GNSS Receivers, Inertial Sensors, Perception Sensor, Computing Unit and Vehicle Platform
GNSS Receivers
Two tactical-grade GNSS receivers, the Hexagon/NovAtel RTK-GNSS CPT7700 and PwrPak7D, are available through Connected and Automated Mobility Laboratory (CAM Lab) at UA, which are funded by Alabama Transportation Institute (ATI). CPT7700 is enhanced with a high-performing Honeywell HG4930 Micro Electromechanical System (MEMS) Inertial Measurement Unit (IMU) and TerraStar correction services, providing cm-level positioning accuracy. TerraStar Correction Services transmit correction data in real-time, with minimal latency, directly to NovAtel receivers via satellite link or Internet connection to provide a robust solution, no matter where you are in the world. This supports to test the navigation of autonomous systems in real-world situations. CAM lab also has a cutting edge GNSS antenna Hexagon/NovAtel GNSS-850 featuring multi-point feeding network and radiation pattern optimization technology. It can also track low elevation satellites while maintaining a high gain for higher elevation satellites.
Inertial Sensors
An Epson G370N MEMS IMU is available through ATI and LISC to support precise inertial measurements. Accelerometer and Gyroscope measurements can also be captured using RTK GNSS IMU.
Perception Sensors
The following perception sensors are available at UA for data generation, evaluation and validation of the proposed research plan.
Cameras: A ZED 2i stereo camera boasting neural depth sensing and spatial object detection capabilities is available through CAM Lab. Additionally, it includes a built-in next-gen IMU, Gyroscope, Barometer, and Magnetometer for added functionality.
LiDAR systems: Velodyne Ultra Puck VLP-32C LiDAR is available at UA. Here are the specifications – Channels: 32; Measurement Range: 200 m; Range Accuracy: Up to ±3 cm (Typical); Horizontal Field of View: 360°; Vertical Field of View: 40° (-25° to +15°); Minimum Angular Resolution (Vertical): 0.33° (non-linear distribution); Angular Resolution (Horizontal/Azimuth): 0.1° to 0.4°; and Rotation Rate: 5 Hz to 20 Hz.
Radar Systems: Intelligent mmWave Sensor Standard Antenna Plug-in Module from Texas Instruments (Model: IWR6843) and the Real-time Data-Capture Adapter for Radar Sensing Evaluation Module (Model: DCA1000EVM) are available at UA. For millimeter-wave radar evaluation, the mmWave Cascade Imaging Radar RF and DSP Evaluation Modules, the Automotive Radar Sensor Evaluation Module (Model: AWR1843), and the second-generation High-performance Automotive MMIC Evaluation Module (Model: AWR2243) are available from Texas Instruments. These cutting-edge tools facilitate comprehensive and precise radar system evaluations.
State-of-the-art Hardware-in-the-loop Simulation Platform, SPIRENT GSS9000
A state-of-the-art hardware-in-the-loop simulation platform, SPIRENT GSS9000, for data generation, evaluation, and validation related to the development of cyber resilient navigation systems under threat uncertainties and contested environment. The GSS9000 includes GNSS simulator consisting of a controller with SimGEN operating software and a signal generator chassis with 1 RF (radio frequency) output providing 16 channels of L1 and 16 channels of L2, SimSENSOR MEMS Sensor Simulation Package, and GSS7765 Interference Simulator including an Interference Control Unit (ICU) and one advanced channel. The GSS9000 supports an extensive range of GNSS constellation configurations, from GPS L1 C/A through to multi-GNSS, multi frequency systems, including authorized signals. Configurations are available that support multi antennas and multi-vehicles, for example differential-GNSS, attitude determination, interference/jamming, spoofing and Controlled Reception Pattern Antenna (CRPA) testing.
Precision Navigation, Time and Frequency (PNTF) Lab Resources
PNTF Lab is housed in the Physics department at the UA and provides state-of-the-art research platform and exposure on precision, timing and frequency for the undergraduate and graduate students, as well as post- doctoral researchers. Dr. Mizanur Rahman is one of the collaborators of the PNTF Lab and has ongoing educational partnership with the United States Naval Observatory (USNO) and support from the Jet Propulsion Lab (JPL) and Microchip Inc. With the support from USNO, JPL and Microchip, PNTF lab has already been equipped with three Cesium atomic clocks, phase difference measurement units, climatic chamber. We have access to GNSS test equipment, GNSS receivers, Field Programmable Gate Array (FPGA) chips and boards, and chip scale atomic clocks through this lab for research purpose.