2008 IEEE/ION Position, Location and Navigation Symposium最新文献

{"title":"Modeling and simulation of a terrain aided inertial navigation algorithm for land vehicles","authors":"T. Sonmez, H. E. Bingol","doi":"10.1109/PLANS.2008.4570078","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570078","url":null,"abstract":"Sensing the terrain and using it for aiding the inertial navigation system has been widely used in air platforms since the 1960psilas. TERCOM and SITAN are well-known algorithms for sensing the terrain with a radar altimeter and calculating a correction for the navigation states according to a digital elevation map. In the absence of GPS signals, it is extremely important to be able to make positional fixes. In this paper, we developed a simulation environment for a conceptual application of TAN (Terrain Aided Navigation) for land vehicles. Basically, the test platform is always on the ground so we can assume a trivial zero terrain clearance measurement and apply well-known TAN algorithms. With this new idea, an inertial measurement unit (IMU), a digital elevation map and a barometer is sufficient to apply the TAN algorithms in land vehicles. A widely used navigation aid in land navigation, odometer, is also considered in this TAN application. Error models are developed for each sensor and a dynamic model is used to simulate the IMU data of a land vehicle which moves on the terrain surface. A Kalman filter is designed to track navigation states and as a reference, truth model data is used to find the error statistics of the navigation states via Monte Carlo simulations. This paper also discusses the requirements on the accuracy of sensors, the vehicle capability and the resolution of the terrain maps. The vehicle has to be able to move on a land that has characteristic features for a successful application of the TAN algorithms.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126066059","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":"Modeling and bounding low cost inertial sensor errors","authors":"Zhiqiang Xing, D. Gebre‐Egziabher","doi":"10.1109/PLANS.2008.4569999","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569999","url":null,"abstract":"This paper presents a methodology for developing models for the post-calibration residual errors of inexpensive inertial sensors in the class normally referred to as ldquoautomotiverdquo or ldquoconsumerrdquo grade. These sensors are increasingly being used in real-time vehicle navigation and guidance systems. However, manufacturer supplied specification sheets for these sensors seldom provide enough detail to allow constructing the type of error models required for analyzing the performance or assessing the risk associated with navigation and guidance systems. A methodology for generating error models that are accurate and usable in navigation and guidance systemspsila sensor fusion and risk analysis algorithms is developed and validated. Use of the error models is demonstrated by a simulation in which the performance of an automotive navigation and guidance system is analyzed.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127177286","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":"Effects of time synchronization errors in GNSS-aided INS","authors":"I. Skog, P. Handel","doi":"10.1109/PLANS.2008.4570010","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570010","url":null,"abstract":"The effects of time synchronization errors in a GNSS-aided inertial navigation system (INS) are studied in terms of the increased error covariance of the state vector. Expressions for evaluating the error covariance of the navigation state vector-given the vehicle trajectory and the model of the INS error dynamics-are derived. Two different cases are studied in some detail. The first case considers a navigation system in which the timing error is not included in the integration filter. This leads to a system with an increased error covariance and a bias in the estimated forward acceleration. In the second case, a parameterization of the timing error is included as a part of the estimation problem in the data integration. Simulation results show that by including the timing error in the estimation problem, almost perfect time synchronization is obtained and the bias in the forward acceleration is removed.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"430 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133939699","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 effect of the antenna phase response on the ambiguity resolution","authors":"L. Wirola, I. Kontola, J. Syrjarinne","doi":"10.1109/PLANS.2008.4570104","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570104","url":null,"abstract":"In order to get the best performance from carrier phase -based GNSS positioning methods in terms of accuracy and reliability the factors affecting the signal propagation must be characterized accurately. These carrier phase -based methods include precise point positioning (PPP) as well as real-time kinematic (RTK). While much focus has been put on atmospheric effects, the antenna effects are either ignored (low-end solutions) or handled by utilizing phase center offset and phase center variation (high-end solutions). The latter approach is typical in modern RTK equipment. Survey-grade antennas are designed to have such fine az-imuthal symmetry in the phase response that only elevation- dependent correction must be applied to the observations. This is referred to as the phase center variation. Moreover, the final baseline solution is corrected with the phase center offset in order to map the solution to a physical point in the antenna structure. The approach typically assumes that antennas of the same type have similar spatial response characteristics so that the same correction data can be applied to all the antennas of the same make. However, carrier phase -based techniques have been proposed for consumer-grade devices, in which the antennas are typically cheap, small and unoptimally positioned in the devices. In such cases the phase response may have high asymmetry both in azimuth and elevation and, hence, the current practices may no longer be sufficient. The unmodelled biases, amongst other, have impact on the probability of successful integer ambiguity fixing in RTK. This paper characterizes three antennas designed for GPS LI reception in terms of their magnitude and phase responses as a function of azimuth and elevation of the signal source. Two of the measured antennas were patches mounted in BluetoothTMGPS -receivers and one antenna was Trimble BulletTMIII that was measured for reference purposes. The phase responses are analyzed in the context of phase center offset and variation. The phase responses are then utilized in estimating the statistics of ambiguity fixing success rates. The measured antennas show varying performance in terms of phase response symmetry. The patches mounted in Bluetooth devices show approximately 70- and 49-degree variation in the phase response depending upon the direction of the signal. The lack of azimuthal symmetry prohibits the use of only elevation- dependent phase center variation tables and suggests the need for a full 3D table. The two antennas also show such differing responses that the use of a single PCV table for the antennas is not feasible. The bullet, however, shows only 4-degree variation and, hence, fine symmetry. Finally, even though the absolute variations in the phase responses are quite significant in antennas mounted in a Bluetooth GPS, the simulations show that these variations do not have a significant effect on the success rates for ambiguity resolution. This is because the probability ","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"303 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129329678","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":"Acquisition systems for GNSS signals with the same code and bit rates","authors":"L. Lo Presti, M. Fantino, P. Mulassano, Xuefen Zhu","doi":"10.1109/PLANS.2008.4570089","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570089","url":null,"abstract":"In this paper we address the problem of the acquisition of GNSS signals for the next-generation systems (as Galileo, and GPS modernization), which will use signals with code rate equal to the bit rate. In this case there is a potential sign transition in each segment of the signal processed in the acquisition schemes. The search space could result greatly impaired, especially with the methods based on FFT. These methods are very efficient, but a bit transition leads to a modification of the shape of the Cross Ambiguity Function evaluated in the search space. Here we propose a method which mitigates this impairment, which fits the requirements of the new GNSS signals. We will show that the bit transition does not destroy the information on the presence of the satellite, but introduces an error in the estimation of the Doppler frequency and code delay. In fact the effect of the sign transition on the correlation peak is a splitting of the peak into two asymmetric lobes along the correct delay bin, so leading to a potential null value at the correct cell. However the integral of these lobes exhibits an invariance property, which can be exploited to recover the bit transition position, from which the acquisition process becomes feasible. In the paper we will provide the mathematical background of a method based on this invariance property and we will show some simulation results which prove the validity of the method.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130968812","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":"Novel geolocation technology for geophysical sensors for detection and discrimination of unexploded ordnance","authors":"D. Grejner-Brzezinska, C. Toth, Hongxing Sun, Xiankun Wang, C. Rizos","doi":"10.1109/PLANS.2008.4570073","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570073","url":null,"abstract":"Reliable and precise navigation technology is essential for robust detection and discrimination of unexploded ordnance (UXO) in a wide range of field conditions. The detection and remediation of munitions and explosives-of-concern (MEC) on ranges, munitions burning and open detonation areas, and burial pits is one of the US department of defensepsilas (DoD) most pressing environmental problems. The MEC characterization and remediation activities using currently available technologies often yield unsatisfactory results, and are extremely expensive, due mainly to the inability of current technology to detect all MEC present at a site, and the inability to discriminate between MEC and non-hazardous items due mainly to insufficient accuracy of georeferencing of the geophysical images. As a result, most of the costs (90%) of MEC site remediation are currently spent on excavating targets that pose no threat. Thus, the goal of the research presented here, supported by a DoDpsilas strategic environmental research and development program (SERDP) grant, is to design and demonstrate a high-accuracy hybrid navigation and georeferencing device based on multi-sensor integration, which can meet the stringent requirements of a man-portable geophysical mapping system in open and impeded environments, and hence to lower the cost of remediation by improving the geolocation accuracy of MEC discrimination. This paper describes a hybrid system based on quadruple integration of GPS, inertial technology (IMU), pseudolites (PL) and terrestrial laser scanning (TLS) technology to improve the current geolocation capabilities at MEC sites. The concept design of the system, the algorithmic approach to sensor integration, with a special emphasis on TLS integration with GSP/IMU/PL, and the preliminary performance assessment based on simulations are presented.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114969771","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 selection for multi-constellation","authors":"Zhang Miaoyan, Zhang Jun, Qin Yong","doi":"10.1109/PLANS.2008.4570112","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570112","url":null,"abstract":"There will be 70~90 navigation satellites operating at the same time when Glonass and Galileo reach full operation capability. As a result, the number of visible satellites can reach 30. Thus the positioning accuracy will be improved greatly. However, so many satellite measurements may burden the receiverpsilas processing element when to use them to find a solution and to do integrity monitoring. Satellite selection can decrease the number of measurements and as a result can shorten the computing time. ldquoDoes satellite selection be still needed for multi-constellation?rdquo At first, this paper analyses the amount of calculation of least square estimation techniques to calculate user position with different number of measurements. The results show that reducing the number of measurements can cut the amount of calculation greatly. Then the relationship between GDOP and the volume of polyhedron formed by the ends of unit user-to-satellite vectors is analyzed. We found that the relationship when the number of satellites is more than 4 is different with that when the number of satellites equals 4. Therefore the relationship when the number of satellites is more than 4 is researched in detail and a fast satellite selection method is proposed. The main idea is selecting a subset whose geometry is most similar to the optimal subset among all the visible satellites. The simulation tests prove that the fast satellite selection method can reduce the number of required subsets to look up the optimal geometry greatly and the increased GDOP is relatively small. Meanwhile, this method can not only be applicable for multi-constellation, but also for single constellation.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114080897","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":"Innovative Strategy for Vehicle Position Certification on the basis of GNSS reference time","authors":"A. Tomatis, D. Orgiazzi, P. Mulassano, A. Tomatis","doi":"10.1109/PLANS.2008.4570011","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570011","url":null,"abstract":"Thanks to precise synchronization of the satellite atomic clocks, reference time distribution over world-wide area can be provided by GNSS, such as GPS and incoming European Galileo. Single-frequency GPS receivers have been used for synchronizing telecommunications equipment since the early 90psilas, currently providing an accuracy of about tens of nanoseconds down to some nanoseconds in static scenarios and relying on timing-oriented as well as geodetic-quality receivers. In addition to time and frequency transfer purposes, such an effective global reference time can support a great number of emerging Location Based Services (LBS). Particularly, the paper shows an innovative GNSS time-based application in road transportation remote monitoring as a method to enhance the safety of vehicles carrying precious and dangerous goods. Particularly, the paper shows an innovative strategy employed to certify and so to enhance the safety of vehicles carrying precious and dangerous goods. In fact, the trust on the position autonomously evaluated by a GNSS receiver can be harmed by a lot of attacks performed on the tracking chain (i.e., signals in space, receiver, communication channel), and so the location certification method becomes a key point to assure the security of tracking and tracing applications. This method makes use of tamper resistance techniques at receiver-level to defend the receiver from external source attack, a time-evolving employing symmetric key encryption to protect the communication channel and a synchronization techniques based on the GNSS time to increase the reliability of the tracking chain.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116251245","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":"Latest development of the TERPROM® Digital Terrain System (DTS)","authors":"M. Cowie, N. Wilkinson, R. Powlesland","doi":"10.1109/PLANS.2008.4570042","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570042","url":null,"abstract":"Developed specifically for tactical military aircraft operations TERPROMreg is the world leading digital terrain system, offering a range of capabilities that can provide both safety and tactical benefits to the aircraft.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124710494","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":"Enhancement of global vehicle localization using navigable road maps and dead-reckoning","authors":"Clément Fouque, P. Bonnifait, D. Bétaille","doi":"10.1109/PLANS.2008.4570082","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570082","url":null,"abstract":"This paper presents a data fusion strategy for the global localization of car-like vehicles. The system uses raw GNSS measurements, dead-reckoning sensors and road map data. We present a new method to use the map information as a heading observation in a Kalman filter. Experimental results show the benefit of such a method when the GPS information is not available. Then, we propose a conservative localization strategy that relies mainly on dead-reckoned navigation. The GNSS measurements and the map information are not used when consistency tests are doubtful. Experimental tests indicate that the performance is effectively better when using only the available consistent information.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124818867","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}