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Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques 基于贝叶斯滤波技术的多历元三维地图辅助定位
NAVIGATION Pub Date : 2022-01-01 DOI: 10.33012/navi.515
Qiming Zhong,Paul D. Groves
{"title":"Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques","authors":"Qiming Zhong,Paul D. Groves","doi":"10.33012/navi.515","DOIUrl":"https://doi.org/10.33012/navi.515","url":null,"abstract":"","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"52 23","pages":"navi.515"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510759","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
Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters 利用卡尔曼滤波器中累积创新检测器检测缓慢累积故障
NAVIGATION Pub Date : 2022-01-01 DOI: 10.33012/navi.507
John D. Quartararo,,Steven E. Langel
{"title":"Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters","authors":"John D. Quartararo,,Steven E. Langel","doi":"10.33012/navi.507","DOIUrl":"https://doi.org/10.33012/navi.507","url":null,"abstract":"","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"38 13","pages":"navi.507"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510529","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
Improved Automatic Detection of GPS Satellite Oscillator Anomaly using a Machine Learning Algorithm 基于机器学习算法改进的GPS卫星振荡器异常自动检测
NAVIGATION Pub Date : 2022-01-01 DOI: 10.33012/navi.500
Yunxiang Liu,,Y. Jade Morton
{"title":"Improved Automatic Detection of GPS Satellite Oscillator Anomaly using a Machine Learning Algorithm","authors":"Yunxiang Liu,,Y. Jade Morton","doi":"10.33012/navi.500","DOIUrl":"https://doi.org/10.33012/navi.500","url":null,"abstract":"","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"53 1","pages":"navi.500"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510758","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
Navigator Notes 导航器的笔记
NAVIGATION Pub Date : 2021-12-15 DOI: 10.1002/navi.456
{"title":"Navigator Notes","authors":"","doi":"10.1002/navi.456","DOIUrl":"https://doi.org/10.1002/navi.456","url":null,"abstract":"<p>Welcome to the Winter 2021 issue of <i>NAVIGATION</i>. In this issue, we feature articles on GNSS interference and monitoring, autonomous orbit determination and timekeeping using X-ray pulsars, and the improvement of GNSS clock corrections and phase biases. We are also featuring articles reporting new equipment technologies that highlight GNSS camera sensor fusion, improved high-precision GNSS with a passive hydrogen maser, and improved 3D mapping-aided GNSS using dual-frequency pseudorange measurements from smartphones.</p>\u0000<p>This issue will also be the ION's last printed version of <i>NAVIGATION</i>. The Spring 2022 issue will transition to open access and journal articles and issues will then be available via download from the ION website. This change in the publishing and circulation format allows for research to be published free of user costs or other access barriers and for the prioritization of <i>NAVIGATION</i> articles in electronic search engines. It is anticipated that circulation will expand, citations will increase, and additional quality submissions will result.</p>\u0000<p>ION will continue to encourage authors to promote their research through video abstracts hosted on the ION website. The latest video abstracts are documented below. ION also engages with the PNT community, through its webinar series, to highlight current topics of interest to the community. The most recent webinars are also documented below.</p>","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"39 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510525","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
A particle-filtering framework for integrity risk of GNSS-camera sensor fusion gnss -相机传感器融合完整性风险的粒子滤波框架
NAVIGATION Pub Date : 2021-12-15 DOI: 10.1002/navi.455
Adyasha Mohanty, Shubh Gupta, Grace Xingxin Gao
{"title":"A particle-filtering framework for integrity risk of GNSS-camera sensor fusion","authors":"Adyasha Mohanty, Shubh Gupta, Grace Xingxin Gao","doi":"10.1002/navi.455","DOIUrl":"https://doi.org/10.1002/navi.455","url":null,"abstract":"Adopting a joint approach toward state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was used in particle RAIM (Gupta &amp; Gao, 2019) for GNSS measurements only. In our work, we extend Particle RAIM to a GNSS-camera fused system for joint state estimation and integrity monitoring. To account for vision faults, we derived a probability distribution over position from camera images using map-matching. We formulated a Kullback-Leibler divergence (Kullback &amp; Leibler, 1951) metric to assess the consistency of GNSS and camera measurements and mitigate faults during sensor fusion. Experimental validation on a real-world data set shows that our algorithm produces less than 11 m position error and the integrity risk over bounds the probability of HMI with 0.11 failure rate for an 8 m alert limit in an urban scenario.","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"53 21","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510757","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
Study of structures of the sporadic E layer by using dense GNSS network observations 基于密集GNSS网络观测的零星E层结构研究
NAVIGATION Pub Date : 2021-12-15 DOI: 10.1002/navi.454
Susumu Saito, Keisuke Hosokawa, Jun Sakai, Ichiro Tomizawa
{"title":"Study of structures of the sporadic E layer by using dense GNSS network observations","authors":"Susumu Saito, Keisuke Hosokawa, Jun Sakai, Ichiro Tomizawa","doi":"10.1002/navi.454","DOIUrl":"https://doi.org/10.1002/navi.454","url":null,"abstract":"The sporadic E (Es) layer has been known to introduce long-range propagation of aeronautical very high frequency (VHF) navigation beyond the radio horizon and cause potential interference on the navigation system. This study utilizes a rate of total electron content (TEC) index (ROTI) map with dense Global Navigation Satellite System (GNSS) observations for effective Es layer detection. The daytime Es layer shows a well-defined frontal structure when ROTI values are mapped at the typical Es layer height (100 km). A methodology of detecting and characterizing the Es layer frontal structure without manual operation is developed by utilizing the Hough transform. The front direction and drift velocity are successfully derived. Sub-structures in the Es layer front are revealed by analysis using the characteristics of the frontal structure and TEC variation. The developed method is suitable for an automated real-time Es-layer monitoring system in a wide area.","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"54 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510756","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
Data-driven protection levels for camera and 3D map-based safe urban localization 基于摄像头和3D地图的安全城市定位的数据驱动保护级别
NAVIGATION Pub Date : 2021-09-10 DOI: 10.1002/navi.445
Shubh Gupta, Grace Gao
{"title":"Data-driven protection levels for camera and 3D map-based safe urban localization","authors":"Shubh Gupta, Grace Gao","doi":"10.1002/navi.445","DOIUrl":"https://doi.org/10.1002/navi.445","url":null,"abstract":"Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper bounds on position error. However, GNSS signals might be reflected or blocked in urban environments, and thus additional sensor modalities need to be considered to determine PLs. In this paper, we propose an approach for computing PLs by matching camera image measurements to a LiDAR-based 3D map of the environment. We specify a Gaussian mixture model probability distribution of position error using deep neural-network-based data-driven models and statistical outlier weighting techniques. From the probability distribution, we compute PL by evaluating the position error bound using numerical line-search methods. Through experimental validation with real-world data, we demonstrate that the PLs computed from our method are reliable bounds on the position error in urban environments.","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"38 14","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510528","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
Navigation using carrier Doppler shift from a LEO constellation: TRANSIT on steroids 利用载波多普勒频移从LEO星座进行导航:在类固醇上的TRANSIT
NAVIGATION Pub Date : 2021-08-03 DOI: 10.1002/navi.438
Mark L. Psiaki
{"title":"Navigation using carrier Doppler shift from a LEO constellation: TRANSIT on steroids","authors":"Mark L. Psiaki","doi":"10.1002/navi.438","DOIUrl":"https://doi.org/10.1002/navi.438","url":null,"abstract":"A new global navigation concept is studied that relies on carrier Doppler shift measurements from a large LEO constellation. This system could provide an alternative to pseudorange-based GNSS. The concept uses a high-fidelity model of received carrier Doppler shift. This model is used in a point-solution batch filter that simultaneously estimates eight unknowns: the three position vector components, receiver clock offset, three velocity vector components, and receiver clock offset rate. The filter uses eight or more measured Doppler shifts in its least-squares fit. A generalized Geometric Dilution of Precision (GDOP) analysis indicates that absolute position accuracies on the order of 1-5 meters and absolute velocity accuracies on the order of 0.01 m/sec to 0.05 m/sec may be achievable if the range-rate precision of the Doppler shift measurements is 0.01 m/sec. These accuracies are comparable to current pseudorange-based GNSS. Clock offset accuracy is on the order of 0.0001 to 0.0010 sec 1-<img alt=\"urn:x-wiley:00281522:media:navi438:navi438-math-0001\" loading=\"lazy\" src=\"/cms/asset/97ccb1ba-7112-4b1a-973e-100e3b1073bd/navi438-math-0001.png\"/>.","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"55 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138510755","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
Navigator Notes 导航器的笔记
NAVIGATION Pub Date : 2021-03-03 DOI: 10.1002/navi.414
Richard B. Langley
{"title":"Navigator Notes","authors":"Richard B. Langley","doi":"10.1002/navi.414","DOIUrl":"https://doi.org/10.1002/navi.414","url":null,"abstract":"<p>Welcome to the Spring 2021 issue of <i>NAVIGATION</i>. We present the latest research articles (papers) that have successfully completed the thorough review process managed by our associate editors and their expert reviewers. The topics span the broad range of PNT research from GNSS interference mitigation to better positioning of low Earth orbit satellites. And we feature an article on ION's GNSS software‐defined radio (SDR) metadata standard, which was adopted by the institute in January 2020. This standard will simplify the exchange of datasets between groups and promote the interoperability of satnav SDR systems. Here in “Navigator Notes,” in addition to highlighting the latest video abstracts of articles published in the journal and the most recent ION webinars, we announce the ION 2020 Samuel M. Burka Award winners and the five most downloaded <i>NAVIGATION</i> articles in 2020. </p>","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"330 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138537619","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
Network‐based ionospheric gradient monitoring to support GBAS 基于网络的电离层梯度监测支持GBAS
NAVIGATION Pub Date : 2021-02-11 DOI: 10.1002/navi.411
Maria Caamano, José Miguel Juan, Michael Felux, Daniel Gerbeth, Guillermo González‐Casado, Jaume Sanz
{"title":"Network‐based ionospheric gradient monitoring to support GBAS","authors":"Maria Caamano, José Miguel Juan, Michael Felux, Daniel Gerbeth, Guillermo González‐Casado, Jaume Sanz","doi":"10.1002/navi.411","DOIUrl":"https://doi.org/10.1002/navi.411","url":null,"abstract":"Large ionospheric gradients acting between a Ground Based Augmentation System (GBAS) reference station and an aircraft on approach could lead to hazardous position errors if undetected. Current GBAS stations provide solutions against this threat that rely on the use of “worst‐case” conservative threat models, which could limit the availability of the system.","PeriodicalId":501157,"journal":{"name":"NAVIGATION","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138537610","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
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