The heart of a market-leading, autonomous port logistics vehicle
Ports around the world are moving away from infrastructure-based navigation for their ground vehicles. Whether you’re retrofitting an AGV or building new autonomous mobile robots (AMRs), accurate, real-time and robust localisation data is vital.
Cranes and tall stacks of shipping containers make autonomous port logistics difficult because of the harsh GNSS environments in which the vehicles need to operate. To navigate accurately and reliably requires a range of different sensors – with GNSS/INS at the heart.
OxTS GNSS/INS devices offer the perfect blend of robust performance and commercial viability for an autonomous port logistics project. Our navigation technology enables vehicles to transition seamlessly between GNSS and GNSS-denied spaces, and are compatible with a wide range of aiding sensors to suit any environment. On top of this, OxTS devices are completely ITAR-free, and can handle fleet-level deployments with minimum complexity and setup time.
Our Three-Part Solution for Autonomous Port Logistics Navigation
OxTS GNSS/INS
There is a wide variety of OxTS GNSS/INS for you to choose from.
Our range of devices cater for a wide range of autonomous platforms depending on the level of accuracy and form factor you need.
Software
Every OxTS GNSS/INS includes our complimentary software application suite, NAVsuite. NAVsuite enables you to configure your device and monitor the navigation data in real-time.
Feature Code Bundle
Our feature codes unlock specific capabilities in your GNSS/INS such as PTP and gPTP time synchronisation and hot start initialisation.
OxTS GNSS/INS devices for autonomous vehicles in ports
OxTS GNSS/INS devices serve as the central hub for autonomous platforms in ports. Our devices provide a source of robust, reliable localisation data capable of performing in difficult GNSS conditions.
Software applications for autonomous port vehicles
OxTS GNSS/INS are supplemented by a range of software tools developed to help you both configure and to visualise your localisation data in real time. A selection of ROS drivers are also available to help you utilise your data in a wider ROS framework.
NAVsuite
NAVsuite is a complimentary set of software applications that is included with every purchase of an OxTS GNSS/INS. Available as a Windows application, or as a command line executable to integrate into your existing toolchain, NAVsuite allows you to:
- Configure your OxTS GNSS/INS.
- Monitor the navigation data from your GNSS/INS in real time.
- Plot, analyse and export test data.
OxTS ROS drivers
We have developed and maintain our own ROS 2 driver to ensure that the data from your OxTS device can be used by your wider ROS network. The driver takes the data from your GNSS/INS and decodes it to provide all the navigation data from the device in the ROS message format.
A separate ROS 1 driver, developed by Dataspeed Inc. is also available.
GNSS/INS features for autonomous port vehicles
All OxTS GNSS/INS devices come pre-loaded with a number of important features as standard. Whichever device you choose for your port autonomy project, you will be able to take advantage of the following:
+ Sensor fusion as standard – incorporate data from your other sensors into the OxTS navigation engine for more robust localisation performance with the OxTS Generic Aiding Data (GAD) Interface.
+ ITAR-free hardware – streamline administration overheads when your hardware needs to be shipped overseas.
+ Dual antenna RTK capability – achieve high-accuracy position, orientation and dynamics data, even at low speeds.
+ Optional CAN output – transmit data via the CAN bus if you’re using it for your project.
+ Free-of-charge support – every OxTS INS qualifies for complimentary support from our teams in the UK, USA, Germany, and China.
To create a high-performing autonomous localisation solution for a port you need the ability to initialise while stationary, and to synchronise clocks with other devices in the robotic control stack. We suggest the following optional features when using our GNSS/INS to build an autonomous port platform:
+ PTP and gPTP synchronisation – make it easy to synchronise multiple sensors to the precise clock of your OxTS INS, or synchronise your INS with another device in your system.
+ Hot Start initialisation – enable your INS to initialise while stationary, even in environments where there is no GNSS signal.
+ gx/ix tight-coupling – Speeds up RTK reaquisition after transient but complete GNSS outage meaning more accurate navigation data for longer (see example below).
+ UCOM – gives you more control over your data outputs to simplify your architecture, increase safety, and more.
+ OxTS LiDAR Inertial Odometry – Use LiDAR to constrain position drift and improve navigation performance in urban canyons.
GNSS Only vs INS with gx/ix
Mobilise Autonomous Port Productivity
If you’d like to learn more about how the right GNSS/INS can be the foundation of a modern port autonomy solution, click below to download our solution brief.
Read the solution brief and learn how you can start to mobilise autonomous port productivity.
Want an accurate, reliable GNSS/INS for a port autonomy solution?
Navigating the challenges of port environments
Maximise satellite coverage at every point throughout the port
- Two multi-constellation, multi-frequency RTK GNSS receivers support aiding from the four main GNSS constellations: GPS, GLONASS, Galileo, and Beidou.
- OxTS’ ix/single-satellite aiding technology makes sure that each and every visible satellite is blended into the navigation solution for the most accurate solution possible – even when tall stacks of containers occlude the vast majority of the sky.
Minimise time without RTK after
temporary GNSS interruptions
- Should containers or cranes ever cause RTK to be lost, OxTS’ gx/RTK inertial relock technology uses inertial measurements to reduce RTK reacquisition time from up to 20 seconds, to around five.
Localise in the absence of GNSS
- In GNSS-denied areas, you can aid inertial data with Light Detection and Ranging (LiDAR), Simultaneous Localisation and Mapping (SLAM), Ultra-Wideband (UWB), and other sensors, for a continuous, robust navigation solution.
- Any sensor that can provide position, velocity, acceleration and/or heading updates can be integrated at speed, via the OxTS generic aiding interface, to enhance the navigation solution and bridge the gap during prolonged GNSS interruptions.
Seamlessly integrate with wider architecture
Building OxTS components into large, complex systems is quick and easy
- Ethernet and CAN data interfaces
- Digital PPS for time synchronisation and PTP support
- A ROS2 driver available for data decoding
Post-process data
- OxTS post-processing engine offers forwards/backwards combined processing with advanced smoothing technology to create the most optimised data possible, taking advantage of being able to see the whole picture.
- This optimised data can be used to improve your ground truth reference for localisation during vehicle development, or for georeferencing sensor data for map creation.
- Post-processing your data also gives you the ability to correct any mistakes made on the configuration or to chop sections of data out if they were logged in error, saving time and effort on data collection overall.
