2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)最新文献_第5页

Quantifying Feature Association Error in Camera-based Positioning 基于相机定位的特征关联误差量化

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109919

Chen Zhu, M. Joerger, M. Meurer

引用次数: 8

New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas 城市人口密集地区4级自动驾驶汽车综合导航新方案

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109962

L. Hsu, W. Wen

{"title":"New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas","authors":"L. Hsu, W. Wen","doi":"10.1109/PLANS46316.2020.9109962","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109962","url":null,"abstract":"Accurate and globally referenced positioning is fatal to the safety-critical autonomous driving vehicles (ADV). Multi-sensor integration is becoming ubiquitous for ADV to guarantee the robustness and accuracy of the navigation system. Unfortunately, the existing sensor integration systems are still heavily challenged in urban canyons, such as Tokyo and Hong Kong. The main reason behind the performance degradation is due to the varying environmental conditions, such as tall buildings and surrounded dynamic objects. GNSS receiver is an indispensable sensor for ADV, which relies heavily on the environmental conditions. The performance of GNSS can be significantly affected by signal reflections and blockages from buildings or dynamic objects. With the enhanced capability of perception, fully or partially sensing the environment real-time becomes possible using onboard sensors, such as camera or LiDAR. Inspired by the fascinating progress in perception, this paper proposes a new integrated navigation scheme, the perception aided sensor integrated navigation (PASIN). Instead of directly integrating the sensor measurements from diverse sensors, the PASIN leverages the onboard and real-time perception to assist the single measurement, such as GNSS positioning, before it is integrated with other sensors including inertial navigation systems (INS). This paper reviews several PASIN, especially on the GNSS positioning. As an example, GNSS is aided by the perception of a camera or LiDAR sensors, are conducted in dense urban canyons to validate this novel sensor integration scheme. The proposed PASINS can also be extended to LiDAR- or visual- centered navigation system in the future.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"4 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":"131187917","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

Demonstration of a Multi-Layer Spoofing Detection Implemented in a High Precision GNSS Receiver 高精度GNSS接收机中多层欺骗检测的演示

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109842

A. Broumandan, S. Kennedy, J. Schleppe

{"title":"Demonstration of a Multi-Layer Spoofing Detection Implemented in a High Precision GNSS Receiver","authors":"A. Broumandan, S. Kennedy, J. Schleppe","doi":"10.1109/PLANS46316.2020.9109842","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109842","url":null,"abstract":"Civilian applications including vehicular navigation, electrical power grids and digital communication networks are relying on GNSS-based position and timing services and motivation has increased to disrupt these systems and endanger safety of life and critical applications. GNSS signals are susceptible to jamming and spoofing attacks due to being weak near the earth's surface. Herein, realistic spoofing scenarios and their features will be characterized. This characterization is based on spoofing/authentic relative signal power, how synchronous the spoofing signals are to the authentic ones and the availability of both spoofing and authentic signals. A variety of detection methods are defined, using metrics derived at different layers of a GNSS receiver with a single antenna input. An on-board spoofing detection unit was implemented on NovAtel's OEM7 family of receivers. This unit collects different metrics from the GNSS signal processing chain and provides a real-time indication if the receiver is under spoofing attack. The probability of false detection during jamming or multipath conditions is given special consideration, since a false declaration of the presence of a spoofing attack could lead to incorrect, unnecessary or even dangerous reactions from the user or spoofing mitigation implementations. However, if spoofing signals are present, the user (and the receiver) must be aware of these to choose an appropriate course of action. Test results are presented using several spoofing scenarios based on GNSS hardware simulator, repeaters and software defined radios in conditions ranging from stationary to kinematic, with low and high levels of multipath.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"22 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":"132681405","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

Localization Based on Lidar and GNSS for Connected Vehicles 基于Lidar和GNSS的车联网定位

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110209

Jae-Hoon Ahn, J. Won

引用次数: 2

Economical Fused LEO GNSS 经济融合LEO GNSS

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110140

Peter A. Iannucci, T. Humphreys

引用次数: 25

Compensation of Systematic Errors in ZUPT-Aided Pedestrian Inertial Navigation zupt辅助行人惯性导航系统误差补偿

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110135

Yusheng Wang, Yu-Wei Lin, Sina Askari, Chi-Shih Jao, A. Shkel

引用次数: 16

Virtual Track: A Vision-based Integrity Enhancement 虚拟轨道:基于视觉的完整性增强

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110219

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

引用次数: 3

Precision Onboard Navigation for LEO Satellite based on Precise Point Positioning 基于精确点定位的LEO卫星星载精确导航

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9110158

Masaya Murata, I. Kawano, Koichi Inoue

{"title":"Precision Onboard Navigation for LEO Satellite based on Precise Point Positioning","authors":"Masaya Murata, I. Kawano, Koichi Inoue","doi":"10.1109/PLANS46316.2020.9110158","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110158","url":null,"abstract":"The PPP is a technique being actively researched and developed for estimating the precise position of a stationary point on the surface of the earth. Its particular features are that unlike the relative positioning method, the PPP does not require reference points and it provides the centimeter-level positioning accuracy in real-time using the precise orbit and clock information of the navigation satellites such as the GPS satellites. Lately, the application of the PPP technique to the onboard navigation of the low earth orbit (LEO) satellites is attracting attentions from aerospace researchers and engineers. Such a navigation technique is called the PPP in Space or the Space PPP. As for the existing approaches, the PPP in Space methods using precise LEO satellite dynamics [1] and kinematic PPP which does not use such dynamics [2] [3] were proposed and these results were impressive: the decimeter-level or even the centimeter-level satellite positioning accuracy was confirmed by the offline experiments using actual European LEO satellites dataset. Although these navigation methods are obviously state-of-the-art, this paper takes an another approach that focuses on improving the accuracy of satellite onboard navigation (NAV) using the PPP technique. The methodology presented in this paper is similar to the work [4] that used a reference orbit trajectory for the PPP in Space, that is, the errors of the reference trajectory were estimated using the PPP technique. However, the calculation of their reference trajectories requires the computational time and it can not be performed onboard a satellite. Therefore, we designed our method to work in realtime by using the onboard NAV as the reference trajectory. The performance of the proposed PPP NAV method was evaluated using the actual data of a Japanese earth observation satellite ALOS2 (Advanced Land Observing Satellite) [5].","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"22 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":"134368681","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: 8

Global Localization of Ground Vehicles Using Self-Describing Fiducials Coupled with IMU Data 基于自描述基准和IMU数据的地面车辆全局定位

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109829

J. Whitaker, Randall S. Christensen, Greg N. Droge

{"title":"Global Localization of Ground Vehicles Using Self-Describing Fiducials Coupled with IMU Data","authors":"J. Whitaker, Randall S. Christensen, Greg N. Droge","doi":"10.1109/PLANS46316.2020.9109829","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109829","url":null,"abstract":"A key aspect of providing safe, reliable navigation for autonomous vehicles is accurate localization. This is often accomplished with the use of GPS in conjunction with odometry provided by other measurement systems. However, in many cases GPS is not available, or its accuracy is severely degraded allowing odometry error to propagate to unacceptable levels. Much work that addresses this issue either uses LIDAR, which is too expensive, bulky, and heavy for some applications, or computer vision, which often requires too much computation power for many of the same applications. Self-describing fidu-cials, fiducials which provide their own location information, can be a lower-cost, and more usable method of providing global location information to an autonomous ground vehicle. To this end this work details a low-cost ground vehicle localization method that uses inertial odometry and self-describing visual fiducials, combined through an indirect extended Kalman filter, for use in GPS-denied or degraded environments. Additionally, the sensitivity of the localization to fiducial density and IMU grade are analyzed.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"109 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":"134532604","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

Demonstration of Fused RTK (Fixed) + Inertial Positioning Using Android Smartphone Sensors Only 仅使用Android智能手机传感器的融合RTK(固定)+惯性定位演示

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Pub Date : 2020-04-01 DOI: 10.1109/PLANS46316.2020.9109865

M. Bochkati, Himanshu Sharma, C. A. Lichtenberger, T. Pany

引用次数: 11