MUSE/ ISP - Integrated Sensor Platform with Multi-Sensor, Multi-Frequency and Multi-GNSS RTK Positioning for Autonomous Driving

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Objectives of the service

The automotive industry has made very stringent requirements on the accuracy, availability and integrity of the position information for autonomous cars. Obviously, there is a need for a highly redundant positioning system and a powerful sensor fusion. The ANavS Integrated Sensor Platform (ISP) is the ideal solution for the automotive industry and related R&D.

Fig. 1: The Integrated Sensor Platform of ANavS
Image credit: ANavS GmbH, Project: MUSE/ ISP

The ISP includes the following sensors:

  • 3 Multi-frequency, Multi-GNSS receivers
  • 1 IMU with high bias-stability
  • 2 Cameras
  • 1 Lidar
  • 1 CAN interface for wheel odometry
  • 1 LTE module for reception of RTK corrections

The ANavS ISP benefits from a modular and flexible design, i.e. sensors can be easily added or removed from the system based on the customer needs. The core of the ISP is the tightly coupled ANavS Multi-Sensor, Multi-Frequency and Multi-GNSS RTK positioning.

The ANavS ISP offers various interfaces to the end user including CAN, Ethernet, USB, WiFi and LTE for outputting the position information.

The ANavS ISP, the ANavS RTK positioning and the ANavS sensor fusion are protected by various patents including EP 20000278, DE 10 2019 000 804.9 and EP 2479588 B1 and EP 2624013 B1.

Users and their needs

The ISP addresses multiple user needs:

First, operators and users of development car fleets request an easy and fast installation and removal of the sensors from vehicles. It is important to protect the sensors while still being fully operational. The ISP fully addresses these user needs. There is no need to measure lever arms manually, which is a time-consuming and often error-prone process.
Second, users require a very accurate position, velocity and attitude information for autonomous driving, precise mapping and object detection. The ISP fulfils these needs with its Multi-Sensor, Multi-Frequency and Multi-GNSS RTK positioning.
Third, the automotive industry requires a very demanding level of availability and integrity for autonomous driving. The ISP of ANavS addresses these needs by a large sensor redundancy (3 GNSS, INS, wheel odometry, 2 cameras and Lidar) and a powerful sensor fusion.
ANavS targets manufacturers, operators and users of research and development cars in any country.

Service/ system concept

The Integrated Sensor Platform (ISP) of ANavS provides precise position, velocity and attitude information as well as the accuracy of these parameters. The system architecture of the ISP is shown in Fig. 2: The three main components of the ISP are the ANavS Multi-Sensor RTK module (Fig. 3), the ANavS computer vision board, and the ANavS ISP interface board. Further integrated components are two cameras, a 3D Lidar, three Multi-frequency GNSS antennas, a WiFi patch antenna, and an LTE antenna. The ISP also includes waterproof power, CAN, Ethernet and USB connectors.

The ANavS Multi-Sensor RTK module (Fig. 3) includes 3 Multi-frequency, Multi-GNSS receivers, an IMU, a CAN interface for the wheel odometry and for outputting the solution, an LTE module for reception of the RTK corrections, and a processor for the sensor fusion. The ANavS Multi-Sensor RTK module also includes an Ethernet connector for the reception of camera/ Lidar based position information obtained from the computer vision board via the ISP interface board.

Fig. 2: Architecture of ANavS Integrated Sensor Platform (ISP)

Image credit: ANavS GmbH, Project: MUSE/ ISP

Fig. 3: The ANavS Multi-Sensor RTK module
Image credit: ANavS GmbH, Project: MUSE/ ISP

Space Added Value

There are two space assets used in the MUSE/ ISP project:

The first space asset is satellite navigation. Multi-frequency carrier phase, pseudorange, Doppler and signal strength measurements from all 4 GNSS (GPS, Galileo, Beidou, and Glonass) and RTK corrections are processed for maximum precision and minimum convergence times.

The second space asset is Earth observation. Maps based on Geo-referenced satellite images enable a visual positioning with cameras. This drift-free visual position information is fully integrated into the sensor fusion to outperform conventional GNSS/ INS RTK positioning systems.

Current Status

The first prototype has been recently developed. It includes all foreseen sensors, i.e. 3 Multi-frequency, Multi-GNSS receivers, an IMU, a CAN interface for the wheel odometry and for outputting the solution, two cameras and a 3D Lidar. The core of the ISP is the Multi-Sensor RTK module, which performs a GNSS/ INS/ odometry tightly coupled RTK positioning. It has been already sold by ANavS to numerous automotive suppliers.

Fig. 4: First prototype of the Integrated Sensor Platform of ANavS
Image credit: ANavS GmbH, project MUSE/ ISP

Status Date

Updated: 11 December 2020 - Created: 11 December 2020