales and Accuracy

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Mapping the Earth
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(No Transcript)
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Map Projection

• Mercator Projection

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Map Projection

• Universal Transverse Mercator Projection (UTM)

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Map Projection

• Space Oblique Mercator Projection

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Reading Map

• Latitude and Longitude
• Used as a grid measurement system for navigating
• Units are degrees (divided into sixty minutes and
  the minutes into sixty seconds)
• For example 111o 52 30 (where indicates
  minutes and indicates seconds)

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Reading Map (Cont.)

• Using UTM Map Projection
• The UTM system divides the Earth into 60 zones
  each 6 degrees of longitude wide.
• These zones define the reference point for UTM
  grid coordinates within the zone.
• UTM zones extend from a latitude of 80o S to 84o
  N. In the polar regions the Universal Polar
  Stereographic (UPS) grid system is used.
• UTM zones are numbered from 1 to 60 starting at
  the international date line, longitude 180o, and
  proceed east.

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Reading Map (Cont.)
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Map Scales and Accuracy

• Map Scale
• In form 1 xxxxx
• Ex. 110000 that mean 1 unit on the map represent
  10000 units on the ground
• Map Accuracy
• Normally depend on Map Scale such that
• 11000 error can be 0.5 m
• 110000 error can be 5 m
• 125000 error can be 12.5 m

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Navigation System for Intelligent Vehicle

• Address Matching
• GPS (with Differential Technique)
• 3D Motion Sensor
• Gyro
• Acceleration sensor
• Terrestrial magnetism sensor
• Map Matching

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Conclusion

• Today, have many navigation system in consumer
  product
• Need digital map (more accuracy) in Thailand

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Conclusion

• ?????????????????
• - DGN (Microstation)
• - ShapeFile (ArcView)
• - TAB (MapInfo)
• Translation and Topology in Spatial Data (IGDS to
  ARC)
• http//www-laep.ced.berkeley.edu/classes/la188x/ht
  docs04/labs/lab7/lab7_04.html
• DGNLib a Microstation DGN (ISFF) Reader
• http//dgnlib.maptools.org/
• dgnlib.h File Reference
• http//dgnlib.maptools.org/libhtml/dgnlib_8h.html
• www.gisdevelopement.net
• Data
• http//www.gisdevelopment.net/downloads/data/index
  .htm
• Geodata from MicroImages,Inc