PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)最新文献

{"title":"Accurate synchronization using a full duplex DSSS channel","authors":"I. Progri, W. Michalson, M. Bromberg","doi":"10.1109/PLANS.2004.1308997","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308997","url":null,"abstract":"In the future, geolocation systems will incorporate the characteristics of communications networks with positioning technologies to create systems capable of performing location aware computing. Such systems have wide applications in troop movements, field hospitals and homeland defense, as well as dual-use areas such as firefighter safety and wireless healthcare systems. Of particular interest are systems which may be deployed in an ad hoc manner. By their very nature, these systems cannot make use of pre-existing infrastructure everything necessary to create a functional system must be self-contained, allowing a complete system to be deployed anywhere, at any time. In many of these applications, there are sub-meter accuracy requirements for indoor positioning. For example, it Is important to differentiate which side of a wall a firefighter is on. To achieve this level of accuracy, work is ongoing which exploits the properties of Orthogonal Frequency Division Multiplexing (OFDM) signals and signal coding to mitigate errors associated with multipath interference. However, even if multipath is eliminated, the ability of a system to provide accurate positioning is also critically related to the ability of the transmitters and receivers in the system to establish a reference time. Current simulations indicate that local synchronization must be within few hundred picoseconds. This paper describes a synchronization mechanism, which employs a duplex Direct Sequence Spread Spectrum (DSSS) signal on a single carrier frequency. Recent results indicate that a Maximum Likelihood Estimator (MLE)-based receiver for DSSS signals yields a significant improvement in receiver dynamic range. By using this increased headroom, and knowledge of the signal being transmitted by a node, it becomes possible to extract other DSSS signals on the same carrier frequency. Once a duplex channel is established, local synchronization can be established to an arbitrary accuracy using coding techniques.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125622620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"INS/GPS data fusion technique utilizing radial basis functions neural networks","authors":"A. Noureldin, R. Sharaf, A. Osman, N. El-Sheimy","doi":"10.1109/PLANS.2004.1309006","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309006","url":null,"abstract":"Most of the present navigation systems rely on Kalman filtering methods to fuse data from global positioning system (GPS) and the inertial navigation system (INS). In general, INS/GPS integration provides reliable navigation solutions by overcoming each of their shortcomings, including signal blockage for GPS and growth of position errors with time for INS. Present Kalman filtering INS/GPS integration techniques have several inadequacies related to sensor error model, immunity to noise and observability. This paper aims at introducing a multi-sensor system integration approach for fusing data from an INS and GPS hardware utilizing artificial neural networks (ANN). A multi-layer perceptron ANN has been recently suggested to fuse data from INS and differential global positioning system (DGPS). Although of being able the positioning accuracy, the complexity associated with both the architecture of multilayer perceptron networks and its online training algorithms limit the real time capabilities of this techniques. This article, therefore, suggests the use of an alternative ANN architecture. This architecture is based on radial basis function (RBF) neural networks, which generally have simpler architecture and faster training procedure than multi-layer perceptron networks. The INS and GPS data are first processed using wavelet multiresolution analysis (WRMA) before being applied to RBF network. The WMRA is used to compare the INS and GPS position outputs at different resolution levels. The RBF-ANN module is then trained to predict the INS position errors in real-time and provide accurate positioning of the moving platform. The field-test results have demonstrated that substantial improvement in INS/GPS positioning accuracy could be obtained by applying the combined WRMA and RBF-ANN modules.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130979087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"High G MEMS accelerometer for Compact Kinetic Energy Missile (CKEM)","authors":"R. Stewart, R. Thede, P. Couch, D. Tarrant","doi":"10.1109/PLANS.2004.1308969","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308969","url":null,"abstract":"The Compact Kinetic Energy Missile (CKEM), under development by the US Army's Aviation and Missile Command (AMCOM), is designed to be the next generation hypervelocity missile. CKEM will be smaller, lighter and faster than current generation kinetic energy missiles. The guidance and control system for CKEM therefore requires rapid, precise, pre-launch alignment of a miniature strapdown inertial navigation unit containing high performance gyros and accelerometers capable of operating through a launch acceleration of 1000 Gs. This paper provides a brief overview of the design and fabrication and test of the Northrop Grumman High G MEMS accelerometer. The design of the High G MEMS accelerometer is based on Northrop Grumman's SiAc/spl trade/ high accuracy, navigation grade MEMS silicon accelerometer currently in production. The High G MEMS accelerometer retains the bulk micromachined, deep RIE, single crystal silicon, SOI materials and fabrication methods used in the SiAc/spl trade/ accelerometer. The accelerometer also retains the charge control, pulse width modulation force feedback closed loop servo used in the SiAc/spl trade/ accelerometer. Test results demonstrating the capability of the accelerometer to meet CKEM's system performance requirements are presented for both instrument level and in-flight testing.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130983130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Unfinished business: glaring absences from the achievement list","authors":"J. Farrell","doi":"10.1109/PLANS.2004.1309044","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309044","url":null,"abstract":"Despite enormous advancements across multiple operations related to navigation, surprising deficiencies exist in some critical areas. Correction of those deficiencies would require no breakthroughs nor large investments, but changes in some ingrained habits. Material to follow includes historical insights, status review, and suggested means of correction.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128628650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Information fusion in a multi-frequencies GPS receiver","authors":"J. Kacemi, S. Reboul, M. Benjelloun","doi":"10.1109/PLANS.2004.1309022","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309022","url":null,"abstract":"The works presented in this paper deals with the design of a tracking fusion filter for the future multi-carrier G.P.S signal. The estimation of the distance and speed between the satellite and the G.P.S receiver is realised with a Kalman track fusion algorithm. In this system, inspired from the modified track-to-track algorithm, the observations of the same type are merged with a measurement fusion algorithm and the measurements of different types are fused with a state vector fusion Kalman filter. This hybrid model can fuse the measurement obtained from the three frequencies of the future G.P.S. system. It can also fuse the state vectors that describe distances and speed which are supposed to come from different sensors. The simulation result obtained on synthetic data show the feasibility of the method and the contribution of the fusion over the accuracy of the localization.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121779620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A hybrid integrity solution for precision landing and guidance","authors":"K. Gold, A.K. Brown","doi":"10.1109/PLANS.2004.1308990","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308990","url":null,"abstract":"A design was developed for a hybrid integrity solution for precision approach and landing in a GPS jamming environment. The integrity solution described in this paper leverages the capabilities of next generation digital spatial processing and ultra-tightly-coupled (UTC) GPS/inertial integrated military user equipment (UE). A design is also included for a spatial environment integrity monitor, for a GPS/inertial receiver autonomous integrity monitor solution (GI-RAIM) that allows detection of small error drift rates before the inertial solution can be corrupted and an integrity monitoring function embedded within the kinematic carrier phase tracking (KCPT) algorithms which provides a level of confidence on the final KCPT positioning data output. Simulation and test results showing the expected performance of this multi-level integrity monitoring approach are presented. A design for an aircraft GPS/inertial digital spatial processing receiver, the HAGR-A, is also included which will be used as a test bed for implementation and testing of these integrity monitoring techniques.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121747870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysis of Inertial Navigation System errors from van testing using an optimal Kalman filter/smoother","authors":"Te-chang Li","doi":"10.1109/PLANS.2004.1308983","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308983","url":null,"abstract":"The optimal Kalman filter/smoother is an effective tool to systematically assess the error sources of an Inertial Navigation System (INS) including instrument (gyro and accelerometer) errors and initial conditions. In order to best utilize the entire set of the available test data in the estimation of INS error, a fixed-interval smoother was chosen. The fixed-interval smoothed estimate is the optimal combination of two Kalman filters: forward (conventional) filter and backward filter. Together these two filters utilize all available measurements and yield the optimal smoothed estimate. The data from two van tests was collected in the free inertial mode without updates from the Global Positioning System (CPS). The CPS data and INS data are recorded in two separate files and both data streams are time tagged to Greenwich Time (GMT). The CPS latitude and longitude data obtained from CPS was used as reference. The INS position errors are the difference between the INS and the CPS positions. The measurements of INS position errors are then analyzed to obtain estimates of the error sources discussed above using the Kalman filter/smoother. This paper describes the INS van-test data, the optimal Kalman filter/smoother utilized for the error analysis, the INS error model, and the results of the analysis. Analysis results are verified through measurement reconstruction and the agreement between the actual and reconstructed measurements is excellent. The analysis confirms the existence of a very large scale factor error in one accelerometer.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131135925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A vector-based gyro-free inertial navigation system by integrating existing accelerometer network in a passenger vehicle","authors":"Yingxue Peng, M. Golnaraghi","doi":"10.1109/PLANS.2004.1308999","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308999","url":null,"abstract":"Modern automotive electronic control and safety systems, including air-bags, anti-lock brakes, anti-skid systems, adaptive suspension, and yaw control, rely extensively on inertial sensors. Currently, each of these sub-systems uses its own set of sensors, the majority of which are low-cost accelerometers. Recent developments in MEMS accelerometers have increased the performance limits of mass-produced accelerometers far beyond traditional automotive requirements; this growth trend in performance will soon allow the implementation of a gyro-free inertial navigation system (GF-INS) in an automobile, utilizing its existing accelerometer network. We propose, in addition to short-term aid to GPS navigation, a GF-INS can also serve in lieu of more expensive and less reliable angular rate gyros in vehicle moment controls and inclinometers in anti-theft systems. This work presents a modified generalized GF-INS algorithm based on four or more vector (triaxial) accelerometers. Historically, GF-INS techniques require strategically-placed accelerometers for a stable solution, hence inhibiting practical implementations; the vector-based GF-INS allows much more flexible system configurations and is more computationally efficient. An advanced attitude estimation technique is presented, utilizing coupled angular velocity terms that emerged as a result of the intrinsic misalignment of real vector accelerometers; this technique is void of singularity problems encountered by many prior researchers and is particularly useful when error due to the integration of angular accelerations is prominent, such as in low-speed systems or long-duration navigations. Furthermore, an initial calibration method for the vector-based GF-INS is presented. In the experimental setup, four vector accelerometers, based on Analog Devices accelerometers, are assembled into a portable, one cubic-foot, rigid structure, and the data is compared with that of a precision optical position tracking system. Finally, the feasibility of a GF-INS implementation in an automobile is assessed based on experimental results.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122282997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Radiolocation using AM broadcast signals: The role of signal propagation irregularities","authors":"T. D. Hall","doi":"10.1109/PLANS.2004.1309070","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309070","url":null,"abstract":"We have previously demonstrated that carrier phase measurements of the ubiquitous AM broadcast signals can be used for instantaneous radiolocation. The positioning accuracy, however, depends on how well the signal propagation characteristics can be modeled. In this paper, the signal propagation issues relevant to radiolocation are reviewed and empirical data on phase perturbation are presented. An AM radiolocation system, though not nearly as susceptible as GPS to tropospheric, ionospheric, and multipath errors, has its own set of challenges that include: ground property fluctuation, skywave interference, phase perturbation caused by nearby conductors, and phase variation caused by directional transmitter antennas. In this paper, the effects of these error sources are quantified using experimental results and two models are developed and evaluated: a ground model and a directional transmitter antenna model. Many AM stations employ multi-element directional antennas to maximize SNR to a market while minimizing interference with distant stations. Because even moderate baseline AM navigation can involve significantly varying lines-of-sight to some transmitters, a model is developed to account for the phase variation caused by this effect. The effectiveness of this model is demonstrated using experimental results. AM broadcast signals have wavelengths between 175 and 550 meters. For radiolocation purposes, the useful mode of propagation for signals with these wavelengths is groundwave, the speed of which depends on the electrical properties of the ground. Ground properties vary with time at a given place mainly due to groundwater fluctuations. In most areas, however, ground properties are constant enough to make modeling productive. A groundwave propagation model is developed and shown to significantly improve positioning performance over a wide area. At night when the D-layer of the ionosphere recombines, signals in the AM band reflect off the ionosphere enabling so-called skywave propagation. Because of the uncertain geometry of the reflection, the skywave component of a received signal is difficult to account for. To quantify this effect, the results of similar experiments, conducted at noon and at midnight, are compared. Many things we encounter in our modern world perturb measurements of AM carrier phase. Overhead and underground utilities are particularly insidious because they consist of vast interconnected conductor networks. The phase perturbations caused by the collection of conductors that are typically hung from power poles are experimentally quantified.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123750635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A high resolution model for the aeronautical multipath navigation channel","authors":"A. Steingass, A. Lehner, F. Pérez-Fontán, E. Kubista, M.J. Martin, B. Arbesser-Rastburg","doi":"10.1109/PLANS.2004.1309017","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309017","url":null,"abstract":"In this paper we present the results of satellite navigation multipath channel measurements for aeronautical applications. For the most critical scenario - the final approach, we derived a statistical channel model which we describe in detail.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116021753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}