Abstract This paper presents a new type of north finding sensor. The passive optical sensor captures images of the sky at a high frame rate and analyzes them into a polarized map of the sky with a high degree of accuracy. The sensor operates in real time, under various weather and atmospheric conditions. The sensor output shows high heading accuracy relative to the celestial true north. Based upon the NAS-14V2 astronomical method of navigation, it is possible to define the sensor global position on earth.
{"title":"Seamless Navigation in GPS-denied environment using Lirhot’s Real time North finding sensor","authors":"Shlomi Voro, Itamar Lavidor","doi":"10.1515/aon-2019-0009","DOIUrl":"https://doi.org/10.1515/aon-2019-0009","url":null,"abstract":"Abstract This paper presents a new type of north finding sensor. The passive optical sensor captures images of the sky at a high frame rate and analyzes them into a polarized map of the sky with a high degree of accuracy. The sensor operates in real time, under various weather and atmospheric conditions. The sensor output shows high heading accuracy relative to the celestial true north. Based upon the NAS-14V2 astronomical method of navigation, it is possible to define the sensor global position on earth.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"92 - 97"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49019919","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}
I. Adin, Paul Zabalegui, Alejandro Pérez, Jaione Arrizabalaga, Jon Goya, J. Mendizabal
Abstract Even though satellite-based positioning increases rescue workers’ safety and efficiency, signal availability, reliability, and accuracy are often poor during fire operations, due to terrain formation, natural and structural obstacles or even the conditions of the operation. In central Europe, the stakeholders report a strong necessity to complement the location for mixed indoor-outdoor and GNSS blocked scenarios. As such, location information often needs to be augmented. For that, European Global Navigation Satellite System Galileo could help by improving the availability of the satellites with different features. Moreover, a multi-sensored collaborative system could also take advantage of the rescue personnel who are already involved in firefighting and complement the input data for positioning. The Autonomous Indoor & Outdoor Safety Tracking System (AIOSAT) is a multinational project founded through the Horizon 2020 program, with seven partners from Spain, Netherlands and Belgium. It is reaching the first year of progress (out of 3) and the overarching objective of AIOSAT system is to advance beyond the state of the art in tracking rescue workers by creating a high availability and high integrity team positioning and tracking system. On the system level approach, this goal is achieved by fusing the GNSS, EDAS/EGNOS, pedestrian dead reckoning and ultra-wide band ranging information, possibly augmented with map data. The system should be able to work both inside buildings and rural areas, which are the test cases defined by the final users involved in the consortium and the advisory board panel of the project
{"title":"AIOSAT - Autonomous Indoor & Outdoor Safety Tracking System","authors":"I. Adin, Paul Zabalegui, Alejandro Pérez, Jaione Arrizabalaga, Jon Goya, J. Mendizabal","doi":"10.1515/aon-2019-0003","DOIUrl":"https://doi.org/10.1515/aon-2019-0003","url":null,"abstract":"Abstract Even though satellite-based positioning increases rescue workers’ safety and efficiency, signal availability, reliability, and accuracy are often poor during fire operations, due to terrain formation, natural and structural obstacles or even the conditions of the operation. In central Europe, the stakeholders report a strong necessity to complement the location for mixed indoor-outdoor and GNSS blocked scenarios. As such, location information often needs to be augmented. For that, European Global Navigation Satellite System Galileo could help by improving the availability of the satellites with different features. Moreover, a multi-sensored collaborative system could also take advantage of the rescue personnel who are already involved in firefighting and complement the input data for positioning. The Autonomous Indoor & Outdoor Safety Tracking System (AIOSAT) is a multinational project founded through the Horizon 2020 program, with seven partners from Spain, Netherlands and Belgium. It is reaching the first year of progress (out of 3) and the overarching objective of AIOSAT system is to advance beyond the state of the art in tracking rescue workers by creating a high availability and high integrity team positioning and tracking system. On the system level approach, this goal is achieved by fusing the GNSS, EDAS/EGNOS, pedestrian dead reckoning and ultra-wide band ranging information, possibly augmented with map data. The system should be able to work both inside buildings and rural areas, which are the test cases defined by the final users involved in the consortium and the advisory board panel of the project","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"21 - 32"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43065597","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":"Joint navigation performance of distant retrograde orbits and cislunar orbits via LiAISON considering dynamic and clock model errors","authors":"Wenbin Wang, Leizheng Shu, Jiangkai Liu, Yang Gao","doi":"10.1002/navi.340","DOIUrl":"https://doi.org/10.1002/navi.340","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"66 1","pages":"781-802"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.340","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41843696","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}
Abstract In this paper, we analyze the acquisition and tracking performance of signal using a tiered differential polyphase code as the secondary code. The Zadoff-Chu sequence is known to have a CAZAC (Constant Amplitude Zero Auto-Correlation) characteristics. The secondary code generated by differential encoding of the Zadoff-Chu sequence also has the same characteristics as the Zadoff-Chu sequence. Therefore, long integration will give better correlation results. We compare signal acquisition and tracking performance when using the NH sequence and Zadoff-Chu sequence as the secondary code. Monte-carlo simulation is performed using MATLAB. We use the probability of detection and the mean acquisition time for signal acquisition performance and tracking jitter for signal tracking performance.
{"title":"Acquisition and Tracking Performance of Satellite Navigation System Signal using Tiered Differential Polyphase Code","authors":"G. Jo, Juhyun Lee, J. Noh, Sangjeong Lee, J. Lee","doi":"10.1515/aon-2019-0001","DOIUrl":"https://doi.org/10.1515/aon-2019-0001","url":null,"abstract":"Abstract In this paper, we analyze the acquisition and tracking performance of signal using a tiered differential polyphase code as the secondary code. The Zadoff-Chu sequence is known to have a CAZAC (Constant Amplitude Zero Auto-Correlation) characteristics. The secondary code generated by differential encoding of the Zadoff-Chu sequence also has the same characteristics as the Zadoff-Chu sequence. Therefore, long integration will give better correlation results. We compare signal acquisition and tracking performance when using the NH sequence and Zadoff-Chu sequence as the secondary code. Monte-carlo simulation is performed using MATLAB. We use the probability of detection and the mean acquisition time for signal acquisition performance and tracking jitter for signal tracking performance.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"11 - 5"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46088034","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}
S. Averin, A. Plenkin, Pavel Ignatev, M. Vorobiev, A. Veitsel
Abstract The paper describes the Advanced Multi-Engine Platform (AMP™) – Topcon’s patent pending technique, which is capable to improve RTK performance, based on the idea of running several RTK engines in parallel. The performance of AMP™ is dependent on Topcon receiver board, where it has been implemented, and the best results are achieved with B210 board. The main specifics of B210 is that it has two RF front-ends and a single digital section. Such an architecture allows for calculating heading and tilt within a single receiver board, and providing better RTK performance due to synergy of attitude determination and RTK solutions from two antennas, calculated within a single digital section. The paper describes specifics of B210 board along with mathematical aspects of AMP™ and its logic. The test results demonstrate noticeable improvements in RTK performance for B210 receiver board with AMP™, compared with the classical single-engine RTK approach.
{"title":"Advanced Multi-Engine Platform (AMP™) – A Way to Robust RTK","authors":"S. Averin, A. Plenkin, Pavel Ignatev, M. Vorobiev, A. Veitsel","doi":"10.1515/aon-2019-0002","DOIUrl":"https://doi.org/10.1515/aon-2019-0002","url":null,"abstract":"Abstract The paper describes the Advanced Multi-Engine Platform (AMP™) – Topcon’s patent pending technique, which is capable to improve RTK performance, based on the idea of running several RTK engines in parallel. The performance of AMP™ is dependent on Topcon receiver board, where it has been implemented, and the best results are achieved with B210 board. The main specifics of B210 is that it has two RF front-ends and a single digital section. Such an architecture allows for calculating heading and tilt within a single receiver board, and providing better RTK performance due to synergy of attitude determination and RTK solutions from two antennas, calculated within a single digital section. The paper describes specifics of B210 board along with mathematical aspects of AMP™ and its logic. The test results demonstrate noticeable improvements in RTK performance for B210 receiver board with AMP™, compared with the classical single-engine RTK approach.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"12 - 20"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46302012","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}
1. INDRUCTION At the time of the ongoing development of technology, first and foremost in industry and automation, attempts are made to devise increasingly innovative, environment-friendly technical solutions. The improvement of manufacturing processes allowed the use of natural gas as an energy carrier, currently the most valuable raw material. LNG is created from gaseous state in the process of liquefaction. This change in the state of matter allows the volume of gas to be reduced 600 times so that it can be profitably transported over long distances. In global trade, a quarter of natural gas is transported in a liquefied state. The process of gas liquefaction entails very thorough purification of the gas, separating compounds harmful to health and the natural environment. LNG is a very clean and safe fuel, characterized by, inter alia, complete elimination of moisture.
{"title":"Modeling the Location and Routing Problem for the Distribution of Liquefied Natural GAS","authors":"E. Chłopińska, M. Gucma","doi":"10.1515/aon-2019-0006","DOIUrl":"https://doi.org/10.1515/aon-2019-0006","url":null,"abstract":"1. INDRUCTION At the time of the ongoing development of technology, first and foremost in industry and automation, attempts are made to devise increasingly innovative, environment-friendly technical solutions. The improvement of manufacturing processes allowed the use of natural gas as an energy carrier, currently the most valuable raw material. LNG is created from gaseous state in the process of liquefaction. This change in the state of matter allows the volume of gas to be reduced 600 times so that it can be profitably transported over long distances. In global trade, a quarter of natural gas is transported in a liquefied state. The process of gas liquefaction entails very thorough purification of the gas, separating compounds harmful to health and the natural environment. LNG is a very clean and safe fuel, characterized by, inter alia, complete elimination of moisture.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"59 - 64"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45722720","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}
We present a novel method to detect the GNSS NLOS and correct the NLOS pseudorange measurements based on on ‐ board sensing. This paper demonstrates the use of LiDAR scanner and a list of building heights to describe the perceived environment. To estimate the geometry and pose of the top edges of buildings (TEBs) relative to the GNSS receiver, a surface segmentation method is employed to detect the TEBs of surrounding buildings using 3D LiDAR point clouds. The top edges of the building are extracted and extended using the building height list in Skyplot to identify the NLOS ‐ affected ones. Innovatively, the NLOS delay in pseudorange is corrected based on the detected TEBs. Weighted least squares (WLS) is used to cooperate the corrected NLOS and other pseudorange measurements. Vehicle experiments are conducted in two different urban canyons to verify the effectiveness of the proposed method in improving GNSS single point positioning (SPP) accuracy.
{"title":"Correcting NLOS by 3D LiDAR and building height to improve GNSS single point positioning","authors":"W. Wen, Guohao Zhang, L. Hsu","doi":"10.1002/navi.335","DOIUrl":"https://doi.org/10.1002/navi.335","url":null,"abstract":"We present a novel method to detect the GNSS NLOS and correct the NLOS pseudorange measurements based on on ‐ board sensing. This paper demonstrates the use of LiDAR scanner and a list of building heights to describe the perceived environment. To estimate the geometry and pose of the top edges of buildings (TEBs) relative to the GNSS receiver, a surface segmentation method is employed to detect the TEBs of surrounding buildings using 3D LiDAR point clouds. The top edges of the building are extracted and extended using the building height list in Skyplot to identify the NLOS ‐ affected ones. Innovatively, the NLOS delay in pseudorange is corrected based on the detected TEBs. Weighted least squares (WLS) is used to cooperate the corrected NLOS and other pseudorange measurements. Vehicle experiments are conducted in two different urban canyons to verify the effectiveness of the proposed method in improving GNSS single point positioning (SPP) accuracy.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"1 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.335","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"51002688","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}
In the future, the modernized power grid, or Smart Grid, will utilize devices called Phasor Measurement Units (PMUs) to continuously monitor the power grid state in real-time. These devices utilize GPS to synchronize the voltage and current phasor measurements across the continental network; however, because the civilian GPS signals are unencrypted, PMUs are susceptible to GPS spoofing attacks. We propose a spoofing detection algorithm using a wide-area, hierarchical architecture. In the network, each PMU transmits conditioned signal fragments containing the military P(Y) signal, which serves as an encrypted signature in the background of all authentic GPS signals. This signature is then verified amongst a sub-network consisting of a select number of well-dispersed receivers. We subsequently compare representative signals generated for each sub-network in order to detect coordinated attacks against the sub-network receiver collection. Using real-world data recorded during a governmentsponsored, live-sky spoofing event, we demonstrate that our algorithm successfully evaluates the authenticity of a widely dispersed receiver network.
{"title":"GPS spoofing detection for the power grid network using a multireceiver hierarchical framework architecture","authors":"Tara Yasmin Mina, Sriramya Bhamidipati, Grace Xingxin Gao","doi":"10.1002/navi.341","DOIUrl":"https://doi.org/10.1002/navi.341","url":null,"abstract":"In the future, the modernized power grid, or Smart Grid, will utilize devices called Phasor Measurement Units (PMUs) to continuously monitor the power grid state in real-time. These devices utilize GPS to synchronize the voltage and current phasor measurements across the continental network; however, because the civilian GPS signals are unencrypted, PMUs are susceptible to GPS spoofing attacks. We propose a spoofing detection algorithm using a wide-area, hierarchical architecture. In the network, each PMU transmits conditioned signal fragments containing the military P(Y) signal, which serves as an encrypted signature in the background of all authentic GPS signals. This signature is then verified amongst a sub-network consisting of a select number of well-dispersed receivers. We subsequently compare representative signals generated for each sub-network in order to detect coordinated attacks against the sub-network receiver collection. Using real-world data recorded during a governmentsponsored, live-sky spoofing event, we demonstrate that our algorithm successfully evaluates the authenticity of a widely dispersed receiver network.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"12 1","pages":"857-875"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.341","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"51002745","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":"Angular accelerometer‐based inertial navigation system","authors":"Uriel Nusbaum, I. Rusnak, I. Klein","doi":"10.1002/navi.336","DOIUrl":"https://doi.org/10.1002/navi.336","url":null,"abstract":"","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"66 1","pages":"681-693"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/navi.336","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47186938","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}
Abstract The paper presents an analytical-diffraction propagation model for the needs of the Radiocommunication Events Management System, for coast and ship radio stations in sea area A1. The V-wave propagation in sea area 1 has been analyzed as part of an analysis of ranges of particular radio stations and their ability to establish radio contact. The theoretical basis and assumptions on which the model structure design process is based have been presented. Methods of modelling and presentation of dislocation of particular radio stations and their ranges have been discussed.
{"title":"Analytical - diffraction model of V-band propagation for the Radiocommunication Events Management System (REMS)","authors":"M. Mąka, P. Majzner","doi":"10.1515/aon-2019-0013","DOIUrl":"https://doi.org/10.1515/aon-2019-0013","url":null,"abstract":"Abstract The paper presents an analytical-diffraction propagation model for the needs of the Radiocommunication Events Management System, for coast and ship radio stations in sea area A1. The V-wave propagation in sea area 1 has been analyzed as part of an analysis of ranges of particular radio stations and their ability to establish radio contact. The theoretical basis and assumptions on which the model structure design process is based have been presented. Methods of modelling and presentation of dislocation of particular radio stations and their ranges have been discussed.","PeriodicalId":30601,"journal":{"name":"Annual of Navigation","volume":"26 1","pages":"127 - 135"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45395997","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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