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

{"title":"Bose-Einstein interferometry and its applications to precision undersea navigation","authors":"A. Zatezalo, V. Vuletić, P. Baker, T. C. Poling","doi":"10.1109/PLANS.2008.4570036","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570036","url":null,"abstract":"New quantum devices based on manipulations of Bose-Einstein condensate (BEC) on microfabricated chips hold great promise for application to high precision inertial navigation. By employing appropriate mechanizations which separate acceleration and rotation sensitivities, atom interferometers can have dual functionality as both accelerometers and gyroscopes. BEC interferometers could offer ten orders of magnitude inertial measurement improvement with possibility of developing highly sensitive inertial measurement unit (IMU) which would provide extremely accurate free-inertial navigation with long-term accuracy. This is very suitable for applications in undersea environments where direct use of the Global Positioning System (GPS) is denied. Due to the high sensitivity of BEC and the complexity of microfabricated structures, application specific sources of decoherence, environmental noises, and errors are modeled and studied.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"13 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":"117012011","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":"Redundant MEMS-IMU integrated with GPS for performance assessment in sports","authors":"Adrian Waegli, S. Guerrier, J. Skaloud","doi":"10.1109/PLANS.2008.4570079","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570079","url":null,"abstract":"In this article, we investigate two different algorithms for the integration of GPS with redundant MEMS-IMUs. Firstly, the inertial measurements are combined in the observation space to generate a synthetic set of data which is then integrated with GPS by the standard algorithms. In the second approach, the method of strapdown navigation needs to be adapted in order to account for the redundant measurements. Both methods are evaluated in experiments where redundant MEMS-IMUs are fixed in different geometries: orthogonally-redundant and skew-redundant IMUs. For the latter configuration, the performance improvement using a synthetic IMU is shown to be 30% on the average. The extended mechanization approach provides slightly better results (about 45% improvement) as the systematic errors of the individual sensors are considered separately rather than their fusion when forming compound measurements. The maximum errors are shown to be reduced even by a factor of 2.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"74 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":"121950445","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":"Indoor geolocation using RF multipath with probabilistic data association","authors":"D. Gustafson, M. Bottkol, J. R. Parry, J. Elwell, T.Q. Nguyen","doi":"10.1109/PLANS.2008.4570096","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570096","url":null,"abstract":"An indoor navigation problem is considered where the objective is real-time tracking of transponding tags in multipath environments using signals sent from and received at a set of radio frequency (RF) sources at fixed and known locations. Current systems depend on detection of direct path signals and treat multipath signals as spurious. We present an approach for exploiting the multipath signals to maintain tracking when direct paths are undetected. The method relies on estimating the parameters of minimum-complexity models of the indirect path lengths. A maximum of three parameters is required to model indirect path lengths arising from an arbitrary number of specular reflections off planar surfaces. A probabilistic data association filter (PDAF) is used to mitigate uncertainties arising from noise, closely-spaced path lengths, and path length crossovers. The method is tested via simulation using bandlimited signals synthesized from ray trace data. Performance is compared to an optimized direct path filter using Monte Carlo analysis. No prior knowledge of multipath parameters or indoor infrastructure is assumed, and measurements are restricted to time-of-arrival (TOA) only. The results indicate that the PDAF consistently outperforms the direct path filter when one or more direct paths are blocked.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"74 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":"124049166","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":"Low-cost MEMS sensor-based attitude determination system by integration of magnetometers and GPS: A real-data test and performance evaluation","authors":"Di Li, René Landry, Philippe Lavoie","doi":"10.1109/PLANS.2008.4570005","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570005","url":null,"abstract":"Attitude determination systems utilizing low cost MEMS sensors are increasingly becoming important due to its advantages in terms of the quickly improved precision, robust, high dynamic response and more significantly inexpensive costs of development and usage. However the large noises inherent in low cost MEMS sensors degrade the derived attitude precision if utilized through the conventional methods, e.g. initial alignment, strapdown inertial navigation mechanization. Therefore the novel application approach suitable for MEMS needs to be investigated. This paper describes an attitude determination system that is based on low cost MEMS inertial sensor, a triad of magnetometers and a commercial GPS receiver. Two main issues are addressed in the paper; firstly determination of the attitude initials, the algorithm is based on a quaternion formulation, a representative of attitude, of Wahbapsilas problem, whereby the error quaternion becomes the estimated state and is corrected by two observations of the earth magnetic field and gravity respectively. After the estimates converge, the derived attitude parameters are employed to initialize the inertial navigation calculations. Due to the large noises in MEMS sensor, there is a demand for external velocity and/or position corrections in the MEMS navigation calculations when system experiences translational motions. Hence secondly, GPS solutions are integrated in a Kalman filter by providing external velocity and position observations. A Kalman dynamic model is designed appropriate for MEMS sensor noise characteristics. The bias and drift are estimated by the integrated Kalman filter, which enables the online calibrations of MEMS sensor. The proposed approach has been developed and its efficiency is demonstrated by various experimental scenarios with real MEMS data and they are compared with Novatel SPAN-IMU reference.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"15 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":"124405329","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":"Development of an Italian low cost GNSS/INS system universally suitable for mobile mapping","authors":"M. Agostino, Chiara Porporato Land","doi":"10.1109/PLANS.2008.4569969","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569969","url":null,"abstract":"The first studies for the mobile mapping and creation of a vehicle for this kind of research were carried out by Canadian Researchers in the 1980psilas. Since then these vehicles have been widely employed in several applications (road cadastre maps, terrestrial photogrammetry, road sign recognition etc.) for both commercial and research purposes throughout the world. Many GNSS/INS vehicles which can be equipped in different ways with one or more GPS, inertial sensors and one or several cameras, have been realized. A characteristic shared by most of these devices concerns the high costs of the sensors, of the realization and of the maintenance.For this reason, a GNSS/INS system, that is suitable for any vehicle, made up of low cost devices (two GPS receivers, an INS and a camera rigidly placed on a metallic bar), has been designed and built by our Research Group. Two tests run at different velocities have been carried out to evaluate the reliability of the system. After a presentation of the system, the differences that were witnessed during the application of these calibration methods are explained in this paper.","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":"130698464","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":"Tight coupling of GPS, laser scanner, and inertial measurements for navigation in urban environments","authors":"A. Soloviev","doi":"10.1109/PLANS.2008.4570059","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570059","url":null,"abstract":"Many applications can be envisioned for accurate, robust, and reliable navigation solution in challenging urban environments. Examples of existing and prospective applications include, but are not limited to, navigation, guidance, and control of autonomous vehicles (including both ground and aerial vehicles) for urban surveillance and reconnaissance; collection of geographical information system (GIS) data in cities; monitoring of urban infrastructure for situational awareness; and, precise automotive applications such as automated lane keeping. If used by themselves, none of the existing navigation technologies have the potential to fully satisfy the requirements for reliable and accurate navigation in urban environments. Hence, this paper develops a multi-sensor integrated solution that combines the complementary features of the Global Positioning System (GPS), laser scanner feature-based navigation, and inertial navigation for urban scenarios. GPS and laser scanner-based navigation ideally complement each other for urban navigation. The laser scanner-based navigation relies on the availability of structures (lines and surfaces) within the scan range (80 m, typically). Features (such as lines) are first extracted from laser scan images and then used for position and attitude determination. In urban areas, if there exists a building wall that blocks GPS signals, this wall creates a feature in the laser scan image. On the other hand, for open streets with limited features, the GPS signal is generally unobstructed. Thus, GPS and laser data can be combined into integrated solution architecture. The system architecture developed also exploits INS navigation states for improved solution robustness: e.g., for robust feature association between scan images and for coasting through instances where sufficient number of combined GPS/laser measurements is unavailable. A tightly coupled GPS/laser scanner/INS mechanization is developed and applied for centimeter- accurate trajectory reconstruction. The paper uses live urban data to demonstrate that combined GPS and laser scanner data generally support the observability of navigation states at any part of the urban trajectory; and, for those limited cases where insufficient GPS/laser measurements are available, the INS coasting option can be efficiently utilized. Test results presented also show that the developed tightly coupled GPS/laser scanner/INS solution provides accurate trajectory reconstruction capabilities (one sigma error residuals are at a cm-level) in challenging urban environments.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"10 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":"126705998","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":"Teaming of an UGV with a VTOL-UAV in urban environments","authors":"N. Frietsch, O. Meister, C. Schlaile, G. Trommer","doi":"10.1109/PLANS.2008.4570081","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570081","url":null,"abstract":"This paper focuses on the teaming of a small unmanned ground vehicle (UGV) with an unmanned micro serial vehicle (MAV) in order to improve the navigation solution of the UGV e. g. in the case of GPS loss. The image data that is acquired by the on-board camera of the MAV is processed in order to detect the UGV marked by a colored pattern. After the identification of the UGVpsilas location in an image, the location of the UGV with respect to a geo-coordinate system and its yaw angle are estimated by taking the MAVpsilas position and attitude into account. Finally, this information is processed in the system on-board the UGV to improve the navigation solution. The performances of the particular parts of the setup and also of the whole system are illustrated with experimental data.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"31 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":"114762512","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":"Sensor fusion for GNSS denied navigation","authors":"Kailash Krishnaswamy, Sara Susca, R. Mccroskey, Peter J. Seiler, Jan Lukas, Ondrei Kotaba, Vibhor L. Bageshwar, S. Ganguli","doi":"10.1109/PLANS.2008.4570062","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570062","url":null,"abstract":"We present technologies that are being developed to address the need for a navigation solution in the absence of Global Navigation Satellite Systems (GNSS) measurements. The navigation system uses sensors such as vision systems, RADARS and LIDARS with feature extraction, matching and motion estimation algorithms. We present experimental results of using scale invariant feature transform, speeded up robust features, and modified Harris feature extraction algorithms and compare the performance. We also present methods to extract lines and planes that can aid in navigation. For motion estimation we present results for visual odometry as well as simultaneous localization and mapping navigation. We experimentally verify the algorithms in both a realtime Linux framework as well as offline. We also present ongoing work in vision integrated navigation in an attitude and heading reference system as well as an extended Kalman filter framework. All the methods we present in this paper are incremental navigation methods.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"95 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":"114206731","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":"Performance analysis of MBOC, AltBOC and BOC modulations in terms of multipath effects on the carrier tracking loop within GNSS receivers","authors":"M. Fantino, G. Marucco, P. Mulassano, M. Pini","doi":"10.1109/PLANS.2008.4570092","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570092","url":null,"abstract":"The objective of the work is the evaluation of the impact of new modulation strategies foreseen for the galileo signal in space (SIS) on the carrier tracking operation within the global navigation satellite systems (GNSS) receiver (namely frequency locked loop (FLL)/phase locked loop (PLL)) in presence of multipath. Although multipath has more relevant effects in term of measurement errors on the code tracking, its consequences on the carrier tracking can not be neglected in high accuracy applications that rely on the carrier phase measurement such as, for example, real time kinematics (RTK) survey. Particular attention is addressed to the multiplexed binary offset carrier (MBOC) signals and the alternate BOC (AltBOC) signals. The investigation is conducted considering a two ray model with the aim of producing an error diagram showing the multipath effect in the carrier tracking: the delay locked loop (DLL) PLL interaction is considered in a static - low dynamic environment. Closed loop simulations are conducted by means of specific software tools based on the GNSS fully software receiver developed by the NavSAS group. Performance verification is done for a noisy environment. Results show loops performance in a multipath affected environment and the effects of noise in the carrier tracking operations. The PLL performance evaluation under multipath conditions, considering as input MBOC and AltBOC modulated signals, is important to understand the behavior of the new modulations especially in case of carrier tracking based applications that are the more demanding in terms of final positioning performance (i.e. geodetic applications).","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"16 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":"114217100","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":"Simultaneous probabilistic localization and learning: A new algorithm for online learning","authors":"B. B. Parodi, A. Szabo, J. Bamberger, J. Horn","doi":"10.1109/PLANS.2008.4570060","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570060","url":null,"abstract":"Indoor localization systems based on existent radio communication networks often make use of received signal strength (RSS) as measured feature. In order to achieve a good accuracy such systems have a huge payload in the called calibration phase, where many labeled measurements are collected and used to build a representative feature map. This paper presents a new algorithm based on previous works from the same authors, where explicit calibration efforts are avoided by unsupervised online learning, while the system is already operational. Using probabilistic localization and non-parametric density estimation, the new approach uses unlabeled measurements to learn a feature map with the probabilistic mass function of the measurements, having as start only a rough initial model based on plausible physical properties. Simulations with artificial generated data and with real measurements validate the introduced algorithm, covering discontinuities on the feature map and multimodal distributions, imposed by a structured indoor environment.","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":"123920643","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}