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

{"title":"Enhanced Loran: Real-time maritime trials","authors":"S. Basker, P. Williams, M. Bransby, D. Last, G. Offermans, A. Helwig","doi":"10.1109/PLANS.2008.4570106","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570106","url":null,"abstract":"Enhanced Loran (eLoran) is rapidly emerging as the primary GNSS backup for the new, global, maritime e- Navigation concept. Europe was ready to turn off all the Loran transmitters at the end of 2005. However, an increased understanding of GNSS vulnerability and a growing appreciation of eLoran's role within e-Navigation has resulted not only in a kiss-of-life for all the transmitters but also in the placing of a 15-year contract for a new Loran station at Anthorn in the United Kingdom. This has been accompanied by the establishment of a new, European eLoran Forum for service providers, real-time differential Loran trials and the funding of doctoral students for fundamental research into eLoran operational concepts. This paper will start by reviewing the motivation for eLoran in the European environment before describing the current status of the Anthorn status as part of the European Loran network. The paper will then report on results of sub-10 m real-time maritime eLoran trials carried out at Harwich as well as ongoing plans for additional trials in the Orkney and Shetland islands in Northern Scotland. The paper will conclude by summarising the way forward for the general lighthouse authorities' eLoran programme.","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":"114631283","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":"Multi system navigation receiver","authors":"P. Kovář, F. Vejražka","doi":"10.1109/PLANS.2008.4569992","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569992","url":null,"abstract":"High demands on mobile user positioning cannot be satisfied by single navigation system. The paper proposes multi system solution which utilizes navigation and communication systems and signals. The experimental software receiver is described as development tool of such combined system. The proposed receiver consist of three GNSS RF front ends of bandwidth of 24 MHz tunable to any navigation frequency from 1 to 2 GHz and one DVB-T(H) tuner. The programmable receiver hardware is based on FPGA and PC workstation which communicate each other via Gigabit Ethernet. In the second part of this paper we are presenting methods of estimation of time of arrival of OFDM (Orthogonal Frequency Division Multiplex) signal. Described estimation algorithm is used in the DVB-T(H) (Digital Video Broadcasting - Terrestrial) receiver which can be used for navigation or for support of satellite navigation receivers. The last part of this paper describes our results of experiments with DVB-T(H) navigation. They were obtained in various environments (urban, suburban, etc.) including indoor environment.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"53 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":"121435519","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":"INS/Baro vertical channel performance using improved pressure altitude as a reference","authors":"V. Chueh, Te-chang Li, R. Grethel","doi":"10.1109/PLANS.2008.4570006","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570006","url":null,"abstract":"An altitude reference is usually required to damp the error growth in the inherently unstable vertical channel of an Inertial Navigation System (INS) for long flights. The solution for INS vertical channel in GPS-denied environments commonly uses a Baro altitude for reference in an INS/Baro system. The Baro altitude is usually obtained by computing the pressure altitude based on a standard atmospheric model for the standard day via the aircraft Central Air data computer (CADC). However, due to significant errors in pressure altitude, the altitude and vertical velocity errors exhibited by the pressure altitude stabilized vertical channel can be unacceptably large and this can adversely impact applications requiring high accuracy. A more accurate altitude and velocity of the INS vertical channel can be achieved by using a pressure altitude algorithm with improved modeling. This paper describes the performance results (altitude and velocity errors) for a vertical channel using pressure altitude with improved error modeling that demonstrates excellent results. The INS errors and pressure altitude errors are estimated by a Kalman filter. Flight test data obtained from flights of an aircraft with high dynamic maneuvers are post processed using the new vertical channel. The results of the new vertical channel exhibit excellent performance for altitude and vertical velocity errors. The flight tests are described and the performance results with the new vertical channel mechanization are presented in the paper.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"96 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":"121731940","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":"Optimal data fusion for pedestrian navigation based on UWB and MEMS","authors":"V. Renaudin, B. Merminod, M. Kasser","doi":"10.1109/PLANS.2008.4570054","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570054","url":null,"abstract":"Indoor pedestrian navigation is probably a very challenging research area. In this context, an optimal data fusion filter that hybridises a large set of observations: angles of arrival (AOA), time differences of arrival (TDOA), accelerations, angular velocities and magnetic field measurements is presented. The coupling of UWB and MEMS data relies on an extended Kalman filter complemented with specific procedures. Geometry based algorithms and a RANSAC paradigm that mitigates the non line of sight (NLOS) UWB propagation are detailed. The benefit of the solution is evaluated and compared with the pure inertial positioning system.","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":"124782453","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":"Image landmark based positioning in road safety applications using high accurate maps","authors":"N. Mattern, R. Schubert, G. Wanielik","doi":"10.1109/PLANS.2008.4570074","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570074","url":null,"abstract":"An accurate positioning is a key requirement of an advanced driver assistance system (ADAS). For cooperative systems using car-to-car and car-to-infrastructure communication, an exact lane precise position estimation becomes essential. We present a system which improves a GPS/INS (inertial navigation system) position estimate using image landmarks. This system allows the tracking of multiple lane markings belonging together. For the edge detection in the image a local orientation coding (LOC) operator is used. By means of two different subsequent Hough transforms the detections of this operator are evaluated with respect to their shape. The results of those Hough transforms are tracked with a set of Kalman Filters modelling the lanes, where one filter represents one lane bounding. By means of the most significant track the GPS/INS position estimation is corrected matching the lane marking track to the road elements stored in a digital map.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"55 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":"124783236","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 evaluation of the Tight Optical Integration (TOI) algorithm sensitivity to inertial and camera errors","authors":"S. Bhattacharya, T. Arthur, M. Uijt de Haag, Z. Zhu, K. Scheff","doi":"10.1109/PLANS.2008.4570061","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570061","url":null,"abstract":"The objective of this paper is to demonstrate the sensitivity of the GPS-camera tight optical integration (TOI) algorithm to errors stemming from two sources; (a) inertial measurement errors and, (b) camera measurement errors. The TOI algorithm has been described by the authors in a recent paper, \"An algorithm for GPS tight optical integration (TOI)\". In the TOI algorithm, the inertial measurements are primarily used to derive attitude information to transform the camera measurements from the body frame to the navigation frame of reference. Clearly, errors on these inertial measurements contribute directly to the angular information from the camera used for a final position solution. Also, an initial position estimate is required to transform the measurements from the navigation frame of reference to an earth reference frame. As a result, an error in the initial position estimate will introduce some error in the position solution, which is included as an equivalent inertial error in the overall error analysis. The function of the camera is to make angular measurements from a pre-defined \"marker\". The errors in these measurements are sensitive to the range of the marker from the camera, i.e. marker range. Although the marker range is not a measurement used in the algorithm, it is necessary to investigate the sensitivity of the algorithm to variations in the marker range. It is shown that the sensitivity of the error in the final position estimate increases as this marker range increases. Moreover, the camera needs to identify the marker and hence, an error in the pixel selection in the image or a marker position error will affect the accuracy of the final position estimates. The sensitivity of the algorithm to these errors contributed by the camera is also analyzed. The TOI algorithm performance is shown to be similar to GPS performance levels, in the presence of the error sources discussed above. This makes it a viable solution for navigation capabilities in environments where sufficient satellites for a GPS only solution are not available, e.g. an urban canyon.","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":"124806061","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 mobile mapping systems: an Italian experience","authors":"M. Piras, A. Cina, A. Lingua","doi":"10.1109/PLANS.2008.4570077","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570077","url":null,"abstract":"Road cadastre mapping is a topic of current interest in Italy because each Region has to prepare one. The main problem is to obtain an accurate low cost product but in a brief operational time. Nowadays, many tools exist to solve this problem: one of these is the mobile mapping. Different integrated systems (GNSS, IMU, video camera) are available that allow accurate and quick mapping. These systems are usually expensive. Starting from some previous international experience, a low cost mobile mapping system has been developed that employs 2 GNSS receivers, 1 IMU, 1 digital video camera and some dedicated software tools to calibrate, manage and use the system. These devices have been installed on a particular crossbar, which was installed on the roof of a standard vehicle. This allows the images to be recorded using the video camera and single frames are directly georeferenced. This system must be first calibrated using a special control network; in this way, it is possible to use this platform on any vehicle and the system is completely independent of the support. The recorded videos are divided into single frames and each one is georeferencing using GNSS and IMU data. Moreover each frame is used to identify the single details on the road (i.e. traffic signal) which are the main components of the road cadastre map. It is then possible to reconstruct the roadway axis and the average between two trajectories. A special software devoted to defining each axis has been developed. The aim is to recover the position of the axis with submetric accuracy. A special algorithm has been used, which works considering the ortho distance between the axes. This system has been tested over several kilometres: accuracy of the shape, axes and roadways has been estimated, considering the limits imposed by Italian law about road cadastral mapping. The results obtained, in particular the accuracy of the relief, the quality and the calibration procedures are described in this paper. The main product of this work is that it is possible to obtain a low cost mobile mapping system (about 25 Keuro), with a good accuracy which is useful for any kind of vehicle.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"18 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":"127899381","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":"Accurate positioning using a planar pseudolite array","authors":"M. Pachter, J. Amt, J. Raquet","doi":"10.1109/PLANS.2008.4569977","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4569977","url":null,"abstract":"When pseudolites are used, as in the wide area augmentation system (WAAS), or, when a Locata type array is used for accurately positioning of ground vehicles, a high vertical GDOP is invariably encountered. The latter translates into poor altitude estimates and potentially also poor position estimates, even in the case of a good planar geometry and where the user is near the center of the pseudolite array. Hence, the use of altitude measurements or terrain elevation information supplied by a GIS data base is investigated. In this paper concepts of operation are developed and algorithms are designed such that the best possible altitude and horizontal position estimates are obtained from the available measurements.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"254 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":"116415220","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 holdover algorithm for applications in GPS-based clock synchronization","authors":"Y. Shmaliy, L. Arceo-Miquel, O. Ibarra-Manzano, L. Moralez-Mendoza, O. Shmaliy, J. Z. D. de Paz, J.M. Moreno-Reyes","doi":"10.1109/PLANS.2008.4570013","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570013","url":null,"abstract":"This paper addresses an unbiased p-step predictive finite impulse response (FIR) filter of the local clock K-degree time interval error (TIE) polynomial model with applications to the global positioning system (GPS)-based clock synchronization. Generic coefficients are derived for a two-parameter family of the polynomial filter gains. A generalization is provided for the p-step linear (ramp) gain allowing for close to optimal predictive filtering of the TIE. Basic holdover algorithms are discussed along with their most critical properties. Efficiency of the proposed filter in holdover is demonstrated by simulation and in real applications to GPS-based (sawtooth and sawtooth-less) measurements of the TIE of a crystal clock.","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"7 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":"126467444","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":"Implementation of a Flash-LADAR aided inertial navigator","authors":"M. Uijt de Haag, D. Venable, A. Soloviev","doi":"10.1109/PLANS.2008.4570064","DOIUrl":"https://doi.org/10.1109/PLANS.2008.4570064","url":null,"abstract":"GPS aided inertial systems can provide high accuracy position and attitude information in many operational scenarios; however, their use is limited to environments where GPS signals are available. An alternative method can be based on the use of Flash-LADAR or other 3D imaging sensor data to navigate in the GPS-devoid environments or the integration of these 3D imaging sensors with an inertial measurement unit. Flash LADAR (laser radar) and 3D imaging technology consists of a laser or light transmission source that is being emitted over a relatively large aperture coupled with a focal plane array detector capable of creating an ldquoimagerdquo of the observed scene where each pixel not only has an associated intensity value but also an estimate of the range to the observed object. With the recent development of short-range low-cost (Lt $10 k) 3D imager technology, the use of such technology to aid a low-cost inertial measurement unit (IMU) has become practical and of great interest. Current low-cost 3D imager or Flash LADAR technology is capable of greater than 100 times 100 pixel resolution with 5 mm depth resolution at a 30 Hz frame rate. From this 3D range, features such as planar surfaces created by the walls, lines created where planes intersect, and points from the intersection of lines can be measured with high precision. In this paper we will focus the discussion on the 3D imager feature extraction performance aspects and lay the basis for the image and IMU-based feature association and integration architecture. Data from an indoor test will be utilized to illustrate some of the concepts explained in this paper..","PeriodicalId":446381,"journal":{"name":"2008 IEEE/ION Position, Location and Navigation Symposium","volume":"77 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":"126713107","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}