Problems of creating autonomous navigation systems on geophysical fields

Global navigation satellite systems, which provide high accuracy of navigation, in certain conditions (in tunnels, in closed rooms, in conditions of interference, etc.) have restrictions on their use. In this regard, in order to ensure “seamless” navigation in any conditions of the situation, it becomes necessary to develop new methods and means to increase the stability of navigation definitions. The article is devoted to the consideration of the problems of creating an integrated navigation system using measurements of the parameters of the Earth’s gravitational and magnetic fields. Requirements for meters of parameters of geophysical fields and navigation charts are considered, a number of new navigation meters, new methods and means of preparing navigation charts are proposed. The ways of development of relativistic geodesy and the possibility of using the achievements of gravitational-wave astronomy in gravimetry are considered.

Download Full-text

Seamless Indoor-Outdoor Navigation based on GNSS, INS and Terrestrial Ranging Techniques

Journal of Navigation ◽

10.1017/s037346331700042x ◽

2017 ◽

Vol 70 (6) ◽

pp. 1183-1204 ◽

Cited By ~ 6

Author(s):

Wei Jiang ◽

Yong Li ◽

Chris Rizos ◽

Baigen Cai ◽

Wei Shangguan

Keyword(s):

Navigation System ◽

Global Navigation Satellite Systems ◽

Indoor Environments ◽

Integrated Navigation ◽

Satellite Systems ◽

Integrated Navigation System ◽

Outdoor Environments ◽

Federated Kalman Filter ◽

Indoor And Outdoor Environments ◽

Global Navigation Satellite

We describe an integrated navigation system based on Global Navigation Satellite Systems (GNSS), an Inertial Navigation System (INS) and terrestrial ranging technologies that can support accurate and seamless indoor-outdoor positioning. To overcome severe multipath disturbance in indoor environments, Locata technology is used in this navigation system. Such a “Locata-augmented” navigation system can operate in different positioning modes in both indoor and outdoor environments. In environments where GNSS is unavailable, e.g. indoors, the proposed system is designed to operate in the Locata/INS “loosely-integrated” mode. On the other hand, in outdoor environments, all GNSS, Locata and INS measurements are available, and all useful information can be fused via a decentralised Federated Kalman filter. To evaluate the proposed system for seamless indoor-outdoor positioning, an indoor-outdoor test was conducted at a metal-clad warehouse. The test results confirmed that the proposed navigation system can provide continuous and reliable position and attitude solutions, with the positioning accuracy being better than five centimetres.

Download Full-text

Accuracy Benchmark of Galileo and EGNOS for Inland Waterways

10.24868/issn.2631-8741.2020.009 ◽

2020 ◽

Author(s):

G Yayla ◽

S Van Baelen ◽

G Peeters

Keyword(s):

Sensor Fusion ◽

Autonomous Navigation ◽

Global Navigation Satellite Systems ◽

Navigation Systems ◽

Inland Waterways ◽

Satellite Systems ◽

Coordinate Measurement ◽

Measurement Units ◽

Satellite Navigation Systems ◽

Global Navigation Satellite

While Global Navigation Satellite Systems (GNSS) serve as a fundamental positioning technology for autonomous ships in Inland Waterways (IWW), in order to compensate for unexpected signal outages from constellations due to structures such as bridges and high buildings, it is not uncommon to use a sensor fusion setup with GNSS and Inertial Measurement Units (IMU)/Inertial Navigation Systems (INS). However, the accuracy of this fusion relies on the accuracy of the main localization technology itself. In Europe, Galileo and the European Geostationary Navigation Overlay Service (EGNOS) are two satellite navigation systems under civil control and they provide European users with independent access to a reliable positioning satellite signal, claiming better accuracy than what is offered by other accessible systems. Therefore, considering the potential utilization of these systems for autonomous navigation, in this paper, we discuss the results of a case study for benchmarking the accuracy of Galileo and EGNOS in IWW. We used a Coordinate Measurement Machine (CMM) and a sub-cm Real-Time Kinematic (RTK) service which is available in Flanders to quantify the benchmark reference. The results with and without sensor fusion show that Galileo has a better horizontal accuracy profile than standalone Global Positioning System (GPS), and its augmentation with EGNOS is likely to provide European IWW users more accurate positioning levels in the future.

Download Full-text

Practical Modeling of GNSS for Autonomous Vehicles in Urban Environments

Sensors ◽

10.3390/s19194236 ◽

2019 ◽

Vol 19 (19) ◽

pp. 4236

Author(s):

Woosik Lee ◽

Hyojoo Cho ◽

Seungho Hyeong ◽

Woojin Chung

Keyword(s):

Motion Estimation ◽

Autonomous Vehicles ◽

Autonomous Navigation ◽

Urban Environments ◽

Global Navigation Satellite Systems ◽

Navigation Satellite ◽

Key Technology ◽

Satellite Systems ◽

Agricultural Robots ◽

Global Navigation Satellite

Autonomous navigation technology is used in various applications, such as agricultural robots and autonomous vehicles. The key technology for autonomous navigation is ego-motion estimation, which uses various sensors. Wheel encoders and global navigation satellite systems (GNSSs) are widely used in localization for autonomous vehicles, and there are a few quantitative strategies for handling the information obtained through their sensors. In many cases, the modeling of uncertainty and sensor fusion depends on the experience of the researchers. In this study, we address the problem of quantitatively modeling uncertainty in the accumulated GNSS and in wheel encoder data accumulated in anonymous urban environments, collected using vehicles. We also address the problem of utilizing that data in ego-motion estimation. There are seven factors that determine the magnitude of the uncertainty of a GNSS sensor. Because it is impossible to measure each of these factors, in this study, the uncertainty of the GNSS sensor is expressed through three variables, and the exact uncertainty is calculated. Using the proposed method, the uncertainty of the sensor is quantitatively modeled and robust localization is performed in a real environment. The approach is validated through experiments in urban environments.

Download Full-text

Assessment of the Implementation of GNSS into Gliding

MAD - Magazine of Aviation Development ◽

10.14311/mad.2017.04.01 ◽

2017 ◽

Vol 5 (4) ◽

pp. 6

Author(s):

Tomáš Kubáč ◽

Jakub Hospodka

Keyword(s):

Global Navigation Satellite Systems ◽

Navigation Satellite ◽

Navigation Systems ◽

Satellite Systems ◽

Global Navigation ◽

Global Navigation Satellite ◽

Global Navigation Systems ◽

Usage Preference ◽

Selection Of ◽

Wide Usage

Global navigation satellite systems are increasingly part of our lives and many industries including aviation. Glider flying is no exception in this trend. Global navigation satellite systems were part of gliding since the early 1990s. First as official recording devices for simple evidence of sporting performances, then as navigation systems, anti-collision systems and emergency location transmitters. Development of recording application was initiated and supported by International Gliding Commission of World Air Sports Federation in way of certifications for flight recorders. The use of navigation and other modern instruments in gliders has brought many benefits but also risks. However, the advantages outweigh the disadvantages and these systems are now integral part of gliding. With this wide usage of global navigation satellite systems devices, there is great many possibilities how and in which way one can use these systems. Pilots must orient themselves in varied selection of products, which they can use to choose one solution, that fits him. Therefore, to find out how and if pilots use these devices, we created questionnaire survey among 143 Czech glider pilots. We found out, that 84% of them are using global navigation satellite systems devices for official record of flight and for navigation as well. More than half of pilots is using free, not built-in devices. Most common devices are mobile phones up to 5 inches of screen diagonal in combination with approved flight recorder without display. If pilots use mobile device for navigation, 52% of them is using one with Windows Mobile operating system, 33% use Android. Navigational software on these mobile devices is then almost tied between SeeYou Mobile, XCSoar and LK8000. Knowledge about usage preference of global navigation systems devices should help pilots with selection and overall orientation in subject.

Download Full-text

Kalman Filter-Based RAIM for Reliable Aircraft Positioning with GPS and NavIC Constellations

Sensors ◽

10.3390/s20226606 ◽

2020 ◽

Vol 20 (22) ◽

pp. 6606

Author(s):

Susmita Bhattacharyya ◽

Dinesh Mute

Keyword(s):

Kalman Filter ◽

Weighted Least Squares ◽

Unmanned Aircraft ◽

Global Navigation Satellite Systems ◽

Navigation Systems ◽

Satellite Systems ◽

Vector Tracking ◽

Receiver Autonomous Integrity Monitoring ◽

Global Navigation Satellite ◽

Computational Resources

This paper presents a novel Kalman filter (KF)-based receiver autonomous integrity monitoring (RAIM) algorithm for reliable aircraft positioning with global navigation satellite systems (GNSS). The presented method overcomes major limitations of the authors’ previous work, and uses two GNSS, namely, Navigation with Indian Constellation (NavIC) of India and the Global Positioning System (GPS). The algorithm is developed in the range domain and compared with two existing approaches—one each for the weighted least squares navigation filter and KF. Extensive simulations were carried out for an unmanned aircraft flight path over the Indian sub-continent for validation of the new approach. Although both existing methods outperform the new one, the work is significant for the following reasons. KF is an integral part of advanced navigation systems that can address frequent loss of GNSS signals (e.g., vector tracking and multi-sensor integration). Developing KF RAIM algorithms is essential to ensuring their reliability. KF solution separation (or position domain) RAIM offers good performance at the cost of high computational load. Presented range domain KF RAIM, on the other hand, offers satisfactory performance to a certain extent, eliminating a major issue of growing position error bounds over time. It requires moderate computational resources, and hence, shows promise for real-time implementations in avionics. Simulation results also indicate that addition of NavIC alongside GPS can substantially improve RAIM performance, particularly in poor geometries.

Download Full-text

An Innovative Approach for Atmospheric Error Mitigation Using New GNSS Signals

Journal of Navigation ◽

10.1017/s0373463311000373 ◽

2011 ◽

Vol 64 (S1) ◽

pp. S211-S232 ◽

Cited By ~ 7

Author(s):

Lei Yang ◽

Zeynep Elmas ◽

Chris Hill ◽

Marcio Aquino ◽

Terry Moore

Keyword(s):

High Accuracy ◽

Global Navigation Satellite Systems ◽

Tropospheric Delay ◽

Atmospheric Effects ◽

Navigation Satellite ◽

Navigation Systems ◽

Satellite Systems ◽

Error Mitigation ◽

Satellite Navigation Systems ◽

Global Navigation Satellite

New signals from the modernised satellite navigation systems (GPS and GLONASS) and the ones that are being developed (COMPASS and GALILEO) will present opportunities for more accurate and reliable positioning solutions. Successful exploitation of these new signals will also enable the development of new markets and applications for difficult environments where the current Global Navigation Satellite Systems (GNSS) cannot provide satisfying solutions. This research is aiming to exploit the improvement in monitoring, modelling and mitigating the atmospheric effects using the increased number of signals from the future satellite systems. Preliminary investigations were conducted on the numerical weather parameter based horizontal tropospheric delay modelling, as well as the ionospheric higher order and scintillation effects. Results from this research are expected to provide a potential supplement to high accuracy positioning techniques.

Download Full-text

Astronomical Vessel Position Determination Utilizing the Optical Super Wide Angle Lens Camera

Journal of Navigation ◽

10.1017/s0373463314000058 ◽

2014 ◽

Vol 67 (4) ◽

pp. 633-649 ◽

Cited By ~ 4

Author(s):

Chong-hui Li ◽

Yong Zheng ◽

Chao Zhang ◽

Yu-Lei Yuan ◽

Yue-Yong Lian ◽

...

Keyword(s):

Autonomous Navigation ◽

Estimation Method ◽

Global Navigation Satellite Systems ◽

Satellite Systems ◽

Celestial Navigation ◽

Wide Angle Lens ◽

Celestial Bodies ◽

Determination System ◽

Fisheye Camera ◽

Global Navigation Satellite

Celestial navigation is an important type of autonomous navigation technology which could be used as an alternative to Global Navigation Satellite Systems (GNSS) when a vessel is at sea. After several centuries of development, a variety of astronomical vessel position (AVP) determination methods have been invented, but the basic concepts of these methods are all based on angular observations with a device such as a sextant, which has disadvantages including low accuracy, manual operation, and a limited period of observation. This paper proposes a new method that utilises a fisheye camera to image the celestial bodies and horizon simultaneously. Then, we calculate the obliquity of the fisheye camera's principal optical axis according to the image coordinates of the horizon. Next, we calculate the altitude of the celestial bodies according to the image coordinates of the celestial bodies and the obliquity. Finally, the AVP is determined by the altitudes according to the robust estimation method. Experimental results indicate that this method not only could realize automation and miniaturization of the AVP determination system, but could also greatly improve the efficiency of celestial navigation.

Download Full-text

Multi-Sensor Integrated Navigation in Urban and Indoor Environments

Advances in Wireless Technologies and Telecommunication - Positioning and Navigation in Complex Environments ◽

10.4018/978-1-5225-3528-7.ch010 ◽

2018 ◽

pp. 397-442 ◽

Cited By ~ 2

Author(s):

Mohamed Atia

Keyword(s):

Sensor Fusion ◽

Global Navigation Satellite Systems ◽

Measurement Unit ◽

Indoor Environments ◽

Integrated Navigation ◽

Satellite Systems ◽

Tightly Coupled ◽

Sensor Processing ◽

Global Navigation Satellite ◽

Dense Urban Environment

The art of multi-sensor processing, or “sensor-fusion,” is the ability to optimally infer state information from multiple noisy streams of data. One major application area where sensor fusion is commonly used is navigation technology. While global navigation satellite systems (GNSS) can provide centimeter-level location accuracy worldwide, they suffer from signal availability problems in dense urban environment and they hardly work indoors. While several alternative backups have been proposed, so far, no single sensor or technology can provide the desirable precise localization in such environments under reasonable costs and affordable infrastructures. Therefore, to navigate through these complex areas, combining sensors is beneficial. Common sensors used to augment/replace GNSS in complex environments include inertial measurement unit (IMU), range sensors, and vision sensors. This chapter discusses the design and implementation of tightly coupled sensor fusion of GNSS, IMU, and light detection and ranging (LiDAR) measurements to navigate in complex urban and indoor environments.

Download Full-text

GNSS-based Orbital Filter for Earth Moon Transfer Orbits

Journal of Navigation ◽

10.1017/s0373463315000843 ◽

2015 ◽

Vol 69 (4) ◽

pp. 745-764 ◽

Cited By ~ 2

Author(s):

Vincenzo Capuano ◽

Francesco Basile ◽

Cyril Botteron ◽

Pierre- André Farine

Keyword(s):

Model Simulation ◽

Global Navigation Satellite Systems ◽

Navigation Systems ◽

Satellite Systems ◽

Transfer Orbits ◽

Low Earth Orbits ◽

Global Navigation Satellite ◽

Navigation Accuracy ◽

Earth Orbits ◽

Gnss Observations

Numerous applications, not only Earth-based, but also space-based, have strengthened the interest of the international scientific community in using Global Navigation Satellite Systems (GNSSs) as navigation systems for space missions that require good accuracy and low operating costs. Indeed, already successfully used in Low Earth Orbits (LEOs), GNSS-based navigation systems can maximise the autonomy of a spacecraft while reducing the burden and the costs of ground operations. That is why GNSS is also attractive for applications in higher Earth orbits up to the Moon, such as in Moon Transfer Orbits (MTOs). However, the higher the altitude the receiver is above the GNSS constellations, the poorer and the weaker are the relative geometry and the received signal powers, respectively, leading to a significant navigation accuracy reduction. In order to improve the achievable GNSS performance in MTOs, we consider in this paper an adaptive orbital filter that fuses the GNSS observations with an orbital forces model. Simulation results show a navigation accuracy significantly higher than that attainable individually by a standalone GNSS receiver or by means of a pure orbital propagation.

Download Full-text

The Potential Impact of GNSS/INS Integration on Maritime Navigation

Journal of Navigation ◽

10.1017/s0373463307004614 ◽

2008 ◽

Vol 61 (2) ◽

pp. 221-237 ◽

Cited By ~ 12

Author(s):

Terry Moore ◽

Chris Hill ◽

Andy Norris ◽

Chris Hide ◽

David Park ◽

...

Keyword(s):

Field Trials ◽

Global Navigation Satellite Systems ◽

Navigation Systems ◽

Inertial Navigation Systems ◽

Satellite Systems ◽

Time Period ◽

Maritime Navigation ◽

The Uk ◽

Global Navigation Satellite ◽

The Impact

A version of this paper was presented at ENC-GNSS 2007, Geneva. Its reproduction was kindly authorised by the ENC-GNSS 07 Paper Selection Committee.The General Lighthouse Authorities of the UK & Ireland commissioned an assessment of the impact that the integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) would have on the aids to navigation (AtoN) services currently provided, and those to be provided in the future. There is concern about the vulnerability of GNSS, and the provision of complementary and backup systems is seen to be of great importance. The integration of INS could provide an independent and self-contained navigation system, for a limited time period, invulnerable to external intentional or unintentional interference, or the influences of changes in national policies. The study included an analysis of the potential use of GNSS-INS in three of the four phases of a vessel's voyage: coastal, port approach and docking. The project consisted of a technology assessment, looking at the different inertial technologies that might be suitable for each phase. This was followed by a technology proving stage, evaluating suitable equipment using simulation and field trials to prove that the claimed performance could be achieved in practice. The final stage of the project was to assess the effects of the availability of such systems on existing and planned aids to navigation services.

Download Full-text