2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)最新文献

Q-Learning Applied to Soft-Kill Countermeasures For Unmanned Aerial Vehicles (UAVs) q学习在无人机软杀伤对抗中的应用

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110222

D. L. Silva, F. Antreich, O. Coutinho, Renato B. Machado

{"title":"Q-Learning Applied to Soft-Kill Countermeasures For Unmanned Aerial Vehicles (UAVs)","authors":"D. L. Silva, F. Antreich, O. Coutinho, Renato B. Machado","doi":"10.1109/PLANS46316.2020.9110222","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110222","url":null,"abstract":"This work presents a three-dimensional control algorithm using reinforcement learning to guide an attacking hunter drone capable of performing a global navigation satellite systems (GNSS) repeater attack on the GNSS receiver of a target invader drone. Considering the mission and movement requirements of the hunter drone, a Q-learning algorithm was developed, for which the table with the possible transitions of the states and actions is obtained by the actions that the vehicle can take considering directions and the respective consequences of each action. The learning capability of the proposed algorithm arises from the trial and error by an agent. The penalty calculation is based on the error of the invader position to the hunter's desired position of the attacked drone. The developed algorithm is tested using a software-in-the-loop (SITL) implementation, which is based on the Ardupilot platform. SITL simulations are performed in a developed testbed to emulate operational scenarios, where an unmanned aerial vehicle (UAV) is hijacked and then controlled by an attacking UAV until it reaches the final position desired by the hunter, usually a secure area where the vehicle can be captured without being destroyed. Results, including error metrics and action time, are discussed for different mission scenarios.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124836329","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}

引用次数: 2

Approach for Autonomous Robot Navigation in Greenhouse Environment for Integrated Pest Management 温室环境中害虫综合治理机器人自主导航方法研究

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109895

Smita Tiwari, Yuheng Zheng, M. Pattinson, María Campo-Cossio, Raúl Arnau, David Obregón, Ander Ansuategi, C. Tubío, Iker Lluvia, Oscar Rey, Jeroen Verschoore, Vojtech Adam, Joaquin Reyes

{"title":"Approach for Autonomous Robot Navigation in Greenhouse Environment for Integrated Pest Management","authors":"Smita Tiwari, Yuheng Zheng, M. Pattinson, María Campo-Cossio, Raúl Arnau, David Obregón, Ander Ansuategi, C. Tubío, Iker Lluvia, Oscar Rey, Jeroen Verschoore, Vojtech Adam, Joaquin Reyes","doi":"10.1109/PLANS46316.2020.9109895","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109895","url":null,"abstract":"The use of autonomous robots for certain tasks within agriculture applications can bring many advantages. The H2020-funded GreenPatrol project has developed an autonomous system for pest detection and treatment within commercial greenhouses. In this system the robot will navigate autonomously and regularly inspect crops using an array of cameras and algorithms to detect and treat pests at an early stage in order to improve yield, reduce pesticide use and improve worker conditions. A key enabler for this application is the localization and navigation function of the robot platform. In order to operate independently and autonomously, the robot must know in real-time its precise location and direction of pointing, it must be able to plan a route through the greenhouse from its current location to where it needs to go, it must be able to control its movements to reach its required destination, and it must be able to identify and avoid obstacles that may obstruct its route. In order to achieve these goals the robot sub-systems include an absolute localization function, to provide precise absolute position and heading in a global reference frame in real-time, a relative localization function, to provide more fidelity of the exact location and orientation of the robot with respect to its surroundings in the greenhouse, and a navigation function, to plan the route through the greenhouse and provide movement instructions to the robot platform. This paper describes the localization system of the GreenPatrol robot and presents results of testing for each of the functions. The tests include simulations as well as data collections and tests of the real-time system using the robot platform. The results show the high performance of the positioning capability and heading information for the individual systems.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124917708","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}

引用次数: 3

Improved Time-of-Arrival Estimation Algorithm for Cellular Signals in Multipath Fading Channels 多径衰落信道中蜂窝信号的改进到达时间估计算法

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110178

Pai Wang, Y. Morton

{"title":"Improved Time-of-Arrival Estimation Algorithm for Cellular Signals in Multipath Fading Channels","authors":"Pai Wang, Y. Morton","doi":"10.1109/PLANS46316.2020.9110178","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110178","url":null,"abstract":"Positioning using the time-of-arrival (TOA) of cellular signals has emerged as a promising solution in global navigation satellite system (GNSS) challenged environments, such as in urban canyons and indoors. However, harsh multipath fading propagation condition remains as one of the key factors causing the detriment of the TOA estimation accuracy. This paper presents an improved TOA estimation algorithm for cellular signals in multipath fading channels. The proposed algorithm takes advantage of the super-resolution algorithm and multipath estimating delay lock loop for estimating the multipath parameter vector. The estimation results are constantly monitored to handle the multipath fading conditions. At the beginning of each update epoch, the proposed method performs a consistency check using the previous estimated parameter vector to determine whether to activate a reinitialization process or not. While at the end of each update epoch, the method examines the validity of the detected first arriving path to remove the estimation outliers. Simulation results considering a five-path fading channel are provided to demonstrate the effectiveness of the proposed algorithm and compare its performance to those of other existing approaches.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123540575","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}

引用次数: 2

A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion 基于GNSS和视觉传感器融合的混合位置估计框架

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110123

Sara Baldoni, F. Battisti, Michele Brizzi, A. Neri

{"title":"A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion","authors":"Sara Baldoni, F. Battisti, Michele Brizzi, A. Neri","doi":"10.1109/PLANS46316.2020.9110123","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110123","url":null,"abstract":"The objective of this work is to evaluate the feasibility of the integration of visual sensors in the framework of GNSS-based vehicle localization systems. Undoubtedly GNSS plays a key role in vehicle localization. However, the impact of GNSS faults (e.g. satellite and constellation failure), signal degradation (e.g. ionospheric scintillations, multipath) and external threats (e.g. jamming and spoofing) need to be taken into account. To address this issue, we propose a three-level localization framework based on the use of additional visual sensors. Thanks to the visual input, the inaccurate GNSS measurements are refined by tracking georeferenced landmarks to obtain the vehicle absolute position. Moreover, the same sensors can be used to obtain the relative position and motion of the vehicle. Every time a new group of landmarks is detected, it is possible to repeat the absolute positioning process to cancel the drift accumulated by the relative localization procedure. This work represents the first step towards the realization of the proposed localization technique. Initial testing to evaluate its suitability has been carried out and is reported hereafter.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125315480","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}

引用次数: 2

SLAM Based Topological Mapping and Navigation 基于SLAM的拓扑映射与导航

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110190

Wuyang Xue, R. Ying, Zheng Gong, Ruihang Miao, Fei Wen, Peilin Liu

引用次数: 4

Celestial Navigation - Correcting the Folklore 天文导航-纠正民间传说

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109928

P. Swaszek, R. Hartnett, K. Seals

{"title":"Celestial Navigation - Correcting the Folklore","authors":"P. Swaszek, R. Hartnett, K. Seals","doi":"10.1109/PLANS46316.2020.9109928","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109928","url":null,"abstract":"Celestial navigation has been guiding the mariner for hundreds of years; more recently, the GPS (GNSS, in general) has made 3-D positioning and precise time a commodity for everyday use. With an increased awareness of the vulnerabilities associated with any satellite-based system, there is a renewed interest in non-satellite PNT systems. We have been reexamining celestial navigation from the vantage point of those conversant in GNSS language. Two aspects of these parallel approaches have attracted our attention: how to choose which stars to process (similar to the GNSS satellite selection problem) and if (and at what accuracy) precise time can be estimated from celestial measurements. This paper clarifies two common misconceptions about celestial navigation: (1) that the stars selected for celestial navigation do not need to be “evenly” distributed across 360 degrees of azimuth, that multiple stars from nearly similar directions (i.e. Polaris and stars in the Big Dipper) can be very useful together in forming a good celestial fix; and (2) that while “star clocks” are advertised, their result is not precise time, and that celestial techniques can only provide a low quality source of time information.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126866780","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}

引用次数: 0

GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise 城市场景下自适应高斯混合模型辅助GNSS/LiDAR集成:一种抗非高斯噪声的方法

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110157

W. Wen, X. Bai, L. Hsu, Tim Pfeifer

{"title":"GNSS/LiDAR Integration Aided by Self-Adaptive Gaussian Mixture Models in Urban Scenarios: An Approach Robust to Non-Gaussian Noise","authors":"W. Wen, X. Bai, L. Hsu, Tim Pfeifer","doi":"10.1109/PLANS46316.2020.9110157","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110157","url":null,"abstract":"Accurate and globally referenced positioning is crucial to autonomous systems with navigation requirements, such as unmanned aerial vehicles (UAV) and autonomous driving vehicles (ADV). GNSS/LiDAR integration is a popular sensor pair that can provide outstanding positioning performance in open areas. However, the accuracy is significantly degraded in urban canyons, due to the excessive unmodeled non-Gaussian GNSS outliers caused by multipath effects and none-line-of-sight (NLOS) receptions. As a result, the violation of the Gaussian assumption can severely distort the sensor fusion process, such as the extended Kalman filter (EKF). To mitigate the effects of these non-Gaussian GNSS outliers, this paper proposes to leverage the Gaussian mixture model (GMM) to describe the potential noise of GNSS positioning and apply it to further sensor fusion. Instead of relying on excessive offline parameterization and tuning, the parameters of the GMM are estimated simultaneously based on the residuals of the GNSS measurements using an expectation-maximization (EM) algorithm. Then the state-of-the-art factor graph optimization (FGO) is applied to integrate the GNSS positioning and LiDAR odometry based on the estimated GMM. The experiment in a typical urban canyon is conducted to validate the performance of the proposed method. The result shows that the GMM can effectively mitigate the effects of GNSS outliers and improves positioning performance.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116052361","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}

引用次数: 4

Geomagnetic Storm Induced Mid-latitude Ionospheric Plasma Irregularities and Their Implications for GPS Positioning over North America: A Case Study 地磁风暴引起的中纬度电离层等离子体不规则性及其对北美GPS定位的影响:一个案例研究

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110132

Zhe Yang, S. Mrak, Y. Morton

引用次数: 8

Seamless Navigation using UWB-based Multisensor System 基于uwb多传感器系统的无缝导航

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110146

V. D. Pietra, P. Dabove, M. Piras

引用次数: 6

Autonomous UAV-based Forest Mapping Below the Canopy 基于无人机的树冠下自主森林测绘

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109921

J. Rydell, M. Tulldahl, E. Bilock, Linnéa Axelsson, Pontus Köhler

引用次数: 4