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

{"title":"A UAV-based Algorithm to Assist Ground SAR Teams in Finding Lost Persons Living with Dementia","authors":"Dalia Hanna, A. Ferworn","doi":"10.1109/PLANS46316.2020.9109867","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109867","url":null,"abstract":"Unmanned Aerial Vehicles (UAV) are now used in many applications. Our focus in this paper is on their use in public safety, specifically in search and rescue (SAR) operations involving lost persons living with dementia (LPLWD). When it comes to saving lives, there are many human factors associated with UAV operations that impact the performance of expert human SAR that could be improved through forms of automation. These include tasks associated with piloting and search/flight management during SAR operations with the assistance of analysis performed on data from similar incidents in the past. A LPLWD may not be interested in assisting in their own rescue as they may not know they are lost. As such, it has been observed that they tend to keep walking until they are faced with an obstacle that bars their further progress. Knowing this behavior allows us to make predictions. Our approach in developing a people finding algorithm is to identify higher probability locations where an LPLWD might be found through informed, behavior-based analysis of the given terrain. We develop an algorithm to fly a UAV to the vicinity of these higher probability locations. We have validated our algorithm through field testing. In this paper, we present the results from both our data collection and the field tests. In addition, validation tests are presented and compared.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"59 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":"124783266","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":"Development of GNC for Optimal Relative Spacecraft Trajectories","authors":"W. Harris, Dax Linville, Joshuah Hess, R. Cobb","doi":"10.1109/PLANS46316.2020.9110153","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110153","url":null,"abstract":"Satellite rendezvous and proximity operations (RPO) require Guidance, Navigation, and Control (GNC) systems that can effectively and efficiently manipulate a spacecraft's position with respect to another space object. This study develops a modular spacecraft GNC architecture capable of utilizing various combinations of optimal guidance, feedback control, and navigation filtering subsystems. To demonstrate the architecture, the system is implemented in simulation and is shown to be capable of commanding RPO maneuvers in a highly constrained space environment. A complex rendezvous scenario is examined using a variety of controllers, navigation filters, and sensor combinations. The scenario considers two spacecraft: a maneuvering inspector spacecraft, and a non-maneuvering resident space object (RSO). The inspector must navigate through a debris field, avoiding pre-determined keep-out zones while on an optimal path to rendezvous with the RSO. To do this, the proposed GNC architecture operates by tracking an optimal reference trajectory, generated by the guidance subsystem a priori. Two different types of full-state feedback controllers are compared to track the desired trajectory. A full state estimate is provided by any of four different types of navigation filters using simulated measurement information from on-board sensors. Four different types of sensor suites are simulated, capable of producing combinations of position, velocity, angles, and range measurements. Results demonstrate the system's ability to track an optimal trajectory, as well as the ability to quickly and easily modify the architecture using different options for each GNC subsystem. The architecture is intended to serve as a basis for future GNC research for satellite RPO.","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":"129697306","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":"Deep Neural Network Approach to GNSS Signal Acquisition","authors":"Parisa Borhani Darian, P. Closas","doi":"10.1109/PLANS46316.2020.9110205","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110205","url":null,"abstract":"This paper investigates the use of data-driven models, popular in the machine learning literature, as an alternative to well-engineered signal processing blocks used in state-of-the-art GNSS receivers. Acknowledging that the latter are optimally designed and extensively tested, it is also agreed that when the nominal models do not hold the performance of the receiver might degrade. Particularly, we investigate the use of data-driven models in the signal acquisition stage of the receiver by addressing a classification problem from Cross Ambiguity Function (CAF) delay/Doppler maps. A discussion on the training of such models and future perspectives is provided. The detection results in nominal situations are then compared to the theoretical bound in the receiver operating characteristic (ROC) plots.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"96 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":"116336692","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":"Solution Separation-Based FD to Mitigate the Effects of Local Threats on PPP Integrity","authors":"J. Blanch, T. Walter, Laura Norman, Kazuma Gunning, Lance de Groot","doi":"10.1109/PLANS46316.2020.9109953","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109953","url":null,"abstract":"In order to obtain protection levels for PPP in multipath prone environments, we formulate a coarse threat model for urban and suburban environments. Based on this threat model, we determine analytically the limitations a of solution separation approach. In particular, we derive for which range of fault rates and fault lag this approach is likely to be feasible. We then describe a solution separation fault detection algorithm adapted to this threat model. Using data collected in urban and suburban environments, we evaluate the benefits of using up to 3 GNSS constellations and dual frequency in PPP combined with an FD algorithm based on solution separation, and in particular its ability to protect against measurement outliers.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"71 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":"124053748","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":"Navigation Error Sensitivity of Autonomous Carrier Landing Systems in GPS-denied Environments","authors":"Terran R. Gerratt, Amanda Strate, Randall S. Christensen","doi":"10.1109/PLANS46316.2020.9109926","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109926","url":null,"abstract":"This paper presents a system-level analysis of the navigation errors in an autonomous UAV carrier-landing scenario with a focus on fixed-wing aircraft. The research identifies relationships between relative state estimation errors and navigation system parameters. The method for achieving this objective is to construct a Monte Carlo simulation of the UAV landing on the aircraft carrier. An indirect Extended Kalman Filter is used in the simulation to estimate the position, velocity, and attitude of both the UAV and aircraft carrier. Results of the simulation focus on the relative position, velocity and attitude covariances at three seconds prior to touch down. The sensitivity of these covariances to measurement availability and frequency is illustrated as a function of IMU grade and camera errors. The results identified in this research enables designers to select system components which minimize cost while maintaining mission-specific navigation error requirements.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"117 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":"126290852","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":"Mobile Positioning with Signals of Opportunity in Urban and Urban Canyon Environments","authors":"Chun Yang, A. Soloviev","doi":"10.1109/PLANS46316.2020.9109876","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109876","url":null,"abstract":"This paper presents field test results of mobile positioning with signals of opportunity (SOOP) in urban and urban canyon environments and the lessons learned. The particular SOOP considered in this paper is the digital television (DTV) signals available in the United States, namely, ATSC-8VSB. The field tests include runs in downtown San Mateo and San Francisco Financial District, representing typical urban and urban canyon environments. DTV signals from six DTV stations together with IMU and GPS data are recorded aboard a ground vehicle. The field tests show that DTV signals are abundant in urban and urban canyon environments, contrary to a popular concern about signal availability due to blockage by high-risers. Positioning geometry is also not a problem even though the number of transmitters may be limited because the ranges to signal sources are relatively short and the resulting geometric dilution of precision (GDOP) is acceptable especially for the two-dimensional solutions. However, multipath is omnipresent, having two detrimental effects on ranging and positioning. Severe mobile fading is frequent that disrupts continuous tracking and non-line of sight (NLOS) signals introduce large errors to correlation peak based timing. To process multipath-dominant signals, a signal parameter estimation methodology is developed. In this approach, periodic signal patterns (field sync segments at 41 Hz) are searched for via correlation using a constant false alarm rate (CFAR) detector and their times of arrival (TOA) are extracted using the orthogonal matched pursuit (OMP) algorithm amidst multipath to form pseudorange measurements. Both standalone SOOP solutions and integrated SOOP/IMU solutions are generated for the test trajectories, which are then compared to GPS for performance evaluation. The study indicates that the processing algorithms presented in the paper can successfully detect the first arrival of SOOP in urban and urban canyon environments and extract its TOA precisely when the signals are available (out of fading or blockage). However, the timing information carried by such first arrivals, good enough to serve the primary purpose of communications, may not be so for ranging because of NLOS. As such, timing of first arrivals is not sufficient by itself for positioning and has to be used in conjunction with other data such as IMU, which is used in this paper. Yet, distinct and stable multipath signatures may be exploited, together with an environment map for instance, for persistent positioning in urban and urban canyon environments, which is a direction of our future research.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"81 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":"126369188","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":"Potential candidates for new SBAS signals","authors":"A. G. Pena, Rémi Chauvat, C. Macabiau, J. Samson, I. Lapin, C. Boulanger","doi":"10.1109/PLANS46316.2020.9110138","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110138","url":null,"abstract":"Satellite-Based Augmentation Systems (SBAS) provide single-frequency services for aeronautical users by broadcasting corrections and integrity information on L1 frequency. Future dual-frequency services for aeronautical users will be broadcast on L5-I/E5a-I frequency. New services that could be potentially provided by SBAS to non-aeronautical community are currently being investigated. These services may require higher data rates that challenge current SBAS signal definitions. Considering there is, at this time, no standardized SBAS signal neither on L5/E5a-Q component nor on E5b frequency band, an opportunity to evaluate new signal candidates is identified. In this paper, several candidates are proposed and compared with a baseline candidate. The baseline candidate is the current signal structure of SBAS signals, L1-I and L5-I/E5a-I. The comparison is made in terms of data rate, latency, data demodulation performance and receiver complexity as number of real additions and multiplications. It is observed that it is possible to increase the data rate and to reduce the latency without degrading the data demodulation threshold and with a reasonable complexity increase. Moreover, a compatibility analysis has been conducted which shows an impact smaller than 0.1dB of C/No degradation in any signal processing operation of any L5/E5a frequency band signal.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"10 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":"126389416","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":"Advanced TOA Estimation For Multipath Channels","authors":"R. Chrabieh, Peter Bagnall, S. Sezginer, D. Slock","doi":"10.1109/PLANS46316.2020.9109833","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109833","url":null,"abstract":"In this paper, estimation of time of arrival (TOA) in multipath environments is tackled as it is considered a real limiting factor in terrestrial and GNSS positioning systems. Novel methods are presented for designing novel near-causal filters and TOA-Matched Filters (TOA-MF) that facilitate estimation of the TOA. Near and far multipath are effectively reduced including in NLOS environments. Post application of the filter, a reduced complexity Maximum Likelihood (ML) estimation of the TOA is proposed. Simulations and field results confirm the efficiency of the proposed solution. This opens the door for optimized multi-technology approaches, which allows cost-effective and ultra-low-power solutions for accurate positioning.","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":"121446813","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 New Approach for Modeling Correlated Gaussian Errors using Frequency Domain Overbounding","authors":"S. Langel, Omar García Crespillo, M. Joerger","doi":"10.1109/PLANS46316.2020.9110192","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110192","url":null,"abstract":"This paper presents a new method to overbound Kalman filter (KF) based estimate error distributions in the presence of uncertain, time-correlated noise. Each noise component is a zero-mean Gaussian random process whose autocorrelation sequence (ACS) is stationary over the filtering duration. We show that the KF covariance matrix overbounds the estimate error distribution when the noise models overbound the Fourier transform of a windowed version of the ACS. The method is evaluated using covariance analysis for an example application in GPS-based relative position estimation.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"150 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":"115893496","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":"Adaptive Cooperative Navigation Strategies for Complex Environments","authors":"F. Causa, G. Fasano","doi":"10.1109/PLANS46316.2020.9110125","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110125","url":null,"abstract":"Multi-UAV Cooperation is a promising strategy to enhance navigation performance. In this framework, a UAV, termed chief, can exploit cooperative vehicles, deemed deputies, who share positioning information and enable relative measurements by ranging and/or bearing sensors, to improve its state estimation accuracy. Different cooperative strategies are available depending on the status of the formation. Specifically, based on the GNSS coverage conditions, cooperative aiding can be used to support position and/or attitude estimation. This paper introduces an adaptive navigation filter that automatically selects the relevant strategy to be used in each phase of flight. In addition, within a multi-UAV scenario, the effect of simultaneous exploitation of different cooperative navigation strategies onboard different UAVs is investigated. The adaptive filter is tested both on simulated and experimental flight data, showing the benefit of adaptively using shared data within the cooperative multi-vehicle system.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"128 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132228138","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}