Autonomous driving requires a precise and reliable positioning. A sensor fusion of multiple complementary sensors (e.g. Global Navigation Satellite System (GNSS) receivers, inertial sensors, odometry, camera, Lidar, Ultra-Wide Band) is typically performed to achieve the objectives of both high precision and high reliability. A sensor fusion relies on an accurate knowledge of the measurement statistics. For static GNSS receivers, this assumption is typically well justified as multipath errors are only slowly changing with time. Henkel and Sperl (2016) and Henkel et al. (2016) showed that pseudorange multipath errors can be estimated as additional
自动驾驶需要精确可靠的定位。通常执行多个互补传感器(例如全球导航卫星系统(GNSS)接收器、惯性传感器、里程计、相机、激光雷达、超宽带)的传感器融合，以实现高精度和高可靠性的目标。传感器融合依赖于测量统计数据的准确知识。对于静态GNSS接收机，这种假设通常是合理的，因为多径误差仅随时间缓慢变化。Henkel and Sperl(2016)和Henkel et al.(2016)表明，伪橙多径误差可以作为附加估计
{"title":"Intersection of Error Ellipsoids from at Least Two Positioning Sensors for Improved Sensor Fusion","authors":"P. Henkel, Medeea Horvat, Luka Sachße","doi":"10.33012/2023.18641","DOIUrl":"https://doi.org/10.33012/2023.18641","url":null,"abstract":"Autonomous driving requires a precise and reliable positioning. A sensor fusion of multiple complementary sensors (e.g. Global Navigation Satellite System (GNSS) receivers, inertial sensors, odometry, camera, Lidar, Ultra-Wide Band) is typically performed to achieve the objectives of both high precision and high reliability. A sensor fusion relies on an accurate knowledge of the measurement statistics. For static GNSS receivers, this assumption is typically well justified as multipath errors are only slowly changing with time. Henkel and Sperl (2016) and Henkel et al. (2016) showed that pseudorange multipath errors can be estimated as additional","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122970511","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 Novel Integrity Monitoring Algorithm for FGO-Based GNSS Positioning System","authors":"Fankun Meng, Yuan Sun, Z. Deng","doi":"10.33012/2023.18609","DOIUrl":"https://doi.org/10.33012/2023.18609","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122088370","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}
Yu‐Hsuan Chen, Zixi Liu, J. Blanch, Sherman Lo, Todd Walter
A testbed is built for examining the GNSS integrity under RFI for aviation environment. The combination of hardware and software enables us to simulate the RFI and GNSS environment on the aircraft in the laboratory. Considering existing different jamming types and power level effect on the GNSS integrity, several jamming type data sets are pre-generated and jamming power is adjustable by setting the transmitter gain. The receivers collect the raw measurements needed for protection level computation or output built-in protection level. The algorithm to compute the protection level is the multiple hypothesis solution separation algorithm (MHSS). Then, convert the protection level to Navigation Integrity Category (NIC) which is a field in Automatic Dependent Surveillance-Broadcast (ADS-B). Three receivers from surveying to consumer grade are tested for examining different responses of receiver brands.
{"title":"A RFI Testbed for Examining GNSS Integrity in the Various Environments","authors":"Yu‐Hsuan Chen, Zixi Liu, J. Blanch, Sherman Lo, Todd Walter","doi":"10.33012/2023.18681","DOIUrl":"https://doi.org/10.33012/2023.18681","url":null,"abstract":"A testbed is built for examining the GNSS integrity under RFI for aviation environment. The combination of hardware and software enables us to simulate the RFI and GNSS environment on the aircraft in the laboratory. Considering existing different jamming types and power level effect on the GNSS integrity, several jamming type data sets are pre-generated and jamming power is adjustable by setting the transmitter gain. The receivers collect the raw measurements needed for protection level computation or output built-in protection level. The algorithm to compute the protection level is the multiple hypothesis solution separation algorithm (MHSS). Then, convert the protection level to Navigation Integrity Category (NIC) which is a field in Automatic Dependent Surveillance-Broadcast (ADS-B). Three receivers from surveying to consumer grade are tested for examining different responses of receiver brands.","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124997999","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}
M. Felux, Benoit Figuet, Manuel Waltert, Patric Fol, Martin Strohmeier, X. Olive
{"title":"Analysis of GNSS disruptions in European Airspace","authors":"M. Felux, Benoit Figuet, Manuel Waltert, Patric Fol, Martin Strohmeier, X. Olive","doi":"10.33012/2023.18626","DOIUrl":"https://doi.org/10.33012/2023.18626","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133112377","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}
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