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

{"title":"Adaptive filter for a miniature MEMS based attitude and heading reference system","authors":"Mei Wang, Yunchun Yang, R. Hatch, Yanhua Zhang","doi":"10.1109/PLANS.2004.1308993","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308993","url":null,"abstract":"A strapdown Inertial Navigation System (INS) can provide attitude and heading estimates after initialization and alignment. Many factors affect the accuracy and the performance of the system. They mainly are: sensor noise, bias, scale factor error, and alignment error. The Inertial Measurement Unit (IMU) based on the newly developed MEMS technology has wide applications due to its low-cost, small size, and low power consumption. However, the inertial MEMS sensors have large noise, bias and scale factor errors due to drift. The traditional strapdown algorithm using a low-cost MEMS sensor ONLY is difficultly satisfying the attitude and heading performance requirements. An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastic model. The adaptive filter has six states with a time variable transition matrix. The six states are three tilt angles of attitude and three bias errors for the gyroscopes. The filter uses the measurements of three accelerometers and a magnetic compass to drive the state update. When the system is in the non-acceleration mode, the accelerometer measurements of the gravity and the compass measurements of the heading have observability and yield good estimates of the states. When the system is in the high dynamic mode and the bias has converged to an accurate estimate, the attitude calculation will be maintained for a long interval of time. The adaptive filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance. The paper presents the methodology of the technique, performs the analysis, and gives the testing results of the system based on the adaptive filter. The whole system can be fitted within the size of 5cm /spl times/ 5cm /spl times/ 5cm with analog to digital conversion and digital signal processing boards.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"176 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":"116471921","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":"Computing unambiguous TEC and ionospheric delays using only carrier phase data from NOAA's CORS network","authors":"D. A. Smith","doi":"10.1109/PLANS.2004.1309038","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309038","url":null,"abstract":"A new method for computing absolute (unambiguous) levels of Total Electron Content (TEC) and subsequently the L1 and L2 phase delays of GPS is presented. Unlike previous computational methods, this one relies solely upon dual frequency, ambiguous carrier phase data without any reliance on pseudo-range, a-priori values or other external information. The only requirements for this method are that the ionosphere is assumed to lie in a two-dimensional shell of constant ellipsoidal height, and that the GPS data come from a network of ground stations, geographically separated so as to allow satellites to be viewed by a variety of stations at overlapping times. The usefulness of this method and its application toward nowcasting and forecasting of the ionosphere are also discussed.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"os9 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":"128326666","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":"Aided integer ambiguity resolution algorithm","authors":"Jingrong Cheng, Jay A. Farrell, Lu Yu, E. Thomas","doi":"10.1109/PLANS.2004.1309068","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309068","url":null,"abstract":"The key issue in precise positioning using the GPS carrier phase is to solve for the integer ambiguities quickly and correctly. For some navigation applications, external sensors am available that provide auxiliary measurements. For example, in the control and guidance of land vehicles relative to a desired trajectory (e.g., lane-keeping on a highway) the altitude of the roadway as a function of arclength can be accurately curve fit and the lateral distance from the lane center may be measurable by other sensors. These auxiliary sensors can be used to aid and facilitate the GPS integer ambiguity resolution problem. Use of such auxiliary sensors offers the potential to obtain the correct integers when few satellites are available. This paper describes a fast and efficient technique for integer ambiguity resolution when auxiliary sensors are available. The paper will present the theoretical approach and results of experimental tests of the method. Preliminary experimental results (based on 11999 epochs) show that, while the GPS-only integer resolution success rate with 5 satellites is 18%, the altitude aided GPS Integer resolution finds the correct Integers with a 98% success rate. Using the declaration decision parameters |res12| < 0.027, |res1w| < 0.095, |res1n| < 0.012, the correct integers were accepted 87% of the 11999 epochs with no erroneous integers.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"02 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":"130551179","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":"BlueStar, a privacy centric location aware system","authors":"A. Quigley, B. Ward, C. Ottrey, D. Cutting, R. Kummerfeld","doi":"10.1109/PLANS.2004.1309060","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309060","url":null,"abstract":"This paper provides the research background and system approach for project BlueStar. Our aim is to develop a system using a flexible in/outdoor location management scheme that allows for only the end-user to be aware of their location, while still enabling them to access location-relevant information from a centralised source. In such a system the user can choose the level of granularity with which they provide or publish their location details in contrast to systems in which a fixed network is used to track the user. BlueStar addresses the need for a scalable user-centric end-to-end solution in which end-user privacy is protected. As we show in this paper many existing indoor tracking systems rely on special purpose receivers (badges) and transmitters in conjunction with a costly site radio survey, neither of which is necessary in the BlueStar model. Finally, this paper describes one possible location-aware peer-to-peer application, using location sniffing, namely an \"ad-hocracy\".","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"59 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":"130579315","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":"Precise phase calibration of a controlled reception pattern GPS antenna for JPALS","authors":"U. Kim, D. De Lorenzo, D. Akos, J. Gautier, P. Enge, J. Orr","doi":"10.1109/PLANS.2004.1309032","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309032","url":null,"abstract":"The Joint Precision Approach and Landing System (JPALS) is being developed to provide navigation to support aircraft landings for the U.S. military. One variant of JPALS is the Shipboard Relative GPS (SRGPS), which will be implemented on an aircraft carrier. In order to meet strict accuracy, integrity, continuity, and availability goals in the presence of hostile jamming and in a harsh multipath environment, advanced technologies are required. One of those being studied is a controlled reception pattern antenna (CRPA) array with beam steering/adaptive null forming capabilities. The Stanford University GPS Laboratory has developed a software tool to study CRPA algorithms and their effects on GPS signal and tracking characteristics. A testbed has been constructed to investigate hardware issues including the phase center offset of the antenna elements and mutual coupling effects. This testbed consists of a 3 element antenna array with a baseline of 1m, using high-quality survey-grade or lower-quality patch antennas. Data has been taken using this array in conjunction with sufficient satellite constellation and antenna array motion to ensure complete azimuth and elevation signal coverage. A carrier phase-based attitude determination algorithm was used to generate inter-antenna bias residuals, allowing characterization of the virtual phase center of the array. Repeating the testing procedure both with survey-grade antennas, for which the phase center characteristics are well known, and with a patch antenna possessing unknown phase center behavior, allows characterization of the azimuth- and elevation-dependent properties of the patch antenna phase center. In addition, mutual coupling effects have been investigated by adding inactive patch elements around the active patch antenna. All results are compared to predictions from detailed simulation of the patch antenna used using an EM modeling software package.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"107 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":"122058141","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":"Ionospheric corrections from a prototype operational assimilation and forecast system","authors":"B. Khattatov, M. Murphy, B. Cruikshank, T. Fuller‐Rowell","doi":"10.1109/PLANS.2004.1309037","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309037","url":null,"abstract":"This paper describes an operational system, sponsored by the US Air Force, for generating and distributing near real-time three-dimensional ionospheric electron densities and corresponding GPS propagation delays. The core ionospheric model solves plasma dynamics and composition equations governing evolution of density, velocity and temperature for ion species on a fixed grid in magnetic coordinates. It uses a realistic model of the Earth's magnetic field and solar indices obtained in real time from NOAA's Space Environment Center. At the present time the model computes real-time ion and electron densities at a grid of more than one million points. Higher resolutions are anticipated in the future. While the core model is capable of delivering realistic results, its accuracy can be significantly improved by employing a special set of numerical techniques known as data assimilation. These techniques originated and are currently used for numerical weather forecasting. The core ionospheric model is constantly fed real-time observational data from a network of reference GPS ground stations. This improves both the nowcast and the forecast of electron densities. Web-based access to the system is provided to early users for validation and exploration purposes at: http://fusionnumerics.com/ionosphere.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"8 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":"123541360","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":"Dynamic behavior modeling of MEMS parallel plate capacitors","authors":"E. Saucedo-Flores, R. Ruelas, M. Flores, Ying Cai, J. Chiao","doi":"10.1109/PLANS.2004.1308968","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1308968","url":null,"abstract":"This work presented dynamic behaviors of a MEMS parallel plate capacitor using analytical and numerical methods. The differential equation describing the electrode displacement is solved by using a Matlab/Simulink interface developed to serve as a practical fill-the-box design tool. The system's dynamic instability condition (at the pull-in voltage, V/sub dpi/) is reached at much higher bias levels as compared with the static case. We presented the dynamic behavior and the frequency limiting cases for sine and pulse input bias waveforms. For high frequency, the results are given both in analytical and numerical forms.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"37 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120991310","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":"Vehicular remote tolling services using EGNOS","authors":"M. Antonini, M. Ruggieri, R. Prasad, U. Guida, G. Corini","doi":"10.1109/PLANS.2004.1309019","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309019","url":null,"abstract":"The road sector is one of the major potential market for GNSS applications and therefore it is very promising for future EGNOS and GALILEO related applications. At present, traffic congestion places enormous constraints on our day-to-day mobility with over 10% of the network blocked, representing enormous costs. Improving road transport systems calls for systematic recourse to information about vehicle position and speed. Specifically, among road applications some requires guaranteed navigation services, often with high accuracy positioning requirements. These application can be implemented only if these requirements are met and this is not the case today with the existing navigation systems. EGNOS and Galileo will provide better accuracy of GPS and, what is most important, will make available the data integrity information, that is the basis to certify and guarantee the service. In particular the \"Tolling\" related application falls into the above category and, in addition it represents a very important commercial opportunity. The study conducted by Alenia Spazio, Next, University of Rome \"Tor Vergata\" and Aalborg University aims at exploiting the capabilities offered by EGNOS (in the near term) and GALILEO (in medium long term) to provide such new applications; specifically, an extended service concept of road tolling is addressed in the present paper, herein after indicated as \"remote tolling\", such to cover basic tolling service, but also additional \"pay-per-use services\" on motorways transport, as well as in urban environment (parking and access to restricted zones) Independent from the environment considered in the service scenario, common services applicable to each category of users are also considered like the distribution of real time traffic data. Other interesting services like the \"pay per use insurance\", that can be easily implemented by the same remote tolling service system architecture, can be a potential extension of the study. Today, it is noted that such type of service is considered in the user community of a real importance and at the same time also service providers and important insurance Companies are going to deep investigate this new revolutionary possibility in handling the car insurance issue. Therefore, it is deemed strategic at that time to consider this application in the service prototype definition process, for which particularly a service guarantee is required by further stressing the importance of using EGNOS for the service implementation.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"30 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":"133051873","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":"UltraWideBand indoor positioning systems and their use in emergencies","authors":"S. Ingram, D. Harmer, M. Quinlan","doi":"10.1109/PLANS.2004.1309063","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309063","url":null,"abstract":"Reliable and accurate indoor positioning for moving users requires a local replacement for satellite navigation. An UltraWideBand (UWB) system is particularly suitable for such local systems, including temporary installations supporting emergency services inside large buildings. The requirements for emergencies will be very variable, but will generally include: good radio penetration through structures, the rapid set-up of a stand-alone system, tolerance of high levels of reflection, and high accuracy. The accuracy should be better than 1 m, as sometimes it matters which side of a door you are, and locations should be in 3 dimensions. Support for robots as well as people would call for still better accuracy. Rapid set-up implies very little surveying of the fixed terminals, and positioning relative to the mobile and fixed terminals. A radio system that measures ranges between fixed and mobile terminals matches these requirements, but the requirements for accuracy and for dealing with multipath need a bandwidth of more than 1 GHz. Thus UWB is the preferred solution, as it has the specific advantage of high accuracy, even in the presence of severe multipath. This paper presents the features and system design options for UWB positioning systems, and shows how they match the indoor location demands of emergency services. The main features that are covered are: the deployment of terminals (how many, and where), the minimum requirements for fixed terminal surveying, integration (hybridisation) with GNSS, and solving for position inside the network. The main system design options are: whether the mobile terminals are transceivers or solely receivers, the UWB signal design and frequency span, and the use of the same signal for communications. The paper includes results from a demonstration UWB indoor positioning system being built at TRT (UK).","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":"133033432","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":"Filter algorithm for visual tracking of maneuvering target","authors":"Feili Hou, F. Zhu","doi":"10.1109/PLANS.2004.1309011","DOIUrl":"https://doi.org/10.1109/PLANS.2004.1309011","url":null,"abstract":"A filter algorithm is presented in this paper for visual tracking of a maneuvering target. Emphasis is given to rind a solution for the degradation in relative position and orientation estimation, which is incurred by the measurement noise in the image coordinates of feature points. Superior to previous approaches that were limited to the assumption that the target motion is slow and smooth, this algorithm is implementable for a maneuvering target that acts in an unknown manner. First, by analyzing the effect of noise in 2-D images on the position and orientation estimation, linear measure equations based on the sequence of motion parameters are given. Then, two filter schemes are introduced respectively. The first filter uses maneuver detection technique, in which optimized detectors for fast and slow maneuver are deduced respectively, and limited memory filtering is adopted to update the filter. The second filter uses numerical differentiation technique, in which a fading factor is adaptively estimated to restrain the divergence caused by truncation errors of estimate model of numerical differentiation. Finally, generalized pseudo Bayes algorithm is employed to combine the two filters for a higher tracking precision. Simulation and experiment results illustrate the capacity of this algorithm.","PeriodicalId":102388,"journal":{"name":"PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556)","volume":"73 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":"123685611","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}