Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507249
Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin
Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.
{"title":"A sensor based indoor mobile localization and navigation using Unscented Kalman Filter","authors":"Chun-Jung Sun, Hong-Yi Kuo, Chin E. Lin","doi":"10.1109/PLANS.2010.5507249","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507249","url":null,"abstract":"Localization is the most important function to mobile vehicle in indoor environments. The precise positioning of the mobile object can provide higher mobility with more operation capability. The main challenge for indoor navigation is to solve higher accuracy heading and position in real time. In this paper, a low-cost MEMS hardware is designed and fabricated to focus on its accelerations and orientations by appropriate sensors. An auxiliary architecture of the Wireless Sensor Network (WSN) is added to improve the tracking accuracy in system operation. A sensor node, spacing around 10 to 20 meters, is implemented as a positioning and navigation network in the small area. The proposed system measures the radio signal strength from each node using the Unscented Kalman Filter (UKF). By this algorithm, the linearization process of a nonlinear model can be neglected. The evaluation of the Jacobians is not requested to get higher order accuracy. The more accurate estimation can reach, the better parameter tuning of the UKF is observed. The proposed algorithm incorporating with MEMS hardware has lead to some good indoor test results.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"41 1","pages":"327-331"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79157421","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507226
D. F. Prim
In a GPS+Galileo scenario and from a worldwide point of view, this contribution evaluates the use of higher elevation masking angles at the user receiver antenna while keeping positioning performances comparable to those achieved in a GPS-only scenario. By comparing suitable statistical figures of merit that account for time and geographical fitting of scenarios in terms of PDOP and receiver-estimated code delay jitter, it is hereby shown that performance equivalence is observed for a receiver antenna masking angle of 10° in a GPS-only scenario, and for 16.5° in a GPS+Galileo constellation. This fact is proposed to be applied as a simple measure to increase the robustness of mass-market receivers to external interference sources and multipath.
{"title":"Dilution of precision and total interference level on a GPS+Galileo compatible receiver. A global perspective.","authors":"D. F. Prim","doi":"10.1109/PLANS.2010.5507226","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507226","url":null,"abstract":"In a GPS+Galileo scenario and from a worldwide point of view, this contribution evaluates the use of higher elevation masking angles at the user receiver antenna while keeping positioning performances comparable to those achieved in a GPS-only scenario. By comparing suitable statistical figures of merit that account for time and geographical fitting of scenarios in terms of PDOP and receiver-estimated code delay jitter, it is hereby shown that performance equivalence is observed for a receiver antenna masking angle of 10° in a GPS-only scenario, and for 16.5° in a GPS+Galileo constellation. This fact is proposed to be applied as a simple measure to increase the robustness of mass-market receivers to external interference sources and multipath.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"111 1","pages":"909-917"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79182638","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507184
I. Rapoport, A. Brandes
Sculling compensation algorithms implemented in strapdown inertial navigation systems are designed to treat low frequency acceleration signals originated from a simultaneous linear and angular high frequency vibration through the strapdown navigation equations nonlinearity. However, if the inertial sensor transfer functions are imperfect, the low frequency terms might not be completely compensated, thus causing an effective bias in the accelerometer output. In the present work a quantitative analysis of the uncompensated sculling errors caused by the sensor transfer function imperfections is carried out in the case of the pure sculling motion. The obtained results can be used to facilitate the selection of the appropriate inertial sensors to meet the prescribed navigation accuracy requirements. The presented analysis is especially important if low cost (e.g., MEMS) sensors are considered for implementation in strapdown INS.
{"title":"Analysis of sculling motion errors caused by sensor transfer function imperfections in strapdown inertial navigation systems","authors":"I. Rapoport, A. Brandes","doi":"10.1109/PLANS.2010.5507184","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507184","url":null,"abstract":"Sculling compensation algorithms implemented in strapdown inertial navigation systems are designed to treat low frequency acceleration signals originated from a simultaneous linear and angular high frequency vibration through the strapdown navigation equations nonlinearity. However, if the inertial sensor transfer functions are imperfect, the low frequency terms might not be completely compensated, thus causing an effective bias in the accelerometer output. In the present work a quantitative analysis of the uncompensated sculling errors caused by the sensor transfer function imperfections is carried out in the case of the pure sculling motion. The obtained results can be used to facilitate the selection of the appropriate inertial sensors to meet the prescribed navigation accuracy requirements. The presented analysis is especially important if low cost (e.g., MEMS) sensors are considered for implementation in strapdown INS.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"5 1","pages":"627-631"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76405838","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507331
Anning Chen, Arvind Ramanandan, J. Farrell
Lane relative vehicle navigation and control requires accurate lane-relative positioning of the vehicle. This relative position can be computed by comparing the vehicle absolute position with analytic roadway maps, which requires both high-accuracy positioning of the vehicle and high-accuracy lane maps. Carrier Phase Differential GPS (CPDGPS) aided INS or CPDGPS aided encoders is capable of estimating vehicle absolute position (relative to earth center) with centimeter level accuracy; however, to the best of the author's knowledge, the accuracy of lane level maps is currently not sufficient. In this paper, we first consider the structure of lane level maps that are compatible with standard practices of GIS road modeling. Then, various analytic lane definition are discussed. We also present a method of building lane level maps from high-accuracy positioning data along the lane center. The data is segmented according to road intersections. Shape points (vertices) as a function of arclength are located based on changes in estimated curvature. For each segment, the parameters are estimated by least-square criteria and can be refined as new datasets become available. This process is shown by an example.
{"title":"High-precision lane-level road map building for vehicle navigation","authors":"Anning Chen, Arvind Ramanandan, J. Farrell","doi":"10.1109/PLANS.2010.5507331","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507331","url":null,"abstract":"Lane relative vehicle navigation and control requires accurate lane-relative positioning of the vehicle. This relative position can be computed by comparing the vehicle absolute position with analytic roadway maps, which requires both high-accuracy positioning of the vehicle and high-accuracy lane maps. Carrier Phase Differential GPS (CPDGPS) aided INS or CPDGPS aided encoders is capable of estimating vehicle absolute position (relative to earth center) with centimeter level accuracy; however, to the best of the author's knowledge, the accuracy of lane level maps is currently not sufficient. In this paper, we first consider the structure of lane level maps that are compatible with standard practices of GIS road modeling. Then, various analytic lane definition are discussed. We also present a method of building lane level maps from high-accuracy positioning data along the lane center. The data is segmented according to road intersections. Shape points (vertices) as a function of arclength are located based on changes in estimated curvature. For each segment, the parameters are estimated by least-square criteria and can be refined as new datasets become available. This process is shown by an example.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"20 1","pages":"1035-1042"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79546670","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507253
Jan Kietlinski-Zaleski, T. Yamazato, M. Katayama
Ultra-Wideband is an attractive technology for short range positioning, especially indoors. However, for normal Time of Arrival (ToA) positioning, at least three receivers with unblocked direct path to the transmitter are required. This requirement is not always met. In this work, a novel algorithm for ToA positioning using only two receivers is presented and validated using data from a measurement campaign. Positioning with two receivers is possible by exploiting the knowledge of some of the indoor features, namely positions of big flat reflective surfaces, for example ceiling and walls.
{"title":"Experimental validation of TOA UWB positioning with two receivers using known indoor features","authors":"Jan Kietlinski-Zaleski, T. Yamazato, M. Katayama","doi":"10.1109/PLANS.2010.5507253","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507253","url":null,"abstract":"Ultra-Wideband is an attractive technology for short range positioning, especially indoors. However, for normal Time of Arrival (ToA) positioning, at least three receivers with unblocked direct path to the transmitter are required. This requirement is not always met. In this work, a novel algorithm for ToA positioning using only two receivers is presented and validated using data from a measurement campaign. Positioning with two receivers is possible by exploiting the knowledge of some of the indoor features, namely positions of big flat reflective surfaces, for example ceiling and walls.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"59 1","pages":"505-509"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91393345","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507221
R. Malla, R. Fries
This paper describes a multi-layer technique using modeling and simulation to assess the impact of ionospheric scintillation on satellite navigation systems. It is well known that GPS receivers in low- and high-latitude regions may suffer from rapid amplitude and phase fluctuations and signal scatter due to scintillation, causing loss of lock and cycle slips to dual as well as single frequency users. Scintillation poses a challenge to the GPS augmentation service providers including Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS) to provide a high probability of navigational service availability in affected regions. Over the recent decades, many studies and data analyses have been conducted to understand effect of scintillation which affects users of satellite based navigation systems. Some significant data has been translated into modeling and simulation tools to help characterize scintillation effects and the world-wide scintillation environment.
{"title":"Multi-layer modeling and simulation of the effects of ionospheric scintillation on service availability of the GPS augmentation systems","authors":"R. Malla, R. Fries","doi":"10.1109/PLANS.2010.5507221","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507221","url":null,"abstract":"This paper describes a multi-layer technique using modeling and simulation to assess the impact of ionospheric scintillation on satellite navigation systems. It is well known that GPS receivers in low- and high-latitude regions may suffer from rapid amplitude and phase fluctuations and signal scatter due to scintillation, causing loss of lock and cycle slips to dual as well as single frequency users. Scintillation poses a challenge to the GPS augmentation service providers including Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS) to provide a high probability of navigational service availability in affected regions. Over the recent decades, many studies and data analyses have been conducted to understand effect of scintillation which affects users of satellite based navigation systems. Some significant data has been translated into modeling and simulation tools to help characterize scintillation effects and the world-wide scintillation environment.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"34 1","pages":"688-693"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87305879","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507337
Boxiong Wang, X. Zhan, Yan-hua Zhang
In this paper, we provide an experimental result of a new method for resolving GNSS baseline vector. We discuss the single differencing (SD) model for attitude determination and it will be chosen for experiment based on GPS and GLONASS. The Analytical Resolution Method (ARM) is used for attitude angle resolving. This method will be better in reducing computation time. The condition of baseline length is combined with ambiguity function method (AFM) for integrity ambiguity searching and this method is validated in reducing the span of candidates. In addition, the Receiver Autonomous Integrity Monitoring (RAIM) is brought into this algorithm for selecting the healthy satellites. The experiments are carried out in the campus and the performance is proved to be effective. Our results are based on simulated and real-time GNSS data and applied on single frequency processing, which is known as one of the challenging case of GNSS attitude determination.
{"title":"Analytical Resolution Method based on ambiguity function for attitude determination","authors":"Boxiong Wang, X. Zhan, Yan-hua Zhang","doi":"10.1109/PLANS.2010.5507337","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507337","url":null,"abstract":"In this paper, we provide an experimental result of a new method for resolving GNSS baseline vector. We discuss the single differencing (SD) model for attitude determination and it will be chosen for experiment based on GPS and GLONASS. The Analytical Resolution Method (ARM) is used for attitude angle resolving. This method will be better in reducing computation time. The condition of baseline length is combined with ambiguity function method (AFM) for integrity ambiguity searching and this method is validated in reducing the span of candidates. In addition, the Receiver Autonomous Integrity Monitoring (RAIM) is brought into this algorithm for selecting the healthy satellites. The experiments are carried out in the campus and the performance is proved to be effective. Our results are based on simulated and real-time GNSS data and applied on single frequency processing, which is known as one of the challenging case of GNSS attitude determination.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"58 2 Suppl 1 1","pages":"1070-1078"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77753814","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507285
J. Touma, T. Klausutis, Michelle Fessenden, Carolyn New, David D. Diel
This work describes a rich set of navigation data that has been collected by AFRL and an object-oriented framework that makes both the data and relevant processing algorithms available to the research community. Both aerial and ground vehicle platforms were employed, exposing a single sensor suite to a variety of conditions relevant to civil and military applications, including urban and rural terrain and varied time-of-day. The sensor package includes four visible cameras, two LWIR cameras, inertial measurement units ranging from navigation grade, tactical grade and industrial grade. A GINS is utilized to establish platform attitude and position truth. The raw GPS signals are also collected. All this data is synchronously time-stamped with reference to a unified reference time. Of particular interest to the research community is the use of visual sensors to navigate in GNSS-limited environments, especially in cases where the navigation solution must exhibit dynamic continuity. Our data delivery framework goes beyond standardizing data formats by providing a means to standardize the application of relevant processing algorithms. This plays a critical role in integrating data from multiple sensors without violating dynamic constraints. In addition, the framework can be viewed as a testbed for user contributed algorithms, which will help system integrators to explore the trade space of both sensors and algorithms.
{"title":"Precision multi-sensor optical navigation test-bed utilizing ground-truthed data set","authors":"J. Touma, T. Klausutis, Michelle Fessenden, Carolyn New, David D. Diel","doi":"10.1109/PLANS.2010.5507285","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507285","url":null,"abstract":"This work describes a rich set of navigation data that has been collected by AFRL and an object-oriented framework that makes both the data and relevant processing algorithms available to the research community. Both aerial and ground vehicle platforms were employed, exposing a single sensor suite to a variety of conditions relevant to civil and military applications, including urban and rural terrain and varied time-of-day. The sensor package includes four visible cameras, two LWIR cameras, inertial measurement units ranging from navigation grade, tactical grade and industrial grade. A GINS is utilized to establish platform attitude and position truth. The raw GPS signals are also collected. All this data is synchronously time-stamped with reference to a unified reference time. Of particular interest to the research community is the use of visual sensors to navigate in GNSS-limited environments, especially in cases where the navigation solution must exhibit dynamic continuity. Our data delivery framework goes beyond standardizing data formats by providing a means to standardize the application of relevant processing algorithms. This plays a critical role in integrating data from multiple sensors without violating dynamic constraints. In addition, the framework can be viewed as a testbed for user contributed algorithms, which will help system integrators to explore the trade space of both sensors and algorithms.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"49 1","pages":"1232-1237"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77808051","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507255
A. Lewandowski, C. Wietfeld
Real-life industrial environments pose a challenge for today's radio-based localization systems, as the radio channel is highly affected by the multiple interference present in the environment. Therefore, this paper presents a solution for generating Weighted Multilateration Position Estimation based on the RSSI (Received Signal Strength Indicator) for ToA (Time of Arrival) ranging measurements to enhance the fault tolerance, reduce the self-interference of the ranging system and finally enhance the accuracy of the position estimation. A coordinate descent algorithm for optimal anchor placement is demonstrated in this paper, which is based on results of 3D ray tracing. The applied 3D environment model is highly sophisticated, as it was generated by 3D laser scanning for gauging. In a final optimization step, power level adjustment is shown to further enhance the accuracy of the localization system. Concluding, a performance evaluation based on simulations, numerical optimization and experimental measurements in the industrial target environment will demonstrate the improvements of our comprehensive approach in terms of accuracy and robustness.
现实生活中的工业环境对当今基于无线电的定位系统提出了挑战，因为无线电信道受到环境中存在的多重干扰的高度影响。因此，本文提出了一种基于RSSI (Received Signal Strength Indicator，接收信号强度指标)对ToA(到达时间)测距测量产生加权多重位置估计的解决方案，以增强测距系统的容错性，降低测距系统的自干扰，最终提高位置估计的精度。本文提出了一种基于三维光线追踪结果的坐标下降算法。应用的三维环境模型非常复杂，因为它是通过三维激光扫描测量生成的。在最后的优化步骤中，通过功率电平调整来进一步提高定位系统的精度。最后，基于仿真、数值优化和工业目标环境实验测量的性能评估将证明我们的综合方法在准确性和鲁棒性方面的改进。
{"title":"A comprehensive approach for optimizing ToA-localization in harsh industrial environments","authors":"A. Lewandowski, C. Wietfeld","doi":"10.1109/PLANS.2010.5507255","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507255","url":null,"abstract":"Real-life industrial environments pose a challenge for today's radio-based localization systems, as the radio channel is highly affected by the multiple interference present in the environment. Therefore, this paper presents a solution for generating Weighted Multilateration Position Estimation based on the RSSI (Received Signal Strength Indicator) for ToA (Time of Arrival) ranging measurements to enhance the fault tolerance, reduce the self-interference of the ranging system and finally enhance the accuracy of the position estimation. A coordinate descent algorithm for optimal anchor placement is demonstrated in this paper, which is based on results of 3D ray tracing. The applied 3D environment model is highly sophisticated, as it was generated by 3D laser scanning for gauging. In a final optimization step, power level adjustment is shown to further enhance the accuracy of the localization system. Concluding, a performance evaluation based on simulations, numerical optimization and experimental measurements in the industrial target environment will demonstrate the improvements of our comprehensive approach in terms of accuracy and robustness.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"56 1","pages":"516-525"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76548584","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507346
P. Buist, S. Verhagen, T. Hashimoto, S. Sawai, S. Sakai, N. Bando, S. Shimizu
JAXA has been developing a system to provide a long duration, good quality microgravity environment based on a capsule, named the Balloon-based Operation Vehicle, that can be released from a balloon. In this paper we will describe the Balloon-based operation vehicle itself and the experiments using GPS performed - in cooperation with Delft University of Technology - on the gondola of the balloon in 2008 (single baseline estimation) and 2009 (full attitude determination and relative positioning). The attitude calculated using raw observations from a GPS receiver during the 2009 experiment is compared with Sun Aspect Sensors' and Geomagnetic Aspect Sensor's results and moreover with the attitude as provided by the receiver itself.
{"title":"GPS experiment on the Balloon-based Operation Vehicle","authors":"P. Buist, S. Verhagen, T. Hashimoto, S. Sawai, S. Sakai, N. Bando, S. Shimizu","doi":"10.1109/PLANS.2010.5507346","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507346","url":null,"abstract":"JAXA has been developing a system to provide a long duration, good quality microgravity environment based on a capsule, named the Balloon-based Operation Vehicle, that can be released from a balloon. In this paper we will describe the Balloon-based operation vehicle itself and the experiments using GPS performed - in cooperation with Delft University of Technology - on the gondola of the balloon in 2008 (single baseline estimation) and 2009 (full attitude determination and relative positioning). The attitude calculated using raw observations from a GPS receiver during the 2009 experiment is compared with Sun Aspect Sensors' and Geomagnetic Aspect Sensor's results and moreover with the attitude as provided by the receiver itself.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"36 1","pages":"1287-1294"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79710686","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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