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

{"title":"Inertial Aiding for Moving GPS Receiver Carrier Phase Estimation Through Wideband Interference","authors":"Wengxiang Zhao, S. Khanafseh, B. Pervan","doi":"10.1109/PLANS53410.2023.10140122","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140122","url":null,"abstract":"In this paper, we extend prior research on Interacting Multiple Model (IMM) Kalman filtering for GPS carrier phase estimation through wideband interference from static to moving receivers. In preparation, we develop a vibration dynamic model for the clock and a carrier-to-noise ratio estimator applicable in interference condition. We couple a Inertial Measurement Unit (IMU) with the GPS receiver to provide inertial aiding for user dynamics.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127463971","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":"Satellite Guidance with Multi-Agent Reinforce Learning for Triangulating a Moving Object in a Relative Orbit Frame","authors":"Nicholas Yielding, Joe Curro, S. Cain","doi":"10.1109/PLANS53410.2023.10139951","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139951","url":null,"abstract":"Multi-agent systems and swarms in spacecraft formation flying are of ever-increasing importance in a contested space environment-use of multiple spacecraft to contribute to a cooperative mission potentially increases positive outcomes on orbit, while autonomy becomes an ever increasing requirement to increase reaction time to dynamic situations and lower the burden on space operators. This research explores difficult swarm Guidance Navigation and Control (GNC) scenarios using Deep Reinforcement Learning (DRL). DRL polices are trained to provide guidance inputs to agents in multi-agent swarm environments for completing complex, teamwork focused objectives in geosynchronous orbit. An example scenario is explored for a group of satellite agents moving to triangulate an object in a relative orbit space that potentially maneuvers. Reward shaping is used to encourage learning guidance that positions swarm members to maximize cooperative triangulation accuracy, using angles-only sensor information for navigation relative to the target. Results show the policies successfully learn guidance through reward shaping to improve triangulation accuracy by a significant factor.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127937614","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":"Impact analysis of spoofing on different-grade GNSS receivers","authors":"Saiful Islam, M. Z. H. Bhuiyan, Into Pääkkönen, Mika Saajasto, M. Mäkelä, S. Kaasalainen","doi":"10.1109/PLANS53410.2023.10139934","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139934","url":null,"abstract":"Man-made threats to Global Navigation Satellite System (GNSS)-dependent infrastructures are constantly evolving as malicious actors strive to stay one step ahead of security safeguards. A GNSS receiver that satisfies a certain standard of resilience in 2023 may not be sufficient by the end of the decade if a brand-new or previously unknown type of interference emerges in the meantime. GNSS spoofing is a significant concern as it is an intentional form of interference that aims to deceive a receiver into accepting counterfeit signals as genuine. The technical challenges of spoofing GNSS receivers are higher compared to jamming, and the consequences can be more severe, as the receiver may use tampered signals for Positioning, Navigation, and Timing (PNT), resulting in misleading position and time information. This paper analyzes the potential impact of spoofing on commercial- and mass-market-grade GNSS receivers. The impact analysis is also be supported by an in-house open-source software-defined research receiver named ‘FGI-GSRx’. Additionally, findings from the real-world spoofing test conducted during Jammer test campaign 2022 in Norway, are also be presented.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126694059","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":"Dual-Use Waveforms for Simultaneous Automotive Radar and Vehicular Communication","authors":"Ian Weiner, Houssam Abouzahra, Mitchell LeRoy","doi":"10.1109/PLANS53410.2023.10139940","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139940","url":null,"abstract":"In a previous paper, we introduced a flexible methodology for the design of dual-use waveform alphabets which are suitable for simultaneous use in radar and wireless communications. Here we extend this work to accommodate full-duty (continuous-transmit) waveforms of constant modulus. We describe an automotive test bed and report results of a field test which validated performance expectations.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126522618","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":"OTFS Enabled RIS- Aided Localization: Fundamental Limits and Potential Drawbacks","authors":"Don-Roberts Emenonye, Anish Pradhan, Harpreet S. Dhillon, R. Buehrer","doi":"10.1109/PLANS53410.2023.10140033","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140033","url":null,"abstract":"In this paper, we consider a reconfigurable intelligent surface (RIS) aided orthogonal time frequency space (OTFS) system that can operate in either the near-field or far-field propagation regimes. The received signal expressions in the Doppler-delay (DD) are derived when the system experiences the effects of near-field or far-field propagation. Utilizing these received signal expressions and the Fisher information matrix (FIM), we derive the fundamental localization error limits of a user equipment (UE) that receives signals in the DD domain after reflections from the RISs. Through simulations, we show that the localization error decreases with the number of receive antennas and RIS elements. Subsequently, we note that RISs can become misoriented, i.e., their orientations can be disturbed after initial deployment. Hence, we investigate the possibility of exploiting the signals received at the UE in the DD domain to estimate the RIS orientation. Our simulation results indicate that the orientation of a certain RIS can only be estimated when the UE is experiencing the effects of near-field propagation with respect to that RIS. Through simulations, we show that a fundamental drawback of RIS-aided localization of a UE is that the RIS orientation offset is detrimental to the localization error of the UE.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125044750","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":"Identification of Authentic GNSS Signals in Time-Differenced Carrier Phase Measurements with a Multi-Constellation Software Defined Radio Receiver","authors":"Zhen Zhu, S. Gunawardena, E. Vinande, Jason Pontious","doi":"10.1109/PLANS53410.2023.10139922","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139922","url":null,"abstract":"Time-differenced carrier phase can be computed with measurements and navigation data recorded by a multi-GNSS SDR receiver such as PyChips, from which user displacement and receiver clock drift can be solved. A random sample consensus algorithm has been developed to check consistency among measurements and data. This algorithm can successfully identify inauthentic measurements from a multi-frequency GNSS dataset, even if inauthentic satellite orbital/clock data are used.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121921986","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":"Crowdsourced Jammer Localization Using APBMs: Performance Analysis Considering Observations Disruption","authors":"Andrea Nardin, T. Imbiriba, P. Closas","doi":"10.1109/PLANS53410.2023.10140023","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140023","url":null,"abstract":"Global navigation satellite systems (GNSSs) are a vital technology for many applications. The received signals, how-ever, are weak and easily vulnerable to intentional/unintentional interference. Jamming signals are becoming a serious threat for GNSS users and the localization of the jammer is an effective countermeasure to such attacks. Congested areas are particularly sensitive to these kinds of attacks, but they also present an opportunity to leverage crowdsourced data for threat monitoring purposes. In this context, we foresee a system where agents navigate an area with the ability to transmit the measured signal power, information that can be leveraged for jamming localization purposes. We propose a crowdsourced-based scheme for jammer localization, based on a signal propagation model, enhanced through the use of physics-based path loss modeling and an augmented, data-driven, component. This method can outperform the maximum likelihood estimator in a realistic scenario, despite the limited knowledge of the propagation model. The disruptive effect on agents' own position estimation affects the final jammer localization outcome, which is evaluated in this paper. In the work, we provide extensive experimentation to measure the effect of denied or degraded positioning on crowdsourced estimation as a function of relevant parameters such as agents' positioning error, observation density, and measurement noise.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131451309","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":"Essential PoseSLAM: An Efficient Landmark-Free Approach to Visual-Inertial Navigation","authors":"Matthew Boler, Scott M. Martin","doi":"10.1109/PLANS53410.2023.10140080","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140080","url":null,"abstract":"This paper presents an efficient method of fusing visual and inertial data for navigation using the two-view tensor, also known as the essential matrix. The essential matrix encodes the up-to-scale geometric relationship between two camera poses and contains the relative rotation and direction-of-translation between them. A dense network of up-to-scale relative pose measurements is constructed by computing essential matrices between incoming images and a collection of past states which observed the same scene. As the essential matrix is computed online in many visual-inertial navigation systems (VINS) as part of the image processing front end, the proposed method introduces little computational overhead while avoiding all computations related to feature estimation. This approach can be viewed as a modification of the classical pose-graph simultaneous localization and mapping (SLAM) problem. This paper further presents a dynamic initialization method to bootstrap the velocity, orientation, and biases of an IMU. The initialization method makes use of the same modified pose-graph SLAM approach to solve for the up-to-scale relative poses of a window of camera frames before solving for orientation, velocity, and sensor biases. We validate the proposed methods by implementing them in Extended Kalman Filter (EKF) and nonlinear optimization forms and testing them on public datasets.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131338614","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":"Characterization of Inter Constellation Bias between NavIC and GPS and Methods for Performance Improvement in Positioning","authors":"S. VinojV., C. RadhakrishnaPillai, T. AnandShankarO., A. MohammedBasim, S. BijuV., Aneesh K Thampi, S. Sasikumar, D. Dev","doi":"10.1109/PLANS53410.2023.10139982","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139982","url":null,"abstract":"The introduction of new navigation satellite constellations has opened up tremendous opportunity for commercial receivers to utilize larger number of satellite measurements for positioning. Generally, in these receivers, inter constellation bias (ICB) is treated as an unknown parameter and is estimated along with computation of solution. The accurate estimation of ICB prior to execution of positioning algorithm can enhance the solution availability of multi constellation receivers in GNSS scarce environment. This is particularly useful for terrestrial receivers which operate in dense forests, urban canyons and high dynamic receivers used in launch vehicle applications. As a special case, the behavior of ICB between GPS and NavIC constellations is studied in this paper. The objective of this work is to generate a reliable and fairly accurate model of the Inter-Constellation Bias (ICB) between GPS and NavIC system. This model can be used to estimate the value of ICB for a short duration and its usage enables the receiver to use a minimum number of satellites (lowest possible number being 4) from GPS and NavIC constellations for accurate positioning in a GNSS scarce environment. It is possible to generate reliable solution with good PDOP using five or six satellites, whereas the conventional method of ICB estimation along with position computation requires one more satellite and may result in relatively poor PDOP under GNSS scarce environment. In this study, ICB between GPS and NavIC constellation is estimated using NavIC and GPS independent navigation solutions computed over Indian region (Thiruvananthapuram, India- Lat: 8.53522°, Long: 76.9929°) for more than a year. The estimation is done using three independent GNSS Receivers: M/s NovAtel make, M/s Accord make and in house developed high dynamic GNSS Receiver. The overall characterization of ICB variation is carried out and further fine refinements are being attempted. Fine resolution data samples of one second and coarse resolution data samples of one day is used for short term and long-term characterization of ICB. The navigation computation is done using predicted ICB from the model. The obtained results are excellent and closely matching with the conventional algorithm which uses ICB as one of the unknown parameters in position computation.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125290475","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":"Magnetic Maps and Models for Alternative Navigation","authors":"R. Saltus, P. Alken, Annette Balmes, N. Boneh, S. Califf, A. Chulliat, B. Meyer, M. Nair","doi":"10.1109/PLANS53410.2023.10140025","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140025","url":null,"abstract":"Magnetic navigation requires the comparison of onboard magnetic sensor measurements to reference magnetic maps and models. Magnetic maps and models are available at a wide range of scales and scope. At any given location, measurements of the ambient magnetic field are the sum of various components, including sources internal and external to the Earth. This paper discusses maps and models of the internal components sourced in the core and lithosphere of the Earth. The long-wavelength, slowly-time-varying core field of the Earth is represented by global, satellite-based models. The time-invariant lithospheric magnetic field is represented at its longest wavelengths by spherical harmonic models based on data from the CHAMP and SWARM satellite missions and at resolutions smaller than ~300 km by grid products based on the processing of airborne, marine, and ground surveys. Regional to local magnetic anomaly maps and grids are available for selected areas at resolutions down to 100 m. Evaluation of possible map/model performance for a given magnetic navigation scenario requires consideration of amplitude and frequency of magnetic field variations, and magnetic map/model uncertainty. We present a basic analysis of magnetic navigation signals as a function of altitude and velocity.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124602627","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}