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Decentralized Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties 运动和传感不确定性下多机器人系统的分散连接维护
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.552
Akshay Shetty, Timmy Hussain,, Grace Gao
{"title":"Decentralized Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties","authors":"Akshay Shetty, Timmy Hussain,, Grace Gao","doi":"10.33012/navi.552","DOIUrl":"https://doi.org/10.33012/navi.552","url":null,"abstract":"<h3>Abstract</h3> Communication connectivity is desirable for the safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper, we present a decentralized connectivity maintenance algorithm accounting for robot motion and sensing uncertainties (DCMU). We, first, propose a novel weighted graph definition for the multi-robot system that accounts for the aforementioned uncertainties along with realistic connectivity constraints such as line-of-sight connectivity and collision avoidance. We, then, design a decentralized gradient-based controller for connectivity maintenance with which we derive the gradients of the weighted graph edge weights required for computing the control. Finally, we perform multiple simulations to validate the connectivity maintenance performance of our DCMU algorithm under robot motion and sensing uncertainties, showing an improvement compared to previous work.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135470669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Analytical and Empirical Navigation Safety Evaluation of a Tightly Integrated Lidar/IMU Using Return-Light Intensity 基于回波光强度的激光雷达/IMU紧密集成导航安全性分析与经验评估
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.623
Ali Hassani, Mathieu Joerger
{"title":"Analytical and Empirical Navigation Safety Evaluation of a Tightly Integrated Lidar/IMU Using Return-Light Intensity","authors":"Ali Hassani, Mathieu Joerger","doi":"10.33012/navi.623","DOIUrl":"https://doi.org/10.33012/navi.623","url":null,"abstract":"<h3>Summary</h3> This paper describes the design, analysis, and experimental evaluation of a new landmark-based localization method that integrates light detection and ranging (lidar) with an inertial measurement unit (IMU). We develop a tight IMU/lidar integration scheme that exploits the complementary properties of the two sensors to facilitate safety risk evaluation. Lidar localization updates limit the IMU error drift over time while IMU data improve lidar position and orientation (or pose) prediction, thereby reducing the risk of incorrectly associating perceived features with mapped landmarks. In addition, lidar return-light intensity measurements are incorporated to better distinguish landmarks and to further reduce the risk of incorrect associations. We analyze the integrity performance of the localization algorithm using an automated testbed that generates analytical and empirical pose estimation error distributions.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135560429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS 一种新的双非均匀冗余船用惯性导航系统协同标定方法
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.620
Jiarui Cui, Wenqi Wu, Tiefeng Ma, Maosong Wang,, Chengjun Ji
{"title":"A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS","authors":"Jiarui Cui, Wenqi Wu, Tiefeng Ma, Maosong Wang,, Chengjun Ji","doi":"10.33012/navi.620","DOIUrl":"https://doi.org/10.33012/navi.620","url":null,"abstract":"<h3>Abstract</h3> This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instability and RLG bias instability error in real time, in which the geometric constraints of the FOG-INS rotating axis are deployed to establish the observation equation without external reference information. In addition, the proposed method has a global navigation capability, which is achieved by using the normal vector of the earth ellipsoid and the state transformation extended Kalman filter to predict positioning errors. An output position error compensation method is used without disturbing the original INSs. Simulation and physical experiment results show that the positioning error of the heterogeneous redundant marine INS is reduced by more than 30% over 300 h of navigation.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136305588","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","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
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.587
Richard B. Langley
{"title":"Navigator Notes","authors":"Richard B. Langley","doi":"10.33012/navi.587","DOIUrl":"https://doi.org/10.33012/navi.587","url":null,"abstract":"Welcome to the Fall 2023 issue of NAVIGATION . In this bumper issue, we feature 16 articles reporting on significant advances in PNT research covering topics such as improved modeling the ionosphere and further reducing its impact on positioning and navigation, the authentication of augmentation","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135947799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Privacy-Preserving Cooperative GNSS Positioning 保护隐私的协同GNSS定位
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.625
Guillermo Hernandez, Gerald LaMountain,, Pau Closas
{"title":"Privacy-Preserving Cooperative GNSS Positioning","authors":"Guillermo Hernandez, Gerald LaMountain,, Pau Closas","doi":"10.33012/navi.625","DOIUrl":"https://doi.org/10.33012/navi.625","url":null,"abstract":"<h3>Abstract</h3> The issue of user privacy in the context of collaborative positioning is addressed in this work, wherein information is passed between and processed by multiple cooperative agents, with the goal of achieving high levels of positioning accuracy. In particular, this paper discusses three privacy-preserving schemes in the context of differential global navigation satellite system (GNSS)-based and GNSS-based cooperative positioning methods. The discussed architectures provide the same positioning results, while yielding different levels of privacy to the cooperative users. These architectures also involve increased complexity as privacy grows and as non-encrypted, encrypted, and homomorphically encrypted solutions are implemented. The latter scheme is the most computationally demanding; however, it provides the highest level of privacy by employing homomorphic encryption, whereby addition and multiplication operations may be performed on encrypted data to produce encrypted outputs, without revealing information about the collaborative agent’s location. The proposed privacy-preserving cooperative position schemes are shown to provide the same results as their non-privacy-preserving counterparts, while providing privacy guarantees. Based on this analysis, some of the proposed solutions can be considered for real-time applications, while homomorphic encryption is a valid solution for latency-tolerant applications. Advances in computing power will increase their overall usability in the near future.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135560202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms 香港城市导航:开放源码的城市导航算法基准多感官数据集
IF 2.2 3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.602
L. Hsu, F. Huang, Hoi-Fung Ng, Guohao Zhang, Yihan Zhong, X. Bai, W. Wen
{"title":"Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms","authors":"L. Hsu, F. Huang, Hoi-Fung Ng, Guohao Zhang, Yihan Zhong, X. Bai, W. Wen","doi":"10.33012/navi.602","DOIUrl":"https://doi.org/10.33012/navi.602","url":null,"abstract":"","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84853939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Adaptive Alignment for Low-Cost INS in ECEF Frame Under Large Initial Attitude Errors 大初始姿态误差下ECEF低成本惯性导航系统的自适应对准
IF 2.2 3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.554
Kedong Wang, Wei Gao, Xiaohan Xu, Jinling Wang
{"title":"Adaptive Alignment for Low-Cost INS in ECEF Frame Under Large Initial Attitude Errors","authors":"Kedong Wang, Wei Gao, Xiaohan Xu, Jinling Wang","doi":"10.33012/navi.554","DOIUrl":"https://doi.org/10.33012/navi.554","url":null,"abstract":"","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86501594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Identifying Aerodynamics of Small Fixed-Wing Drones Using Inertial Measurements for Model-Based Navigation 基于模型导航的惯性测量小型固定翼无人机气动特性辨识
IF 2.2 3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.611
Aman Sharma, G. Laupré, J. Skaloud
{"title":"Identifying Aerodynamics of Small Fixed-Wing Drones Using Inertial Measurements for Model-Based Navigation","authors":"Aman Sharma, G. Laupré, J. Skaloud","doi":"10.33012/navi.611","DOIUrl":"https://doi.org/10.33012/navi.611","url":null,"abstract":"The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing inertial measurement unit and global navigation satellite system (GNSS) measurements. However, during a GNSS outage, the long-term accuracy of these estimations are far from allowing practical use. In contrast, vehicle dynamic model (VDM)-based navigation has demonstrated significant improvement in autonomous positioning during GNSS outages. This improvement is achieved by incorporating mathematical models of aerodynamic forces/moments in the sensor fusion architecture. Such an approach, however, relies on a knowledge of aerodynamic model parameters, specific to the operating vehicle. We present a novel calibration algorithm to identify these parameters from the flight data of two geometrically different drones. The identified parameters, when used in the VDM framework, show a significant reduction in navigation drift during GNSS outages. Moreover, the obtained results show that the proposed algorithm is independent of the choice of fixed-wing platform and prior knowledge of aerodynamics.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88257301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Flexible Ephemeris Representation for Global Navigation Satellite Systems and Alternative Positioning, Navigation, and Timing Signal Sources Using B-Splines 基于b样条的全球导航卫星系统和备选定位、导航和授时信号源的灵活星历表示
IF 2.2 3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.610
Mikaela Dobbin, P. Axelrad
{"title":"A Flexible Ephemeris Representation for Global Navigation Satellite Systems and Alternative Positioning, Navigation, and Timing Signal Sources Using B-Splines","authors":"Mikaela Dobbin, P. Axelrad","doi":"10.33012/navi.610","DOIUrl":"https://doi.org/10.33012/navi.610","url":null,"abstract":"","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74989637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Bicomplex Representation and Processing of GNSS Signals GNSS信号的双复表示与处理
3区 地球科学
Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI: 10.33012/navi.621
Daniele Borio
{"title":"Bicomplex Representation and Processing of GNSS Signals","authors":"Daniele Borio","doi":"10.33012/navi.621","DOIUrl":"https://doi.org/10.33012/navi.621","url":null,"abstract":"<h3>Summary</h3> Generalized binary offset carrier (BOC) modulations and global navigation satellite system (GNSS) meta-signals require advanced processing algorithms to overcome problems associated with their multi-peaked correlation functions. In this paper, bicomplex numbers are introduced for GNSS signal representation and for algorithm development. Bicomplex numbers generalize complex numbers and are characterized by four real components. These numbers have the potential to represent multicomponent signals, such as GNSS meta-signals, leading to a compact notation that allows effective derivations and algorithm development. Moreover, bicomplex numbers allow one to express a meta-signal as the product of a code, a carrier, and a subcarrier component: this representation leads to acquisition and tracking algorithms that are capable of effectively processing GNSS meta-signals, thus solving the code ambiguity problem. Theoretical developments are demonstrated using real data collected using software-defined radio front-ends for the Galileo alternative BOC modulation and the BeiDou B1I/B1C meta-signal.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136305774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"地球科学","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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