Pub Date : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139958
Pierre Gazull, A. Filipe, O. Gigan, V. Gaff
The new high-performance digital inertial MEMS platform is ensuring a maximum commonality (process, electronics, packaging) between the accelerometers and the gyros to reduce the development effort and the bill of materials. The platform is the industry's first portfolio of cost-effective, low-SWaP, high-performance, closed-loop, SMD, digital MEMS accelerometers and gyros for dynamic applications. The sensors exhibit outstanding measurement capabilities in harsh environments and are a cost-effective alternative to analog quartz accelerometers and FOG for tactical and short-term navigation applications. This paper presents an overview of the platform including information on its architecture and performances.
{"title":"A new high-performance, closed-loop digital MEMS accelerometers and gyros platform for dynamic applications","authors":"Pierre Gazull, A. Filipe, O. Gigan, V. Gaff","doi":"10.1109/PLANS53410.2023.10139958","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139958","url":null,"abstract":"The new high-performance digital inertial MEMS platform is ensuring a maximum commonality (process, electronics, packaging) between the accelerometers and the gyros to reduce the development effort and the bill of materials. The platform is the industry's first portfolio of cost-effective, low-SWaP, high-performance, closed-loop, SMD, digital MEMS accelerometers and gyros for dynamic applications. The sensors exhibit outstanding measurement capabilities in harsh environments and are a cost-effective alternative to analog quartz accelerometers and FOG for tactical and short-term navigation applications. This paper presents an overview of the platform including information on its architecture and performances.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125012881","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140135
Chen Zhu, M. Meurer, M. Joerger
Detection and exclusion can be achieved using Solution Separation (SS), for example, in civilian aviation applications using Advanced Receiver Autonomous Integrity Monitoring (ARAIM). Global Navigation Satellite Systems (GNSS) fault modes, which are well defined with predictable probabilities of occurrence, can be efficiently and exhaustively accounted for by grouping. However, other navigation applications emerge that require multi-sensor fusion in varying operational environments. Both the total number of measurements and the number of potentially faulty measurements can increase significantly. For such applications, an exhaustive account of all modes can be challenging and can become computationally intractable. These challenges can be addressed using greedy-search-based fault exclusion. However, methods are lacking to quantify the navigation integrity performance of such approaches. In this research, we perform a theoretical analysis of the integrity of greedy-search-based fault exclusion approach. The methods to calculate the minimal detectable bias and the worst case fault direction are discussed.
{"title":"Integrity Analysis for Greedy Search Based Fault Exclusion with a Large Number of Faults","authors":"Chen Zhu, M. Meurer, M. Joerger","doi":"10.1109/PLANS53410.2023.10140135","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140135","url":null,"abstract":"Detection and exclusion can be achieved using Solution Separation (SS), for example, in civilian aviation applications using Advanced Receiver Autonomous Integrity Monitoring (ARAIM). Global Navigation Satellite Systems (GNSS) fault modes, which are well defined with predictable probabilities of occurrence, can be efficiently and exhaustively accounted for by grouping. However, other navigation applications emerge that require multi-sensor fusion in varying operational environments. Both the total number of measurements and the number of potentially faulty measurements can increase significantly. For such applications, an exhaustive account of all modes can be challenging and can become computationally intractable. These challenges can be addressed using greedy-search-based fault exclusion. However, methods are lacking to quantify the navigation integrity performance of such approaches. In this research, we perform a theoretical analysis of the integrity of greedy-search-based fault exclusion approach. The methods to calculate the minimal detectable bias and the worst case fault direction are discussed.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129344574","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139943
T. Yokoi
Indoor location estimation is an important subject of research because it is useful for rescue assistance in times of dis-aster and for commercial applications in peacetime, like robot nav-igation in buildings. It accompanies difficulties to simulate the propagation of radio waves inside an elevator precisely, which has a narrow slit-like gap and an enclosure structure stacked with multiple metal plates. Therefore, it is necessary to clarify this by actual measurement. In this paper, I report the results of measuring RSSI in a consequently electromagnetically shielded environment, such as inside an elevator, and investigating the feasibility of its location estimation from RSSI inside the elevator enclosure. I measured the RSSI of an elevator with its doors closed and compared it to the RSSI outside the elevator to determine if it is possi-ble to estimate the location of the elevator enclosure. The target of this RSSI measurement is a reinforced concrete building with seven stories above ground and two below, and the total number of WLAN base stations is 101, using 2.4 GHz and 5 GHz frequency bands. First, all BSSID, frequency band, RSSI were measured with a smart phone at all 101 base station locations. Then, I meas-ured the RSSIs at inside of the elevator (with the doors closed) and outside the elevator, respectively. To ease the utilization of the RSSI fingerprint, I proposed the RSFI (Received signal strength indicator Fingerprint Similarity Index). The measurement results showed that the RSFI in the elevator on different floors are clearly different, indicating that position estimation is possible enough. Furthermore, RSFI was also found to indicates the differences in position within the elevator cabin. It is not difficult to use this RSFI, and I believe that it would be useful for the development of ILBS (Indoor Location Based Service) at the user level.
室内位置估计是一个重要的研究课题，因为它对灾难时期的救援援助和和平时期的商业应用都很有用，比如建筑物中的机器人导航。同时，由于电梯内部的缝隙很窄，而且是由多个金属板堆叠而成的外壳结构，因此很难精确模拟无线电波在电梯内部的传播。因此，有必要通过实际测量来澄清这一点。在本文中，我报告了在电磁屏蔽环境(如电梯内部)中测量RSSI的结果，并研究了从电梯外壳内的RSSI估计其位置的可行性。我测量了电梯门关闭时的RSSI，并将其与电梯外的RSSI进行比较，以确定是否有可能估计电梯外壳的位置。本次RSSI测量的目标是一座钢筋混凝土建筑，地上7层，地下2层，无线局域网基站总数为101个，使用2.4 GHz和5 GHz频段。首先，在所有101个基站位置用智能手机测量所有BSSID、频带和RSSI。然后，我分别测量了电梯内(闭门)和电梯外的rsis。为了方便RSSI指纹的使用，我提出了RSFI (Received signal strength indicator fingerprint Similarity Index)。测量结果表明，不同楼层电梯内的RSFI有明显差异，表明位置估计是完全可能的。此外，RSFI也被发现表明电梯舱内位置的差异。使用这个RSFI并不困难，我相信它对用户层面的ILBS(室内定位服务)的发展很有用。
{"title":"Indoor Location Estimation of Electromagnetically Shielded Chassis utilizing RSSI Fingerprint Pattern Matching","authors":"T. Yokoi","doi":"10.1109/PLANS53410.2023.10139943","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139943","url":null,"abstract":"Indoor location estimation is an important subject of research because it is useful for rescue assistance in times of dis-aster and for commercial applications in peacetime, like robot nav-igation in buildings. It accompanies difficulties to simulate the propagation of radio waves inside an elevator precisely, which has a narrow slit-like gap and an enclosure structure stacked with multiple metal plates. Therefore, it is necessary to clarify this by actual measurement. In this paper, I report the results of measuring RSSI in a consequently electromagnetically shielded environment, such as inside an elevator, and investigating the feasibility of its location estimation from RSSI inside the elevator enclosure. I measured the RSSI of an elevator with its doors closed and compared it to the RSSI outside the elevator to determine if it is possi-ble to estimate the location of the elevator enclosure. The target of this RSSI measurement is a reinforced concrete building with seven stories above ground and two below, and the total number of WLAN base stations is 101, using 2.4 GHz and 5 GHz frequency bands. First, all BSSID, frequency band, RSSI were measured with a smart phone at all 101 base station locations. Then, I meas-ured the RSSIs at inside of the elevator (with the doors closed) and outside the elevator, respectively. To ease the utilization of the RSSI fingerprint, I proposed the RSFI (Received signal strength indicator Fingerprint Similarity Index). The measurement results showed that the RSFI in the elevator on different floors are clearly different, indicating that position estimation is possible enough. Furthermore, RSFI was also found to indicates the differences in position within the elevator cabin. It is not difficult to use this RSFI, and I believe that it would be useful for the development of ILBS (Indoor Location Based Service) at the user level.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129278395","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139977
Niklas Hehenkamp, F. Rizzi, Lars Grundhöfer, S. Gewies
Terrestrial radionavigation systems, in the lower frequency bands, like eLoran and the upcoming medium frequency R-Mode, are facing the challenge of mitigating ground wave propagation delays to achieve the desired level of accuracy. The prediction requires detailed information about the electrical properties of the ground in the area of interest which can be obtained from the ITU-R P.832. In this paper, we propose a new method to calculate the electrical ground conductivity and permittivity based on soil texture maps. The proposed method allows the computation of Atmospheric and Ground wave Delay Factor (AGDF) maps that provide an improved accuracy and can be adjusted with respect to temperature, soil water content and water salinity. To showcase the performance of the model, we implemented the method for a selected area near the city of Berlin in Germany and evaluated the accuracy in comparison to predictions based on ITU-R P.832 during a measurement campaign. The results show that the new method yields more accurate prediction results.
{"title":"Prediction of Ground Wave Propagation Delays in Terrestrial Radio Navigation Systems Based on Soil Texture Maps","authors":"Niklas Hehenkamp, F. Rizzi, Lars Grundhöfer, S. Gewies","doi":"10.1109/PLANS53410.2023.10139977","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139977","url":null,"abstract":"Terrestrial radionavigation systems, in the lower frequency bands, like eLoran and the upcoming medium frequency R-Mode, are facing the challenge of mitigating ground wave propagation delays to achieve the desired level of accuracy. The prediction requires detailed information about the electrical properties of the ground in the area of interest which can be obtained from the ITU-R P.832. In this paper, we propose a new method to calculate the electrical ground conductivity and permittivity based on soil texture maps. The proposed method allows the computation of Atmospheric and Ground wave Delay Factor (AGDF) maps that provide an improved accuracy and can be adjusted with respect to temperature, soil water content and water salinity. To showcase the performance of the model, we implemented the method for a selected area near the city of Berlin in Germany and evaluated the accuracy in comparison to predictions based on ITU-R P.832 during a measurement campaign. The results show that the new method yields more accurate prediction results.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114060252","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140050
Marius Brachvogel, M. Niestroj, M. Meurer
Resilient GNSS reception is a critical requirement for automated and autonomous driving cars. Single-antenna receivers are prone to interference and spoofers and lack the possibility for mitigation. The usage of array antennas instead introduces the advantage to form spatial nulls in the direction of an emitting source. To counteract interferers, blind techniques can be employed for mitigation. In case of spoofers, deterministic approaches are typically desired. However, the analogue frontend channels introduce differential effects to incident signals while they travel from the reception at the antennas to the digitization at the ADCs, such as delay and frequency-dependent amplitude and phase characteristics. The desire for a hidden installation of the array in the area of passenger cars further increases the problem: The only possibility for an array installation is to distribute individual subarrays in the synthetic parts of the car, such as bumpers or side mirrors. This increases the lengths of the cables from antennas to the central processing unit and hence the mismatch after digitization. This paper presents an approach to a full calibration for an array of distributed subarrays, which is able to estimate differential delays and the frequency-dependent transfer characteristic to also incorporate wideband signals such as GPS L5 or Galileo E5a.
{"title":"Full Wideband Calibration for an Array of Spatially Distributed Subarrays","authors":"Marius Brachvogel, M. Niestroj, M. Meurer","doi":"10.1109/PLANS53410.2023.10140050","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140050","url":null,"abstract":"Resilient GNSS reception is a critical requirement for automated and autonomous driving cars. Single-antenna receivers are prone to interference and spoofers and lack the possibility for mitigation. The usage of array antennas instead introduces the advantage to form spatial nulls in the direction of an emitting source. To counteract interferers, blind techniques can be employed for mitigation. In case of spoofers, deterministic approaches are typically desired. However, the analogue frontend channels introduce differential effects to incident signals while they travel from the reception at the antennas to the digitization at the ADCs, such as delay and frequency-dependent amplitude and phase characteristics. The desire for a hidden installation of the array in the area of passenger cars further increases the problem: The only possibility for an array installation is to distribute individual subarrays in the synthetic parts of the car, such as bumpers or side mirrors. This increases the lengths of the cables from antennas to the central processing unit and hence the mismatch after digitization. This paper presents an approach to a full calibration for an array of distributed subarrays, which is able to estimate differential delays and the frequency-dependent transfer characteristic to also incorporate wideband signals such as GPS L5 or Galileo E5a.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131760913","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140042
Z. M. Kassas, Shaghayegh Shahcheraghi, Ali Kaiss, Chiawei Lee, J. Jurado, Steven T. Wachtel, Jacob Duede, Zachary W. Hoeffner, T. Hulsey, Rachel Quirarte, RunXuan Tay
A robust receiver design to exploit long-term evolution (LTE) terrestrial cellular signals of opportunity (SOPs) for high altitude aircraft navigation is presented. Conventional receivers employ phase-locked loops (PLLs) to track the carrier phase of received signals. In this paper, a Kalman filter (KF) is developed to replace the receiver's PLLs. To evaluate the performance of the proposed receiver, a flight campaign was conducted over two regions in California, USA: (i) Region A: Edwards Air Force Base (rural) and (ii) Region B: Palmdale (semi-urban). It is shown that the proposed receiver provides robust tracking of received LTE signals compared to a conventional PLL-based receiver, in which the latter could only track intermittently, especially during sharp turns. The produced carrier phase observables to 5 LTE eNodeBs in each region were fused with altimeter data via an extended Kalman filter (EKF) to estimate the aircraft's trajectory. Over trajectories of 51 km and 57 km in regions A and B, traversed in 9 min and 11 min, at flying altitudes of 5,000 and 7,000 ft above ground level, respectively, the proposed KF-based receiver reduced the position root-mean squared error (RMSE) by 74.8% and 30.7%, respectively, over the PLL-based receiver.
{"title":"Robust Receiver Design for High Altitude Aircraft Navigation with Terrestrial Cellular Signals","authors":"Z. M. Kassas, Shaghayegh Shahcheraghi, Ali Kaiss, Chiawei Lee, J. Jurado, Steven T. Wachtel, Jacob Duede, Zachary W. Hoeffner, T. Hulsey, Rachel Quirarte, RunXuan Tay","doi":"10.1109/PLANS53410.2023.10140042","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140042","url":null,"abstract":"A robust receiver design to exploit long-term evolution (LTE) terrestrial cellular signals of opportunity (SOPs) for high altitude aircraft navigation is presented. Conventional receivers employ phase-locked loops (PLLs) to track the carrier phase of received signals. In this paper, a Kalman filter (KF) is developed to replace the receiver's PLLs. To evaluate the performance of the proposed receiver, a flight campaign was conducted over two regions in California, USA: (i) Region A: Edwards Air Force Base (rural) and (ii) Region B: Palmdale (semi-urban). It is shown that the proposed receiver provides robust tracking of received LTE signals compared to a conventional PLL-based receiver, in which the latter could only track intermittently, especially during sharp turns. The produced carrier phase observables to 5 LTE eNodeBs in each region were fused with altimeter data via an extended Kalman filter (EKF) to estimate the aircraft's trajectory. Over trajectories of 51 km and 57 km in regions A and B, traversed in 9 min and 11 min, at flying altitudes of 5,000 and 7,000 ft above ground level, respectively, the proposed KF-based receiver reduced the position root-mean squared error (RMSE) by 74.8% and 30.7%, respectively, over the PLL-based receiver.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133574041","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140008
M. Spanghero, Panos Papadimitratos
Civilian Global Navigation Satellite Systems (GNSS) vulnerabilities are a threat to a wide gamut of critical systems. GNSS receivers, as part of the encompassing platform, can lever-age external information to detect GNSS attacks. Specifically, cross-checking the time produced by the GNSS receiver against multiple trusted time sources can provide robust and assured PNT. In this work, we explore the combination of secure remote, network-based time providers and local precision oscillators. This multi-layered defense mechanism detects GNSS attacks that induce even small time offsets, including attacks mounted in cold start. Our system does not require any modification to the current structure of the GNSS receiver, it is agnostic to the satellite constellation and the attacker type. This makes time-based data validation of GNSS information compatible with existing receivers and readily deployable.
{"title":"Detecting GNSS misbehavior leveraging secure heterogeneous time sources","authors":"M. Spanghero, Panos Papadimitratos","doi":"10.1109/PLANS53410.2023.10140008","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140008","url":null,"abstract":"Civilian Global Navigation Satellite Systems (GNSS) vulnerabilities are a threat to a wide gamut of critical systems. GNSS receivers, as part of the encompassing platform, can lever-age external information to detect GNSS attacks. Specifically, cross-checking the time produced by the GNSS receiver against multiple trusted time sources can provide robust and assured PNT. In this work, we explore the combination of secure remote, network-based time providers and local precision oscillators. This multi-layered defense mechanism detects GNSS attacks that induce even small time offsets, including attacks mounted in cold start. Our system does not require any modification to the current structure of the GNSS receiver, it is agnostic to the satellite constellation and the attacker type. This makes time-based data validation of GNSS information compatible with existing receivers and readily deployable.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132622625","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140051
H. So, S. Gunawardena, J. Hebert
Signal authentication technology is being adopted for the newly developed and modernized GNSS for secured satellite navigation. Chips-Message Robust Authentication (CHIMERA) is being developed by the Air Force Research Laboratory (AFRL) to explore future GPS authentication methods. CHIMERA will support not only Navigation Message Authentication (NMA) but also Spreading Code Authentication (SCA), which is considered a more robust countermeasure against intentional interferences. For a receiver to authenticate the GPS signal through SCA, it needs to store the raw GPS signal, and this is a newly added feature to the receiver. This study aimed to analyze the required memory for implementing the new feature. Two methods were compared the conventional snapshot and compression methods. Simulations were done to compare the SCA verification performance of these two methods under various sampling rates, quantization levels, and preprocessing approaches. As a result, the required memory for each method concerning the various receiver characteristics was addressed.
{"title":"Required Memory Analysis of a GPS Receiver for Implementing CHIMERA SCA","authors":"H. So, S. Gunawardena, J. Hebert","doi":"10.1109/PLANS53410.2023.10140051","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140051","url":null,"abstract":"Signal authentication technology is being adopted for the newly developed and modernized GNSS for secured satellite navigation. Chips-Message Robust Authentication (CHIMERA) is being developed by the Air Force Research Laboratory (AFRL) to explore future GPS authentication methods. CHIMERA will support not only Navigation Message Authentication (NMA) but also Spreading Code Authentication (SCA), which is considered a more robust countermeasure against intentional interferences. For a receiver to authenticate the GPS signal through SCA, it needs to store the raw GPS signal, and this is a newly added feature to the receiver. This study aimed to analyze the required memory for implementing the new feature. Two methods were compared the conventional snapshot and compression methods. Simulations were done to compare the SCA verification performance of these two methods under various sampling rates, quantization levels, and preprocessing approaches. As a result, the required memory for each method concerning the various receiver characteristics was addressed.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133709925","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10139921
P. Dabove, V. D. Pietra
Precise positioning is a much stricter constraint nowadays, especially after the introduction of the GNSS chipset in mobile devices. The diffusion of Continuous Operating Reference Stations (CORS) has permitted the improvement of positioning solutions even in the case of low-cost instruments. The main bottleneck of the Network Real-Time Kinematic (NRTK) positioning is the presence of CORSs, which are costly and need other subsidiary structures to guarantee the continuity of the service, such as the power supply and a stable high-speed internet connection. In this work, starting from some stations of the Centipede network, we implemented a true NRTK network based on low-cost devices as master stations, providing an open-source service to test the positioning performances using two different network products generated by this new infrastructure. The tests have considered both static and kinematic surveys, including pedestrian and vehicular applications. Two different classes of rover devices have been considered in order to generalize the results, focusing the attention not only on precisions and accuracies but also on the percentage of epochs with phase ambiguities declared as fixed, as well as on the percentage of false fix solutions. The results are really promising, and they open new frontiers for involving the open-source community to improve this infrastructure to guarantee a better diffusion of the service as well as the correlated products, like atmospheric monitoring analyses.
{"title":"A low-cost open-source GNSS network for network real-time kinematic positioning: which future and performances?","authors":"P. Dabove, V. D. Pietra","doi":"10.1109/PLANS53410.2023.10139921","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139921","url":null,"abstract":"Precise positioning is a much stricter constraint nowadays, especially after the introduction of the GNSS chipset in mobile devices. The diffusion of Continuous Operating Reference Stations (CORS) has permitted the improvement of positioning solutions even in the case of low-cost instruments. The main bottleneck of the Network Real-Time Kinematic (NRTK) positioning is the presence of CORSs, which are costly and need other subsidiary structures to guarantee the continuity of the service, such as the power supply and a stable high-speed internet connection. In this work, starting from some stations of the Centipede network, we implemented a true NRTK network based on low-cost devices as master stations, providing an open-source service to test the positioning performances using two different network products generated by this new infrastructure. The tests have considered both static and kinematic surveys, including pedestrian and vehicular applications. Two different classes of rover devices have been considered in order to generalize the results, focusing the attention not only on precisions and accuracies but also on the percentage of epochs with phase ambiguities declared as fixed, as well as on the percentage of false fix solutions. The results are really promising, and they open new frontiers for involving the open-source community to improve this infrastructure to guarantee a better diffusion of the service as well as the correlated products, like atmospheric monitoring analyses.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131784815","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 : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140044
Guillaume Courtier, Pierre-Jean Lapray, Ronan Adam, S. Changey, Jean-Philippe Lauffenburger
Autonomous or unmanned ground vehicles can take advantage of camera-based navigation systems. These navigation systems mainly rely on standard radiometric cameras. The use of polarization information, such as captured by a polarization filter array camera, is a potential extension to capture multimodal information efficiently. In this communication, we propose a navigation method that relies exclusively on Stokes images reconstructed from polarization camera data. For this purpose, an image processing pipeline is employed to estimate the heading of a vehicle. To assess the method, an acquisition card has been built and coupled with two moving platforms: a rotary stage and a moving ground vehicle. The results show that, in a dynamic car experiment, the root mean square error of the orientation is 4.29° as compared to a Global Positioning System/Inertial Navigation System.
{"title":"Ground Vehicle Navigation Based on the Skylight Polarization","authors":"Guillaume Courtier, Pierre-Jean Lapray, Ronan Adam, S. Changey, Jean-Philippe Lauffenburger","doi":"10.1109/PLANS53410.2023.10140044","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140044","url":null,"abstract":"Autonomous or unmanned ground vehicles can take advantage of camera-based navigation systems. These navigation systems mainly rely on standard radiometric cameras. The use of polarization information, such as captured by a polarization filter array camera, is a potential extension to capture multimodal information efficiently. In this communication, we propose a navigation method that relies exclusively on Stokes images reconstructed from polarization camera data. For this purpose, an image processing pipeline is employed to estimate the heading of a vehicle. To assess the method, an acquisition card has been built and coupled with two moving platforms: a rotary stage and a moving ground vehicle. The results show that, in a dynamic car experiment, the root mean square error of the orientation is 4.29° as compared to a Global Positioning System/Inertial Navigation System.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115900138","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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