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

{"title":"Acquisition of weak GNSS signals using a new block averaging pre-processing","authors":"M. Sahmoudi, M. Amin, R. Landry","doi":"10.1109/PLANS.2008.4570124","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570124","url":null,"abstract":"In this paper, we introduce a new approach for the acquisition of weak GNSS signals. For the GPS L1 signal, we utilize the replication property of the C/A code within each data bit to introduce a block averaging pre-processing (BAP) approach for improving receiver robustness against undesired signals. A large number of weighted signal blocks is coherently accumulated and synchronously averaged to obtain a single block with improved signal power. We present several properties of the proposed GNSS signals enhancement technique and we analyze its robustness against noise and different classes of interferers. Thus, we develop a software defined acquisition procedure using the efficient FFT correlation approach. We propose two acquisition algorithms based on the BAP approach. The first scheme implements the parallel code phase search in finding the 2-D spectrum peak using circular cross-correlations. In the second scheme, we exploit the BAP for a fast acquisition performing the frequency estimation prior to the 1-D code-phase search.","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":"128348680","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":"Trajectory duplication using relative position information for automated ground vehicle convoys","authors":"W. Travis, D. Bevly","doi":"10.1109/PLANS.2008.4570076","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570076","url":null,"abstract":"A strategy to enhance the accuracy of path following for autonomous ground vehicles in a convoy is presented. GPS carrier measurements are used to estimate relative position with sub-two centimeter accuracy and a change in position to millimeter accuracy. These estimates are used in conjunction with three methods presented that enable a following vehicle to replicate a lead vehiclepsilas path of travel while both are in motion and not in sight of one another. Accuracies of the methods achieved in simulation are shown with discussion on the benefits and shortcomings of each method. Simulation results show a 1.6 meter error at a 50 m following distance. Discussion explains the inaccuracies are due to the limitations inherent in the selected vehicle controller and not necessarily in the trajectory duplication methods.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"177 2-3 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":"134160575","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":"Precision navigation for UAVs, mini-munitions, and handhelds through application of low cost accurate MEMS IMU/INS technology","authors":"M. Tanenhaus, D. Carhoun, A. Holland","doi":"10.1109/PLANS.2008.4569976","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569976","url":null,"abstract":"GPS has previously been integrated with mobile PDApsilas and/or with Inertial Measurement Units (IMUs). However, to date, no low-cost, low-power, miniature (i.e., less than 2 in.3) IMU/INS has been integrated into smart munitions, electronics, handheld GPS units or miniaturized cooperative low cost interceptors to create a miniature G hardened multi-functional module. Several DoD contractors are evaluating the JayMart Sensors low cost miniature IMU/INS module for smart munitions, mini-missile and micro-UAV weapons. A commercial company will soon link the module to a network of mobile PDApsilas enabled with GPS to provide location-based coverage indoors for emergency workers and DoD is scheduled to gun launch the module to test its ruggedness later this year.","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":"133380230","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":"Adaptive path planning for a VTOL-UAV","authors":"O. Meister, N. Frietsch, C. Ascher, G. Trommer","doi":"10.1109/PLANS.2008.4570046","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570046","url":null,"abstract":"Unmanned aerial vehicles (UAV) can be used for versatile surveillance and reconnaissance missions. If a UAV is capable of flying automatically on a predefined path, the range of possible applications is widened significantly. This paper addresses the development of adaptive path planning algorithms for a small vertical take-off and landing (VTOL) unmanned four-rotor helicopter with a take-off weight below 1 kg. Because of the light weight and the small size of less than 1 m makes the use of compact and efficient sensor technology as well as small computer platforms is mandatory. The path planning for the UAV is processed in different phases. The global preflight planning phase calculates an optimized trajectory in consideration of boundaries. Afterwards, during the flight phase on-board ranging sensors are used to avoid interferences with unknown obstacles. The paper shows the details of the developed algorithms and the simulation framework allowing a verification and validation of the algorithms.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"52 24","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113937580","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":"Hardware-in-the-loop testing of the NATO standardisation agreement 4572 interface using high precision navigation equations","authors":"R. J. Handley, R. F. Stokes, J. Stevenson, Jir Owen","doi":"10.1109/PLANS.2008.4569978","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569978","url":null,"abstract":"This paper describes the development of a real-time navigation system, embodying high precision navigation equations, which was designed, built, and used by QinetiQ specifically for comprehensive hardware-in-the-loop testing of the STANAG 4572 inertial measurement unit interface standard. The results provided give confidence that the STANAG 4572 interface is fundamentally more than adequate for implementation within a deeply integrated (ultra-tightly-coupled) navigation system as well as an external test interface for deeply integrated navigation systems.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"65 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113977329","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":"Frequency domain block filtering GNSS receivers","authors":"H. Saarnisaari, E. Karami","doi":"10.1109/PLANS.2008.4570085","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570085","url":null,"abstract":"Partial matched filtering is a candidate receiver type to handle large Doppler frequency uncertainty in joint timing and frequency acquisition as has been demonstrated during the last ten years. In addition, frequency domain matched filtering has been attained more interest recently since it allows fast acquisition and efficient implementation of generic filters in addition to a fact that it can serve several modulations. This paper joins partial matched and frequency domain filtering presenting a frequency domain partial matched filtering approach. Complexity analysis shows that this is an efficient scheme to implement joint time-frequency acquisition systems. Simulation results verify the performance showing that the receiver performs like the theory predicts, i.e., as well as time domain counterparts.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"52 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":"124502578","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":"Using of spirent GPS/Galileo HW simulator for timing receiver calibration","authors":"U. Grunert, S. Thoelert, H. Denks, J. Furthner","doi":"10.1109/PLANS.2008.4570009","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570009","url":null,"abstract":"In this paper the absolute calibration of GPS time receivers with a Spirent GPS/Galileo HW simulator is analyzed and described in detail. The primary step is to calibrate the simulator itself. In this context the most important facts and values which have to be measured are explained. After the calibration of the simulator the receiver is fed with satellite signals generated by the simulator belonging to a standard GPS satellite constellation to determine the absolute offset of the receiver (internal delay) compared to the simulator output. The used GNSS hardware simulator provides GPS and Galileo signals in parallel and therefore additionally can be used for absolute calibration of combined GPS/Galileo or stand alone Galileo time receivers. As there are no such receivers available yet, the precision of the GPS and Galileo pseudoranges determined by a combined GPS/Galileo receiver is analyzed.","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":"127900772","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 assessment of indoor location technologies","authors":"R. Challamel, P. Tomé, D. Harmer, S. Beauregard","doi":"10.1109/PLANS.2008.4569982","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569982","url":null,"abstract":"Location based services (LBS) are currently enjoying a strong success as a result of well-proven GNSS positioning technology (GPS, assisted GPS). However, the future generation of LBS will have to address the challenge of accurate and reliable indoor localization. In fact, this need has already been clearly expressed by various communities of professional end users (firemen, security forces, etc.) in the context of LIAISON and WearlTork projects funded by the European community's sixth framework program. In order to assess the performance of the location technologies most suited to cope with the stringent constraints of indoor LBSs oriented towards the needs of professional users, in particular those of the firemen, a \"location trial\" composed of several test scenarios was organized, putting face to face in a common systematic reference the following positioning technologies: - Inertial MEMS coupled with GNSS, using two different algorithmic approaches for the inertial component: signal pattern recognition associated with human biomechanical walking models and conventional inertial navigation using zero velocity updates at footfalls; - UWB radio-based localization prototype system. The results from this \"location trial\" show that inertial technology achieves interesting performances (stand-alone positioning accuracy better than 3 meters RMS after 4 minutes and less than 6 meters RMS after 8 minutes of continuous pedestrian walk), but still lacks robustness against specific environmental conditions (in particular magnetic disturbances affecting orientation estimation) and users' walking behavior. As for the UWB prototype system, it provides good positioning accuracy (less than 3 meters RMS) for nominal operational conditions, but but it can experience severe degradation under certain circumstances. By highlighting the pros and cons of each technology under a common framework, this \"location trial\" has provided a clearer understanding how their seamless combination can realistically address all users' needs: accuracy, reliability, robustness, coverage, deployability and wearability.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"39 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":"121266500","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":"Demonstration of Tight Optical Integration (TOI) algorithm using field data","authors":"T. Arthur, Z. Zhu, S. Bhattacharya, K. Johnson, K. Scheff","doi":"10.1109/PLANS.2008.4570065","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570065","url":null,"abstract":"Recently a biologically inspired algorithm, called tight optical integration (TOI), was developed for tightly integrating optical sensor with GPS. The algorithm involves the integration of a standard camera along with GPS range (pseudorange or carrier phase) measurements to form position estimates. Initial simulations showed that TOI is capable of providing a position solution with an insufficient number of GPS satellites and a visible ldquomarkerrdquo at a known location, with an inertial unit to provide attitude information. This paper demonstrates how a marker is selected from a picture frame and tracked among consecutive frames. TOI has the potential to navigate with one known marker and two or three GPS satellites. In this work attitude information is derived from the GPS velocity estimates assuming zero roll for a terrestrial vehicle. Additionally, the same TOI algorithm can auto-locate unknown features when the position of the marker is not available, and navigate by these features when location is lost. The TOI algorithm is unique because it relies only on GPS range measurements and the pixel data from a camera. No ranging sources such as radar or LIDAR are required. It has particular application to scenarios involving a reduced constellation; such a reduced constellation may be due either to an urban canyon or a denied signal environment.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"52 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":"117337581","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":"Flight test results of loose integration of dual airborne laser scanners (DALS)/INS","authors":"A. Vadlamani, M. U. de Haag","doi":"10.1109/PLANS.2008.4570019","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570019","url":null,"abstract":"Aircraft positioning and navigation capability much be robust to ensure continuity of operation. Such navigation information is largely provided by an inertial navigation system (INS), which is a self-contained autonomous system. INS is usually integrated with GPS measurements to improve its accuracy and a GPS/INS package is a common feature of most navigation systems. However, these systems suffer degraded performance in non-GPS environments; such as when GPS is denied due to interference or jamming, or when GPS is unavailable as in Lunar or Martian scenarios. In recent years, the challenge of navigating in non-GPS environments has generated much interest. With this same objective, we investigate the use of dual airborne laser scanners (DALS), integrated with an INS for navigation in non-GPS and unknown terrain environments. In this paper, we present a proof-of-concept demonstration of the DALS/INS autonomous navigation system with flighttest data, collected onboard Ohio Universitypsilas DC-3 aircraft over Athens, OH.","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":"116736965","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}