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

{"title":"GNSS Attitude Determination Using a Constrained Wrapped Least Squares Approach","authors":"Xing Liu, Tarig Ballal, T. Al-Naffouri","doi":"10.1109/PLANS46316.2020.9110131","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110131","url":null,"abstract":"Global Navigation Satellite Systems (GNSS) based attitude determination has become an essential alternative to conventional techniques. carrier-phase integer ambiguity resolution is the primary challenge for high-precision GNSS attitude determination. In this contribution, we develop a constrained wrapped least squares (C-WLS) method to estimate a vehicle's attitude innovatively. The proposed method avoids the complicated process of resolving integer ambiguities by directly employing ambiguous carrier-phase observations to determine a vehicle's attitude through a search procedure in the solution space. The proposed method also takes advantage of a novel optimization model, which leverages prior information such as antenna configuration, the integer property of the carrier-phase ambiguity, and the noise distribution of carrier-phase observations. The performance of the proposed method is verified using both simulation and experimental data. The results show that the proposed C-WLS method outperforms the renowned constrained LAMBDA method in various performance areas.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"104 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":"122697188","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 With Differential Carrier Phase Measurements From Megaconstellation LEO Satellites","authors":"Joe J. Khalife, M. Neinavaie, Z. Kassas","doi":"10.1109/PLANS46316.2020.9110199","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110199","url":null,"abstract":"An opportunistic framework to navigate with differential carrier phase measurements from megaconstellation low Earth orbit (LEO) satellite signals is proposed. A computationally efficient integer ambiguity resolution algorithm is proposed to reduce the size of the integer least-squares (ILS) problem, whose complexity grows exponentially with the number of satellites. The Starlink constellation is used as a specific megaconstellation example to demonstrate the efficacity of the proposed algorithm, showing a 60% reduction in the size of the ILS problem. The joint probability density function of the megaconstellation LEO satellites' azimuth and elevation angles is derived for efficient and accurate performance characterization of navigation frameworks with LEO satellites, and to facilitate system parameter design to meet desired performance requirements. Experimental results are presented showing an unmanned aerial vehicle (UAV) navigating for 2.28 km exclusively using signals from only two Orbcomm LEO satellites via the proposed framework, achieving an unprecedented position root mean squared error of 14.8 m over a period of 2 minutes.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"3 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":"128625567","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":"Evaluation of Virtual Reality Tracking Performance for Indoor Navigation","authors":"Rui Wu, Jeevitha Pandurangaiah, Grayson Morgan Blankenship, Christopher Xavier Castro, S. Guan, Andrew Ju, Zhen Zhu","doi":"10.1109/PLANS46316.2020.9110225","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110225","url":null,"abstract":"HTC Vive VR system was originally designed for entertainment. It is capable of high-accuracy indoor tracking and is relatively inexpensive compared to other professional indoor tracking systems. Recently, there is an increasing trend to use HTC Vive tracking system towards scientific research and educational applications. However, the tracking accuracy of position and orientation of a target can be significantly affected by the configuration of lighthouses (base stations). In this work, we proposed a simplified error model of the target position and orientation, which takes into consideration the lighthouse configuration, the relative location of the target, and the accuracy of the sensors. It can be used to optimize or evaluate the geometric distribution of lighthouses and receivers for specific applications.","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":"128928832","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":"Redesigned Waveforms in the Maritime Medium Frequency Bands","authors":"Lars Grundhöfer, S. Gewies, Niklas Hehenkamp, G. D. Galdo","doi":"10.1109/PLANS46316.2020.9110174","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110174","url":null,"abstract":"Several studies have shown that the signals of marine radio beacons, which operate in the maritime medium frequency (MF) band, can be modified to enable range and position estimate. This technology called Ranging Mode (R-Mode) faces challenges in the resolution of ambiguities and suppression of multipath interference which are related to the small bandwidth of 500 to 1000 Hz per radio beacon. This paper shows that increasing the overall used bandwidth per station with the transmission in two separate MF channels or using the complete maritime MF band would increase the ability to estimate the ambiguities and identify signals reflected by the ionosphere. A matching pursuit algorithm is proposed to decompose the received signal into the ground-wave and sky-wave component.","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":"129884609","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":"Sparse Signal Bands Selection for Precise Time-based Ranging in Terrestrial Positioning","authors":"H. Dun, C. Tiberius, C. Diouf, G. Janssen","doi":"10.1109/PLANS46316.2020.9110197","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110197","url":null,"abstract":"Time-based ranging accuracy is inversely proportional to the signal bandwidth. A larger the signal bandwidth leads to a higher accuracy of time delay estimation, but more complex hardware is needed. Alternatively, we explore the idea of using multiple narrow signal bands (e.g., 10 MHz of each) to create a large virtual signal bandwidth, which maintains the spectral efficiency but largely improves the ranging accuracy. Considering the impact of multipath, the propagation delay of the LoS path is computed from the estimated channel impulse response (CIR). In this paper, we propose an approach to sparsely select signal bands for ranging and positioning based on convex optimization. The Cramér-Rao lower bound (CRLB) for the propagation delay and gain estimators, as a performance criterion, is employed in the constraint of the optimization. The CRLB is derived in a two-path channel, so that the accuracy and the correlation between the LoS path and the reflection are taken into account. Experiments are conducted in a laboratory environment to illustrate the proposed signal design methodology dedicated for ranging with a sub-decimeter accuracy.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"54 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":"130978508","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":"Visual Servoing of Micro Aerial Vehicles with the Cooperation of Ground Vehicle","authors":"Jiayi Li, Wei Dong, X. Sheng, S. Xu","doi":"10.1109/PLANS46316.2020.9109994","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109994","url":null,"abstract":"A ground-to-air cooperation system is proposed in this article aiming to enhance the performance of Micro Aerial Vehicles(MAVs) in GPS-denied environment. The MAV cooperates with the ground vehicle to complete flying task. Specifically, the ground vehicle uses a monocular camera to track the marker points on the MAV with background subtraction and optical flow algorithms to avoid interference from unrelated backgrounds, and calculates the position relative to the ground vehicle. After receiving the position of the ground vehicle, the MAV fuses the observed position with its own accelerometer information, and performs self-state estimation and feedback control. Compared with the past methods, the proposed method can effectively remove the interference of complex background, perform point-tracking on the MAV markers to improve the robustness of positioning, and reduce the state estimation delay by fusing multi-sensor information. Experiments are carried out to verify the flight path of the MAV observed by the ground vehicle with the trajectory from the Vicon motion capture system, and thus prove the accuracy and effectiveness of the system.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"55 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":"129494654","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":"Terrestrial Testing of Multi-Agent, Relative Guidance, Navigation, and Control Algorithms","authors":"Mark Mercier, S. Phillips, Matt Shubert, Wenjie Dong","doi":"10.1109/PLANS46316.2020.9109954","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109954","url":null,"abstract":"The rise in small, distributed satellite applications has led to an increased interest in multi-agent, cooperative guidance, navigation, and control (GNC) strategies. In order to integrate and test algorithms associated with a multi-agent cooperative environment, the Cooperative Autonomous Networked Systems (CANS) Lab was developed. Multiple three-wheeled, omni-directional ground robots with on-board sensor suites enable hardware-in-the-loop testing while adhering to planar relative dynamics. A software framework has been established to enable accurate dynamics simulation using Clohessy-Wiltshire-Hill (CWH) dynamics. In this paper, the CANS lab is demonstrated through the use of an example formation flying application which incorporates uncertain scenario parameters.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"8 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":"126419638","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":"Centralized UAV Swarm Formation Estimation with Relative Bearing Measurements and Unreliable GPS","authors":"John Akagi, Randall S. Christensen, M. Harris","doi":"10.1109/PLANS46316.2020.9110194","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110194","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) are used in a variety of tasks from package delivery to infrastructure inspection. In these situations UAVs typically rely on GPS signals to measure their current position. When operating in certain locations, like within urban canyons or where GPS signals are being disrupted, UAVs need alternate means to estimate their position and avoid collision. Current techniques include using LIDAR or camera measurements to detect nearby UAV and other objects. This paper presents a centralized Extended Kalman filter where the states of a UAV swarm are estimated using line of sight measurements from a camera. A single UAV is assumed to be able to receive sporadic GPS measurements but that information is able to propagate through the swarm via the relative measurements. Other research has shown that camera measurements can be used in a leader-follower situation but the contribution of this work is applying camera measurements to a swarm setting. The results show that this method does allow for the GPS denied UAVs to maintain a reasonable estimate of their state. Additionally, the availability of the line of sight measurements is adjusted and the change in state estimation accuracy is seen to depend primarily on the formation geometry. These results allow designers to gauge what measurement frequency is necessary to support a desired level of state estimation.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"37 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":"114319695","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":"Scorpion: A Modular Sensor Fusion Approach for Complementary Navigation Sensors","authors":"Kyle Kauffman, Daniel A. Marietta, J. Raquet, Daniel J. Carson, R. Leishman, A. Canciani, Adam Schofield, Michael Caporellie","doi":"10.1109/PLANS46316.2020.9110165","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110165","url":null,"abstract":"There is a great need to decrease our reliance on GPS by utilizing novel complementary navigation sensors. While a number of complementary navigation sensors have been studied, each one has trade-offs in availability, reliability, accuracy and applicability in various environments. The development of a robust estimator therefore requires the integration of many diverse sensors into a sensor fusion platform. Unfortunately, as the number of sensors added to the system grows larger, so does the difficulty of developing a sensor fusion solution that optimally integrates them all into a single navigation estimate. In addition, a sensor fusion solution with many sensors is susceptible to sensor failures, modeling errors, and other phenomena which can cause degradation of the fusion solution. In this paper, we propose an open architecture for sensor fusion that allows for the development of modular navigation filters, sensor integration strategies, and integrity algorithms. The primary goal of this architecture is to allow for the rapid development of a novel complementary PNT sensor, fusion strategy, or integrity algorithm without modification of any other part of the system. In the future, this architecture will enable the community to develop a repository of well-tested software modules for sensor fusion which will in turn allow for the iterative development of robust estimators, where users may pick and choose the components that they wish to use from the repository and build an estimator that fits their application. In addition, domain experts in the community on a particular sensor phenomenology may contribute modules to the repository without needing to be experts in all aspects of sensor fusion. To facilitate this community engagement, we have developed an open source implementation of the architecture, which will be made available as a reference implementation of the architecture and approach. This paper details the design and overall approach to the open architecture, as well as shows some experimental results that were obtained by running flight data through the reference implementation.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"26 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":"114490369","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":"Manufacturing Transition of High-Performance MEMS Gyroscopes","authors":"J. DeNatale, S. Martel, F. Dion, J. Lachance","doi":"10.1109/PLANS46316.2020.9110248","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110248","url":null,"abstract":"We present the progress of a high-performance inertial sensor manufacturing processes implemented in a volume compatible 200mm wafer diameter production environment. The baseline process, derived from Teledyne DALSA's MIDIS™ process platform, incorporates critical design elements specifically designed for navigation-grade device realization. The process enables considerable flexibility to support a broad range of device designs, facilitating the rapid transition of new device concepts to volume production. The recent work for the Si Disc Resonator Gyro (SiDRG) demonstrates the integration of die-level thermal stabilization elements and the manufacturing at high yield of wafer-level vacuum packaged gyro resonators with high quality factor and small frequency splits. Initial measurement of Allen Deviation on unscreened parts has shown promising performance levels of 0.028 degrees/hour.","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":"126242928","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}