2016 European Navigation Conference (ENC)最新文献

{"title":"Precise estimation of clock bias difference between multiple GNSS receivers for cooperative positioning","authors":"Raghuveer Kasaraneni, M. Sahmoudi, L. Ries","doi":"10.1109/EURONAV.2016.7530542","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530542","url":null,"abstract":"The use of raw-data from multiple GNSS receivers located in a closer vicinity is an emerging concept to enhance the positioning availability in harsh environments, where the number of received measurements by one receiver are not enough to compute a position estimate. Within this modern navigation paradigm, different receivers or users collaborate by exchanging measurements in order to be able to estimate their locations together. However, the cooperation between different receivers at the measurements level needs synchronisation of measurements produced by these different devices. The main issue is that the clock bias and drift of individual receivers with respect to GPS time are not predictable and will produce large errors in measurements and position if the problem of clock difference is not taken into account in the collaborative processing. The existing methods either estimate these clock bias values as part of Position, Velocity and Time (PVT) estimation algorithm or eliminate them by double difference. These approaches necessitate the availability of more measurements to estimate the additional clock bias of each receiver or need to have the same satellites visible to the cooperating receivers. In this paper, we suggest a new approach of clock timing difference compensation when degraded measurements are available from multiple receivers in dense urban environments. These estimates are used to interpolate the raw measurements of multiple receivers to a common reference time. The proposed method is inherently simple, robust and allows us to develop innovative algorithms for cooperative PVT estimation. To illustrate the effectiveness of this method, we present some results by processing real data obtained using low cost commercial GNSS receivers.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"192 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114225379","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":"Indoor position determination using location fingerprinting and vehicle sensor data","authors":"R. Wilfinger, Thomas Moder, M. Wieser, Bernhard Großwindhager","doi":"10.1109/EURONAV.2016.7530561","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530561","url":null,"abstract":"In this paper we present a system for position determination of vehicles in indoor areas such as parking garages or underground parking lots. By combining location fingerprinting using Bluetooth signal strengths and relative positioning using vehicle sensor data (speed and yaw rate) in a collective filter arrangement, an ubiquitous and stable vehicle positioning is provided. Hereby, both a Kalman filter and a particle filter were investigated and compared. By further incorporating signals from Global Navigation Satellite Systems in outdoor areas, a seamless outdoor-indoor positioning could be achieved. With the presented techniques, an accuracy of <; 2 m is feasible at a low financial effort.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121767825","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":"Terrain navigation in the magnetic landscape: Particle filtering for indoor positioning","authors":"A. Solin, S. Sarkka, Juho Kannala, Esa Rahtu","doi":"10.1109/EURONAV.2016.7530559","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530559","url":null,"abstract":"Variations in the ambient magnetic field can be used as features in indoor positioning and navigation. We describe a technique for map matching where the pedestrian movement is matched to a map of the magnetic landscape. The map matching algorithm is based on a particle filter, a recursive Monte Carlo method, and follows the classical terrain matching framework used in aircraft positioning and navigation. A recent probabilistic Gaussian process regression based method for modeling the ambient magnetic field is employed in the framework. The feasibility of this terrain matching approach is demonstrated in a simple real-life indoor positioning example, where both the mapping and positioning is done using a smartphone device.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122127023","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":"The Aalto-1 nanosatellite navigation subsystem: Development results and planned operations","authors":"H. Leppinen, A. Kestila, T. Tikka, J. Praks","doi":"10.1109/EURONAV.2016.7530545","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530545","url":null,"abstract":"Aalto-1, the first satellite built in Finland, is due to be launched during the first half of 2016. The 4 kg satellite has been designed and built at Aalto University and is based on the CubeSat standard. The satellite carries three payloads: a spectral imager (AaSI) by the Technical Research Center of Finland, a radiation monitor (RADMON) by the University of Turku, and an electrostatic plasma brake (EPB) by the Finnish Meteorological Institute. The payloads require accurate position information to support their scientific missions. CubeSat missions usually plan operations and process scientific data based on two-line element (TLE) orbital parameter sets made available by the United States Air Force. However, the TLE sets may have errors up to several km at epoch, and it was decided that the satellite will be equipped with an independent navigation subsystem capable of more accurate positioning. This paper describes the development results and planned operations of the GPS-based navigation subsystem of Aalto-1. The navigation subsystem has been designed and built using commercial off-the-shelf (COTS) components. The navigation subsystem has gone through an extensive qualification process both individually and as a part of Aalto-1 satellite-level qualification. The orbital navigation capability of the receiver has been functionally tested with a GPS signal simulator. Navigation system operations are designed around the scientific mission of the satellite. Analysis tools have been developed for the navigation data that can determine the satellite state vector within 5 m and 0.05 m/s accuracy. Development results and lessons learned are discussed.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130157364","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":"Autonomous driving positioning using building model and DGNSS","authors":"L. Hsu, Yanlei Gu, S. Kamijo","doi":"10.1109/EURONAV.2016.7530539","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530539","url":null,"abstract":"Accurate 2D and 3D maps information becomes essential in modern autonomous driving. This study focuses on the improvement of GNSS positioning using 3D maps. In ENC 2015, we presented a particle filter based GNSS positioning method using 3D maps, called 3D-GNSS. This paper investigates the improvement of 3D-GNSS applying differential GNSS (DGNSS) correction. DGNSS correction is consisted of not only the atmospheric and satellite clock/orbit corrections but also the system time offset between the GPS and other constellations. It enables the GNSS measurements can be used together to calculate the consistency based on the receiver bias. Furthermore, we include the idea of horizontal dilution of precision (HDOP) in the estimation of likelihood of the particles. Finally, the 3D-GNSS applying DGNSS correction achieves less than 1.5 meter in lateral positioning error.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122812313","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":"Inertial sensor arrays — A literature review","authors":"John-Olof Nilsson, I. Skog","doi":"10.1109/EURONAV.2016.7530551","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530551","url":null,"abstract":"Inertial sensor arrays present the possibility of improved and extended sensing capabilities as compared to customary inertial sensor setups. Inertial sensor arrays have been studied since the 1960s and have recently received a renewed interest, mainly thanks to the ubiquitous micro-electromechanical (MEMS) inertial sensors. However, the number of variants and features of inertial sensor arrays and their disparate applications makes the literature spread out. Therefore, in this paper we provide a brief summary and literature review on the topic of inertial sensor arrays. Publications are categorized and presented in a structured way; references to +300 publications are provide. Finally, an outlook on the main research challenges and opportunities related to inertial sensor arrays is given.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122664109","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":"Ionospheric scintillation threats to GNSS in polar regions: The DemoGRAPE case study in Antarctica","authors":"N. Linty, R. Romero, C. Cristodaro, F. Dovis, M. Bavaro, J. Curran, J. Fortuny-Guasch, J. Ward, Gert Lamprecht, P. Riley, P. Cilliers, E. Correia, L. Alfonsi","doi":"10.1109/EURONAV.2016.7530546","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530546","url":null,"abstract":"This paper addresses the design and implementation of an Ionospheric Scintillation Monitoring Receiver based on the Software Defined Radio paradigm. The monitoring platform exploits a digital data grabber and a GNSS fully software receiver, which grants a high level of flexibility for the processing strategy and the storage of raw samples of the signals in case of meaningful scintillation events. Such an implementation approach yields valuable advantages in critical areas, such as polar regions, where resources are limited and installation or maintenance and replacement of GNSS receivers may be critical. The paper describes the successful installations of the platforms in two Antarctic stations, providing results at the same quality level of professional GNSS receivers used for ionospheric scintillation monitoring.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116714202","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":"Obtaining real-time sub-meter accuracy using a low cost GNSS device","authors":"Erwin Rademakers, Peter F. de Bakker, C. Tiberius, Karel Janssen, R. Kleihorst, Norddin El Ghouti","doi":"10.1109/EURONAV.2016.7530555","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530555","url":null,"abstract":"Autonomous vehicles require accurate position at all times in different environments at an affordable price. This accurate position can only be achieved when combining multiple positioning methods. One of these methods is presented in this paper: positioning based on a Global Navigation Satellite System (GNSS) to obtain absolute position. This solution should be at an affordable price with sub-meter position accuracy. At the University of Delft, the Netherlands, a low cost solution was developed in Matlab for open areas which is called Single Frequency Precise Point Positioning (SF-PPP). It uses a low cost receiver with single frequency, single antenna and single GNSS constellation (GPS). The receiver provides raw measurements to the SF-PPP algorithm which corrects them for different kind of errors. This method was ported to a low cost Commercial Off-The-Shelf (COTS) embedded platform in C++. The selected platform is a Raspberry Pi version 2 with a u-Blox NEO 7P GPS receiver. The corrections for the raw measurements are received from a network service via a 4G modem. The PPP method is validated with an RTK system which is cm accurate. We evaluated the PPP method in different environments and conditions, with focus on open area, but also for harsh conditions on the highway and in an urban environment to know the current limitations of the method. For the open area environment a horizontal root mean square error (RMSe) of 0.5 m on position coordinates was achieved which fulfills our target of submeter accuracy. In harsh environments we suffer from reflections (caused by multipath receptions) and poor satellite availability due to obstructions from trees and buildings which makes the accuracy varying from 0.5 m up to 3 m. Future plans to improve the results involve using more satellites from other constellations like GLONASS, using the Doppler shift to estimate the vehicle speed, using dual frequency receiver for ionosphere removal and closer integration with other low-cost sensors and vehicle model.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128101534","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":"Assessment of end-to-end performances of a GNSS-based road user charging system based on IFSTTAR-GEOLOC and Q-Free cooperation","authors":"Miguel Ortiz, D. Bétaille, F. Peyret, Ola Martin Lykkja, Svend-Peder Oseth","doi":"10.1109/EURONAV.2016.7530552","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530552","url":null,"abstract":"The paper deals with the issues that have to be faced when researching a Road User Charging (RUC) in Norway based upon GNSS and with an innovative methodology especially developed to address these issues proposed by CEN-CENELEC TC5/WG1 and supported by the SaPPART COST Action. The paper presents a case study applying the methodology to a specific RUC algorithm developed by the Norwegian company Q-Free. A dedicated GNSS position error model has been produced by Ifsttar GEOLOC for this purpose.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115393011","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":"Improvement of the standard GNSS/IMU solution for UAVs using already existing redundant navigation sensors","authors":"M. Dorn, R. Lesjak, M. Wieser","doi":"10.1109/EURONAV.2016.7530567","DOIUrl":"https://doi.org/10.1109/EURONAV.2016.7530567","url":null,"abstract":"Navigation parameters like position, velocity, and attitude are essential for many UAV (Unmanned Aerial Vehicle) applications. Especially for automatic or autonomous UAV applications, the navigation parameters have to be very accurate and reliable. Currently, the reliability of all critical system components (like the communication or the navigation module) is improved by the redundancy concept. Therefore, the navigation module consists of at least two GNSS (Global Navigation Satellite System) antennas and receivers and two IMUs (Inertial Measurement Units). But these redundant sensors work completely in a separate way, so the redundancy is used only as backup in the case of sensor failures. This paper deals with the improvement of the accuracy and reliability of all navigation parameters by using the already existing redundant navigation sensors. A loosely-coupled extended Kalman filter integrates the positions of the two GNSS antennas with IMU and magnetometer measurements. Additionally, precise data (Precise Point Positioning) is added to improve the accuracy of the navigation solution, and the moving baseline between the redundant GNSS antennas is added to support the heading. This paper shows the total potential for the navigation solution by exploiting the already existing redundant navigation sensors.","PeriodicalId":300111,"journal":{"name":"2016 European Navigation Conference (ENC)","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123496264","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}