Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236839
N. Kassabian, L. Presti
The first processing block within a Global Navigation Satellite Systems (GNSS) receiver is the acquisition engine. As it may represent a bottleneck for subsequent blocks in the receiver chain, it is essential to tune the acquisition engine to have any chance in designing an efficient receiver. Peer to Peer (P2P) networks present the opportunity to do so, by exchanging GNSS aiding information among nodes of the network to reduce the acquisition search space. Moreover, the Mean Acquisition Time (MAT) is often used as a performance metric and usually derived using probability generating functions and flow graph diagrams based on Markov processes. In this paper, an intuitive technique based on acquisition time and MAT diagrams is presented and used to derive an expression of the MAT as well as to analyze its constitutive terms. The MAT of a standard acquisition engine is compared to that of a P2P engine with a thorough investigation of a Gaussian search order and zig-zag search strategy to assess the performance improvement brought about by P2P networks.
{"title":"Technique for MAT analysis and performance assessment of P2P acquisition engines","authors":"N. Kassabian, L. Presti","doi":"10.1109/PLANS.2012.6236839","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236839","url":null,"abstract":"The first processing block within a Global Navigation Satellite Systems (GNSS) receiver is the acquisition engine. As it may represent a bottleneck for subsequent blocks in the receiver chain, it is essential to tune the acquisition engine to have any chance in designing an efficient receiver. Peer to Peer (P2P) networks present the opportunity to do so, by exchanging GNSS aiding information among nodes of the network to reduce the acquisition search space. Moreover, the Mean Acquisition Time (MAT) is often used as a performance metric and usually derived using probability generating functions and flow graph diagrams based on Markov processes. In this paper, an intuitive technique based on acquisition time and MAT diagrams is presented and used to derive an expression of the MAT as well as to analyze its constitutive terms. The MAT of a standard acquisition engine is compared to that of a P2P engine with a thorough investigation of a Gaussian search order and zig-zag search strategy to assess the performance improvement brought about by P2P networks.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114400410","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236917
A. Broumandan, A. Jafarnia-Jahromi, V. Dehghanian, J. Nielsen, G. Lachapelle
Spoofing and jamming in the form of transmitting counterfeit location information and denying services are an emerging threat to GNSS receivers. In general, spoofing is a deliberate attack that aims to coerce GNSS receivers into generating false navigation solutions. The spoofing attack is potentially more hazardous than jamming since the target receiver is not aware of this threat and it is still providing position/navigation solutions which seem to be reliable. One major limitation of spoofers is that they are required to transmit several highly correlated GNSS signals simultaneously often from a single source in order to present a truthful navigation solution to the receiver. Different GNSS signals sourced from a single transmitter have essentially the same spatial signature, which as shown in this paper, can be utilized to discriminate the spoofing signals. In this paper a moving antenna is investigated to discriminate between the spatial signatures of the authentic and the spoofing signals based on monitoring the amplitude and Doppler correlation of the visible satellite signals. The effectiveness of this detection method is studied and verified based on a set of experiments.
{"title":"GNSS spoofing detection in handheld receivers based on signal spatial correlation","authors":"A. Broumandan, A. Jafarnia-Jahromi, V. Dehghanian, J. Nielsen, G. Lachapelle","doi":"10.1109/PLANS.2012.6236917","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236917","url":null,"abstract":"Spoofing and jamming in the form of transmitting counterfeit location information and denying services are an emerging threat to GNSS receivers. In general, spoofing is a deliberate attack that aims to coerce GNSS receivers into generating false navigation solutions. The spoofing attack is potentially more hazardous than jamming since the target receiver is not aware of this threat and it is still providing position/navigation solutions which seem to be reliable. One major limitation of spoofers is that they are required to transmit several highly correlated GNSS signals simultaneously often from a single source in order to present a truthful navigation solution to the receiver. Different GNSS signals sourced from a single transmitter have essentially the same spatial signature, which as shown in this paper, can be utilized to discriminate the spoofing signals. In this paper a moving antenna is investigated to discriminate between the spatial signatures of the authentic and the spoofing signals based on monitoring the amplitude and Doppler correlation of the visible satellite signals. The effectiveness of this detection method is studied and verified based on a set of experiments.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114491474","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236955
Zhen Zhu, S. Roumeliotis, Joel A. Hesch, Han Park, Don Venable
Under the Air Force Research Laboratory (AFRL) Collaborative Robust Integrated Sensor Positioning (CRISP) program, Northrop Grumman Corporation (NGC) is designing and building a collaborative navigation system for multiple airborne platforms. The collaborative navigation architecture has been designed to take advantage of AFRL's Layered Sensing construct which enables platforms to share information. In particular, the ability to share GPS, relative range, imagery, geo-registered maps, and other measurements opens up many opportunities to improve the navigational accuracy and the robustness to GPS-denied conditions. In the CRISP program, the collaborative navigation system is being designed to be more robust and accurate by leveraging the asymmetry in the sensing, computation, and communication capabilities of disparate platforms. For example, the system takes advantage of higher performing sensors on the high-flyer (HF) platform, which are less susceptible to jamming, and cameras that generate larger sensor footprint and higher resolution images of the terrain. The low-flyers (LFs) have poorer navigation sensors, are more likely to be jammed, and have a more limited view of the terrain. Under this scenario, the HF may assist one or more LFs such that they, too, can have similar accuracy as the HF in a GPS-denied environment.
{"title":"Architecture for asymmetric collaborative navigation","authors":"Zhen Zhu, S. Roumeliotis, Joel A. Hesch, Han Park, Don Venable","doi":"10.1109/PLANS.2012.6236955","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236955","url":null,"abstract":"Under the Air Force Research Laboratory (AFRL) Collaborative Robust Integrated Sensor Positioning (CRISP) program, Northrop Grumman Corporation (NGC) is designing and building a collaborative navigation system for multiple airborne platforms. The collaborative navigation architecture has been designed to take advantage of AFRL's Layered Sensing construct which enables platforms to share information. In particular, the ability to share GPS, relative range, imagery, geo-registered maps, and other measurements opens up many opportunities to improve the navigational accuracy and the robustness to GPS-denied conditions. In the CRISP program, the collaborative navigation system is being designed to be more robust and accurate by leveraging the asymmetry in the sensing, computation, and communication capabilities of disparate platforms. For example, the system takes advantage of higher performing sensors on the high-flyer (HF) platform, which are less susceptible to jamming, and cameras that generate larger sensor footprint and higher resolution images of the terrain. The low-flyers (LFs) have poorer navigation sensors, are more likely to be jammed, and have a more limited view of the terrain. Under this scenario, the HF may assist one or more LFs such that they, too, can have similar accuracy as the HF in a GPS-denied environment.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115753697","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236975
T. Sathyan, M. Hedley
Achieving very high localization accuracy in wireless networks that measure time of arrival (TOA) is a challenging task, especially when low cost hardware is used. The local oscillators used in the wireless nodes will drift over time, which will result in frequency and time offset between different clocks. Synchronization between the clocks must be maintained to obtain highly accurate TOA measurements. The delay in the radio frequency electronics can also vary with time and environmental variation and for accurate localization this variation must be accounted for as well. Although calibrating these parameters prior to the operation of the network is one solution, it is not an option for networks that operate for longer periods of time or those that are rapidly deployed. In this paper we propose an algorithm that jointly tracks the frequency offset and radio delay of all the nodes in the network along with the location of the mobile nodes. The algorithm calculates the round trip delay measurements, which eliminates the need to estimate the time offset. We also derive the posterior Cramèr Rao lower bound (PCRLB) for the joint estimation problem, which provides a bound on the maximum performance achievable. Through simulations we show that the performance of the proposed algorithm is in close agreement with the PCRLB for both the non-kinematic and kinematic state estimation.
{"title":"Joint location and parameter tracking of mobile nodes in wireless networks","authors":"T. Sathyan, M. Hedley","doi":"10.1109/PLANS.2012.6236975","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236975","url":null,"abstract":"Achieving very high localization accuracy in wireless networks that measure time of arrival (TOA) is a challenging task, especially when low cost hardware is used. The local oscillators used in the wireless nodes will drift over time, which will result in frequency and time offset between different clocks. Synchronization between the clocks must be maintained to obtain highly accurate TOA measurements. The delay in the radio frequency electronics can also vary with time and environmental variation and for accurate localization this variation must be accounted for as well. Although calibrating these parameters prior to the operation of the network is one solution, it is not an option for networks that operate for longer periods of time or those that are rapidly deployed. In this paper we propose an algorithm that jointly tracks the frequency offset and radio delay of all the nodes in the network along with the location of the mobile nodes. The algorithm calculates the round trip delay measurements, which eliminates the need to estimate the time offset. We also derive the posterior Cramèr Rao lower bound (PCRLB) for the joint estimation problem, which provides a bound on the maximum performance achievable. Through simulations we show that the performance of the proposed algorithm is in close agreement with the PCRLB for both the non-kinematic and kinematic state estimation.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116236197","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236870
W. Hawkinson, P. Samanant, R. Mccroskey, R. Ingvalson, A. Kulkarni, L. Haas, B. English
A system that provides accurate and reliable location of Emergency Responders (ERs) in all types of environments presents multifaceted technological challenges. The system is intended to provide indoor/outdoor precision navigation, robust communications and real-time position updates on remote command display devices. Operational requirements include rapid and nonintrusive deployment, scalability to 500 users and seamless integration with existing procedures. Additional challenges are imposed by the need for a device that minimizes size, weight, and power with the ability to operate in uncertain and potentially hazardous in-building environments. The Department of Homeland Security Science and Technology Directorate (Program Manager - Dr. Jalal Mapar) has sponsored Honeywell, with team members Argon ST and TRX Systems, to develop the Geo-spatial Location, Accountability and Navigation System for Emergency Responders (GLANSER). GLANSER is currently in its Option 1 phase which is the second of a four-year program to migrate the technology from concept development all the way to product and operations (1). This paper describes development of both the current and continuing development of GLANSER system components, including the overall architecture, the navigation sensors (e.g. IMU, Doppler velocimeter), the sensor fusion and navigator design, the integrated networking, ranging, and data communications radio, the display implementation and a description of the heuristic elements, including automatic map building and constraint-based navigation corrections. It also describes testing protocols and recent navigation performance results of the prototype system. The remainder of this document is organized into three major sections: Section I is introductory and provides background information including key system requirements, technical challenges, candidate approaches, and rationale for selection of approach, sensors, hardware, and algorithms employed by the GLANSER system. Section II describes the GLANSER system and its major subcomponents in greater detail (including descriptions of the User Interface display). Section III describes the underlying ranging and communications network on which the GLANSER system is based. The final section of this report (section IV) presents results which describe performance and navigation accuracy of the current system under test.
{"title":"GLANSER: Geospatial location, accountability, and Navigation System for Emergency Responders - system concept and performance assessment","authors":"W. Hawkinson, P. Samanant, R. Mccroskey, R. Ingvalson, A. Kulkarni, L. Haas, B. English","doi":"10.1109/PLANS.2012.6236870","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236870","url":null,"abstract":"A system that provides accurate and reliable location of Emergency Responders (ERs) in all types of environments presents multifaceted technological challenges. The system is intended to provide indoor/outdoor precision navigation, robust communications and real-time position updates on remote command display devices. Operational requirements include rapid and nonintrusive deployment, scalability to 500 users and seamless integration with existing procedures. Additional challenges are imposed by the need for a device that minimizes size, weight, and power with the ability to operate in uncertain and potentially hazardous in-building environments. The Department of Homeland Security Science and Technology Directorate (Program Manager - Dr. Jalal Mapar) has sponsored Honeywell, with team members Argon ST and TRX Systems, to develop the Geo-spatial Location, Accountability and Navigation System for Emergency Responders (GLANSER). GLANSER is currently in its Option 1 phase which is the second of a four-year program to migrate the technology from concept development all the way to product and operations (1). This paper describes development of both the current and continuing development of GLANSER system components, including the overall architecture, the navigation sensors (e.g. IMU, Doppler velocimeter), the sensor fusion and navigator design, the integrated networking, ranging, and data communications radio, the display implementation and a description of the heuristic elements, including automatic map building and constraint-based navigation corrections. It also describes testing protocols and recent navigation performance results of the prototype system. The remainder of this document is organized into three major sections: Section I is introductory and provides background information including key system requirements, technical challenges, candidate approaches, and rationale for selection of approach, sensors, hardware, and algorithms employed by the GLANSER system. Section II describes the GLANSER system and its major subcomponents in greater detail (including descriptions of the User Interface display). Section III describes the underlying ranging and communications network on which the GLANSER system is based. The final section of this report (section IV) presents results which describe performance and navigation accuracy of the current system under test.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123239940","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236861
D. Brown, L. Mauser, B. Young, M. Kasevich, H. Rice, V. Benischek
Real-time gravity measurements provide an accurate, high-resolution snapshot of the local gravity signature. Information developed from the gravity signature can be a significant contributor to battle space situational awareness, providing enhanced knowledge of the local operating environment and of the location of each operational participant in that environment. The Strategic Systems Programs (SSP) Navigation Branch (SP24) and Lockheed Martin, Maritime Systems and Sensors (MS2) have extensive experience in the development and use of gravity-measuring instrumentation. As part of the Trident Submarine Improved Accuracy Program, SP24 sponsored Lockheed Martin to develop the first submarine real-time gravity gradient system (circa 1990). This system was designed to correct an inertial navigator for gravity induced error. Following completion of this effort SP24 sponsored Lockheed Martin to develop and demonstrate additional gravity based navigation enhancements. These enhancements are currently referred to as gravity navigation and gravity collision avoidance (circa 2000). In more recent years, SP24 has been sponsoring Lockheed Martin, Stanford University, and AOSense, a Stanford University spin off, to investigate the potential of atomic interferometry to be the technology foundation for the next generation, low cost gravity sensor system. This paper describes Atom Interferometric (AI) theory, AI gravity sensor status, AI gravity system mechanization concepts and gravity based navigation enhancements such as gravity navigation and collision avoidance.
{"title":"Atom interferometric gravity sensor system","authors":"D. Brown, L. Mauser, B. Young, M. Kasevich, H. Rice, V. Benischek","doi":"10.1109/PLANS.2012.6236861","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236861","url":null,"abstract":"Real-time gravity measurements provide an accurate, high-resolution snapshot of the local gravity signature. Information developed from the gravity signature can be a significant contributor to battle space situational awareness, providing enhanced knowledge of the local operating environment and of the location of each operational participant in that environment. The Strategic Systems Programs (SSP) Navigation Branch (SP24) and Lockheed Martin, Maritime Systems and Sensors (MS2) have extensive experience in the development and use of gravity-measuring instrumentation. As part of the Trident Submarine Improved Accuracy Program, SP24 sponsored Lockheed Martin to develop the first submarine real-time gravity gradient system (circa 1990). This system was designed to correct an inertial navigator for gravity induced error. Following completion of this effort SP24 sponsored Lockheed Martin to develop and demonstrate additional gravity based navigation enhancements. These enhancements are currently referred to as gravity navigation and gravity collision avoidance (circa 2000). In more recent years, SP24 has been sponsoring Lockheed Martin, Stanford University, and AOSense, a Stanford University spin off, to investigate the potential of atomic interferometry to be the technology foundation for the next generation, low cost gravity sensor system. This paper describes Atom Interferometric (AI) theory, AI gravity sensor status, AI gravity system mechanization concepts and gravity based navigation enhancements such as gravity navigation and collision avoidance.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126478351","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236981
M. Hussain, Y. Aytar, N. Trigoni, A. Markham
Clutter-prone environments are challenging for range-based localization, where distances between anchors and the unlocalised node are estimated using wireless technologies like radio, ultrasound, etc. This is so due to the incidence of Non-Line-Of-Sight (NLOS) distance measurements as the direct path between the two is occluded by the presence of clutter. Thus NLOS distances, having large positive biases, can severely degrade localization accuracy. Till date, NLOS error has been modelled as various distributions including uniform, Gaussian, Poisson and exponential. In this paper, we show that clutter topology itself plays a vital role in the characterization of NLOS bias. We enumerate a feature-set for clutter topologies, including features that can be practically deduced without complete knowledge of the clutter topology. We then analyze the significance of these features, both individually and in combination with each other, in the estimation of the NLOS rate as well as the NLOS bias distribution for arbitrary clutter topologies. We show that we can obtain the NLOS rate with an error of only 0.03 for a given clutter topology using only those clutter topology features that can be practically realized in a real deployment. We show that estimating the NLOS bias distribution is more challenging which give a small number of poor estimations.
{"title":"Characterization of non-line-of-sight (NLOS) bias via analysis of clutter topology","authors":"M. Hussain, Y. Aytar, N. Trigoni, A. Markham","doi":"10.1109/PLANS.2012.6236981","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236981","url":null,"abstract":"Clutter-prone environments are challenging for range-based localization, where distances between anchors and the unlocalised node are estimated using wireless technologies like radio, ultrasound, etc. This is so due to the incidence of Non-Line-Of-Sight (NLOS) distance measurements as the direct path between the two is occluded by the presence of clutter. Thus NLOS distances, having large positive biases, can severely degrade localization accuracy. Till date, NLOS error has been modelled as various distributions including uniform, Gaussian, Poisson and exponential. In this paper, we show that clutter topology itself plays a vital role in the characterization of NLOS bias. We enumerate a feature-set for clutter topologies, including features that can be practically deduced without complete knowledge of the clutter topology. We then analyze the significance of these features, both individually and in combination with each other, in the estimation of the NLOS rate as well as the NLOS bias distribution for arbitrary clutter topologies. We show that we can obtain the NLOS rate with an error of only 0.03 for a given clutter topology using only those clutter topology features that can be practically realized in a real deployment. We show that estimating the NLOS bias distribution is more challenging which give a small number of poor estimations.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129641231","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236829
Jizhou Lai, Pin Lv, Jian-ye Liu, Ling Zhang
Turntable is an important part of rotation inertial navigation system (RINS). Due to machining accuracy, there exists certain angle error between vertical axis of the turntable and table rotation axis, which leads to table's vibration and further the loss of RINS's accuracy. Firstly, the error of turntable's vibration is modeled. And the analysis results show that inertial measurement unit (IMU) does coning error because of turntable's vibration. Then, the conning error caused by coning motion is analyzed, and the effect of multi-sample compensation algorithm based on the equivalent rotation vector is discussed. At the same time, the effect of rotation manner to RINS's coning error is discussed, and the result shows that back and forth rotation has a good compensation effect to the error. Finally, the above theoretical analyses are verified through simulation.
{"title":"Analysis of coning motion caused by turntable's vibration in rotation inertial navigation system","authors":"Jizhou Lai, Pin Lv, Jian-ye Liu, Ling Zhang","doi":"10.1109/PLANS.2012.6236829","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236829","url":null,"abstract":"Turntable is an important part of rotation inertial navigation system (RINS). Due to machining accuracy, there exists certain angle error between vertical axis of the turntable and table rotation axis, which leads to table's vibration and further the loss of RINS's accuracy. Firstly, the error of turntable's vibration is modeled. And the analysis results show that inertial measurement unit (IMU) does coning error because of turntable's vibration. Then, the conning error caused by coning motion is analyzed, and the effect of multi-sample compensation algorithm based on the equivalent rotation vector is discussed. At the same time, the effect of rotation manner to RINS's coning error is discussed, and the result shows that back and forth rotation has a good compensation effect to the error. Finally, the above theoretical analyses are verified through simulation.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130320157","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236873
Ramsey Faragher, C. Sarno, M. Newman
This paper provides the experimental results of a system utilising only the sensors available on a smartphone to provide an indoor positioning system that does not require any prior knowledge of floor plans, transmitter locations, radio signal strength databases, etc. The system utilises a Distributed Particle Filter Simultaneous Localisation and Mapping (DPSLAM) method to provide constraints on the drift of a simple hip-mounted Inertial Measurement Unit (IMU) integrated into the smartphone and providing the core information on the movement of the user. This system was developed during a project investigating methods of providing relative positioning systems to a team operating for extended periods without GPS. The paper concentrates on the DPSLAM positioning technique suitable for use by an individual with no prior knowledge of the area of operation before deployment. As with all SLAM systems, the user is simply required to revisit locations periodically to enable IMU drifts to be observed and corrected.
{"title":"Opportunistic radio SLAM for indoor navigation using smartphone sensors","authors":"Ramsey Faragher, C. Sarno, M. Newman","doi":"10.1109/PLANS.2012.6236873","DOIUrl":"https://doi.org/10.1109/PLANS.2012.6236873","url":null,"abstract":"This paper provides the experimental results of a system utilising only the sensors available on a smartphone to provide an indoor positioning system that does not require any prior knowledge of floor plans, transmitter locations, radio signal strength databases, etc. The system utilises a Distributed Particle Filter Simultaneous Localisation and Mapping (DPSLAM) method to provide constraints on the drift of a simple hip-mounted Inertial Measurement Unit (IMU) integrated into the smartphone and providing the core information on the movement of the user. This system was developed during a project investigating methods of providing relative positioning systems to a team operating for extended periods without GPS. The paper concentrates on the DPSLAM positioning technique suitable for use by an individual with no prior knowledge of the area of operation before deployment. As with all SLAM systems, the user is simply required to revisit locations periodically to enable IMU drifts to be observed and corrected.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132912451","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}
Pub Date : 2012-04-23DOI: 10.1109/PLANS.2012.6236881
B. Bian, D. O'Laughlin, C. Shively, R. Braff
A new algorithm for the GPS satellite User Range Accuracy (URA) integrity monitor that incorporates the satellite ranging measurements taken at ground monitor stations, aided by the crosslink ranging measurements taken between the GPS satellites, is presented. The new algorithm provides improved performance and eliminates the need for a key assumption of a previous algorithm that used ground and crosslink measurements. The performance of the new algorithm is analyzed and measured by the values of the minimum monitorable URA (MMU) for the satellites in the constellation. The availability of LPV-200 operations for an aviation GPS receiver that uses the MMU values as URAs to derive its integrity assured navigation position solution is also analyzed. The LPV- 200 availabilities at representative US and worldwide airport locations are presented. Improved performance of the new algorithm is shown as a reduction of the MMU value and an increase of the LPV-200 availability.
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