Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium最新文献

{"title":"Testing of a statistical approach for local ionospheric disturbances detection","authors":"G. Giorgi, P. Henkel, C. Gunther","doi":"10.1109/PLANS.2012.6236878","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236878","url":null,"abstract":"Global Navigation Satellite Systems (GNSSs) may become a viable guidance means for safety-critical applications, such as the final approach and landing phases of a flight. To this purpose, Ground-Based Augmentation Systems (GBAS) are designed to enhance the navigation service, in terms of both accuracy and integrity. One of the tasks performed by GBAS stations is the timely and reliable detection of atmospheric disturbances that may compromise safety through biased or erroneous solutions. We address in this work the problem of detecting bi-dimensional ionospheric disturbances via GNSS carrier phase measurements from small-scale networks. Carrier phase measurements enable higher sensitivity for bias detection, but their inherent ambiguous nature has to be properly addressed. The reliable detection of biases is performed through standard Detection, Identification and Adaptation (DIA) techniques, and the impact of both observation noise and local baseline geometry (lengths and mutual orientations) is analyzed.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122883516","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":"Characterising the GNSS correlation function using a high gain antenna and long coherent integration—Application to signal quality monitoring","authors":"L. Lestarquit, Y. Gregoire, P. Thevenon","doi":"10.1109/PLANS.2012.6236830","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236830","url":null,"abstract":"Signal Quality Monitoring (SQM) is about measuring the distortion of a navigation signal due to the payload, without having the measurement polluted by propagation error and noise. The focus is the signal distortions that could cause a tracking error at the user level. A well known example is the Evil Waveform (EWF) that affected GPS SVN-19 in 1993, but there are also smaller scale deformation on every GNSS satellite. These errors can be derived from the knowledge of the correlation function with the required accuracy. The goal of this work is to measure the correlation function distortion that would lead to tracking error as low as 2 cm (or even less), that is 1/15000 of a chip for the CIA code or 1/5000 for the BOC(I,I). This imply that the correlation function has to be determined with such a small accuracy relative to its peak amplitude. This will allow to characterise signal anomaly generated at the payload level. In order to obtain the correlation function with as little noise as possible, the technique of long coherent integration is used, as well as a high gain antenna so as to keep the noise down below the required threshold. To do this a signal sample is digitized and recorded using a bit-grabber connected to the high gain antenna, then the signal characteristics (code delay, carrier phase and the navigation data) are determined in post-processing, in order to generate a replica that will in a second step, be correlated with the recorded signal over a very long integration time to obtain the \"long coherent integration\" (LCI). The correlation integration was done over duration reaching up to 120 seconds. The bit-grabber has a 125 MHz sampling rate, so the full correlation triangle can be sampled at 245 independent points for the CIA code (1.023Mchip/s). The required antenna size and integration time to achieve the accuracy will be discussed according to the navigation signal type. Actually, the sharper the signal correlation peak, the easier it is to determine the tracking error induced by signal deformation and the required antenna gain and size is reasonable. Multipath is of course an issue when trying to determine the correlation function with such an accuracy. The threshold below which multi path must be will be determined.From the correlation function, the tracking error for the most common types of correlators, such as narrow correlator and the double delta correlator family can be determined as a function of the correlator spacing for every operational satellite and for every signal. In addition, the desired signal spectra can be determined using a fourrier transform of the correlation function, from which the satellite payload transfer function can be derived With the possibility of determining signal deformation effect with a reasonably sized antenna, CNES aims at making periodic measurements on every GNSS satellites, including the new IOV GALILEO satellite in order to better know the existence and evolution of signal distortion","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124231642","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":"CHAMELEON: Visual-inertial indoor navigation","authors":"J. Rydell, E. Emilsson","doi":"10.1109/PLANS.2012.6236925","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236925","url":null,"abstract":"This paper presents a study of an indoor navigation system, Chameleon. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments are shown. Some experiments were performed in parallel with a foot-mounted system, Centipede, and results from this system are shown as a comparison. Additionally, the ability of the camera-based system to generate building maps is demonstrated.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131466113","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":"Compatibility analysis between LightSquared signals and L1/E1 GNSS reception","authors":"C. O'Driscoll, M. Rao, D. Borio, E. Cano, J. Fortuny, Frédéric Bastide, Dominic Hayes","doi":"10.1109/PLANS.2012.6236914","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236914","url":null,"abstract":"This paper presents experimental results showing the impact of the proposed LightSquared Long Term Evolution (LTE) signals on reception of both Global Positioning System (GPS) and Galileo civil signals in the L1/E1 band. A model for determining the impact of the interfering signal on the victim Global Navigation Satellite System (GNSS) receivers is also provided and this model is validated against the experimental data. It is shown that Galileo E1 Open Service (OS) receivers will be, in general, marginally more susceptible to this form of interference due to its greater proximity to the edge of the L1 band (as will be the new GPS III civil signal receivers in this band). While it appears that, for now, the LightSquared network will not be deployed, the approach taken and the results obtained herein can be readily adapted for any future signal that may take the place of LightSquared.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127501441","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":"Range sensor aided inertial navigation using cross correlation on the evidence grid","authors":"Yunqian Ma, J. B. Mckitterick","doi":"10.1109/PLANS.2012.6236911","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236911","url":null,"abstract":"In current state-of-the-art navigation systems combining a global positioning system (GPS) and an inertial navigation system (INS), the two subsystems are complimentary, and the combined system only works when GPS signals are available. Much research is being undertaken on methods to replace the role of the GPS in the GPS-INS systems for use in environments where the GPS signals are not available, including areas such as urban canyons, indoors, and areas where the GPS signals have been jammed. In this paper we present a method of replacing the GPS-aiding of the INS system, by using a ranging sensor such as a lidar or radar combining with an evidence grid methodology. The evidence grid is used to create three-dimensional maps based on the measurements of the ranging sensor and the inertial system. These maps are cross-correlated in time to determine how best to correct for navigation drift, with the corrections then fed back into the extended Kalman filter to aid the inertial navigation solution. Experimental results, based on lidar measurements, show that the method is capable of remarkable accuracy, able to correct errors of less than one meter over six minutes of travel.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123752521","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 multiple-frequency GPS software receiver design based on a Vector tracking loop","authors":"S. Peng, Y. Morton, Ruihui Di","doi":"10.1109/PLANS.2012.6236919","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236919","url":null,"abstract":"This paper presents the implementation and testing results of a Vector tracking loop (VTL) in the software-based GPS receiver. The VTL is developed based on the extended Kalman filter (EKF) with adaptive covariance matrices. Both scalar tracking loop (STL) and VTL are implemented. Once an error in the scalar loop is detected, the results from the VTL are used to assist the STL. The performance of the VTL is compared with the traditional STL with three different data sets: raw GPS RF data with short signal outages, RF data with strong scintillation impacts collected during the last solar maximum, and high dynamic data with long interval signal outages from a GPS simulator. The results confirm the performance improvement of the VTL over scintillation impacts and show that the VTL can maintain signal lock during long intervals of signal outage if the satellite ephemerides are available and the pseudorange estimation is within one code chip accuracy. The dynamic performance improvement of the VTL is verified as well. The results show the potential of robust tracking based on VTL during scintillation and interference.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116855155","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":"An Adaptive Unscented Kalman Filter for tightly coupled INS/GPS integration","authors":"Tamer Akca, M. Demirekler","doi":"10.1109/PLANS.2012.6236907","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236907","url":null,"abstract":"In order to overcome the various disadvantages of standalone INS and GPS, these systems are integrated using nonlinear estimation techniques. The standard and most widely used estimation algorithm for the INS/GPS integration is Extended Kalman Filter (EKF) which makes a first order approximation for the nonlinearity involved. Unscented Kalman Filter (UKF) approaches this problem by carefully selecting deterministic sigma points from Gaussian distributions and propagating these points through the nonlinear function itself. Scaled Unscented Transformation (SUT) is one of the sigma point selection methods which give the opportunity to adjust the spread of sigma points and control the higher order errors by some design parameters. Determination of these design parameters is problem specific. In this paper, an adaptive approach in selecting SUT parameters is proposed for tightly-coupled INS/GPS integration. Results of the proposed method are compared with the EKF and UKF integration. It is observed that the Adaptive UKF has slightly improved the performance of the navigation system especially at the end of GPS outage periods.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116068651","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":"WPI precision personnel locator: Inverse synthetic array reconciliation tomography","authors":"A. Cavanaugh, M. Lowe, D. Cyganski, R. J. Duckworth","doi":"10.1109/PLANS.2012.6236974","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236974","url":null,"abstract":"This paper describes the latest algorithm being developed by the Worcester Polytechnic Institute (WPI) Precision Personnel Location (PPL) project. Our goal is to produce a rapidly deployable, ad-hoc system that can achieve sub meter positioning accuracy in any type of emergency response scenario using available spectrum; specifically we wish to locate first responders in and around buildings. Previous work [1] has led to separate or loosely coupled approaches for fusing RF and inertial positioning data, as well as data from other sensors. The Inverse Synthetic Array Reconciliation Tomography (IS-ART) algorithm is a fusion of RF and inertial measurements that is fundamentally different from previous systems. Instead of fusing positioning results, we use the inertial displacements to coherently fuse successive RF captures. The benefits of this approach are twofold. First, the fusion depends only on relationships between inertial values spanning small time intervals, so that we do not accumulate large inertial drift errors. Second, the RF conditions at each point are expected to be very different because high multi-path environments are very sensitive to spatial perturbations. Since the multi-path signal components are changing rapidly with position we expect that only the direct path signals will be correlated between successive RF data captures taken from unique positions. In order for the direct path signals from different locations to be correlated these captures must be aligned for fusion with the inertial displacement data. The ISART algorithm performs this signal alignment and computes a metric based on this direct path correlation using the sample processing employed by the Singular Value Array Reconciliation Tomography (σART ) algorithm [2]; the ISART solution is the point where the metric is maximal.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124309406","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":"Four-position drift measurement of SINS based on single-axis rotation","authors":"F. Sun, Jianzhong Xia, Yueyang Ben, Xin Zhang","doi":"10.1109/PLANS.2012.6236961","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236961","url":null,"abstract":"Navigation accuracy of SINS steps down gradually with the passage of time, and the gyro drift and accelerometer bias are the primary elements that result in the decline of navigation accuracy. With the emergence of rotating modulation technique, a four-position drift measurement of SINS based on single-axis rotation in static or mooring conditions is proposed. Gyrocompass alignment is conducted as an auxiliary tool and the misalignment angles are related to gyro drift as well as accelerometer bias after alignment, and then the conversion relationship between the attitude error and misalignment angles is derived. Attitude error can be obtained with the transposition of rotating mechanism and the results of gyrocompass alignment. The sensor drift are calculated with the equations which established by the relationships between misalignment angles and inertial sensor drift. Finally, both the simulation and turntable experiments validate its effectiveness. The results show that the gyro drift and accelerometer bias can be accurately calculated, and the accuracy is better than 90%. Position error can be reduced by nearly 50% after the inertial sensor bias were compensated.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114963121","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 a test bed for UWB radio indoor localization of first responders","authors":"A. De Angelis, S. Dwivedi, P. Handel","doi":"10.1109/PLANS.2012.6236855","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236855","url":null,"abstract":"This paper presents the architecture of a test bed for indoor localization based on pulse Ultra-Wideband radio technology, mainly considering the localization of first responders as a target application. A modular design approach has been employed, therefore enabling comparison of different solutions and implementation of sensor fusion techniques for localization. The realized test bed provides range estimates based on the round-trip time of radio pulses, which is accurately measured by a time-to-digital converter without the need for nano-second-level clock synchronization. Furthermore, support for digital control and processing of the acquired raw data is provided by a field programmable gate array, allowing for flexibility and reconfigurability. Results of a preliminary characterization of the test bed are presented.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123070550","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}