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Atenea Project

Atena LogoThe ATENEA project aims to join deeply integrated GNSS/INS receiver architectures and LIDAR techniques to provide an advanced navigation solution. The approach is suitable for a wide range of surveying applications in difficult environments, being Urban Mapping selected as reference case.

Urban mapping by LIDAR images is already an active domain, but is today only viable using high-end systems with a unitary cost in the order of 800 K€. On the technical, level, LIDAR devices geolocation and reference for the scanned observables is provided nowadays by loosely coupled GPS receivers and INS, leading to lack of performance in urban scenarios with poor satellite visibility and harsh multipath conditions.

ATENEA tackles the most challenging issues of this type of applications, showing how the use of Galileo signals, integrated positioning and observable processing can in one shot solve the more severe technical issues (robustness and continuity), increase accuracy and drastically reduce the system cost

The following technologies are investigated within ATENEA to overcome these problems:

  • Deeply coupled GNSS/INS receiver design Current state-of-the-art of hybridisation applications will be improved with ultra-tight integration of the inertial sensors, navigation processor and signal processing tracking loops, adding additional robustness under high user dynamics and SIS signal blockages. The novel ultra-tight integration developed in the project and the classical close and tight integration levels have been compared and evaluated for a set of applications, with emphasis on fast mapping in urban environments.
  • Galileo signals capabilities Error in the pseudorange observables will be reduced to the minimum, using dedicated multipath and interference mitigation techniques and taking benefit of the new Galileo L1 MBOC and E5 AltBOC signals.
  • Integrated GNSS/INS/LIDAR navigation filter. Finally, an innovative unique integrated navigation solution for the integration of observables from GNSS, IMU, and laser sensors is derived, allowing to reduce the costs of the currently expensive LIDAR devices for precise laser scanning. The different algorithms have been developed and tested in a SW environment, the ATENEA platform, developed upon the GRANADA simulator and the IADIRA test-bench (results from GJU projects lead by DEIMOS). A field campaign with real data will also be carried out, using EGNOS and Galileo early signals (GIOVE and IOV signals if available). The ATENEA developed technologies will be thus investigated down to a pre-industrialised solution ready to be integrated in a professional receiver. Links to the High End Professional Receiver Prototype projects will be established to facilitate this integration.