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

{"title":"Research on Faraday Error of Axial Magnetic Field Based on Photonic Crystal Fiber Optic Gyro","authors":"Zicheng Wang, Guochen Wang, Yanyan Wang, Weiqi Miao, Chao Liu","doi":"10.1109/PLANS46316.2020.9109840","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109840","url":null,"abstract":"Most of the existing interferometric fiber optic gyros (IFOG) use magnetic shielding technology, and the magnetic shielding greatly increases the volume and weight, which is disadvantageous for miniaturization and light weight of the gyro. The current research only focuses on the influence of the radial magnetic field on the IFOG, and does not consider the axial magnetic field. The difference is mainly due to the change of the size and direction of the magnetic field and the twist rate of the fiber coil. According to Jones matrix and Faraday migration theory, the axial magnetic field Faraday migration formula is derived and the validity of the theory is verified by experiments.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"25 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":"121932972","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":"High-speed Railway Track Integrated Inspecting by GNSS-INS Multisensor","authors":"Richie Li, Z. Bai, Bobo Chen, Haohao Xin, Yuhang Cheng, Qiong Li, F. Wu","doi":"10.1109/PLANS46316.2020.9109908","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109908","url":null,"abstract":"Track measurement is extraordinarily fundamental and antecedent for ensuring high smoothness, high stability and high reliability of tracks to guarantee high-speed, safe and smooth running of high-speed trains. It at least includes control survey, route survey, and subgrade survey in the stages of design, construction, operation and maintenance. However conventional track measurement for high-speed railway mainly considered the situation in the stages of design and construction which has several problems including long retest period, high labor cost, and low measurement efficiency. It cannot fully meet the requirements of rapid detection for large-scale high-speed railway tracks in the stages of operation and maintenance, especially in China. To this end, a novel high-speed railway track integrated inspection solution based on global navigation satellite system (GNSS) / inertial navigation system (INS) and multisensor is proposed, and the corresponding track integrated inspection system is developed. It has been applied to the several actual track fine adjustment engineering projects for high-speed railway, and the results show that the proposed system realized the integration of the track subgrade deformation monitoring and the track geometric status absolute measurement and relative measurement for high-speed railway, and it has the lateral deviation accuracy of 2 mm and vertical deviation accuracy of 2 mm for track irregularity measurement in good consistency with the conventional track irregularity inspecting instrument (i.e., Amberg GRP1000) coupled with level at the faster average detection speed of 1 km/h, and the horizontal accuracy of 1 mm and the vertical accuracy of 1.5 mm for track subgrade deformation monitoring in real time, which fully satisfy the specific requirements for the Code for Engineering Survey of High Speed Railway, and significantly improve the detection efficiency while ensuring the measurement accuracy. The main components and process flow of the proposed solution have been systematically introduced in this paper, which can provide a reference to the following research and development of similar track inspection systems and solutions","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"56 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":"125022275","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":"Novel Snapshot Integrity Algorithm for Automotive Applications: Test Results Based on Real Data","authors":"R. Bryant, O. Julien, C. Hide, S. Moridi, I. Sheret","doi":"10.1109/PLANS46316.2020.9109830","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109830","url":null,"abstract":"This paper describes a novel automotive snapshot integrity algorithm for bounding position, based on modelling GNSS measurements with non-Gaussian error distributions. A Bayesian method is used to derive the posterior probability distribution on position given a set of pseudorange and carrier phase observations from a single epoch. MCMC is then used to obtain rigorous probabilistic bounds on position. The MCMC method uses a novel form of parallel tempering to properly sample the multimodal posterior distribution created by carrier phase integer ambiguities, and importance sampling to obtain faster than real-time computational performance. Experimental results based on 27 hours of road driving show that integrity is maintained properly, with bounds which are significantly tighter than a more conventional EKF approach.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"17 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":"115003670","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":"CubeSat-Based Lunar Map Refinement Utilizing Surface Beacons and a Monocular Camera","authors":"Tyler J. Gardner, M. Hansen, Natalie Wisniewski, Randall S. Christensen","doi":"10.1109/PLANS46316.2020.9109980","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109980","url":null,"abstract":"SpaceX, Blue Origin, NASA, and others have recently proposed autonomous missions in preparation for new manned missions to the moon. Traditional approaches based solely on inertial navigation are not accurate enough to autonomously land a vehicle on hazardous lunar terrain, therefore Terrain Relative Navigation is being explored to supplement inertial navigation. Terrain Relative Navigation (TRN) is a capability that uses images of local terrain captured with a camera and/or imaging LIDAR to estimate the position and/or velocity of a spacecraft. Many TRN methods estimate the craft's absolute position by comparing sensor imagery to a crater/landmark database, global map, or another similar reference set. Because of the limited availability of high resolution lunar maps, the global accuracy of lunar TRN is currently limited to approximately 100 m. One compelling solution to improving global map resolution is to utilize an array of low cost CubeSats to image the lunar surface and refine existing maps. This paper explores the effectiveness of such a mission. In particular, the objective of this analysis is to determine the sensitivity of mapping uncertainty to sensor errors.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"14 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":"132124978","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":"Comparison of Nonlinear Filtering Methods for Terrain Referenced Aircraft Navigation","authors":"B. Turan","doi":"10.1109/PLANS46316.2020.9109984","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109984","url":null,"abstract":"Inertial Navigation Systems (INS) are the main part of the integrated navigation for most of the aerial vehicles. However, the accuracy of an inertial navigation solution decreases with time as the inertial instrument (e.g., gyroscope and accelerometer) errors are integrated through the navigation equations. Therefore, different aiding techniques are used to bound the drift in these systems. One of the commonly used techniques is the integration of INS with Global Navigation Satellite System (GNSS) signals. By means of this integration, the advantages of both technologies are combined to give a complete navigation solution. The need for Terrain Referenced Navigation (TRN) arises when these satellite based radio signals are unavailable. In recent years, research on the application of TRN to aerial vehicles has been increased rapidly with the developments in the accuracy of digital terrain elevation database (DTED). Since the land profile is inherently nonlinear, TRN becomes a nonlinear estimation problem. Because of the highly nonlinear problem, linear or linearized estimation techniques such as Kalman or Extended Kalman Filter (EKF) do not work properly for many terrain profiles. Hence, this paper focuses on nonlinear filtering techniques and presents the main principles of two different TRN methods. These methods will be compared and advantages of both methods will be presented. The first method is the Sequential Monte Carlo (SMC) technique namely the particle filter (PF) for dealing with nonlinearities and different types of probability distributions even multi-modal. PF is an approximate optimal filter on correct model and based on particle representation of probability density function. The second method is the Unscented Kalman Filter (UKF) based on the Unscented Transform (UT) of sigma points. The basic idea is to approximate the probability density function with deterministically selected and weighted small number of sigma points. Simulations with different inertial measurement units (IMUs), with different initial errors, over maps with various resolutions are performed and investigated. The performance of both nonlinear filtering algorithms will be presented through Monte Carlo simulations.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"5 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":"114155265","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":"Urban Wi-Fi RSSI Analysis along a Public Transport Route for Kinematic Localization","authors":"G. Retscher, A. Bekenova","doi":"10.1109/PLANS46316.2020.9110240","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110240","url":null,"abstract":"Wireless Fidelity (Wi- Fi) location fingerprinting is a method of finding a mobile device/person's location based on the measurement of the Received Signal Strength Indicator (RSSI) of Wi-Fi networks. Due to growing Wi-Fi coverage this method is becoming increasingly useful in areas where GNSS signals do not reach, such as underground or within the built-up city area, such as in urban canyons. In the course of this study, the operability and performance of Wi-Fi fingerprinting is investigated at a set number of reference points, referred to as Intelligent Check Points (iCPs), along a tramway route. The route leads from a residential neighborhood to an University building in downtown of the city of Vienna, Austria. Of particular interest in this study are the mobile Access Points (APs) installed on the trains of the tramway line. From our point of view, an analysis of how they can contribute to the confirmation and validation of the user localization determination along the route is a main goal. A SLAM approach is proposed for a combined and integrated solution for user localization. From a first analyses of the availability, visibility and RSSI stability of the APs on the tram and in the surrounding environment an approach is derived for continuous user localization integrating the smartphone inertial sensors in addition.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"45 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":"114431868","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":"From Single to Precise Point Positioning: The Impact on Time Retrieval","authors":"C. Gioia, D. Borio, E. Realini, A. Gatti, Giulio Tagliaferro","doi":"10.1109/PLANS46316.2020.9109981","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109981","url":null,"abstract":"The usage of Global Navigation Satellite System (GNSS) as a means to transfer time and for granting time, phase and frequency synchronization is widely adopted in both critical and non-critical infrastructures. GNSS-based Timing and Synchronization (TS) performance depends on several factors such as the type of receiver used, the environments where the device is placed and the processing strategy adopted for time retrieval. For the first two aspects, several works are available in the specialized literature, while for the impact of the processing strategy adopted by the receivers, no in-depth analysis is currently available. In order to fill this gap, in this work different positioning techniques have been implemented and tested: from standard single-frequency Single Point Positioning (SPP) (code-based) to the more complex dual-frequency Precise Point Positioning (PPP) (carrier-based). In addition, different ephemeris products from broadcast ephemerides to final International GNSS Service (IGS) products have been used. The combination of the selected different positioning strategies and ephemeris products leads to 15 configurations. The impact of each configuration on timing solution stability has been evaluated using the Allan Deviation (ADEV). The assessment has been performed using real data: about 60 hours of data were collected using a dedicated setup including a professional GNSS receiver and an external rubidium oscillator. The analysis shows a high consistency of the clock parameter estimates; SPP and PPP solutions have a similar behaviour in terms of stability. PPP with final IGS ephemerides is the configuration providing the higher stability. For code based strategies, the inclusion of a second frequency does not provide benefits in terms of stability but it increases the variance of a factor close to 2.4.","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":"123632183","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":"Pedestrian Inertial Navigation System Augmented by Vision-Based Foot-to-foot Relative Position Measurements","authors":"Chi-Shih Jao, Yusheng Wang, A. Shkel","doi":"10.1109/PLANS46316.2020.9109993","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109993","url":null,"abstract":"In this paper, we investigate how self-contained pedestrian navigation can be augmented by the use of foot-to-foot visual observations. The main contribution is a measurement model that uses Zero velocity UpdaTe (ZUPT) and relative position measurements between the two shoes obtained from shoe-mounted feature patterns and cameras. This measurement model provides directly the compensation measurements for the three position states and three velocity states of a pedestrian. The involved features for detection are independent of surrounding environments, thus, the proposed system has a constant computational complexity in any context. The performance of the proposed system was compared to a standalone ZUPT method and a relative-distance-aided ZUPT method. Simulation results showed an improvement in accumulated navigation errors by over 90%. Real-world experiments were conducted, exhibiting a maximum improvement of 85% in accumulated errors, verifying validity of the approach.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"75 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":"130234555","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 chip-based Brillouin laser gyroscope","authors":"Y. Lai, M. Suh, Jiang Li, Yu-Kun Lu, B. Shen, Qifan Yang, Heming Wang, K. Yang, K. Vahala","doi":"10.1109/PLANS46316.2020.9109858","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9109858","url":null,"abstract":"Inspired by the success of semiconductor-chip-based MEMs rotation sensors, there has long been interest in the possible realization of chip-based optical gyroscopes. Such devices could potentially be lightweight and rugged, while featuring some of the sensitivity advantages of Sagnac-based sensing devices. However, the performance of integrated-optical gyroscopes has lagged behind MEMS devices on account of difficult-to-achieve requirements for low-optical-loss chip-based waveguides and optical resonators. Here, a chip-based ring laser gyroscope is described. Its sensitivity is high enough to measure the Earth's rotation. The physical principles of its operation and its current performance will be reviewed.","PeriodicalId":273568,"journal":{"name":"2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"73 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":"129136794","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":"On Robot Localization Safety for Fixed-Lag Smoothing: Quantifying the Risk of Misassociation","authors":"O. A. Hafez, Guillermo Duenas Arana, Yihe Chen, M. Joerger, M. Spenko","doi":"10.1109/PLANS46316.2020.9110126","DOIUrl":"https://doi.org/10.1109/PLANS46316.2020.9110126","url":null,"abstract":"Monitoring localization safety will be necessary to certify the performance of robots that operate in life-critical applications, such as autonomous passenger vehicles or delivery drones because many current localization safety methods do not account for the risk of undetected sensor faults. One type of fault, misassociation, occurs when a feature extracted from a mapped landmark is associated to a non-corresponding landmark and is a common source of error in feature-based navigation applications. This paper accounts for the probability of misassociation when quantifying landmark-based mobile robot localization safety for fixed-lag smoothing estimators. We derive a mobile robot localization safety bound and evaluate it using simulations and experimental data in an urban environment. Results show that localization safety suffers when landmark density is relatively low such that there are not enough landmarks to adequately localize and when landmark density is relatively high because of the high risk of feature misassociation.","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":"129819138","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}