2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014最新文献_第8页

Development and operational testing of a sub-meter Positive Train Location system 亚米正极列车定位系统的研制与运行测试

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851403

K. Betts, Troy J. Mitchell, D. Reed, Shon Sloat, D. P. Stranghoener, Jonathan D. Wetherbee

{"title":"Development and operational testing of a sub-meter Positive Train Location system","authors":"K. Betts, Troy J. Mitchell, D. Reed, Shon Sloat, D. P. Stranghoener, Jonathan D. Wetherbee","doi":"10.1109/PLANS.2014.6851403","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851403","url":null,"abstract":"Leidos has developed an operational test-ready navigation system for Positive Train Location (PTL) demonstrating position accuracies that enable cross-track discrimination using low-cost onboard components and no trackside infrastructure. The system combines information from multiple sensors and a track database (when available) in the Leidos Embedded Data-fusion Geospatial Engine (EDGE) sensor fusion algorithms to create optimal state estimates for position, velocity, and attitude. In Phase I of the PTL development effort, Leidos tested a proof-of-concept system using both simulation and real-world track testing at the Transportation Technology Center (TTC) test track in Pueblo, Colorado. The system demonstrated position errors less than 20 cm in the along-track and across-track axes as measured by a fixed-base station Real-Time Kinematic (RTK) GPS reference system. In Phase II, the hardware has been redesigned to support operational railroad installation and testing. The production design has been tested at both the TTC test track as well as on United States Class I railroad operational track territory.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"306 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":"133304403","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: 8

Standalone inertial pocket navigation system 独立惯性口袋导航系统

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851382

Estefania Munoz Diaz, Ana Luz Mendiguchia Gonzalez, F. de Ponte Müller

{"title":"Standalone inertial pocket navigation system","authors":"Estefania Munoz Diaz, Ana Luz Mendiguchia Gonzalez, F. de Ponte Müller","doi":"10.1109/PLANS.2014.6851382","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851382","url":null,"abstract":"Positioning applications became more important in recent years not only for security applications, but also for the mass market. Having a pedestrian navigation system embedded in a mobile phone is a realistic solution since it is equipped with low-cost sensors and the smartphone is located in a non-obstructive way. The location of the smartphone is important, since the position estimation process depends on it. Therefore, we propose to distinguish between pocket or bag, phoning, texting and swinging. We present a standalone inertial pocket navigation system based on an inertial measurement unit. For the computation of the orientation, we have developed an attitude estimator based on an unscented Kalman filter. The update stage has two different updates based on the acceleration and the magnetic field. Therefore, a zero acceleration detector, a magnetic disturbances detector and a static periods detector have been developed. The odometry in our navigation system is computed through an extended Kalman filter. The position is predicted with a movement model which is periodically updated through position corrections computed by the position computer. It comprises a step detector and a step length estimator based on the norm of the acceleration. The performance of our attitude estimator in comparison with the ground truth orientation is shown. The rest of the handheld positions are also tested for orientation. Likewise, we show pocket odometries of different users with the floor plan superimposed.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"10 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":"114054361","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: 35

Bayesian sensor fusion of Wi-Fi signal strengths and GNSS code and carrier phases for positioning in urban environments 基于贝叶斯传感器的Wi-Fi信号强度与GNSS编码和载波相位融合，实现城市环境下的定位

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851470

G. Hejc, J. Seitz, Thorsten Vaupel

{"title":"Bayesian sensor fusion of Wi-Fi signal strengths and GNSS code and carrier phases for positioning in urban environments","authors":"G. Hejc, J. Seitz, Thorsten Vaupel","doi":"10.1109/PLANS.2014.6851470","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851470","url":null,"abstract":"In urban environments GNSS signals can be either blocked by buildings, so that the number of satellites with direct line-of-sight (LOS) is reduced considerably, or reflected by surfaces, so that signals from the same satellite are received over multiple paths. Taking into account all available signals would typically result in a rather poor position estimate. It is therefore essential to distinguish LOS from non-LOS or multipath-contaminated signals and include this information in the GNSS process model. This is done using a classification algorithm based on code (pseudorange) and carrier phase observations. On the other hand, Wi-Fi fingerprinting is complementary to GNSS in the sense that this approach benefits from signal degradations caused by shadowing through obstacles and reflections leading to unique variations in the radio map and less ambiguity in the mapping of signal strength measurements to positions. The fusion of GNSS and Wi-Fi measurements is done with a particle filter, which uses the probabilistic measurement process models for GNSS and Wi-Fi as inputs. The advantage of the particle filter is its ability to work with non-linear dynamical models and non-Gaussian probability distributions. The evaluation was done with a modular ARM-processor based hardware platform (miniLOK) with Android as operating system, which provides an interface to the raw data of the GNSS receiver. The algorithms were implemented in Java on top of the awiloc® software framework, which is a positioning system including Wi-Fi fingerprinting developed at Fraunhofer IIS. The paper starts with the construction of measurement process models for GNSS and Wi-Fi and explains how these models are integrated into the particle filter framework. The experimental results are presented together with a description of the setup and equipment. The achieved positioning uncertainty in urban environments is discussed.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"44 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":"116387029","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: 13

Simultaneous position estimation & ambiguity resolution (SPEAR) for high-integrity carrier-phase navigation with robustness to tracking loss 高完整性载波相位导航的同时位置估计和模糊度解决(SPEAR)，具有跟踪损失的鲁棒性

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851434

J. Rife

引用次数: 0

The study of error sources for MOSAIC/DME system: A single station based positioning system for APNT MOSAIC/DME系统误差源研究——基于单站的APNT定位系统

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851452

O. Kim, Chongwon Kim, Junesol Song, Younsil Kim, C. Kee

引用次数: 4

Safe & sound: A robust collision avoidance layer for aerial robots based on acoustic sensors 安全和声音:基于声传感器的航空机器人的鲁棒避碰层

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851492

Joachim Müller, Alberto Viseras Ruiz, Iris Wieser

{"title":"Safe & sound: A robust collision avoidance layer for aerial robots based on acoustic sensors","authors":"Joachim Müller, Alberto Viseras Ruiz, Iris Wieser","doi":"10.1109/PLANS.2014.6851492","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851492","url":null,"abstract":"In this work, we propose a novel intermediate control layer for obstacle avoidance and drift suppression. It runs in between high level software layers responsible for environment mapping and path planning and low level software ensuring stable and level flight. This allows more complex algorithms with longer computation intervals for higher-level tasks. By modularizing the robot control, we also enable the reuse of our obstacle avoidance layer for different high-layer algorithms. The feasibility of separation in software will be shown, leading the way for a potential physical separation with dedicated hardware later on. A prototypical implementation of the intermediate layer using ultrasonic sensors was built. We demonstrate the feasibility of the chosen sensor concept in presence of propeller noise. The control concept is kept on a level that can be implemented on onboard processors - this does also include the communication with the sensors. Experimental results with this first implemented prototype are presented and discussed. We analyze the ranging capabilities of the ultrasonic sensor and validate its applicability in obstacle avoidance tasks.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"39 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":"127631892","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: 11

The four key challenges of advanced multisensor navigation and positioning 先进多传感器导航与定位的四大关键挑战

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851443

P. Groves, Lei Wang, D. Walter, Henry Martin, K. Voutsis, Ziyi Jiang

引用次数: 50

Autonomous WLAN heading and position for smartphones 智能手机的自主WLAN航向和定位

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851481

Y. Zhuang, Z. Shen, Z. Syed, J. Georgy, H. Syed, N. El-Sheimy

{"title":"Autonomous WLAN heading and position for smartphones","authors":"Y. Zhuang, Z. Shen, Z. Syed, J. Georgy, H. Syed, N. El-Sheimy","doi":"10.1109/PLANS.2014.6851481","DOIUrl":"https://doi.org/10.1109/PLANS.2014.6851481","url":null,"abstract":"In recent years, indoor positioning systems have become important and WiFi positioning based on fingerprinting has been gaining a lot of attention in this field. However, surveying for the WiFi fingerprints in a specific area is a labor and time consuming process. In this work, an innovative method is proposed to automatically generate geo-referenced radio maps for Wireless Local Area Networks (WLAN). The Trusted Portable Navigator (T-PN) was used to provide an integrated navigation solution using inertial sensors and Global Navigation Satellite System (GNSS), when GNSS is available. The T-PN provided positions were used to automatically build a radio map when the solution was reliable. Building a radio map by using this method alleviates the cost of expensive surveys and does not require additional time or manual labor. After the radio map is built, it is used for typical fingerprinting-based WiFi positioning. The experimental results show that reasonable positioning accuracy can be obtained with this automatic fingerprint collection method in indoor environments. Nevertheless, the positions calculated in this manner are not accurate enough to calculate a useful heading of the user. In this paper, we propose another innovative method that estimates user heading based on WLAN signals. This estimation technique is based on the mathematical relationship between the rate of change of RSS for the different access points (APs) and the user velocities, and consequently the user heading.","PeriodicalId":371808,"journal":{"name":"2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014","volume":"61 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":"121075414","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: 15

Minimum volume ellipsoid scaled to contain a tangent sphere, with application to integrity monitoring 最小体积椭球缩放到包含一个切线球，应用于完整性监测

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851390

J. Rife, D. Schuldt

引用次数: 6

A blueprint for civil GPS navigation message authentication 民用GPS导航电文认证方案

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014 Pub Date : 2014-05-05 DOI: 10.1109/PLANS.2014.6851385

Andrew J. Kerns, Kyle D. Wesson, T. Humphreys

引用次数: 80