GNSS/INS for Port Automation: How SUM Uses Septentrio GNSS/INS in Their Navigation Solution for Autonomous Yard Trucks

South Korean SUM (Smart yoUr Mobility) is pioneering autonomous mobility in smart ports. To navigate complex environments like container yards, SUM relies on Septentrio’s AsteRx SBi3 Pro+ GNSS/INS receiver, known for its centimeter-level accuracy and robust sensor fusion.

In partnership with Septentrio, SUM integrates multi-sensor fusion systems into its SMOBI platform vehicles, enabling safe and reliable autonomous operations—even in GNSS-challenged environments like tunnels, underpasses and metal-dense ports.

Why Septentrio’s GNSS/INS Technology Stands Out

• Sub-centimeter-level accuracy 
  • Horizontal: 0.6 cm + 0.5 ppm
  • Vertical: 1 cm + 1 ppm
• Sub-degree angle attitude accuracy 
  • Heading: 0.15°
  • Pitch/Roll: 0.02° (dual antenna)
• Velocity accuracy 
  • 0.02 m/s for smooth motion control
  • FUSE+ Sensor Fusion combines GNSS with inertial navigation system sensors for dead reckoning in signal-blocked areas
• Advanced localization system 
  • Integrates LiDAR, cameras, and HD maps for precise pose correction
• Comes in a robust and waterproof IP68 housing 
• Web UI and data logging were very helpful during the integration and validation phase

Robustness in Challenging Environments

Septentrio’s patented technology is designed to perform in the most demanding conditions:

• AIM+ anti-jamming and anti-spoofing protects against both unintentional interference and intentional GNSS signal attacks, ensuring uninterrupted navigation.
• Fuse+: Sensor fusion technology combines GNSS with INS. The inertial measurement unit gives additional inputs to maintain accurate positioning and orientation when GNSS signals are obstructed. It ensures continuous, reliable navigation in tunnels, urban canyons, and ports by cross-validating multiple sensors.
• GNSS+ patented algorithms
  • APME+: Mitigates multipath errors caused by signal reflections from buildings and structures.
  • LOCK+: Maintains tracking under heavy mechanical shocks and vibrations, ideal for yard trucks and industrial vehicles.
  • RAIM+: Provides autonomous integrity monitoring, ensuring trust in positioning data.

These features are critical in challenging urban environments with bridges, tunnels, and also in dense port environments where GNSS signals are often degraded or blocked.

Use Case 1: Yard Trucks at Incheon Port

SUM is transforming port logistics with autonomous yard trucks equipped with Septentrio AsteRx SBi3 Pro+, AntaRx-Si3, and AntaRx-AUX receivers. These trucks navigate between container cranes with less than 15 cm lateral deviation, ensuring safe and efficient cargo handling.

Benefits for Smart Ports

• Accurate Positioning: Essential for maneuvering in tight port spaces
• Reduced CPU Load: Optimized RTK engine and high update rate logging
• Unmanned Operation: SUM aims for full automation to boost efficiency
• Sustainability: Upgrades aging diesel trucks to reduce CO₂ emissions

Figure 1: SUM yard trucks are equipped with Septentrio GNSS/INS technology for autonomous navigation in the challenging environment of today’s ports.

“The AsteRx-SBi3 Pro+ stands out for its high reliability and precision, confirmed through extensive field testing. It's a key component in SUM’s autonomous vehicles.”  - Dr. Daehyuck Park, Managing Director at SUM

Watch Autonomous Port Yard Truck in Action

Figure 2: Port yard trucks equipped with Septentrio GNSS/INS drive fully autonomously in challenging environments, with the navigation system from SUM

Overcoming GNSS Challenges

SUM’s proprietary localization system ensures continuous tracking even in tunnels or underpasses. It uses complementary technology to assist the GNSS receiver:

• Dead reckoning with IMU and VSM messages
• LiDAR and Vision-Based Map Matching
• Multi-sensor fusion for robust pose estimation

This approach minimizes drift and ensures high reliability across diverse environments.

Figure 3: The following image shows how the impact of high update rate logging can improve CPU load and how the RTK engine uses fewer constellations to reduce the CPU load.

Cooperation Between Manned and Unmanned Vehicles

SUM’s centralized management system coordinates both human-driven and autonomous vehicles using:

• Real-Time Communication Networks
• Vehicle-to-Everything (V2X) Technology
• Defined Safety Zones and Routing Protocols

This ensures safe coexistence and optimized logistics in ports and urban areas.

Conclusion: A Strategic Partnership for the Future of Mobility

SUM Inc. and Septentrio are jointly shaping the future of autonomous mobility. For Smart Ports, their collaboration delivers:

• Enhanced safety
• Greater reliability
• Sustainable transportation

With Septentrio’s GNSS/INS technology at its core, SUM’s autonomous platforms are ready to scale globally.