2008 IEEE/ION Position, Location and Navigation Symposium最新文献_第8页

On the interference mitigation based on ADC parameters tuning 基于ADC参数调谐的干扰抑制研究

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570026

S. Savasta, B. Motella, F. Dovis, R. Lesca, D. Margaria

引用次数: 9

Location determination in WiBro (wireless broadband) system WiBro(无线宽带)系统中的位置确定

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570110

Jin Ik Kim, Jang-Gyu Lee, Chan Gook Park, Gyu In Gee

引用次数: 0

Utilizing multipath reflections in deeply integrated GPS/INS architecture for navigation in urban environments 利用GPS/INS深度融合架构中的多径反射进行城市环境导航

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570094

A. Soloviev, F. van Graas

{"title":"Utilizing multipath reflections in deeply integrated GPS/INS architecture for navigation in urban environments","authors":"A. Soloviev, F. van Graas","doi":"10.1109/PLANS.2008.4570094","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570094","url":null,"abstract":"This paper investigates the constructive use of multipath reflections of Global Positioning System (GPS) signals for navigation in urban environments. Urban navigation applications are generally characterized by a significant presence of multipath signals. In order to maintain reliable and accurate navigation capabilities, it is critical to distinguish between direct signal and multipath. At the same time, multipath reflections can be exploited as additional measurements for those cases where the number of direct path satellites is insufficient to compute the navigation solution. The paper develops a method for the identification of multipath reflections in received satellite signals: i.e. multipath is separated from direct signal and a line-of-site between the GPS receiver and a multipath reflecting object is determined. Once multipath reflections are identified, they can be used constructively for navigation. The method presented in the paper exploits an open loop batch-processing GPS receiver, laser scanner and inertial navigation system (INS) to identify multipath reflections in received satellite signals. Experimental GPS, inertial and laser scanner data collected in real urban environments are applied to demonstrate identification of multipath reflections.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"8 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":"117275755","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: 28

Comparison of low-cost GPS/INS sensors for Autonomous Vehicle applications 用于自动驾驶汽车的低成本GPS/INS传感器比较

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570000

G. Elkaim, Mariano I. Lizárraga, L. Pederseny

{"title":"Comparison of low-cost GPS/INS sensors for Autonomous Vehicle applications","authors":"G. Elkaim, Mariano I. Lizárraga, L. Pederseny","doi":"10.1109/PLANS.2008.4570000","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570000","url":null,"abstract":"Autonomous Vehicle applications (Unmanned Ground Vehicles, Micro-Air Vehicles, UAVpsilas, and Marine Surface Vehicles) all require accurate position and attitude to be effective. Commercial units range in both cost and accuracy, as well as power, size, and weight. With the advent of low-cost blended GPS/INS solutions, several new options are available to accomplish the positioning task. In this work, we experimentally compare three commercially available, off-the-shelf units insitu, in terms of both position, and attitude. The compared units are a Microbotics MIDG-II, a Tokimec VSAS-2GM, along with a KVH Fiber Optic Gyro. The position truth measure is from a Trimble Ag122 DGPS receiver, and the attitude truth is from the KVH in yaw. Care is taken to make sure that all measurements are taken simultaneously, and that the sensors are all mounted rigidly to the vehicle chassis. A series of measurement trials are performed, including light driving on coastal roads and highway speeds, static bench testing, and flight data taken in a light aircraft both flying up the coast as well as aggressively maneuvering. Allan Variance analysis performed on all of the sensors, and their noise characteristics are compared directly. A table is included with the final consistent models for these sensors, and a methodology for creating such models for any additional sensors as they are made available. The Microbotics MIDG-II demonstrates performance that is superior to the Tokimec VSAS-2GM, both in terms of raw positioning data, as well as attitude data. While both perform quite well during flight, the MIDG is much better during driving tests. This is due to the MIDG internal tightly-coupled architecture, which is able to better fuse the GPS information with the noisy inertial sensor measurements.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"5 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":"122395905","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: 29

An ANOVA-based GPS multipath detection algorithm using multi-channel software receivers 基于方差分析的多通道软件接收机GPS多路径检测算法

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570119

M. Brenneman, Y. Morton, Q. Zhou

{"title":"An ANOVA-based GPS multipath detection algorithm using multi-channel software receivers","authors":"M. Brenneman, Y. Morton, Q. Zhou","doi":"10.1109/PLANS.2008.4570119","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570119","url":null,"abstract":"We present a statistical detection test for GPS multipath based on the one-way ANOVA method. Given an antenna array with a GPS software receiver in tracking mode, the signal from each channel is correlated with a reference signal in blocks of one CA code period. When the relative phase delay for the direct GPS signal is stripped off from each channel, the expected values of the correlates is the same for all of the channels only if no multipath is present. A one-way ANOVA test can then used to detect the presence of multipath. An analysis of this method is presented which shows that the parameters affecting its detection performance can be grouped into three classes: the array size, the signal AOAs, and the processed multipath SNR. Receiver operating characteristic curves are given as a function of the processed multipath SNR for fixed array sizes. They show that good detection performance can be achieved under most operating conditions with less than 10 CA code periods of data. It is also shown that the detection performance of this method improves as the multipath time delay decreases. This suggests that the method could be a useful tool in aiding multipath mitigation techniques whose ability to detect multipath typically degrades as the multipath time delay decreases.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"2 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":"123974535","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: 14

Differential barometry in personal navigation 个人导航中的差分气压计

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570051

J. Parviainen, J. Kantola, J. Collin

引用次数: 62

Geometry extra-redundant almost fixed solutions: A high integrity approach for carrier phase ambiguity resolution for high accuracy relative navigation 几何额外冗余几乎固定解:用于高精度相对导航的载波相位模糊分辨率的高完整性方法

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570100

Shuwu Wu, S. Peck, R. Fries, G. McGraw

{"title":"Geometry extra-redundant almost fixed solutions: A high integrity approach for carrier phase ambiguity resolution for high accuracy relative navigation","authors":"Shuwu Wu, S. Peck, R. Fries, G. McGraw","doi":"10.1109/PLANS.2008.4570100","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570100","url":null,"abstract":"Carrier phase (CP) real time kinematic (RTK) GPS techniques have become widely used in high accuracy relative positioning applications. CP RTK can achieve centimeter-level accuracy by resolving the integer carrier phase cycle ambiguities, creating extremely precise ranging measurements. However, in applications that require high integrity in addition to high accuracy, proving the probability of correct fix (PCF) of the CP ambiguities can be an impediment to the relative positioning system achieving high service availability. In this paper a new algorithmic approach, called geometry extra-redundant almost fixed solution (GERAFS), for high accuracy and high integrity commercial or military GPS relative navigation applications is described. The GERAFS technique relies on the fact that occasional incorrect CP ambiguity fixes can still be acceptable from accuracy and integrity perspectives. A method for quantifying the integrity protection levels associated with these so-called ldquoalmost fixed solutionsrdquo is developed. The centimeter level positioning accuracy with high integrity achieved with GERAFS is demonstrated with simulated and recorded test range GPS sensor data.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"21 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":"130782287","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: 17

Robust regression applied to ultrasound location systems 鲁棒回归在超声定位系统中的应用

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4569987

J. C. Prieto, A. Jiménez, J. Guevara, J. Ealo, F. Seco, J. Roa, A. Koutsou

{"title":"Robust regression applied to ultrasound location systems","authors":"J. C. Prieto, A. Jiménez, J. Guevara, J. Ealo, F. Seco, J. Roa, A. Koutsou","doi":"10.1109/PLANS.2008.4569987","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569987","url":null,"abstract":"Local positioning systems (LPS), specially those using ultrasound, are able to accurately estimate the location of persons or objects indoors. However, under certain circumstances, its accuracy can be strongly deteriorated by outlying noise. This paper analyzes and compares several strategies for robust trilateration, such as high-breakdown-point robust methodologies, as well as the parity space outlier detection procedure, which is commonly used in GPS. This analysis is performed by simulation in a typical ultrasound location system scenario based on the actual location of nodes in the 3D-LOCUS system [1]. It is shown how the traditional parity space outlier detection method overcomes robust methodologies when only one ranging error is present, whereas it is not able to detect two simultaneous faults. It is proposed a modification of the LTS robust estimation methodology that offers a good performance even when several range measurements are erroneous, due to multipath and occlusions effects. The complexity of the robust algorithms studied is low enough for being implemented in the 3D-LOCUS system without affecting its current 10 Hz update rate.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"35 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":"131001745","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: 8

Application of the manifold-constrained unscented Kalman filter 流形约束无气味卡尔曼滤波的应用

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4569967

B.J. Sipos

{"title":"Application of the manifold-constrained unscented Kalman filter","authors":"B.J. Sipos","doi":"10.1109/PLANS.2008.4569967","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569967","url":null,"abstract":"This document describes the rationale and methodology behind the application of a Kalman-type filter to a system that has two properties which lead to inaccuracy or instability in traditional filters: highly non-linear system models along with a state that is constrained to a non-linear Riemannian manifold. The non-linear models are handled by the use of the unscented transformation, while the constrained state is dealt with using both a modified unscented transformation and a modified time-update model. The application that requires these treatments is the system identification of a super-light unmanned aerial vehicle, where the dynamics of the vehicle are such that an unconstrained orientation must be dealt with as a unit-quaternion, the high-order of the model requires maximum precision be maintained, and the vehicle itself requires the lowest-mass sensors available, leading to relatively high sensor noise in an already noisy measurement environment. The new filter is explained in this context, implementation details are given, and results of simulation and flight trials are explored. In addition, square-root extensions to this filter are described that increase the filter's computational efficiency without sacrificing its accuracy, stability, or robustness.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"36 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":"114068694","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: 14

H-field antenna considerations for eLoran aviation applications eLoran航空应用的h场天线考虑

2008 IEEE/ION Position, Location and Navigation Symposium Pub Date : 2008-05-05 DOI: 10.1109/PLANS.2008.4570108

C. Bartone, M. Narins, W. Pelgrum, R. Lilley, Luyi Chen

{"title":"H-field antenna considerations for eLoran aviation applications","authors":"C. Bartone, M. Narins, W. Pelgrum, R. Lilley, Luyi Chen","doi":"10.1109/PLANS.2008.4570108","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570108","url":null,"abstract":"The U.S. Department of Homeland Security has designated enhanced Loran (eLoran) as a backup for the Global Positioning System and will pursue development and delivery of eLoran services to aviation, maritime, and time and frequency users. Many of the improvements, much of the analysis, and the operational modifications necessary to transition the current Loran system to eLoran have been established in the process of modernizing Loran. However, new performance standards and approval test procedures are needed for certifying eLoran avionics. More specifically, for aviation applications, precipitation static (p-static) has historically been a significant interference effect for Loran when E-field antennas have been used and was the primary reason why Loran-C could not support the approach and landing phase of flight. However, research conducted over the last decade clearly indicates that by using an H-field antenna the effects of p-static for Loran applications can be mitigated. This work begins the specification process for an eLoran H-field antenna that may be suitable for a minimum operation performance specification (MOPS). This paper presents a number of considerations for the design, installation, and use of an H-field antenna in eLoran aviation applications and puts forward parameters for specification, proposed values, configurations, and test methodologies. The objective of this paper is to present various considerations and options for an eLoran H-field antenna performance specification to stimulate discussion within the government, industry, and academic position, navigation, and time communities and to receive feedback in the specification process.","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":"114089601","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: 0