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

{"title":"Heading accuracy improvement of MEMS IMU/DGPS integrated navigation system for land vehicle","authors":"D. Gu, N. El-Sheimy","doi":"10.1109/PLANS.2008.4570083","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570083","url":null,"abstract":"Many researches indicated that in land vehicle-based MEMS IMU/DGPS integrated navigation system, the vehicle heading is unobservable and its error can grow significantly fast with time, if the vehicle moves with only slow changes in attitude and acceleration, e.g. the vehicle moving along a straight road at almost constant velocity. In this paper, a new heading measurement is derived from the DGPS positions and this new measurement can improve the heading accuracy of MEMS IMU/DGPS integrated navigation system for land vehicle. However, the DGPS-derived heading will have a significant deviation from the true heading value while the vehicle makes a turn. Thus a sequential Kalman filter is proposed to process the DGPS position and heading measurements in a sequential order with MEM IMU measurements. This ensures the DGPS position measurements still can be used in the KF even if the DGPS heading measurements are unusable due to large deviation to the truth. To ensure the quality of the DGPS heading measurements, an innovation detection method is used to detect and reject the singular DGPS heading measurement from the sequential Kalman filter. A field test was conducted to test the effect of this new heading measurement on improving land vehicle heading accuracy. The test results showed that this new type of measurement can significantly reduce the heading error of MEMS IMU/DGPS integrated navigation solution from about 5 deg to less than 1 deg. Test results also showed that the innovation detection method can effectively control the quality of DGPS heading measurement. Without this control, the singular heading measurement would lead to a heading error as large as 100 deg. In summary, the introduction of DGPS-derived new heading measurement and the innovation detection method investigated in this paper can significantly improve the accuracy and reliability of the heading parameter in land vehicle MEMS IMU/DGPS integrated navigation system.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"79 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":"126140444","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":"An algorithm for the extraction of static features from 3D Flash LADAR datasets: Supporting navigation in GPS challenged environments","authors":"J. N. Markiel, D. Grejner-Brzezinska, C. Toth","doi":"10.1109/PLANS.2008.4570063","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570063","url":null,"abstract":"3D Flash LADAR cameras provide ranging information at a high frame rate, offering the opportunity to navigate from imaged features. This requires the identification of common features from multiple images acquired from different positions. It is necessary to determine if the features exhibit a static condition, such that moving elements in the imageries are not utilized as part of the navigation solution. Extending previous research (ION April 2006, ION September 2006) in the utilization of implicit polynomials for feature extraction, a new algorithmic approach for the extraction of static and non-static features is exhibited.","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":"126150305","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":"Precise kinematic positioning using single frequency GPS receivers and an integer ambiguity constraint","authors":"J. Pinchin, C. Hide, D. Park, Xiaoqi Chen","doi":"10.1109/PLANS.2008.4570103","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570103","url":null,"abstract":"In this work a system is proposed which will provide carrier phase accuracy positioning and two axis attitude measurements using only three low cost, single frequency, GPS receivers. Such a system will find application on platforms where minimal cost, weight and power consumption is critical; for example the mini-unmanned aerial vehicle (UAV). The six state measurements provided by the system may be used in the georeferencing of other sensor data or in the navigation of the platform itself. This contribution aims to increase the success rate of the integer ambiguity resolution process when positioning the platform by utilising knowledge of the double differenced integer ambiguities obtained in an attitude determination system. The robustness and 'time to solution' of the system will thus be improved. It is well known that the use of baseline length or geometry constraints in the attitude determination environment may significantly increase the integer ambiguity success rate, particularly where low cost, single frequency receivers are used. It has been shown that such constraints may increase the success rate to a level approaching 100%. Such constraints have been proven to allow the low cost GPS receiver to become an effective attitude determination system. In this work a two receiver attitude determination system is used with a third base receiver to provide both two axis attitude and position measurement. Knowledge of the double differenced integer ambiguities from the attitude determination system is used to reduce the number of candidates during the search for the integer ambiguities arising when the third receiver is included. When these ambiguities are resolved the unknown baselines between the roving (attitude) receivers and base receiver may be determined and the relative position obtained. The constraint in the positioning stage reduces the effect of uncorrelated errors between the two roving receivers. The benefits of this are observed primarily when using low quality receivers with considerable Gaussian noise exacerbated by exposure to highly dynamic environments. It is likely however that in most applications the baseline length between the two roving receivers will not allow the decorrelation of the multipath error and consequently this will still have a detrimental effect. Real world performance of the algorithm is examined by comparing the low cost system to a high grade Novatel SPAN integrated GPS/INS installed on a vehicle test bed. Tests are performed in an area with good sky view and within 3 km of the base station.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"14 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":"131440548","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":"A general theory for inertial navigator error modeling","authors":"K. Blankinship","doi":"10.1109/PLANS.2008.4570002","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570002","url":null,"abstract":"This paper presents a general theory for the development of error equations for an inertial navigator. A large space of possibilities is presented, based on how one defines the error parameters. For attitude, rotation vector parameterizations of the errors are introduced that are based on the difference between true can computed versions of each coordinate frame. Since these definitions are valid for large error angles, one can obtain general nonlinear equations for the psi- and phi-angle differential equations. These definitions are applicable to any mechanization and to either strapdown or platform navigators. This allows the development of general nonlinear formulas for the error dynamics, as well as new linear formulas using a different parameterization of the errors. There are two commonly used choices for the errors in position and velocity [1]; the more commonly used choice is to form the error as that of the true variable in the true frame less the computed variable in the computed frame. The alternate approach is one in which the error is the true variable less the computed variable, with both errors coordinatized in the computed frame. This latter approach gives new error equations not previously considered in the literature. Transformations between the new error parameterizations and the traditional ones are presented.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"30 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":"129907724","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":"GPS/INS integration with fault detection and exclusion in shadowed environments","authors":"B. Clark, D. Bevly","doi":"10.1109/PLANS.2008.4569963","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569963","url":null,"abstract":"This paper presents a method for GPS/INS operation in shadowed environments such as urban canyons and rural foliage cover. Shadowing causes a combination of multipath and signal attenuation which results in increased uncertainty in the GPS observables and sometimes complete loss of satellite tracking. Environment layout and the line-of-sight vector to the affected satellite determines the degree of shadowing in the range domain. Details are provided for the failure modes and effects in such environments. These results are used in the analysis of a fault detection and exclusion (FDE) algorithm to provide integrity to the GPS observables.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"28 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":"115922125","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":"Reconfigurable and simultaneous dual band Galileo/GPS front-end receiver in 0.13μm RFCMOS","authors":"Andrea Pizzarulli, G. Montagna, M. Pini, S. Salerno, N. Lofù, Gianluca Sensalari","doi":"10.1109/PLANS.2008.4569990","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569990","url":null,"abstract":"A reconfigurable and simultaneous dual band Galileo/GPS front-end receiver has been realized on 0.13-mum RFCMOS technology. The front-end uses only one fixed frequency PLL and VCO on a superheterodyne architecture to down-convert two RF (radio frequency) signals into two IF (intermediate frequency) signals in the range of 50 MHz to 150 Mhz. L1 and E1 signals are directly converted on one channel with one mixing stage. L2, E6, E5, E5a, E5b signals are down-converted with a double stage (two mixers) conversion. The two IF down-converted channels are filtered and then undersampled by two on chip ADC (analog to digital converter). The satellite channels can be selected and reconfigured only by changing the ADC sampling frequency according to the frequency plan and the off chip RF/IF filters. No PLL and VCO reconfiguration is need.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"216 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":"121280438","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":"MEMS IMU for AHRS applications","authors":"W. Geiger, J. Bartholomeyczik, U. Breng, W. Gutmann, M. Hafen, E. Handrich, M. Huber, A. Jackle, U. Kempfer, H. Kopmann, J. Kunz, P. Leinfelder, R. Ohmberger, U. Probst, M. Ruf, G. Spahlinger, A. Rasch, J. Straub-Kalthoff, M. Stroda, K. Stumpf, C. Weber, M. Zimmermann, S. Zimmermann","doi":"10.1109/PLANS.2008.4569973","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569973","url":null,"abstract":"Northrop Grumman, LITEF is developing MEMS (micro-electro-mechanical systems) based Inertial Measurement Units (IMU) for future attitude and heading reference systems (AHRS) with a target accuracy of 5 deg/h for the gyroscopes and 2.5 mg for the accelerometers. Within the technology development phase, prototype single axis gyroscopes have been realized and extensively tested for effects including temperature, acoustic and vibration sensitivities. These devices employ micro-machined all-silicon gyroscope sensor chips processed with deep reactive ion etching (DRIE). Silicon fusion bonding ensures pressures smaller than 3middot10-2 mbar. Sophisticated analog electronics and digital signal processing condition the capacitive pick-off signals and realize full closed loop operation. The current results with overall bias error smaller than 2 deg/h to 5 deg/h, scale factor error <1200 ppm, measurement range >1000 deg/s and angular random walk <0.4 radic/vh indicate that stable production of 5 deg/h gyroscopes is realistic. The fabrication technology for capacitive, pendulous accelerometer chips is based on that used for the gyros with only an increase in the enclosed pressure to obtain overcritical damping. Pulse width modulation (PWM) within a digital control loop is used to realize closed loop operation. Accelerometer chips have been tested over temperature with a residual bias error <2.0 mg and a scale factor error <1400 ppm. These sensor chips have been integrated into an IMU whereby the power budget and size of the sensor electronics have been optimized. In this paper the salient features of the gyro and accelerometer designs are presented together with an overview of the IMU system architecture. Measurement results, with a focus on environmental characteristics and robustness, are included.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"64 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":"127049703","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":"Radio interference effects on commercial GNSS receivers using measured data","authors":"T. Jost, C. Weber, C. Schandorf, H. Denks, M. Meurer","doi":"10.1109/PLANS.2008.4569980","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569980","url":null,"abstract":"Nowadays more and more services rely on the positioning and time synchronization provided by the U.S. Global Positioning System (GPS) which is worldwide available. The requirements on accuracy are increasing with the number of applications using a Global Navigation Satellite System (GNSS). As more systems in transport, communication and other areas are based on GNSS a degradation of performance might lead to unpredictable risks to economy and safety. Man-made radio frequency interference is one of the last remaining challenges which may result in unforeseeable and potentially devastating threats to GNSS positioning. Therefore the German Aerospace Center performed a measurements campaign in 2006. Out of the radio signals recorded a narrowband pulsed interferer, a communication signal and a wideband colored noise process were extracted and modeled. The impact of these interferers on a commercial GPS receiver was studied in hardware simulations. The results are carried out on pseudorange level as bias, variance and distribution of the range estimate.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"29 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":"127743882","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 of a deeply coupled commercial grade GPS/INS system from KVH and NovAtel Inc.","authors":"S. Kennedy, J. Rossi","doi":"10.1109/PLANS.2008.4569965","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569965","url":null,"abstract":"NovAtel Inc. and KVH Industries have jointly developed a commercial grade, single enclosure GPS/INS system. The integrated KVH CG-5100 IMU features fiber-optic gyros and MEMs accelerometers, and provides inertial data at 100 Hz. NovAtelpsilas OEMV3 receiver is the GPS engine. Weighing 5.2 lbs, the combined system will feature the tightly coupled architecture that is a key characteristic of NovAtelpsilas SPAN (Synchronized Position Attitude Navigation) technology. The GPS receiver provides aiding information for the INS, and is reciprocally aided by feedback from the INS to improve signal tracking. The feedback from the INS to the GPS engine is the deeply coupled aspect of the system. It is also tightly coupled. GPS measurements are used to update the INS filter, providing high quality aiding information whenever there are least two satellites available. The combined system has an optional wheel sensor, which is used to further aid the INS during times of reduced GPS availability in land vehicle applications.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"106 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":"129179126","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":"Localization and perching maneuver tracking for a morphing UAV","authors":"Allen C. Hurst, A. Wickenheiser, Ephrahim Garcia","doi":"10.1109/PLANS.2008.4570044","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570044","url":null,"abstract":"Autonomous vehicle control requires knowledge of the vehicle's states that often can only be estimated using sensor measurements. Several sensor types are typically used for the estimation process and each type often has its own sensing characteristics. This paper considers a novel morphing unmanned aerial vehicle (UAV) that is capable of changing its configuration in-flight and using aerodynamic forces to perform a perching maneuver. This maneuver could allow the UAV to perform planted landings and enable the vehicle to land in new locations, such as on building rooftops. However, this task requires the system controller to have accurate knowledge of vehicle states, especially with respect to the landing location. Visual sensors are required for identification of the landing site and to provide the relative positioning information that is critical for autonomous landings when uncertainty exists in the landing coordinates. Such information is unavailable from either a global navigation satellite system (GNSS) or inertial measurements to sufficient accuracy. The key objective of this research is to develop a foundation for the control of an aircraft that is highly nonlinear. This paper investigates the use of a set of linear motion models to represent the full range of nonlinear dynamics for an aircraft performing a perching maneuver. Simulation data are presented and their results discussed.","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":"130689357","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}