IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium最新文献_第5页

A sensor based indoor mobile localization and navigation using Unscented Kalman Filter 基于无气味卡尔曼滤波的室内移动定位与导航

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507249

Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin

{"title":"A sensor based indoor mobile localization and navigation using Unscented Kalman Filter","authors":"Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin","doi":"10.1109/PLANS.2010.5507249","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507249","url":null,"abstract":"Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"41 1","pages":"327-331"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79157421","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: 18

Dilution of precision and total interference level on a GPS+Galileo compatible receiver. A global perspective. GPS+Galileo兼容接收机的精度和总干扰水平的稀释。全球视角。

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507226

D. F. Prim

引用次数: 0

Analysis of sculling motion errors caused by sensor transfer function imperfections in strapdown inertial navigation systems 捷联惯性导航系统中传感器传递函数缺陷引起的横桨运动误差分析

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507184

I. Rapoport, A. Brandes

引用次数: 4

High-precision lane-level road map building for vehicle navigation 用于车辆导航的高精度车道级路线图构建

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507331

Anning Chen, Arvind Ramanandan, J. Farrell

{"title":"High-precision lane-level road map building for vehicle navigation","authors":"Anning Chen, Arvind Ramanandan, J. Farrell","doi":"10.1109/PLANS.2010.5507331","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507331","url":null,"abstract":"Lane relative vehicle navigation and control requires accurate lane-relative positioning of the vehicle. This relative position can be computed by comparing the vehicle absolute position with analytic roadway maps, which requires both high-accuracy positioning of the vehicle and high-accuracy lane maps. Carrier Phase Differential GPS (CPDGPS) aided INS or CPDGPS aided encoders is capable of estimating vehicle absolute position (relative to earth center) with centimeter level accuracy; however, to the best of the author's knowledge, the accuracy of lane level maps is currently not sufficient. In this paper, we first consider the structure of lane level maps that are compatible with standard practices of GIS road modeling. Then, various analytic lane definition are discussed. We also present a method of building lane level maps from high-accuracy positioning data along the lane center. The data is segmented according to road intersections. Shape points (vertices) as a function of arclength are located based on changes in estimated curvature. For each segment, the parameters are estimated by least-square criteria and can be refined as new datasets become available. This process is shown by an example.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"20 1","pages":"1035-1042"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79546670","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: 58

Experimental validation of TOA UWB positioning with two receivers using known indoor features 基于已知室内特征的双接收机TOA超宽带定位实验验证

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507253

Jan Kietlinski-Zaleski, T. Yamazato, M. Katayama

引用次数: 12

Multi-layer modeling and simulation of the effects of ionospheric scintillation on service availability of the GPS augmentation systems 电离层闪烁对GPS增强系统服务有效性影响的多层建模与仿真

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507221

R. Malla, R. Fries

引用次数: 1

Analytical Resolution Method based on ambiguity function for attitude determination 基于模糊函数的姿态确定解析解析方法

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507337

Boxiong Wang, X. Zhan, Yan-hua Zhang

引用次数: 2

Precision multi-sensor optical navigation test-bed utilizing ground-truthed data set 利用实测数据集的精密多传感器光学导航试验台

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507285

J. Touma, T. Klausutis, Michelle Fessenden, Carolyn New, David D. Diel

{"title":"Precision multi-sensor optical navigation test-bed utilizing ground-truthed data set","authors":"J. Touma, T. Klausutis, Michelle Fessenden, Carolyn New, David D. Diel","doi":"10.1109/PLANS.2010.5507285","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507285","url":null,"abstract":"This work describes a rich set of navigation data that has been collected by AFRL and an object-oriented framework that makes both the data and relevant processing algorithms available to the research community. Both aerial and ground vehicle platforms were employed, exposing a single sensor suite to a variety of conditions relevant to civil and military applications, including urban and rural terrain and varied time-of-day. The sensor package includes four visible cameras, two LWIR cameras, inertial measurement units ranging from navigation grade, tactical grade and industrial grade. A GINS is utilized to establish platform attitude and position truth. The raw GPS signals are also collected. All this data is synchronously time-stamped with reference to a unified reference time. Of particular interest to the research community is the use of visual sensors to navigate in GNSS-limited environments, especially in cases where the navigation solution must exhibit dynamic continuity. Our data delivery framework goes beyond standardizing data formats by providing a means to standardize the application of relevant processing algorithms. This plays a critical role in integrating data from multiple sensors without violating dynamic constraints. In addition, the framework can be viewed as a testbed for user contributed algorithms, which will help system integrators to explore the trade space of both sensors and algorithms.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"49 1","pages":"1232-1237"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77808051","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: 2

A comprehensive approach for optimizing ToA-localization in harsh industrial environments 在恶劣工业环境中优化toa定位的综合方法

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507255

A. Lewandowski, C. Wietfeld

{"title":"A comprehensive approach for optimizing ToA-localization in harsh industrial environments","authors":"A. Lewandowski, C. Wietfeld","doi":"10.1109/PLANS.2010.5507255","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507255","url":null,"abstract":"Real-life industrial environments pose a challenge for today's radio-based localization systems, as the radio channel is highly affected by the multiple interference present in the environment. Therefore, this paper presents a solution for generating Weighted Multilateration Position Estimation based on the RSSI (Received Signal Strength Indicator) for ToA (Time of Arrival) ranging measurements to enhance the fault tolerance, reduce the self-interference of the ranging system and finally enhance the accuracy of the position estimation. A coordinate descent algorithm for optimal anchor placement is demonstrated in this paper, which is based on results of 3D ray tracing. The applied 3D environment model is highly sophisticated, as it was generated by 3D laser scanning for gauging. In a final optimization step, power level adjustment is shown to further enhance the accuracy of the localization system. Concluding, a performance evaluation based on simulations, numerical optimization and experimental measurements in the industrial target environment will demonstrate the improvements of our comprehensive approach in terms of accuracy and robustness.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"56 1","pages":"516-525"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76548584","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: 24

GPS experiment on the Balloon-based Operation Vehicle 基于气球的操作飞行器的GPS实验

IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium Pub Date : 2010-05-04 DOI: 10.1109/PLANS.2010.5507346

P. Buist, S. Verhagen, T. Hashimoto, S. Sawai, S. Sakai, N. Bando, S. Shimizu

引用次数: 1