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

{"title":"Performance Analysis for Autonomous Vehicle 5g-Assisted Positioning in GNSS-Challenged Environments","authors":"Zohair Abu-Shaban, G. Seco-Granados, C. Benson, H. Wymeersch","doi":"10.1109/PLANS46316.2020.9109885","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109885","url":null,"abstract":"Standalone Global Navigation Satellite Systems (GNSS) are known to provide a positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are obstructed, e.g., in urban canyons or underground tunnels. To overcome this issue, the general approach is usually to augment GNSS systems with other dedicated subsystems to help cover the gaps arising from obscured LOS. Positioning in 5G has attracted some attention lately, mainly due to the possibility to provide cm-level accuracy using 5G signals and infrastructure, effectively imposing no additional cost. In this paper, we study the hybridization of GNSS and 5G positioning in terms of achievable position and velocity error bounds. We focus on scenarios where satellite visibility is constrained by the environment geometry, and where the GNSS and 5G positioning systems fail to perform individually or provide prohibitively large error.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"47 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":"117248247","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":"Demonstration of LEO object detection using GNSS passive radar: A proof of concept","authors":"Md Sohrab Mahmud, S. U. Qaisar, A. Lambert, C. Benson","doi":"10.1109/PLANS46316.2020.9110124","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110124","url":null,"abstract":"This paper demonstrates the concept of very long duration coherent integration to estimate the trajectory of a moving object using Global Navigation Satellite System (GNSS) passive radar. The theoretical framework of the concept is presented followed by a practical demonstration. The purpose of this experiment is to replicate the scenario where a GPS signal is scattered by a low earth orbit object and due to the multipath, the indirect signal has different properties in comparison to the direct signal such as Doppler and phase. A proper estimation of the indirect signal can remove most of the modulation from the indirect signal and thereby observe the phase difference over time between the replica and the actual signal. The processing method and the predicted accuracy for the proposed system are shown. One of the two GPS receivers used in this experiment is kept stationary. The other is moving at a constant speed keeping a fixed distance from the reference receiver. The experiment was performed outdoors as well as indoors to confirm the utilization of GPS signal in this purpose and at the same time to prove the potential use of phase tracking for target localization. The complete estimation method is theoretically derived and then experimentally confirmed using experimental data collected from both outdoor and indoor tests.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"16 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":"124480202","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":"Low SWaP-C Radar for Urban Air Mobility","authors":"William A. Lies, Lakshay Narula, Peter A. Iannucci, T. Humphreys","doi":"10.1109/PLANS46316.2020.9110148","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110148","url":null,"abstract":"A method is developed and tested for extending the range of low-cost radar chipsets for use in urban air mobility (UAM) vehicles. The method employs weak-signal correlation techniques and long measurement intervals to achieve a 1 km range. Low-cost radar is an enabling technology for vertical take-off and landing (VTOL) aircraft envisioned for large-scale deployment in urban areas. These aircraft must be autonomously piloted to make them economically feasible, but autonomous systems have yet to match a human pilot's ability to detect and avoid (DAA) obstacles. Visible light cameras are useful for this application, but cameras alone are insufficient, as they are fundamentally unable to resolve range. Existing commercial radar units would suffice for DAA, but their large size weight, power, and cost (SWaP-C) militates against their application to UAM. The technique detailed in this paper is a fused camera-radar solution that exploits the camera's excellent angular resolution to guide radar signal processing so that signals arriving from a camera-detected target are combined constructively. Such guided processing significantly extends the range of low SWaP-C radar chipsets, making them useful for DAA. An analysis of the fused technique's robustness to target velocity uncertainty is presented, along with experimental results indicating that a typically-sized VTOL aircraft would be detectable at a range of 1 km.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"40 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":"131705902","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 fast in-motion alignment based on inertial frame and reverse navigation","authors":"Bo Xu, Lianzhao Wang, Tenghui Duan, Kunming Jin, Jiao Zhang","doi":"10.1109/PLANS46316.2020.9110168","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110168","url":null,"abstract":"Higher alignment accuracy and faster alignment speed are crucial for the whole navigation system. The popular in-motion alignment methods for strapdown inertial navigation system (SINS) are estimation the navigation state error by kalman filter (KF), however, it takes a long time to converge and can't work with large misalignment angle condition. In the paper, a fast alignment method on moving base aided by the speed of b-frame is proposed. First, based on the specific force equation and attitude matrix decomposition, a velocity assisted attitude determination method is derived; Second, a second time alignment scheme is proposed to improve the alignment accuracy by compensating the items, which are omitted in first time alignment; Third, the initial attitude is obtained by reverse navigation using stored data of inertial measurement unit (IMU), and the position information is estimated. At the same time, the omitted items are compensated in second time alignment. Finally, the second time alignment is verified by the simulation and semi-physical simulation. In the sea test, the yaw error is 0.7° in first time alignment and it is reduced to −0.02° in second time alignment within 10 minutes, and accurate position can be provided after alignment.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"1 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":"130666648","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":"Effect of Wheel Odometer on Low-Cost Visual-Inertial Navigation System for Ground Vehicles","authors":"Jaehyuck Cha, J. Jung, J. Y. Chung, Tae Ihn Kim, Chan Gook Park, Myung Hwan Seo, S. Park, Jong Yun Yeo","doi":"10.1109/PLANS46316.2020.9110201","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110201","url":null,"abstract":"This paper deals with a specialized visual-inertial navigation system (VINS) for ground vehicles equipped with a monocular camera and an inertial measurement unit (IMU) aided by the embedded wheel odometer. In particular, this work is scoped to the systems with a low-cost IMU of which accelerometers are considerably unreliable and the global navigation satellite system (GNSS)-denied environments such as the urban canyon or the inside of tunnels. Since the accelerometer biases are fluctuating in low-grade cases, a general VINS cannot estimate them properly, which results in poor navigation performance. Meanwhile, the wheel odometers are embedded in most cars and provide speed information, allowing the accelerometer biases to be calibrated. This paper analyzes the effect of wheel odometer on scale accuracy of low-cost VINS solution through simulation using the KITTI benchmark dataset. The real-world experiment also verifies the preceding analysis and shows a remarkable improvement in navigation performance.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"23 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120856950","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":"Effect of Sensor Quality on Relative State Estimation of Formation Flying of Satellites","authors":"R. Babb, Trevor Pratt, Brian Merrell, Randall S. Christensen","doi":"10.1109/PLANS46316.2020.9110185","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110185","url":null,"abstract":"One of the most important challenges involved in the formation flight of satellites is that of state estimation in terms of relative and inertial estimates. In near earth spacecraft GPS measurements are commonly used to solve this problem and for deep space missions the DSN is used. The objective of this paper is to determine sensitivities of relative state estimation errors to varying sensor quality in a GPS-denied environment. This paper considers a Chief-Deputy architecture that will travel in an elliptical orbit with a perigee in Low-Earth Orbit and an apogee in Mid-Earth orbit (MEO). While in the GPS-available zone, the Chief satellite will process GPS measurements to determine its state relative to the Earth-Centered Inertial (ECI) frame. Measurements are taken of range and range-rate of the Deputy relative to the Chief throughout the orbit and processed using an Indirect, Extended Kalman Filter (EKF). The states being estimated are the position and velocity of each satellite, along with sensor biases. A Monte-Carlo simulation is developed to validate the consistency of the EKF covariance estimates. Only two satellites are considered for simplicity, though the formation can be expanded to include an arbitrary number of satellites. Following validation of the EKF, the covariance estimates are used to identify trends in relative state estimation for the two-satellite formation as a function of sensor parameters. Specifically, the sensitivity of state estimation to range and range-rate sensor quality is assessed by analyzing covariance as a function of range and range-rate bias. The resulting analysis provides a preliminary estimate of system performance, enabling the selection of system components to meet future mission requirements.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"39 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":"124352640","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":"Using UWB Aided GNSS/INS Integrated Navigation to Bridge GNSS Outages Based on Optimal Anchor Distribution Strategy","authors":"Rongge Zhang, F. Shen, Yi Liang, Di Zhao","doi":"10.1109/PLANS46316.2020.9110181","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110181","url":null,"abstract":"This paper investigates into the feasibility of a combined use of Ultra-wideband (UWB) and Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) for integrated navigation in GNSS challenged environments. The performance of the original integrated GNSS/INS navigation system deteriorated rapidly due to the GNSS signal outages. The position information provided by UWB is used as the observation quantity of Extend Kalman Filter (EKF) to make up for the influence of GNSS signal loss. Considering the positioning service performance provided by UWB is closely related to the geometric distribution of base station of UWB, an optimization searching based on maximum convex-hull (OSMC) method is adopted to establish the optimal base station layout scheme. The features of navigation have been investigated in vehicle test with the results showing clear evidence that the method can resist the impact of GNSS outages effectively and the positioning information are stable and reliable.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"98 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":"115028135","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":"Evaluating Integrity and Continuity Over Time in Advanced RAIM","authors":"C. Milner, B. Pervan, J. Blanch, M. Joerger","doi":"10.1109/PLANS46316.2020.9109924","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109924","url":null,"abstract":"The Service Evolutions Sub-Group (SESG) of Working Group C, the joint technical committee formed from U.S and E. U public bodies for the purpose of promoting GPS-Galileo applications, has spent the past years working on a number of topics relating to Advanced RAIM development and its early stages of standardization. This paper addresses the mapping of integrity and continuity requirements from the operational (i.e. per hour) to the algorithmic (per sample). It provides a method to rigorously account for the impact on integrity risk of multiple exposures to hazardously misleading events over time, and for the impact on false alert probability of multiple detection tests over time. This analysis leads to the estimation and bounding of the “number of effectively independent samples”, or more concisely the “number of effective samples (NES), for integrity and continuity within their respective exposure windows.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"1 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":"128659266","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":"GNSS Spoofing Mitigation Using Multiple Receivers","authors":"Niklas Stenberg, E. Axell, J. Rantakokko, Gustaf Hendeby","doi":"10.1109/PLANS46316.2020.9109958","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109958","url":null,"abstract":"GNSS receivers are vulnerable to spoofing attacks, where false satellite signals are transmitted to trick the receiver to provide false position and/or time estimates. Novel algorithms are proposed for spoofing mitigation by exchanging double differences of pseudorange, or carrier phase, measurements between multiple GNSS receivers. In scenarios where the spoofing system utilizes a single transmit antenna, the pseudorange, and carrier phase, measurements that are associated with the spoofing signal can be detected and removed. Simulated meaconing attacks generated with a Spirent hardware simulator and measurements obtained with a modified version of GNSS-SDR are used to evaluate the proposed algorithms. Spoofing mitigation using pseudorange measurements is possible, for receivers that are separated at least five meters apart. With a receiver separation of 20 meters, the pseudorange double difference algorithm is able to correctly authenticate at least six of seven pseudoranges within 30 seconds. The carrier phase approach enables mitigation of spoofing signals at shorter receiver distances. However, this approach requires a more accurate time synchronization between the receivers.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"19 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":"127608661","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":"Influence of Receiver Clock Modeling in GNSS-based Flight Navigation: Concepts and Experimental Results","authors":"Ankit Jain, S. Schön","doi":"10.1109/PLANS46316.2020.9109925","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109925","url":null,"abstract":"In civil aviation, navigation performance has to be maintained up to a high standard for its uninterrupted operations. Global navigation satellite systems (GNSS) coupled with other navigational aid system provide the required performance levels for flight operations. In GNSS based position estimates, the vertical component is less accurate than the horizontal component; it is specifically due to the necessity of estimating a receiver clock bias. In all phases of flight navigation, the accuracy of height component is extremely important. With the concept of receiver clock modeling (RCM), sometimes also referred as clock coasting, the accuracy of the vertical component can be improved by a large extent. In this paper, we present experimental results of GNSS code-based flight navigation with and without RCM. GNSS observations are captured during a flight for about three hours with multiple geodetic grade GNSS receivers and an inertial measurement unit (IMU). Some of the receivers are connected with external atomic clocks to analyze the feasibility and validity of RCM in flight navigation; also to study the impact of flight dynamics on the external clocks and GNSS observations. Data captured are processed post-flight; position and clock errors are estimated with multi-GNSS code and Doppler observations using a Kalman filter (KF) approach. The estimated position and clock errors are computed twice, once by applying the concept of RCM and once without applying it. Finally, the estimated positions are compared with the reference trajectory and the topocentric coordinate differences are evaluated. Experimental results demonstrate that the precision in the height component is improved by about 65% using GPS and Galileo P-code observations with RCM applied compared to a positioning solution without applying RCM. Overall, there is no significant difference in the horizontal components for the solution computed with and without RCM. The effects of flight dynamics on external atomic clocks and GNSS observations are also discussed briefly. There exists a high correlation (about 90%) between flight acceleration and the frequency offset of an external atomic ovenized quartz oscillator during a highly dynamic maneuver phase.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"450 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":"124487962","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}