2020 European Navigation Conference (ENC)最新文献

{"title":"Kalman Filtering Versus Voting: Which Strategy is Best for Multi-Sensor Localization?","authors":"T. Lan, A. Geffert, A. Dodinoiu, U. Becker","doi":"10.23919/ENC48637.2020.9317318","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317318","url":null,"abstract":"The Kalman filter has a long history in multi-sensor localization systems. Its assumption of normal distribution has however encountered difficulties in handling multipath effects for GNSS-based localization. In the meantime, the voter also has the possibility to be developed as a data fusion method, with the goal to maximize safety or availability of the system. In this paper, the Kalman filter and the voter are compared to discover their characteristics in multi-sensor localization systems. The simulation-based comparison specifically researches the improvement brought to the dependability of the system by the Kalman filter and the voter. The results show that both strategies can enhance certain aspects of dependability.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131198056","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":"Innovative Assistance for e-Navigation-oriented Voyage Planning and Ship Collision Avoidance","authors":"K. Benedict, M. Baldauf, M. Gluch, S. Fischer","doi":"10.23919/ENC48637.2020.9317457","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317457","url":null,"abstract":"A new technology called RAPIT for “Rapid Advanced Prediction & Interface Technology” was developed, based on Fast Time Simulation to simulate the ships motion with complex dynamic models in order to immediately display the ships track in an Electronic Sea Chart for intended or actual rudder or engine manoeuvres. This is the basis for the innovative “Simulation Augmented Manoeuvring Design and Monitoring” - SAMMON toolbox: In earlier papers is has been described how this new technology were used to improve the simulator training in advanced ship handling training. Now the time has started that this software will be used for voyage planning on-board ships as a new type of designing a manoeuvring plan for the arrival/departure plans in ports and fairways as enhancement of the common pure way point planning. In a new research project, the Fast Time Simulation has also been used for Collision Avoidance: the innovative technique was tested for simulating the ships motion for extreme evasive manoeuvres as a Stand-On vessel. This ship needs to take action in time if the Give-Way vessel is not following the rules of the road and take appropriate action. The new method allows the prediction of the manoeuvre as the last line of defence taking into account the current speed and other ships and environmental conditions.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133924787","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":"Promising directions of orbital group GLONASS development using CDMA - new signal's type","authors":"I. G. Vigonskiy, N. Leonidov","doi":"10.23919/ENC48637.2020.9317485","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317485","url":null,"abstract":"Promising directions of orbital group GLONASS development using CDMA - new signal's type","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124576834","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":"Doppler as a Quality Indicator for GNSS-Based Urban Navigation - An Evaluation with Different Receivers and Clocks","authors":"Lucy Icking, Fabian Ruwisch, S. Schön","doi":"10.23919/ENC48637.2020.9317327","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317327","url":null,"abstract":"Urban environments still form a challenge for Global Navigation Satellite System (GNSS) positioning as they induce difficult conditions for signal propagation. Recently, Doppler measurements have been proposed as additional aiding to improve localization in urban environments. However, the performance of Doppler in urban environments has not been analyzed in depth yet. Therefore, in this paper we use real data collected from an experiment in the urban areas of Hannover to investigate the availability and signal behavior of Doppler observations. Multiple combinations of receivers with atomic clocks have been installed to study the advantages of clocks and high sensitivity receivers. Critical situations such as epochs with non-line-of-sight (NLOS) reception that affect the signal are classified to conduct a detailed analysis of the signal's behavior. Session: Signal Processing for Resilient Navigation","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127816558","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":"European GNSS Service Centre (GSC): Current Status and Future Evolutions To Deliver Added Value Services","authors":"Pedro Gömez, E. González, Ana Senado, I. Fernández‐Hernández, J. D. Calle, Aitor Arronte Alvarez","doi":"10.23919/ENC48637.2020.9317336","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317336","url":null,"abstract":"The European GNSS Service Centre (GSC) is the single ground interface between the Galileo system and its users. It is in continuous evolution with the aim of satisfying the needs and expectation of the users and help to the consolidation of Galileo as a system that provides the users with high performance. Currently, the Centre is delivering different services, such as the Helpdesk, the Web Portal, an Electronic Library, Galileo System Data, User Notices, System and Service Reports or Orbital products for Search and Rescue (SAR) users. At the same time, the Centre is paving the way for the Galileo High Accuracy Service (HAS) by supporting the necessary testing. In the near future, further enhancements and services will be declared operational, including Galileo HAS and Open Service Navigation Message Authentication (OSNMA), and the GSC will play a fundamental role in their deployment and provision. This paper presents the current status of the GSC and its prospects for the next years.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129300046","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 Orbit Determination of the Kepler Navigation System - a Simulation Study","authors":"G. Michalak, K. Neumayer, R. König","doi":"10.23919/ENC48637.2020.9317467","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317467","url":null,"abstract":"The paper deals with precise orbit determination (POD) of a future satellite navigation system called Kepler consisting of 24 Galileo-like Medium Earth Orbit (MEO) and 6 Low Earth Orbit (LEO) satellites connected by two-way optical inter-satellite links (ISLs) for communication, constellation-wide clock synchronization and precise ranging. The Kepler GNSS space-borne (6 LEOs) and ground data for 18 Galileo Sensor Stations are simulated with noise typical for real data including multipath, the ISL ranges are simulated with 1 mm Gaussian noise. The data are subsequently used for orbit determination in daily batches. It is demonstrated, that the POD of the Kepler system with ISL ranges and synchronized satellite clocks defining the reference time scale could be performed with just one ground station. The POD results are compared to MEO-only Galileo-like solutions. The Kepler MEO radial orbit accuracy is better than the Galileo one by a factor of 1000 in case of perfect models. To obtain more realistic results, a number of modeling errors was introduced leading to significant degradations of the orbit accuracy. However with the Kepler system, an efficient handling of the modeling errors by empirical accelerations is possible, resulting in orbit accuracies of 5 cm in 3D and 0.24 cm in radial direction. In the Kepler POD pseudo-range hardware delays and biases in the ISL ranges are additionally considered. It turns out that the estimation of the code hardware delay differences (receiver-transmitter) does not impact POD accuracy. Estimation of the ISL range biases in the presence of significant modeling errors, in turn, was found to have a rather dramatic impact, increasing the radial orbit error by an order of magnitude from 0.24 to 2 cm. ISL range biases of up to 5 mm, when not estimated, have a much smaller impact, radial orbit accuracy stays below 1 cm. It was also found, that removing the satellite fixed clocks assumption in the Kepler system with precise ISL ranges has no impact on the radial orbit component, but significantly increases the orbit error in along- and cross-track direction.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128669615","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":"Ranging Based Wireless Positioning with Accurate Estimation of Bias Errors","authors":"M. Khalaf-Allah, O. Michler","doi":"10.23919/ENC48637.2020.9317404","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317404","url":null,"abstract":"In this paper, the problem of positioning a tag/receiver using range measurements is addressed. The performance of two linear least-squares estimators in terms of positioning accuracy is considered. To further improve the accuracy, we propose two measures in order to remove measurement noise and outliers, and to reduce measurement bias errors. Noise and outliers are removed by applying a recursive average filter to the measurements. Thus, the remaining errors are mainly systematic, i.e. bias errors. A direct positioning method is then developed to enable estimating the average measurement bias. These two procedures have a positive impact on the positioning accuracy as is demonstrated by the experiment. Filtering has reduced maximum errors by at least 25%. Bias reduction further decreased the mean and maximum errors by at least 66% and 42% respectively.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129041178","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":"First Results Of Glonass-Only Cdma+Fdma Integer Ambiguity Resolution","authors":"P. Teunissen, S. Zaminpardaz, A. Khodabandeh","doi":"10.23919/ENC48637.2020.9317484","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317484","url":null,"abstract":"In [1] a new integer-estimable GLONASS FDMA model was introduced. The new model is generally applicable and guarantees, independent of the actual channel number entries, the integer-estimability of the new GLONASS ambiguities. As the model has a close resemblance with CDMA models, available CDMA software is easily modified and existing methods of integer ambiguity resolution can be directly applied. In this contribution we will show how the integer-estimable FDMA model can be combined with the new GLONASS CDMA signals that are currently under development [2], [3]. We present the combined GLONASS-only FDMA+CDMA model and we analyse its strength for instantaneous integer ambiguity resolution. This will be done formally as well as empirically using real data.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116992517","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":"Performance Analysis of Low-Cost Receiver in an Urban Environment - Test Results of a Tram in Oslo","authors":"C. Rost, M. Ouassou, R. Hanssen, A. Solberg, K. Bahr, Marius Sommerseth, M. Erneland","doi":"10.23919/ENC48637.2020.9317394","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317394","url":null,"abstract":"This article presents the results of a study on the positioning accuracy of low-cost satellite navigation receivers in an urban environment. The data was collected using a receiver on board a regular tram in Oslo. The system's performance in terms of availability for the position (where the user's receiver can calculate a position) and position accuracy (expressed by horizontal and vertical position errors) in open areas, urban areas and urban canyons is at the focus of the analysis. The analysis does provide information on whether a low-cost satellite navigation receiver can guarantee the accuracy requirements required for position-controlled switches and crossings or traffic light control in the future.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117033152","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":"On-Board GPS Augmentation through RADAR Altimeter Aiding for Precision Approach and Landing of UAS","authors":"Andrew Videmsek, M. Haag","doi":"10.23919/ENC48637.2020.9317481","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317481","url":null,"abstract":"RADAR Altimeter Aiding (RALT Aiding) is an augmentation method to GPS to improve the standard GPS position solution accuracy, integrity, and continuity through the inclusion of an additional range measurement into the GPS measurement equation. This additional range measurement is derived through the combination of a radar altimeter and terrain elevation database. This paper extends on work previously competed by the authors and provides an in-depth introduction to the RALT Aiding method, description of work completed in the past, and outlook for the future of the concept.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115356630","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}