Pub Date : 2023-04-24DOI: 10.1109/PLANS53410.2023.10140074
Sara Baldoni, F. Battisti, M. Carli, A. Neri
In recent years, we have witnessed a rapid increase in the number of applications of Global Navigation Satellite Systems, which have become the primary source for high-precision positioning and accurate timing. This trend led to two main effects: a strengthening of the performance requirements and an increase in the attempts of altering the estimation of the user's position and timing information. To address both issues, in this paper we propose a context-based framework for enhancing the reliability, integrity, and availability of satellite-based positioning systems. It exploits the joint processing of information related to both local and distributed contexts. The distributed context represents the information that can be collected from a set of spatially distributed information sources. The local context, on the other hand, accounts for the environment surrounding the monitored system. In this work, the proposed framework is detailed and a proof-of-concept experimental validation is presented.
{"title":"A context-based framework for enhancing GNSS performance and security","authors":"Sara Baldoni, F. Battisti, M. Carli, A. Neri","doi":"10.1109/PLANS53410.2023.10140074","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140074","url":null,"abstract":"In recent years, we have witnessed a rapid increase in the number of applications of Global Navigation Satellite Systems, which have become the primary source for high-precision positioning and accurate timing. This trend led to two main effects: a strengthening of the performance requirements and an increase in the attempts of altering the estimation of the user's position and timing information. To address both issues, in this paper we propose a context-based framework for enhancing the reliability, integrity, and availability of satellite-based positioning systems. It exploits the joint processing of information related to both local and distributed contexts. The distributed context represents the information that can be collected from a set of spatially distributed information sources. The local context, on the other hand, accounts for the environment surrounding the monitored system. In this work, the proposed framework is detailed and a proof-of-concept experimental validation is presented.","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":"120854478","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/PLANS53410.2023.10140098
A. Challoner, R. Chueng, V. Veselý, Peter Bond, K. Armstrong, David Hayner, E. Wittinger, Anjelica Pazmino
A novel Universal Resonator Controller (URC) architecture and ASIC design is presented for precision, wideband resonator velocity control and the digitally demodulated readout of resonator velocity and frequency with the designed resolution «100ppb/rt-Hz), linearity (lppm) and sensor bandwidth (>100Hz) required for navigation grade vibratory inertial sensors. In this paper, our two-channel URC ASIC design is described for control and readout of the two inertially-coupled modes of a vibratory gyroscope or the two uncoupled modes of a dual beam vibratory accelerometer. Like the evolution of the high yield, high performance operational amplifier, single, dual, or quad channel URC ASIC configurations are anticipated to implement single-axis, two-axis, or three-axis IMU or INS. Our first URC ASIC has been submitted for fabrication in a 4.1mmx4.1mm, 180nm CMOS die. Each URC additionally provides digitally selectable analog gains and two DACs per channel with up to 30V range for tuning of residual machining errors, on-line precision quadrature or amplitude control. A low power digital demodulator is being developed with FPGA for subsequent CMOS integration. With this universal ASIC architecture and exemplary wafer-level-packaged, high Q MEMS in-plane resonators, a compact 2D and 3D Navigation System on Chip (NSoC™) architecture is enabled to increase the production scale and radically reduce the cost, size, weight, and power of electronics and systems for numerous existing and future highly compact MEMS inertial navigation applications. The ASIC design and its application to CVG and DRBA control, will be discussed including the electronics trades, and analog breadboard developments supporting its design.
{"title":"Universal Resonator Control ASIC for Low C- SWaP INS","authors":"A. Challoner, R. Chueng, V. Veselý, Peter Bond, K. Armstrong, David Hayner, E. Wittinger, Anjelica Pazmino","doi":"10.1109/PLANS53410.2023.10140098","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140098","url":null,"abstract":"A novel Universal Resonator Controller (URC) architecture and ASIC design is presented for precision, wideband resonator velocity control and the digitally demodulated readout of resonator velocity and frequency with the designed resolution «100ppb/rt-Hz), linearity (lppm) and sensor bandwidth (>100Hz) required for navigation grade vibratory inertial sensors. In this paper, our two-channel URC ASIC design is described for control and readout of the two inertially-coupled modes of a vibratory gyroscope or the two uncoupled modes of a dual beam vibratory accelerometer. Like the evolution of the high yield, high performance operational amplifier, single, dual, or quad channel URC ASIC configurations are anticipated to implement single-axis, two-axis, or three-axis IMU or INS. Our first URC ASIC has been submitted for fabrication in a 4.1mmx4.1mm, 180nm CMOS die. Each URC additionally provides digitally selectable analog gains and two DACs per channel with up to 30V range for tuning of residual machining errors, on-line precision quadrature or amplitude control. A low power digital demodulator is being developed with FPGA for subsequent CMOS integration. With this universal ASIC architecture and exemplary wafer-level-packaged, high Q MEMS in-plane resonators, a compact 2D and 3D Navigation System on Chip (NSoC™) architecture is enabled to increase the production scale and radically reduce the cost, size, weight, and power of electronics and systems for numerous existing and future highly compact MEMS inertial navigation applications. The ASIC design and its application to CVG and DRBA control, will be discussed including the electronics trades, and analog breadboard developments supporting its design.","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":"129602018","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/PLANS53410.2023.10140046
Shuo Tang, Haoqing Li, Helena Calatrava, P. Closas
Direct position estimation is an alternative GNSS positioning method., which parameterizes the received satellite signals as a function of the target dynamics and solves the position., velocity., and time (PVT) quantities directly from the raw signal., as opposed to using observables. It is also recognized as a one-step positioning method., in contrast to the traditional two-step GNSS positioning method which first estimates the observables and then estimate PVT through those intermediate quantities. It has been shown that DPE outperforms the two-step method in low-SNR scenarios., where the early combination of the signals improve the receiver sensitivity and its exploitation of weak signals. This paper improves the existing DPE approach by modeling the carrier phase components in terms of the position of the receiver. In this new framework., termed Precise DPE (PDPE)., a new maximum likelihood estimator is derived based on the proposed signal model. This article present the first results of PDPE using a real raw GNSS signal dataset., which is used to compare PDPE performance against DPE and two-step solutions. Results show that PDPE provides improved precision compared to DPE and, additionally., outperforms the two-step method in precision and sensitivity.
{"title":"Precise Direct Position Estimation: Validation Experiments","authors":"Shuo Tang, Haoqing Li, Helena Calatrava, P. Closas","doi":"10.1109/PLANS53410.2023.10140046","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140046","url":null,"abstract":"Direct position estimation is an alternative GNSS positioning method., which parameterizes the received satellite signals as a function of the target dynamics and solves the position., velocity., and time (PVT) quantities directly from the raw signal., as opposed to using observables. It is also recognized as a one-step positioning method., in contrast to the traditional two-step GNSS positioning method which first estimates the observables and then estimate PVT through those intermediate quantities. It has been shown that DPE outperforms the two-step method in low-SNR scenarios., where the early combination of the signals improve the receiver sensitivity and its exploitation of weak signals. This paper improves the existing DPE approach by modeling the carrier phase components in terms of the position of the receiver. In this new framework., termed Precise DPE (PDPE)., a new maximum likelihood estimator is derived based on the proposed signal model. This article present the first results of PDPE using a real raw GNSS signal dataset., which is used to compare PDPE performance against DPE and two-step solutions. Results show that PDPE provides improved precision compared to DPE and, additionally., outperforms the two-step method in precision and sensitivity.","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":"128866142","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/PLANS53410.2023.10139920
Andrea Nardin, F. Dovis, D. Valsesia, E. Magli, C. Leuzzi, R. Messineo, Hugo Sobreira, Richard Swinden
This paper presents relevant results on the investigation of possible uses of machine learning based techniques for the processing of data in the field of Global Navigation Satellite Systems (GNSSs). The work was performed under funding of the European Space Agency and addressed different kind of data present in the entire chain of the positioning process, as well as different kind of machine learning approaches. This paper presents the results obtained for two promising GNSS applications: the prediction of ionospheric maps for the correction of the related error on the pseudorange measurement; and the forecast of fast corrections normally present in the EGNOS messages, in case the latter are missing. Results show how, based on the historical data and the time correlation of the values, machine learning methods outperformed simple regression algorithms, improving the positioning performance at GNSS user level. The work results also confirmed the validity of this approach for the automatic detection of outliers due to ionospheric scintillation phenomena.
{"title":"On the Use of Machine Learning Algorithms to Improve GNSS Products","authors":"Andrea Nardin, F. Dovis, D. Valsesia, E. Magli, C. Leuzzi, R. Messineo, Hugo Sobreira, Richard Swinden","doi":"10.1109/PLANS53410.2023.10139920","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139920","url":null,"abstract":"This paper presents relevant results on the investigation of possible uses of machine learning based techniques for the processing of data in the field of Global Navigation Satellite Systems (GNSSs). The work was performed under funding of the European Space Agency and addressed different kind of data present in the entire chain of the positioning process, as well as different kind of machine learning approaches. This paper presents the results obtained for two promising GNSS applications: the prediction of ionospheric maps for the correction of the related error on the pseudorange measurement; and the forecast of fast corrections normally present in the EGNOS messages, in case the latter are missing. Results show how, based on the historical data and the time correlation of the values, machine learning methods outperformed simple regression algorithms, improving the positioning performance at GNSS user level. The work results also confirmed the validity of this approach for the automatic detection of outliers due to ionospheric scintillation phenomena.","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":"131261540","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/PLANS53410.2023.10139931
Cuenca. Andrei, Brutch. Stephen, Moncayo. Hever
Unmanned Aerial vehicles are currently becoming a widely used technology that provides support to a set of different applications. However, specific levels of confidence and robustness in the performance of these devices are required for the safe integration of these technologies within the National Airspace. This paper describes efforts towards the development of flight control architectures based using precision and way-point control strategies for autonomous operations. Moreover, a performance analysis of the integration of the specified control architectures over UAV vehicles being operated within urban canyons is presented based on simulations results obtained by using a virtual environment built in Gazebo. The simulation environment uses a built GNSS model with typical signal degradation sources for GNSS accessibility such as muti-path, signal obstruction and shadowing, evaluated within the virtual world. Results are presented in terms the Cross track errors, probabilities of collisions within the defined mission parameters as well as GPS metrics as it is the Dilution of Precision (DOP), along its distribution within the 3D map, in order to correlate the impact of GNSS degradation into each control strategy and therefore, the navigation performance and operation safety.
{"title":"Performance Analysis of UAV Control Architectures Over Urban Environments with Degraded GNSS Accessibility","authors":"Cuenca. Andrei, Brutch. Stephen, Moncayo. Hever","doi":"10.1109/PLANS53410.2023.10139931","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139931","url":null,"abstract":"Unmanned Aerial vehicles are currently becoming a widely used technology that provides support to a set of different applications. However, specific levels of confidence and robustness in the performance of these devices are required for the safe integration of these technologies within the National Airspace. This paper describes efforts towards the development of flight control architectures based using precision and way-point control strategies for autonomous operations. Moreover, a performance analysis of the integration of the specified control architectures over UAV vehicles being operated within urban canyons is presented based on simulations results obtained by using a virtual environment built in Gazebo. The simulation environment uses a built GNSS model with typical signal degradation sources for GNSS accessibility such as muti-path, signal obstruction and shadowing, evaluated within the virtual world. Results are presented in terms the Cross track errors, probabilities of collisions within the defined mission parameters as well as GPS metrics as it is the Dilution of Precision (DOP), along its distribution within the 3D map, in order to correlate the impact of GNSS degradation into each control strategy and therefore, the navigation performance and operation safety.","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":"133996038","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/PLANS53410.2023.10139948
Farrokh Ayazi, H. Wen, Gregory V. Junek, Zhenming Liu, C. Heaton
This paper presents the latest results obtained from high-frequency single-chip inertial measurement units (IMU) interfaced with a precision low-power application specific integrated circuits (ASIC). The silicon MEMS component is based on the HARPSS+ process manufactured and wafer-level packaged at a MEMS foundry. The ASIC is based on a 130nm CMOS process and includes the integration of an array of high-voltage charge pumps (20V) for dynamic tuning of the triaxial high-frequency resonant gyroscopes. When used in a low-profile wearable patch, the IMU enables the detection of mechano-acoustic cardiopulmonary sounds, chest wall motion, as well as user's body motion and position. The second part of the paper will discuss the use of monocrystalline silicon carbide (SiC) for the implementation of ultra-high-Q high-frequency IMUs. The opportunities and challenges related to SiC in implementing inertial sensors are outlined and latest results on the eigen-mode operation of AlN-on-Si resonant BAW gyros are presented.
{"title":"Fully Integrated High-Frequency MEMS and CMOS Inertial Measurement Systems: Taking a Journey from Silicon to Silicon Carbide","authors":"Farrokh Ayazi, H. Wen, Gregory V. Junek, Zhenming Liu, C. Heaton","doi":"10.1109/PLANS53410.2023.10139948","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10139948","url":null,"abstract":"This paper presents the latest results obtained from high-frequency single-chip inertial measurement units (IMU) interfaced with a precision low-power application specific integrated circuits (ASIC). The silicon MEMS component is based on the HARPSS+ process manufactured and wafer-level packaged at a MEMS foundry. The ASIC is based on a 130nm CMOS process and includes the integration of an array of high-voltage charge pumps (20V) for dynamic tuning of the triaxial high-frequency resonant gyroscopes. When used in a low-profile wearable patch, the IMU enables the detection of mechano-acoustic cardiopulmonary sounds, chest wall motion, as well as user's body motion and position. The second part of the paper will discuss the use of monocrystalline silicon carbide (SiC) for the implementation of ultra-high-Q high-frequency IMUs. The opportunities and challenges related to SiC in implementing inertial sensors are outlined and latest results on the eigen-mode operation of AlN-on-Si resonant BAW gyros are presented.","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":"132793584","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/PLANS53410.2023.10140112
Gianluca Torsoli, M. Win, A. Conti
Accurate positional information is crucial for numerous emerging applications in fifth generation (5G) and beyond wireless ecosystems. However, the localization requirements defined by the 3rd Generation Partnership Project (3GPP) are particularly challenging to achieve, especially in complex environments such as urban scenarios, due to non-line-of-sight conditions, outdoor-to-indoor penetration loss, and multipath propagation. Such effects are detrimental to localization accuracy, especially at mm Waves. This paper introduces the concept of blockage intelligence (BI) to provide a probabilistic representation of wireless propagation conditions. Such representation is then exploited in soft information (SI)-based localization to overcome the limitations of conventional localization approaches. Localization case studies are presented according to the 3GPP-standardized urban microcell (UMi) scenario at mm Waves with fully 3GPP-compliant simulations. Results show that BI together with SI-based localization is able to provide a significant performance gain with respect to existing techniques in 5G and beyond wireless networks.
{"title":"Beyond 5G Localization at mm Waves in 3GPP Urban Scenarios with Blockage Intelligence (Invited Paper)","authors":"Gianluca Torsoli, M. Win, A. Conti","doi":"10.1109/PLANS53410.2023.10140112","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140112","url":null,"abstract":"Accurate positional information is crucial for numerous emerging applications in fifth generation (5G) and beyond wireless ecosystems. However, the localization requirements defined by the 3rd Generation Partnership Project (3GPP) are particularly challenging to achieve, especially in complex environments such as urban scenarios, due to non-line-of-sight conditions, outdoor-to-indoor penetration loss, and multipath propagation. Such effects are detrimental to localization accuracy, especially at mm Waves. This paper introduces the concept of blockage intelligence (BI) to provide a probabilistic representation of wireless propagation conditions. Such representation is then exploited in soft information (SI)-based localization to overcome the limitations of conventional localization approaches. Localization case studies are presented according to the 3GPP-standardized urban microcell (UMi) scenario at mm Waves with fully 3GPP-compliant simulations. Results show that BI together with SI-based localization is able to provide a significant performance gain with respect to existing techniques in 5G and beyond wireless networks.","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":"132479107","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/PLANS53410.2023.10140012
Yiran Luo, L. Hsu, N. El-Sheimy
Current commercial global navigation satellite system (GNSS) receivers cannot measure the change of Doppler shift via baseband processing. However, positioning in challenging environments demands accurate Doppler estimates to replicate the actual intermediate-frequency (IF) line-of-sight (LOS) GNSS signals. Otherwise, the instantaneous GNSS measurements, like pseudoranges and carrier phases, will be seriously distorted, restricting the upper bound of GNSS positioning. This paper proposes a brand-new super-resolution (SR) GNSS receiver that computes the user's absolute acceleration based on super-long coherent integration (S-LCI), fractional Fourier transform (FRFT), and a baseband maximum likelihood estimator (MLE). A basic nonlinear least square (NLS) navigator taken as an intuitive example shows how the proposed receiver models and generates averaging Doppler rates via the baseband-dependent gradient descent (GD) algorithm. A global positioning system (GPS) software-defined radio (SDR) processing the L5 IF data collected via a mobile cart in the real world validates the proposed technique with the Doppler rate measurement, the user's acceleration navigation solution, and the clock drift rate.
{"title":"Super-Resolution GPS Receiver: User's Acceleration Computation","authors":"Yiran Luo, L. Hsu, N. El-Sheimy","doi":"10.1109/PLANS53410.2023.10140012","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140012","url":null,"abstract":"Current commercial global navigation satellite system (GNSS) receivers cannot measure the change of Doppler shift via baseband processing. However, positioning in challenging environments demands accurate Doppler estimates to replicate the actual intermediate-frequency (IF) line-of-sight (LOS) GNSS signals. Otherwise, the instantaneous GNSS measurements, like pseudoranges and carrier phases, will be seriously distorted, restricting the upper bound of GNSS positioning. This paper proposes a brand-new super-resolution (SR) GNSS receiver that computes the user's absolute acceleration based on super-long coherent integration (S-LCI), fractional Fourier transform (FRFT), and a baseband maximum likelihood estimator (MLE). A basic nonlinear least square (NLS) navigator taken as an intuitive example shows how the proposed receiver models and generates averaging Doppler rates via the baseband-dependent gradient descent (GD) algorithm. A global positioning system (GPS) software-defined radio (SDR) processing the L5 IF data collected via a mobile cart in the real world validates the proposed technique with the Doppler rate measurement, the user's acceleration navigation solution, and the clock drift rate.","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":"130041587","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/PLANS53410.2023.10140067
A. Masiero, C. Toth, F. Remondino
The rapid development of autonomous ground vehicle technologies (AV) and the recent proliferation of unmanned aerial system (UAS) applications motivate the search for appropriate solutions ensuring safe and effective navigation of such autonomous platforms in any operational environment and condition, including situations where air and ground platforms share the same space. Because of the easy availability and efficiency of GNSS (Global Navigation satellite System) for civilian use, GNSS positioning has been widely used in a large variety of consumer applications, in particular in mobile devices and, in fact, it has become an enabling technology for many applications, allowing positioning and navigation of ground and aerial platforms almost everywhere. Since reliable GNSS signal reception cannot be guaranteed in urban and vegetated areas as well as when signals are subject to unintentional and intentional interferences, the provision of alternate and complementary positioning solutions has been of high interest for a long while. One of the applicable techniques is the use of collaborative navigation (CN), where platforms navigating in close vicinity can share navigation information and a joint navigation solution can potentially provide better individual navigation solutions for all platforms. In this work we investigate the feasibility and performance of CN in areas where ground and airborne vehicles operate in the same space. A field test, including multiple ground vehicles and drones was conducted to acquire experimental data to assess accuracy, robustness and accuracy of CN in a simulated intersection area. Initial results of this research work are reported.
{"title":"Vision and UWB-Based Collaborative Positioning Between Ground and UAS Platforms","authors":"A. Masiero, C. Toth, F. Remondino","doi":"10.1109/PLANS53410.2023.10140067","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140067","url":null,"abstract":"The rapid development of autonomous ground vehicle technologies (AV) and the recent proliferation of unmanned aerial system (UAS) applications motivate the search for appropriate solutions ensuring safe and effective navigation of such autonomous platforms in any operational environment and condition, including situations where air and ground platforms share the same space. Because of the easy availability and efficiency of GNSS (Global Navigation satellite System) for civilian use, GNSS positioning has been widely used in a large variety of consumer applications, in particular in mobile devices and, in fact, it has become an enabling technology for many applications, allowing positioning and navigation of ground and aerial platforms almost everywhere. Since reliable GNSS signal reception cannot be guaranteed in urban and vegetated areas as well as when signals are subject to unintentional and intentional interferences, the provision of alternate and complementary positioning solutions has been of high interest for a long while. One of the applicable techniques is the use of collaborative navigation (CN), where platforms navigating in close vicinity can share navigation information and a joint navigation solution can potentially provide better individual navigation solutions for all platforms. In this work we investigate the feasibility and performance of CN in areas where ground and airborne vehicles operate in the same space. A field test, including multiple ground vehicles and drones was conducted to acquire experimental data to assess accuracy, robustness and accuracy of CN in a simulated intersection area. Initial results of this research work are reported.","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":"128082015","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/PLANS53410.2023.10140000
D. Lin, Robert MacDonald, J. Popp, Matthew Alberda, E. Andarawis, M. Aimi
GE Research has developed a low-cost inertial MEMS process flow to support navigation-grade inertial sensor fabrication called ‘Polaris’ process. With a total of six mask layers, GE Polaris features thick silicon on insulator (SOl) with a 20 to 200 μm device layer, 30:1 high aspect ratio etching, and wafer level vacuum sealing at mTorr with through silicon via technology. The GE multiple-ring gyroscope (MRG) fabricated by the Polaris process has demonstrated navigation-grade performance with proven extreme-temperature reliability and successful integration to a MEMS IMU prototype. GE, through its GE Microfab is now offering Polaris as a foundry process, open to the PNT community.
{"title":"Low-Cost Navigation-grade MEMS Fabrication Platform to Enable PNT Innovations","authors":"D. Lin, Robert MacDonald, J. Popp, Matthew Alberda, E. Andarawis, M. Aimi","doi":"10.1109/PLANS53410.2023.10140000","DOIUrl":"https://doi.org/10.1109/PLANS53410.2023.10140000","url":null,"abstract":"GE Research has developed a low-cost inertial MEMS process flow to support navigation-grade inertial sensor fabrication called ‘Polaris’ process. With a total of six mask layers, GE Polaris features thick silicon on insulator (SOl) with a 20 to 200 μm device layer, 30:1 high aspect ratio etching, and wafer level vacuum sealing at mTorr with through silicon via technology. The GE multiple-ring gyroscope (MRG) fabricated by the Polaris process has demonstrated navigation-grade performance with proven extreme-temperature reliability and successful integration to a MEMS IMU prototype. GE, through its GE Microfab is now offering Polaris as a foundry process, open to the PNT community.","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":"132393738","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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