2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)最新文献

{"title":"Camera Calibration Error Modeling and Its Impact on Visual Positioning","authors":"Wenhan Hao, Chen Zhu, M. Meurer","doi":"10.1109/PLANS53410.2023.10140034","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140034","url":null,"abstract":"Unmodelled calibration errors can lead to integrity risks in visual positioning. In this paper, we present a method to estimate the uncertainty of camera intrinsic parameters induced during the calibration process by backpropagation of the uncertainty in the 3D reconstruction error. The conventional approach propagates the uncertainty of image measurements forward and suffers from its high nonlinearity and the mismatch between the real and the applied camera model. Our proposed method is completely independent of the estimation techniques used during the calibration phase and can therefore be used to evaluate the performance of the calibration. Additionally, we also demonstrate how to propagate the uncertainties of calibration and image measurements into the estimated camera position. The derived camera position distribution shows a high concordance with Monte-Carlo results.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127050790","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":"Consensus on Region-Based Pose Estimation for Satellites","authors":"Daniel Grange, Romeil Sandhu, Alexander A. Soderlund, S. Phillips","doi":"10.1109/PLANS53410.2023.10140083","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140083","url":null,"abstract":"Recognizing the pose of a satellite is an essential priority in docking missions and future space debris cleanup. In this work, we present a distributed framework for determining the pose estimate of a rigid object with a known 3D model through calibrated 2D images and consensus among multiple sensing agents. The introduced approach utilizes global image statistics without the need for local image features, while also leveraging a weighted consensus scheme to drive estimation in a robust fashion. By constructing an objective function that fuses segmentation energy and consensus cost, the approach can achieve marked improvement upon single-agent systems, which are shown to be prone to local minima. The method introduced is demonstrably resilient for space-based pose estimation where information transfer is hamstrung by signal interference and low-power computing. To rigorously evaluate our proposed method, we simulated a satellite inspection scenario where images cannot be transmitted between agents in real time and operate under the assumption of having limited bandwidth. Furthermore, image quality is subject to multiple sources of degradation to reproduce obstacles native to the space domain that alternative methods struggle with. The resulting pose estimation and consensus are not only competitive with alternative approaches but also offer a novel and pragmatic framework for future multi-agent space-based imaging problems.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125361923","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":"Attitude Estimation Method for Smart Watch Using External Disturbance Model","authors":"Jae Hong Lee, Chan Gook Park","doi":"10.1109/PLANS53410.2023.10139986","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139986","url":null,"abstract":"In this paper, we propose an attitude estimation method using a disturbance model. The proposed method has two parts. One is estimation external disturbance. The magnetic disturbance is augmented as states and estimated by filters. Disturbances are estimated by comparing sensor readings to criteria such as gravity vectors. The proposed method subtracts the estimated disturbance from the sensor measurement and uses it for filter update to maximize the use of measurement information. The second part is that The magnetometer measurement update is performed only on the desired state variable. In relation to magnetometer measurements and attitude, measurements affect not only yaw but also roll and pitch. The proposed method uses a partial-update Schmidt Kalman filter to minimize the effect of magnetometer measurements on roll and pitch. To evaluate the performance of the proposed method, sensor data collected during outdoor exercise by a tester wearing a smart watch was used. Experimental results indicate that the proposed method improves estimation performance.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127018211","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 Novel Satellite Selection Algorithm Using LSTM Neural Networks For Single-epoch Localization","authors":"Ibrahim Sbeity, C. Villien, Christophe Combettes, B. Denis, E. Belmega, Marwa Chafii","doi":"10.1109/PLANS53410.2023.10140007","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140007","url":null,"abstract":"This work presents a new approach for detection and exclusion (or de-weighting) of pseudo-range measurements from the Global Navigation Satellite System (GNSS) in order to improve the accuracy of single-epoch positioning, which is an es-sential prerequisite for maintaining good navigation performance in challenging operating contexts (e.g., under Non-Line of Sight and/or multipath propagation). Beyond the usual preliminary hard decision stage, which can mainly reject obvious outliers, our approach exploits machine learning to optimize the relative contributions from all available satellites feeding the positioning solver. For this, we construct a customized matrix of pseudo-range residuals that is used as an input to the proposed long-short term memory neural network (LSTM NN) architecture. The latter is trained to predict several quality indicators that roughly approximate the standard deviations of pseudo-range errors, which are further integrated in the calculation of weights. Our numerical evaluations on both synthetic and real data show that the proposed solution is able to outperform conventional weighting and signal selection strategies from the state-of-the-art, while fairly approaching optimal positioning accuracy.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132078018","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":"Performance Evaluation of an Indistinguishability Based Attack Against Spreading Code Secured GNSS Signals","authors":"Laura Crosara, F. Ardizzon, S. Tomasin, N. Laurenti","doi":"10.1109/PLANS53410.2023.10140063","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140063","url":null,"abstract":"A growing number of services rely on global navigation satellite systems (GNSSs) for positioning and timing, but the widespread adoption of GNSSs has also increased the incentive to mount attacks against them, such as jamming and spoofing. While several security mechanisms have been proposed against these attacks, the most promising solution relies on spreading code authentication (SCA) or spreading code encryption (SCE). This paper analyzes the performance of a novel attack strategy targeting GNSS signals protected by SCE or SCA, assuming that the attacker has no prior knowledge about the secret part of the spreading code sequence. The considered attack strategy minimizes the distinguishability between authentic and forged signals, and turns out to be a linear transformation of the signal received at the attacker position, combined with an independent additive white Gaussian noise. The performance of the attack is evaluated through simulated GNSS signals, considering different scenarios and synchronization non idealities, such as code phase and carrier phase estimation errors.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116063303","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":"Atomic Layer Deposition and Sputtering of Piezoelectric Thin Films for Improved IMU Performance","authors":"Nicholas A. Strnad, R. Knight, R. Rudy, R. Benoit, W. Sarney, J. Pulskamp","doi":"10.1109/PLANS53410.2023.10140027","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140027","url":null,"abstract":"We discuss recent research and development efforts towards low cost, size, weight, and power gyroscopes based on piezoelectric MEMS technology. The potential advantages of piezoelectric and ferroelectric material integration into high performance inertial sensors include the following: significantly increased drive amplitudes for Coriolis Vibratory Gyroscopes relative to electrostatic actuators, dynamically equalized and stabilized Quality Factor mismatch (>>10×) in mode-match gyroscopes, and greatly improved drive amplitude (through 3D, sidewall piezoelectric integration) of mode-split gyroscopes. Piezoelectric thin films with large electromechanical coupling coefficients such as lead zirconate titanate (PbZrxTh1-xO3, PZT) can help to enable these performance benefits. Specifically, we will discuss efforts to optimize PZT thin film deposition using sputtering and new efforts to deposit 3D, conformal PZT using Atomic Layer Deposition (ALD). ALD is a well-established thin film growth technique that may enable conformal deposition of thin films on high aspect-ratio features. ALD of piezoelectric films on high aspect-ratio features, such as arrayed actuator elements, may improve the areal piezoelectric energy density (the total maximum piezoelectric energy projected onto the area of a planar substrate) by up to 200x or more, yielding proportionally larger drive amplitudes for CVGs compared to planar piezoelectric drive elements. However, ALD processes for piezoelectric films such as PZT or AlN are not widely reported. Recent laboratory demonstrations of ALD processes for PZT and a structural isomorph lead hafnate titanate (PbHfxTh1-xO3, PHT) have been successful, yielding piezoelectric perovskite films following a post-deposition anneal. Here, we present a modified process for ALD PHT which has yielded ferroelectric remanent polarizations (2Pr) of 68 μC/cm2, apply the new process to ‘ALL ALD’ PHT film stacks on 3D-MEMS comb structures, and present initial results on the integration of ALD PHT into ‘planar’ MEMS QMG. We will also discuss recent efforts to grow AlN by ALD, which have yielded c-axis oriented polycrystalline films with high dielectric breakdown voltage > 10 MV/cm and e31,f of −0.53 C/m2 on platinized substrates. This paper will also present results of applying piezo- and ferroelectric materials to gyroscopes to improve performance including 50% Q-tuning resulting in a>>10x improved quality factor mismatch.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"319 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124510086","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":"Spoofing Detection using Decomposition of the Complex Cross Ambiguity Function with Measurement Correlation","authors":"Sahil Ahmed, S. Khanafseh, B. Pervan","doi":"10.1109/PLANS53410.2023.10140060","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140060","url":null,"abstract":"In this paper, we describe, implement, and validate the decomposition of the Complex Cross Ambiguity Functions (CCAF) of spoofed Global Navigation Satellite System (GNSS) signals into their constitutive components. We advance prior work in [1] and [2] by specifically accounting for correlation of thermal noise across the code delay and Doppler measurement space and by increasing the pre-detection integration time to reduce its overall impact. We also characterize the CCAF distortion by code cross-correlation and thermal noise. The method is applicable to spoofing scenarios that can lead to Hazardous Misleading information (HMI) and are difficult to detect by other means. It can identify spoofing in the presence of multipath and when the spoofing signal is power matched and offsets in code delay and Doppler frequency are relatively close to the true signal. Spoofing can be identified at an early stage within the receiver and even applicable for dynamic users.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128300737","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":"Smartphone-Based Jammer Localization with Model-Failure Detection and Exclusion","authors":"M. Niestroj, Marius Brachvogel, M. Meurer","doi":"10.1109/PLANS53410.2023.10139971","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139971","url":null,"abstract":"Nowadays, Global Navigation Satellite System (GNSS) have become an essential part of our lives and are used in various common and safety-critical applications. However, due to the low received power, the systems are prone to interference signals and jammers, which may block the reception of GNSS signals. In order to provide a jamming-free reception environment for receivers relying on it, it is necessary to disable the transmission of interference signals, which first requires locating their sources. In this paper two techniques are introduced, that improve the localization of those sources in urban areas and for the usage of cheap and imprecise sensors.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117279984","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":"Applied Atomic Timekeeping in Space","authors":"J. Camparo","doi":"10.1109/PLANS53410.2023.10140136","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140136","url":null,"abstract":"In 1945, during the Richtmeyer Memorial Lecture at the annual meeting of the American Physical Society in New York City, Nobel Laureate Isidor Rabi made the first suggestion for a clock based on atoms. A device where the “tick-rate” of the clock is tied to the fundamental stability of atomic structure. Twelve years later, the first atomic clock was realized, and in the 1970s the first atomic clock was launched into space. In the nearly half-century since that first space flight, atomic clocks for space have become more precise, more resilient, and as a result have proliferated into diverse space systems. Here, we begin with a very brief overview of how space systems can employ atomic timekeeping, followed by a discussion of present-day and (near-term) next-generation atomic clocks for space systems.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134399959","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":"Starlink Doppler and Doppler Rate Estimation via Coherent Combining of Multiple Tones for Opportunistic Positioning","authors":"Chun Yang, A. Soloviev","doi":"10.1109/PLANS53410.2023.10140055","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140055","url":null,"abstract":"Large low earth orbit (LEO) systems or mega constellations exemplified by Starlink and OneWeb hold the promise for LEO-based positioning, navigation, and timing (PNT). Each Starlink signal has characteristic 9 tones within the center 1 MHz of each downlink channel, differentiating it from OneWeb that also broadcasts in the same Ku band. From the point of view of using Starlink signals for opportunistic PNT, these distinct tones are the simplest waveforms to receive despite the fact that the tones do not carry a satellite ID, so it is ambiguity as to from which satellite the received signal originates. Furthermore, simple tracking of one tone or two, albeit the strongest, is also ambiguous regarding the carrier center frequency per downlink channel for Doppler estimation. In this paper, we set forth a general baseband signal processing scheme with two steps for Doppler and Doppler rate estimation without any prior information about a receiver's location and time and the appearance (disappearance) of a Starlink signal. The first step performs satellite detection, coarse frequency estimation, and tone grouping per satellite while the second step performs refined frequency and frequency rate estimation and tracking. Specifically, the second step consists of three operations, namely, channelized downconversion, chirp (frequency rate) estimation and dechirping, and refined frequency estimation. In particular, the frequency rate estimation is based on a novel idea of coherent combining of all detected tones. The processing steps are illustrated in the paper with actual Starlink signals captured in the 11,325 MHz and 11,950 MHz channels, respectively. The rationale for designing signal processing parameters and tone grouping criteria are discussed. The ability of the proposed method to recover all 9 tones per satellite and unambiguously estimate Doppler (the middle tone off the channel center frequency) and Doppler rate is shown for a case with a single Starlink satellite and a case with two Starlink satellites that are closely-spaced in frequency, respectively.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122528690","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}