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Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques 基于贝叶斯滤波技术的多历元三维地图辅助定位
NAVIGATION
Pub Date : 2022-01-01 DOI: 10.33012/navi.515
Qiming Zhong,Paul D. Groves
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引用次数: 0
Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters 利用卡尔曼滤波器中累积创新检测器检测缓慢累积故障
NAVIGATION
Pub Date : 2022-01-01 DOI: 10.33012/navi.507
John D. Quartararo,,Steven E. Langel
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引用次数: 0
Improved Automatic Detection of GPS Satellite Oscillator Anomaly using a Machine Learning Algorithm 基于机器学习算法改进的GPS卫星振荡器异常自动检测
NAVIGATION
Pub Date : 2022-01-01 DOI: 10.33012/navi.500
Yunxiang Liu,,Y. Jade Morton
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引用次数: 0
Navigator Notes 导航器的笔记
NAVIGATION
Pub Date : 2021-12-15 DOI: 10.1002/navi.456

Welcome to the Winter 2021 issue of NAVIGATION. In this issue, we feature articles on GNSS interference and monitoring, autonomous orbit determination and timekeeping using X-ray pulsars, and the improvement of GNSS clock corrections and phase biases. We are also featuring articles reporting new equipment technologies that highlight GNSS camera sensor fusion, improved high-precision GNSS with a passive hydrogen maser, and improved 3D mapping-aided GNSS using dual-frequency pseudorange measurements from smartphones.

This issue will also be the ION's last printed version of NAVIGATION. The Spring 2022 issue will transition to open access and journal articles and issues will then be available via download from the ION website. This change in the publishing and circulation format allows for research to be published free of user costs or other access barriers and for the prioritization of NAVIGATION articles in electronic search engines. It is anticipated that circulation will expand, citations will increase, and additional quality submissions will result.

ION will continue to encourage authors to promote their research through video abstracts hosted on the ION website. The latest video abstracts are documented below. ION also engages with the PNT community, through its webinar series, to highlight current topics of interest to the community. The most recent webinars are also documented below.

欢迎来到《导航》杂志2021年冬季号。在这一期中，我们将重点介绍GNSS干扰和监测、x射线脉冲星自主定轨和计时、GNSS时钟校正和相位偏差的改进。我们还报道了一些新设备技术，这些技术突出了GNSS相机传感器融合、使用被动氢脉泽改进的高精度GNSS，以及使用智能手机双频伪距测量改进的3D测绘辅助GNSS。这一期也将是ION的最后一期《导航》印刷版。2022年春季期刊将转为开放获取，届时期刊文章和期刊将通过从ION网站下载获得。出版和流通形式的这种变化使研究成果的出版不需要用户付费或其他获取障碍，并使导航文章在电子搜索引擎中按优先次序排列。预计发行量将扩大，引用将增加，并将产生更多高质量的提交。离子将继续鼓励作者通过离子网站上的视频摘要推广他们的研究。下面是最新的视频摘要。ION还通过其网络研讨会系列与PNT社区合作，以突出社区感兴趣的当前主题。最近的网络研讨会也记录在下面。
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引用次数: 0
A particle-filtering framework for integrity risk of GNSS-camera sensor fusion gnss -相机传感器融合完整性风险的粒子滤波框架
NAVIGATION
Pub Date : 2021-12-15 DOI: 10.1002/navi.455
Adyasha Mohanty, Shubh Gupta, Grace Xingxin Gao
Adopting a joint approach toward state estimation and integrity monitoring results in unbiased integrity monitoring unlike traditional approaches. So far, a joint approach was used in particle RAIM (Gupta & Gao, 2019) for GNSS measurements only. In our work, we extend Particle RAIM to a GNSS-camera fused system for joint state estimation and integrity monitoring. To account for vision faults, we derived a probability distribution over position from camera images using map-matching. We formulated a Kullback-Leibler divergence (Kullback & Leibler, 1951) metric to assess the consistency of GNSS and camera measurements and mitigate faults during sensor fusion. Experimental validation on a real-world data set shows that our algorithm produces less than 11 m position error and the integrity risk over bounds the probability of HMI with 0.11 failure rate for an 8 m alert limit in an urban scenario.
采用状态估计和完整性监测相结合的方法可以实现与传统方法不同的无偏完整性监测。到目前为止，联合方法用于粒子ram (Gupta &Gao, 2019)，仅用于GNSS测量。在我们的工作中，我们将Particle RAIM扩展到GNSS-camera融合系统，用于联合状态估计和完整性监测。为了解释视觉缺陷，我们使用地图匹配从相机图像中导出了位置上的概率分布。我们提出了Kullback- leibler散度(Kullback &Leibler, 1951)度量，用于评估GNSS和相机测量的一致性，并减轻传感器融合过程中的故障。在现实世界数据集上的实验验证表明，我们的算法产生的位置误差小于11米，并且在城市场景中，对于8米警报限制，我们的算法的完整性风险超过了HMI的概率，故障率为0.11。
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引用次数: 0
Study of structures of the sporadic E layer by using dense GNSS network observations 基于密集GNSS网络观测的零星E层结构研究
NAVIGATION
Pub Date : 2021-12-15 DOI: 10.1002/navi.454
Susumu Saito, Keisuke Hosokawa, Jun Sakai, Ichiro Tomizawa
The sporadic E (Es) layer has been known to introduce long-range propagation of aeronautical very high frequency (VHF) navigation beyond the radio horizon and cause potential interference on the navigation system. This study utilizes a rate of total electron content (TEC) index (ROTI) map with dense Global Navigation Satellite System (GNSS) observations for effective Es layer detection. The daytime Es layer shows a well-defined frontal structure when ROTI values are mapped at the typical Es layer height (100 km). A methodology of detecting and characterizing the Es layer frontal structure without manual operation is developed by utilizing the Hough transform. The front direction and drift velocity are successfully derived. Sub-structures in the Es layer front are revealed by analysis using the characteristics of the frontal structure and TEC variation. The developed method is suitable for an automated real-time Es-layer monitoring system in a wide area.
已经知道，零星的E (Es)层会引入航空甚高频(VHF)导航的远程传播，超出无线电水平，并对导航系统造成潜在的干扰。本研究利用全球导航卫星系统(GNSS)密集观测的总电子含量(TEC)指数(ROTI)图进行有效的Es层检测。在典型Es层高度(100 km)上绘制ROTI值时，白天Es层呈现出清晰的锋面结构。利用霍夫变换，提出了一种无需人工操作的Es层锋面结构检测和表征方法。成功地推导出了锋面方向和漂移速度。利用锋面结构和TEC变化特征，分析了Es层锋面的子构造。该方法适用于大范围内的自动实时es层监测系统。
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引用次数: 0
Data-driven protection levels for camera and 3D map-based safe urban localization 基于摄像头和3D地图的安全城市定位的数据驱动保护级别
NAVIGATION
Pub Date : 2021-09-10 DOI: 10.1002/navi.445
Shubh Gupta, Grace Gao
Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper bounds on position error. However, GNSS signals might be reflected or blocked in urban environments, and thus additional sensor modalities need to be considered to determine PLs. In this paper, we propose an approach for computing PLs by matching camera image measurements to a LiDAR-based 3D map of the environment. We specify a Gaussian mixture model probability distribution of position error using deep neural-network-based data-driven models and statistical outlier weighting techniques. From the probability distribution, we compute PL by evaluating the position error bound using numerical line-search methods. Through experimental validation with real-world data, we demonstrate that the PLs computed from our method are reliable bounds on the position error in urban environments.
可靠地评估估计车辆位置的误差对于确保车辆在城市环境中的安全是不可或缺的。许多现有的方法使用GNSS测量来表征保护水平(PLs)作为位置误差的概率上限。然而，GNSS信号在城市环境中可能会被反射或阻挡，因此需要考虑其他传感器模式来确定PLs。在本文中，我们提出了一种通过将相机图像测量值与基于lidar的环境3D地图相匹配来计算PLs的方法。我们使用基于深度神经网络的数据驱动模型和统计离群值加权技术指定位置误差的高斯混合模型概率分布。从概率分布出发，利用数值寻线法计算位置误差界，从而计算出PL。通过实际数据的实验验证，我们证明了用我们的方法计算的PLs是城市环境中位置误差的可靠边界。
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引用次数: 0
Navigation using carrier Doppler shift from a LEO constellation: TRANSIT on steroids 利用载波多普勒频移从LEO星座进行导航:在类固醇上的TRANSIT
NAVIGATION
Pub Date : 2021-08-03 DOI: 10.1002/navi.438
Mark L. Psiaki
A new global navigation concept is studied that relies on carrier Doppler shift measurements from a large LEO constellation. This system could provide an alternative to pseudorange-based GNSS. The concept uses a high-fidelity model of received carrier Doppler shift. This model is used in a point-solution batch filter that simultaneously estimates eight unknowns: the three position vector components, receiver clock offset, three velocity vector components, and receiver clock offset rate. The filter uses eight or more measured Doppler shifts in its least-squares fit. A generalized Geometric Dilution of Precision (GDOP) analysis indicates that absolute position accuracies on the order of 1-5 meters and absolute velocity accuracies on the order of 0.01 m/sec to 0.05 m/sec may be achievable if the range-rate precision of the Doppler shift measurements is 0.01 m/sec. These accuracies are comparable to current pseudorange-based GNSS. Clock offset accuracy is on the order of 0.0001 to 0.0010 sec 1-urn:x-wiley:00281522:media:navi438:navi438-math-0001.
研究了一种新的全球导航概念，该概念依赖于来自大型LEO星座的载波多普勒频移测量。该系统可以为基于伪橙的GNSS提供替代方案。该概念使用了接收载波多普勒频移的高保真模型。该模型用于点解批处理滤波器，同时估计八个未知数:三个位置矢量分量，接收机时钟偏移量，三个速度矢量分量和接收机时钟偏移率。该滤波器在其最小二乘拟合中使用八个或更多测量的多普勒频移。广义几何精度稀释(GDOP)分析表明，如果多普勒频移测量的距离速率精度为0.01 m/sec，则可以获得1 ~ 5 m的绝对位置精度和0.01 m/sec ~ 0.05 m/sec的绝对速度精度。这些精度与目前基于伪橙的GNSS相当。时钟偏移精度在0.0001到0.0010秒1-之间。
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引用次数: 0
Navigator Notes 导航器的笔记
NAVIGATION
Pub Date : 2021-03-03 DOI: 10.1002/navi.414
Richard B. Langley

Welcome to the Spring 2021 issue of NAVIGATION. We present the latest research articles (papers) that have successfully completed the thorough review process managed by our associate editors and their expert reviewers. The topics span the broad range of PNT research from GNSS interference mitigation to better positioning of low Earth orbit satellites. And we feature an article on ION's GNSS software‐defined radio (SDR) metadata standard, which was adopted by the institute in January 2020. This standard will simplify the exchange of datasets between groups and promote the interoperability of satnav SDR systems. Here in “Navigator Notes,” in addition to highlighting the latest video abstracts of articles published in the journal and the most recent ION webinars, we announce the ION 2020 Samuel M. Burka Award winners and the five most downloaded NAVIGATION articles in 2020.

欢迎阅读《导航》杂志2021年春季刊。我们提供最新的研究文章(论文)，这些文章已成功地完成了由我们的副编辑和他们的专家审稿人管理的彻底审查过程。主题涵盖了从减少GNSS干扰到更好地定位低地球轨道卫星的广泛的PNT研究。我们还将发表一篇关于ION的GNSS软件定义无线电(SDR)元数据标准的文章，该标准于2020年1月被该研究所采用。该标准将简化组间数据集的交换，并促进卫星导航SDR系统的互操作性。在“导航笔记”中，除了突出显示期刊上发表的文章的最新视频摘要和最新的ION网络研讨会外，我们还宣布了ION 2020 Samuel M. Burka奖获奖者和2020年下载最多的五篇导航文章。
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引用次数: 0
Network‐based ionospheric gradient monitoring to support GBAS 基于网络的电离层梯度监测支持GBAS
NAVIGATION
Pub Date : 2021-02-11 DOI: 10.1002/navi.411
Maria Caamano, José Miguel Juan, Michael Felux, Daniel Gerbeth, Guillermo González‐Casado, Jaume Sanz
Large ionospheric gradients acting between a Ground Based Augmentation System (GBAS) reference station and an aircraft on approach could lead to hazardous position errors if undetected. Current GBAS stations provide solutions against this threat that rely on the use of “worst‐case” conservative threat models, which could limit the availability of the system.
地面增强系统(GBAS)参考站和进场飞机之间的电离层梯度大，如果未被发现，可能导致危险的位置误差。目前的GBAS站提供的解决方案依赖于使用“最坏情况”的保守威胁模型，这可能会限制系统的可用性。
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