2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014最新文献_第2页

Development of vision-aided navigation for a wearable outdoor augmented reality system 可穿戴户外增强现实系统视觉辅助导航的开发

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851442

A. Menozzi, Brian Clipp, Erich Wenger, Jared Heinly, Enrique Dunn, H. Towles, Jan-Michael Frahm, G. Welch

{"title":"Development of vision-aided navigation for a wearable outdoor augmented reality system","authors":"A. Menozzi, Brian Clipp, Erich Wenger, Jared Heinly, Enrique Dunn, H. Towles, Jan-Michael Frahm, G. Welch","doi":"10.1109/PLANS.2014.6851442","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851442","url":null,"abstract":"This paper describes the development of vision-aided navigation (i.e., pose estimation) for a wearable augmented reality system operating in natural outdoor environments. This system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered graphics on the user's view of reality. Accurate pose estimation is achieved through integration of inertial, magnetic, GPS, terrain elevation data, and computervision inputs. Specifically, a helmet-mounted forward-looking camera and custom computer vision algorithms are used to provide measurements of absolute orientation (i.e., orientation of the helmet with respect to the Earth). These orientation measurements, which leverage mountainous terrain horizon geometry and/or known landmarks, enable the system to achieve significant improvements in accuracy compared to GPS/INS solutions of similar size, weight, and power, and to operate robustly in the presence of magnetic disturbances. Recent field testing activities, across a variety of environments where these vision-based signals of opportunity are available, indicate that high accuracy (less than 10 mrad) in graphics geo-registration can be achieved. This paper presents the pose estimation process, the methods behind the generation of vision-based measurements, and representative experimental results.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129234121","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}

引用次数: 21

Indoor localization and mapping using camera and inertial measurement unit (IMU) 基于相机和惯性测量单元(IMU)的室内定位与制图

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851507

N. Mostofi, M. Elhabiby, N. El-Sheimy

{"title":"Indoor localization and mapping using camera and inertial measurement unit (IMU)","authors":"N. Mostofi, M. Elhabiby, N. El-Sheimy","doi":"10.1109/PLANS.2014.6851507","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851507","url":null,"abstract":"This paper presents a monocular camera and inertial measurement unit (IMU) fusion technique using Extended Kalman Filter (EKF) with delay in landmark initialization to address the simultaneous localization and mapping (SLAM) problem for single smartphone. The dynamic model of the EKF is chosen to be constant acceleration while the velocity of the system is constantly monitored in order to have enough overlap between consecutive camera frames. Moreover inconsistency in SLAM algorithm due to heading error is removed by utilizing magnetometer measurement model. The use of data association technique ensures that the final map solution is robust and consistent even in complex environment. For fast and robust features matching, the Speed-Up Robust Features (SURF) extraction algorithm followed by random sample consensus (RANSAC) method is applied on camera frames. The extracted features from SURF algorithm are related to ground plane, since the system moves parallel to the ground. The experimental results illustrate the performance of the monocular-IMU SLAM over long walked trajectories in indoor environment.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123802081","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}

引用次数: 12

Laser-aided navigation with loop closure capabilities for Micro Aerial Vehicles in indoor and urban environments 室内和城市环境中微型飞行器的闭环激光辅助导航

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851395

Philipp Crocoll, Tim Caselitz, Bastian Hettich, M. Langer, G. Trommer

{"title":"Laser-aided navigation with loop closure capabilities for Micro Aerial Vehicles in indoor and urban environments","authors":"Philipp Crocoll, Tim Caselitz, Bastian Hettich, M. Langer, G. Trommer","doi":"10.1109/PLANS.2014.6851395","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851395","url":null,"abstract":"This paper presents a laser-aided navigation system for Micro Aerial Vehicles. It is based on a Kalman filter so that GNSS measurements can be incorporated if available. For GNSS-denied areas, the Kalman filter also processes relative pose measurements extracted from laser data. A novel approach for laser-aided Kalman filter navigation is presented which allows using multiple reference scans simultaneously. Furthermore, an addition to avoid growth of the heading angle error is described. Because this Kalman filter based system is a relative navigation system, its position error grows with time. To avoid such an error growth in GNSS denied environments, the Kalman filter is augmented with loop closure detection. A technique is proposed to represent such information in a pose graph and to calculate an improved navigation solution including an error covariance based on covariance intersection. The successful operation of the presented system is validated in several experiments including real flight data, large loops and an outdoor-indoor-outdoor transition.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114307947","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}

引用次数: 10

Polynomial expansion for range image segmentation and classification of the environment 基于多项式展开的距离图像分割与环境分类

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851460

Brian Okorn, Josh Harguess

引用次数: 0

Design of a robust receiver architecture for scintillation monitoring 一种用于闪烁监测的鲁棒接收机结构设计

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851359

M. Susi, M. Aquino, R. Romero, F. Dovis, M. Andreotti

引用次数: 16

PIC technique with reduced complexity in GPS 降低GPS系统复杂度的PIC技术

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851415

K. Yoo, S. Kong

引用次数: 1

An analysis on ASF variations and temperature 非洲猪瘟变化与温度的关系分析

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851454

S.W. Hwang, Y. S. Choi, S. J. Lee, S. H. Yang

引用次数: 4

Complementary signal structure proposals for future airborne SBAS L5 signal and other non-airborne applications 未来机载SBAS L5信号和其他非机载应用的互补信号结构方案

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851391

A. G. Pena, C. Macabiau, M. Mabilleau, Catalina, Rodriguez, Daniel Brocard

{"title":"Complementary signal structure proposals for future airborne SBAS L5 signal and other non-airborne applications","authors":"A. G. Pena, C. Macabiau, M. Mabilleau, Catalina, Rodriguez, Daniel Brocard","doi":"10.1109/PLANS.2014.6851391","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851391","url":null,"abstract":"This paper studies complementary signal structures to the SBAS L5 SIS ICD definition which increases its original bit rate without degrading or even improving the SBAS L5 SIS ICD signal key performances. The proposition of this paper is based on modifying only certain characteristics of the current SBAS L5 SIS ICD signal structure and on keeping the signal characteristics which allow a perfect compatibility with SBAS L5 SIS ICD message content: symbol rate, bit information rate (250 bps), basic information units of 250 bits and capability of interrupting the nominal message at each second in order to transmit alarm messages. The main signal design modifications are first the introduction of linear block channel codes, instead of a convolutional code, in order to reduce header and CRC bits and in order to decrease the signal demodulation threshold. Second, new signal components, such as the synchronization component or a second data component, are introduced allowing an easier synchronization and increasing the effective bit rate. Smart combinations of the two data components are suggested to not degrade the final demodulation threshold. Finally, the selective introduction of a Code Shift Keying (CSK) modulation is also proposed to further increase the bit rate. Demodulation, carrier phase tracking and secondary PRN code acquisition performances are explained and analyzed for the complementary proposed signal structures.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131191242","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}

引用次数: 1

A least squares approach to size effect in inertial navigation 惯性导航中尺寸效应的最小二乘方法

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851438

Sharon Eilon

引用次数: 4

Cycle slip detection and repair with triple frequency combination method 三频组合法检测和修复周跳

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851451

Lin Zhao, Yue Liu, Liang Li, Na Li

{"title":"Cycle slip detection and repair with triple frequency combination method","authors":"Lin Zhao, Yue Liu, Liang Li, Na Li","doi":"10.1109/PLANS.2014.6851451","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851451","url":null,"abstract":"As the application field of GNSS (Global Navigation Satellite System) is expanding, users have increasing demand of real-time positioning accuracy. The modernization of the global positioning system and the development of BDS (BeiDou Navigation Satellite System) will lead to a more high-accuracy on-the-fly positioning system. Unlike GPS, BDS is consists of MEO, GEO and IGSO satellites. The presence of the S band provided by RDSS from GEO satellites has introduced more degrees of freedom for observation data combination. We establish geometric-free and ionosphere-free linear combinations of BDS observations on the three of B1-B2-B3-S band with the aim to enhance the sensibility of detecting and repair cycle slips in real time. The small cycle slips can be magnified by the linear combinations. Therefore, the three combination cycle slips are detected. Once the combination cycle slips have been detected, the real cycle slips on each frequency can be estimated using the combination coefficients and the jumps can be fixed. These combinations are defined with the aims of long wavelength and weakening geometric and ionosphere errors. In this paper, some principles are established to appraise the performance of these combinations in order to obtain the optimal combinations. A combination method to detect and repair the small cycle slips for triple frequency of BDS is proposed. Some simulations based on real collection data have been carried out and the results have showed the proposed method is able to detect and repair both big and small cycle slips (even smaller than 1 cycle) on each carriers.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128511654","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}

引用次数: 1