Navigation and positioning systems depend on both the operating environment and the behavior of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning, and the behavior can contribute additional information to the navigation solution. In order to operate across different contexts, a context-adaptive navigation solution is required to detect the operating contexts and adopt different positioning techniques accordingly. This paper focuses on determining both environments and behaviors from smartphone sensors, serving for a context-adaptive navigation system. Behavioral contexts cover both human activities and vehicle motions. The performance of behavior recognition in this paper is improved by feature selection and a connectivity-dependent filter. Environmental contexts are detected from global navigation satellite system (GNSS) measurements. They are detected by using a probabilistic support vector machine, followed by a hidden Markov model for time-domain filtering. The paper further investigates how behaviors can assist within the processes of environment detection. Finally, the proposed context-determination algorithms are tested in a series of multicontext scenarios, showing that the proposed context association mechanism can effectively improve the accuracy of environment detection to more than 95% for pedestrian and more than 90% for vehicle.
{"title":"Improving environment detection by behavior association for context‐adaptive navigation","authors":"Han Gao, P. Groves","doi":"10.1002/navi.349","DOIUrl":"https://doi.org/10.1002/navi.349","url":null,"abstract":"Navigation and positioning systems depend on both the operating environment and the behavior of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning, and the behavior can contribute additional information to the navigation solution. In order to operate across different contexts, a context-adaptive navigation solution is required to detect the operating contexts and adopt different positioning techniques accordingly. This paper focuses on determining both environments and behaviors from smartphone sensors, serving for a context-adaptive navigation system. Behavioral contexts cover both human activities and vehicle motions. The performance of behavior recognition in this paper is improved by feature selection and a connectivity-dependent filter. Environmental contexts are detected from global navigation satellite system (GNSS) measurements. They are detected by using a probabilistic support vector machine, followed by a hidden Markov model for time-domain filtering. The paper further investigates how behaviors can assist within the processes of environment detection. Finally, the proposed context-determination algorithms are tested in a series of multicontext scenarios, showing that the proposed context association mechanism can effectively improve the accuracy of environment detection to more than 95% for pedestrian and more than 90% for vehicle.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"67 1","pages":"43-60"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.349","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44059168","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}
While dual-channel codeless and semicodeless processing are mature techniques used on the Global Positioning System P(Y) signals, the literature lacks assessment of their performance, with derivations from first principles. This paper fills that gap, providing mathematical models of three dualchannel codeless or semicodeless processing approaches. Each exploits a situation where the same signal is transmitted on two carrier frequencies, and the receiver cannot generate a signal replica for conventional processing. The mathematical formulation leads to derivation of analytical models for performance of the three techniques, all having the same parametric form but different parameter values. The models apply to more general cases than previously addressed, allowing any relationship between input signal-to-noise ratios, and including different signal design variants. Computer simulations crosscheck the analytical performance, and comprehensive numerical results are provided. The results provide the foundation for a companion paper assessing how GPS III signal generation affects these types of receivers.
{"title":"Performance of dual‐channel codeless and semicodeless processing","authors":"J. Betz, A. Cerruti","doi":"10.1002/navi.347","DOIUrl":"https://doi.org/10.1002/navi.347","url":null,"abstract":"While dual-channel codeless and semicodeless processing are mature techniques used on the Global Positioning System P(Y) signals, the literature lacks assessment of their performance, with derivations from first principles. This paper fills that gap, providing mathematical models of three dualchannel codeless or semicodeless processing approaches. Each exploits a situation where the same signal is transmitted on two carrier frequencies, and the receiver cannot generate a signal replica for conventional processing. The mathematical formulation leads to derivation of analytical models for performance of the three techniques, all having the same parametric form but different parameter values. The models apply to more general cases than previously addressed, allowing any relationship between input signal-to-noise ratios, and including different signal design variants. Computer simulations crosscheck the analytical performance, and comprehensive numerical results are provided. The results provide the foundation for a companion paper assessing how GPS III signal generation affects these types of receivers.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 3","pages":"109-128"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.347","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"51002752","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}
Instances of Global Positioning System (GPS) jamming and spoofing have identified the vulnerabilities of using GPS as a sole means of positioning, navigation, and timing (PNT) for the world’s critical systems. A fusion of alternative positioning methods is necessary to replace the characteristics of GPS the world has become reliant upon. Aerial navigation using magnetic field crustal anomalies is a globally available, passively sensed, and nearly unjammable GPS-alternative positioning method. The Earth’s outer core produces a magnetic field which is perturbed by magnetically susceptible materials in the Earth’s crust. The resulting deviation from a core field reference model is a world-wide magnetic anomaly field shown to be a viable signal for navigation. This method required prior-surveyed magnetic anomaly maps of sufficient quality. Aerial geomagnetic surveys require more grid lines to fully sample the higher spatial variation of the magnetic anomaly field at low altitudes. This makes producing high-quality low-altitude magnetic maps expensive and therefore less common. The miniaturization of scalar magnetometers opened the potential for magnetic navigation on low-flying unmanned aerial vehicles (UAVs), which operate at altitudes lacking high quality magnetic maps. This motivated a method to remove magnetic navigation’s dependency on a magnetic map. Indoor robotic and pedestrian magnetic navigation have employed simultaneous localization and mapping (SLAM) techniques to overcome this obstacle. This research extends SLAM concepts to eliminate the map dependency in aerial magnetic navigation. This research presents three main contributions. An aerial magnetic SLAM filter was designed which constrained the drift of an aircraft’s inertial navigation system (INS) on a real flight-test dataset from 1 kilometer to tens of meters over a 100 minute flight without a prior magnetic iv map. A commercial off-the-shelf (COTS) fixed-wing magnetic surveying UAV was configured and produced six consistent magnetic maps at various altitudes over a 2 kilometer area. The UAV’s magnetic measurements were used to constrain three simulated INS grades to tens of meters over a 14 minute flight. Together, these three contributions demonstrated the viability of aerial magnetic navigation as a GPS alternative for manned aircraft and UAVs without requiring prior-surveyed magnetic maps.
{"title":"MagSLAM: Aerial simultaneous localization and mapping using Earth's magnetic anomaly field","authors":"Taylor N. Lee, A. Canciani","doi":"10.1002/NAVI.352","DOIUrl":"https://doi.org/10.1002/NAVI.352","url":null,"abstract":"Instances of Global Positioning System (GPS) jamming and spoofing have identified the vulnerabilities of using GPS as a sole means of positioning, navigation, and timing (PNT) for the world’s critical systems. A fusion of alternative positioning methods is necessary to replace the characteristics of GPS the world has become reliant upon. Aerial navigation using magnetic field crustal anomalies is a globally available, passively sensed, and nearly unjammable GPS-alternative positioning method. The Earth’s outer core produces a magnetic field which is perturbed by magnetically susceptible materials in the Earth’s crust. The resulting deviation from a core field reference model is a world-wide magnetic anomaly field shown to be a viable signal for navigation. This method required prior-surveyed magnetic anomaly maps of sufficient quality. Aerial geomagnetic surveys require more grid lines to fully sample the higher spatial variation of the magnetic anomaly field at low altitudes. This makes producing high-quality low-altitude magnetic maps expensive and therefore less common. The miniaturization of scalar magnetometers opened the potential for magnetic navigation on low-flying unmanned aerial vehicles (UAVs), which operate at altitudes lacking high quality magnetic maps. This motivated a method to remove magnetic navigation’s dependency on a magnetic map. Indoor robotic and pedestrian magnetic navigation have employed simultaneous localization and mapping (SLAM) techniques to overcome this obstacle. This research extends SLAM concepts to eliminate the map dependency in aerial magnetic navigation. This research presents three main contributions. An aerial magnetic SLAM filter was designed which constrained the drift of an aircraft’s inertial navigation system (INS) on a real flight-test dataset from 1 kilometer to tens of meters over a 100 minute flight without a prior magnetic iv map. A commercial off-the-shelf (COTS) fixed-wing magnetic surveying UAV was configured and produced six consistent magnetic maps at various altitudes over a 2 kilometer area. The UAV’s magnetic measurements were used to constrain three simulated INS grades to tens of meters over a 14 minute flight. Together, these three contributions demonstrated the viability of aerial magnetic navigation as a GPS alternative for manned aircraft and UAVs without requiring prior-surveyed magnetic maps.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"67 1","pages":"95-107"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/NAVI.352","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45491015","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}
Dongyang Xu, Y. Morton, C. Rino, C. Carrano, Y. Jiao
{"title":"A two‐parameter multifrequency GPS signal simulator for strong equatorial ionospheric scintillation: modeling and parameter characterization","authors":"Dongyang Xu, Y. Morton, C. Rino, C. Carrano, Y. Jiao","doi":"10.1002/navi.350","DOIUrl":"https://doi.org/10.1002/navi.350","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"67 1","pages":"181-195"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.350","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45261093","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 : 2020-01-01DOI: 10.18949/JINNAVI.211.0_21
I. G. M. S. Adhita, M. Furusho
{"title":"Qualitative Analysis of Human Reliability in Ship Collision","authors":"I. G. M. S. Adhita, M. Furusho","doi":"10.18949/JINNAVI.211.0_21","DOIUrl":"https://doi.org/10.18949/JINNAVI.211.0_21","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"211 1","pages":"21-22"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68078584","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 : 2020-01-01DOI: 10.18949/JINNAVI.211.0_19
R. E. Prilana, L. P. Bowo, M. Furusho
{"title":"Maritime Cargo Accidents in Indonesia for the period 2013 - 2018","authors":"R. E. Prilana, L. P. Bowo, M. Furusho","doi":"10.18949/JINNAVI.211.0_19","DOIUrl":"https://doi.org/10.18949/JINNAVI.211.0_19","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"211 1","pages":"19-20"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68078871","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 : 2020-01-01DOI: 10.18949/JINNAVI.211.0_23
Hong-Hao Zheng, T. Takemoto
{"title":"A Comparison Study of the System of Marine Accident Investigation Between Japan, United States, United Kingdom and China","authors":"Hong-Hao Zheng, T. Takemoto","doi":"10.18949/JINNAVI.211.0_23","DOIUrl":"https://doi.org/10.18949/JINNAVI.211.0_23","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"1 1","pages":"23-24"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68079757","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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