2008 IEEE/ION Position, Location and Navigation Symposium最新文献_第2页

Towards operational systems for continuous navigation of rescue teams 建立救援队伍持续导航的操作系统

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570052

M. Angermann, M. Khider, P. Robertson

{"title":"Towards operational systems for continuous navigation of rescue teams","authors":"M. Angermann, M. Khider, P. Robertson","doi":"10.1109/PLANS.2008.4570052","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570052","url":null,"abstract":"Rescue workers, such as fire fighters often face conditions that impose a combination of threats on them: severe physical and mental stress, limited or no visibility, unknown layout of buildings may induce disorientation. Systems capable of continuously locating all members of a rescue team could help to maintain orientation, and in cases of accident, help other team members or team leaders to localize colleagues in danger. The paper points out the discrepancy between state of the art in research projects, primarily in the fields of wearable computing and indoor navigation, and the lack of operational systems that have been fielded or have undergone sustained usage. The paper shows, that a successful operational system for continuous navigation of rescue teams requires a combination of several sensors, motion models, computing, communication means, and human machine interfaces. Based on an analysis of rescue operations and interviews with rescue workers, relevant issues and requirements are derived. A reference architecture for an operational system for continuous navigation of rescue teams is outlined. Its implementation and feasibility aspects are discussed. We discuss in how far the required technological components are available and affordable and where shortcomings have to be resolved by future research and development.","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":"128273248","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: 16

Robust and efficient terrain navigation of underwater vehicles 水下航行器鲁棒高效地形导航

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570034

I. Nygren

{"title":"Robust and efficient terrain navigation of underwater vehicles","authors":"I. Nygren","doi":"10.1109/PLANS.2008.4570034","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570034","url":null,"abstract":"For terrain navigation to be a serious navigation tool in underwater navigation it must be robust and work well in flat bottomed areas. Furthermore it should be easy to incorporate with the vehicle's inertial navigation system (INS) so a bound can be placed on the system's position error. This paper describes the terrain navigation system developed for the Swedish Defence Materiel Administration's autonomous vehicles AUV62F and Sapphires. Both vehicles are battery powered and torpedo shaped with a diameter of 21\". From the outset, the terrain navigation system was designed to work in flat bottomed areas; it uses many simultaneous sonar beams (400+) to measure the bottom topography, producing a unique underwater map position for the vehicle. When terrain navigating in flat bottomed areas, bottom topography measurement often gives many possible vehicle positions, i.e., the probability density function of the vehicle position is multimodal, so efficient and robust nonlinear Kalman filtering must be used. The terrain navigation module uses an optimal nonlinear Kalman filter called the FD filter. The FD filter numerically solves the stochastic differential equation that guides the vehicle positioning. The measurement updating is Bayesian. The filtering procedure is characterized by robustness, simplicity, and accuracy. It is also simple to incorporate independent measurements other than the terrain topography into the filter.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"41 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":"128522063","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: 34

Timing error suppression scheme for CDMA network based positioning system 基于CDMA网络的定位系统时序误差抑制方案

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570057

Sunmi Kim, Heedong Choi, Ju-hyun Park, Yongwan Park

引用次数: 2

Multi-sensor personal navigator supported by adaptive knowledge based system: Performance assessment 自适应知识系统支持的多传感器个人导航器:性能评估

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570049

S. Moafipoor, D. Grejner-Brzezinska, C. Toth

{"title":"Multi-sensor personal navigator supported by adaptive knowledge based system: Performance assessment","authors":"S. Moafipoor, D. Grejner-Brzezinska, C. Toth","doi":"10.1109/PLANS.2008.4570049","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570049","url":null,"abstract":"The prototype of a personal navigator, which integrates Global Positioning System (GPS), tactical grade inertial measurement unit (IMU), digital barometer, magnetometer, and human pedometry to support navigation and tracking of military and rescue ground personnel has been developed at The Ohio State University Satellite Positioning and Inertial Navigation (SPIN) Laboratory. This paper discusses the design, implementation and performance assessment of the prototype, with a special emphasis on dead-reckoning (DR) navigation supported by a human locomotion model. The primary components of the human locomotion model are step frequency (SF), extracted from GPS-timed impact micro-switches placed on the shoe soles of the operator, step length (SL), and step direction (SD), both determined by predictive models derived by the adaptive knowledge based system (KBS). SL KBS is based on Artificial Neural Networks (ANN) and Fuzzy Logic (FL), and is trained a priori using sensory data collected by various operators in various environments during GPS signal reception. An additional KBS module, in the form of a Kalman Filter (KF), is used to improve the heading information (SD) available from the magnetometer and gyroscope under GPS-denied conditions, as well as to integrate the DR parameters to reconstruct the trajectory based on SL and SD. The current target accuracy of the system is 3-5 m CEP (circular error probable, 50%). This paper provides a performance analysis in the indoor and outdoor environments for two different operators. The systempsilas navigation limitation in DR mode is tested in terms of time and trajectory length to determine the upper limit of indoor operation before the need for re-calibration.","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":"126303145","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: 20

Enhanced GPS: The tight integration of received cellular timing signals and GNSS receivers for ubiquitous positioning 增强型GPS:将接收到的蜂窝授时信号与GNSS接收器紧密结合，实现无处不在的定位

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570111

R. Rowe, P. Duffett-Smith, M. Jarvis, N. Graube

引用次数: 11

Efficient Gaussian mixture filter for hybrid positioning 用于混合定位的高效高斯混合滤波器

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4569970

S. Ali-Loytty

引用次数: 20

WAAS measurement processing; current design and potential improvements WAAS测量处理;当前的设计和潜在的改进

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570014

K. Shallberg, Fang Sheng

{"title":"WAAS measurement processing; current design and potential improvements","authors":"K. Shallberg, Fang Sheng","doi":"10.1109/PLANS.2008.4570014","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570014","url":null,"abstract":"Previous papers on the wide area augmentation system (WAAS) provided details on integrity design for such items as clock and ephemeris, signal quality, and ionospheric monitoring. This paper will provide details on GPS measurement processing performed in WAAS that supports these monitoring functions. Measurement processing conducted in the integrity (or safety) processor has evolved during the localizer performance with vertical guidance phase of the WAAS Program. Currently, this processing integrates measurements from all three independent receiving threads at a reference station and performs various cross thread checks to mitigate select multipath and cycle slip events. Underlying this cross thread processing is the assumption that common mode errors caused by environmental conditions are rare and random. The introduction of WAAS reference stations in extreme northern latitudes operating in significant phase scintillation environments, and the design decision to have the receiver operate in very low signal to noise conditions, exposed erroneous measurement conditions that challenged this rare and random assumption. This paper will address the WAAS measurement processing architecture and focus on such erroneous conditions along with the monitoring algorithms WAAS incorporated to mitigate them. The paper also examines potential improvements in WAAS measurement processing during communication outages. Communication outages between reference and master stations that occur primarily from remote reference stations have the potential of causing measurement processing algorithms to reinitialize thus impacting WAAS availability and continuity performance. This paper will investigate algorithms for improving operation through data outage periods without reducing measurement quality.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"1 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":"115349611","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: 26

Low cost, low power structured light based obstacle detection 基于低成本、低功耗结构光的障碍物检测

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570069

D. Ilstrup, G. Hugh Elkaim

{"title":"Low cost, low power structured light based obstacle detection","authors":"D. Ilstrup, G. Hugh Elkaim","doi":"10.1109/PLANS.2008.4570069","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570069","url":null,"abstract":"We evaluate the capabilities of an inexpensive obstacle detection system consisting of a CCD or CMOS optical sensor, synchronously pulsed laser and supporting hardware and software. The goal is to expand the range of feasible autonomous vehicle applications to include those that are currently impractical due to limitations on the price, weight, or power requirements of their sensor suites. This system constitutes an active, mechanically passive sensor, relying on the mechanical activity of its host platform to sweep out samples from its surroundings. We evaluate sensor configurations in two example host platform designs. The first is a handheld obstacle detector to aid users with vision impairment, while the second is a short range detector used as part of the sensor ensemble for an autonomous ground vehicle. Tradeoffs for both continuous laser fan and single laser pointer configurations are evaluated. Since the geometric relation between the optical sensor and laser is fixed, we establish effective distance and angle between the laser and sensor given required minimum and maximum ranges, spatial resolution, platform velocity and expected velocities of potential obstacles. In situations with sufficient ambient light, range data from the laser return is used to speed the computation of well known computer vision techniques for object detection to yield estimates of obstacle positions within the environment. Pulsing the laser synchronously with a short shutter time on the camera allows operation of the device as an ANSI Z 136 class 1 device since the laser's active duty cycle is highly compressed. This approach renders visible wavelengths effectively invisible to the naked eye.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"75 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":"115396450","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: 9

The soft iron and hard iron calibration method using extended kalman filter for attitude and heading reference system 基于扩展卡尔曼滤波的姿态和航向参考系统软铁和硬铁标定方法

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570003

Pengfei Guo, Haitao Qiu, Yunchun Yang, Z. Ren

{"title":"The soft iron and hard iron calibration method using extended kalman filter for attitude and heading reference system","authors":"Pengfei Guo, Haitao Qiu, Yunchun Yang, Z. Ren","doi":"10.1109/PLANS.2008.4570003","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570003","url":null,"abstract":"The calibration method of the soft iron and hard iron distortion based on attitude and heading reference system (AHRS) can boil down to the estimation of 12 parameters of magnetic deviation, normally using 12-state Kalman filter (KF) algorithm. The performance of compensation is limited by the accuracy of local inclination angle of magnetic field and initial heading. A 14-state extended Kalman filter (EKF) algorithm is developed to calibrate magnetic deviation, local magnetic inclination angle error and initial heading error all together. The calibration procedure is to change the attitude of AHRS and rotate it two cycles. As the strapdown matrix can hold high precision after initial alignment of AHRS in short time for the gyropsilas short-term precision, the magnetic field vector can be projected onto the body frame of AHRS. The experiment results demonstrate that 14-state EKF outperforms 12-state KF, with measurement errors exist in the initial heading and local inclination angle. The heading accuracy (variance) after compensation is 0.4 degree for tilt angle ranging between 0 and 60 degree.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"19 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":"115930168","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: 66

Issues in wearable biomechanical inertial sensor systems 可穿戴生物机械惯性传感器系统中的问题

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4569971

W. Dillard, K. Narayanan, V. Trent, M. Greene

引用次数: 2