An efficient positioning solution in urban canyons using enhanced extended Kalman particle filter

Sensor Review ◽  
2019 ◽  
Vol 39 (3) ◽  
pp. 407-416
Author(s):  
Qimin Xu ◽  
Rong Jiang
Keyword(s):  
Particle Filter ◽  
Inertial Sensor ◽  
Global Navigation Satellite Systems ◽  
Fusion Algorithm ◽  
Content Type ◽  
Satellite Systems ◽  
Tightly Coupled ◽  
Reduced Inertial Sensor System ◽  
Particle Filter Algorithm ◽  
Global Navigation Satellite

Purpose This paper aims to propose a 3D-map aided tightly coupled positioning solution for land vehicles to reduce the errors caused by non-line-of-sight (NLOS) and multipath interference in urban canyons. Design/methodology/approach First, a simple but efficient 3D-map is created by adding the building height information to the existing 2D-map. Then, through a designed effective satellite selection method, the distinct NLOS pseudo-range measurements can be excluded. Further, an enhanced extended Kalman particle filter algorithm is proposed to fuse the information from dual-constellation Global Navigation Satellite Systems and reduced inertial sensor system. The dependable degree of each selected satellite is adjusted through fuzzy logic to further mitigate the effect of misjudged LOS and multipath. Findings The proposed solution can improve positioning accuracy in urban canyons. The experimental results evaluate the effectiveness of the proposed solution and indicate that the proposed solution outperforms all the compared counterparts. Originality/value The effect of NLOS and multipath is addressed from both the observation level and fusion level. To the authors’ knowledge, mitigating the effect of misjudged LOS and multipath in the fusion algorithm of tightly coupled integration is seldom considered in existing literature.

Global maritime security risks rise with GNSS use

2019 ◽  
Keyword(s):  
Maritime Security ◽  
Global Navigation Satellite Systems ◽  
Navigation Satellite ◽  
Security Risks ◽  
Efficient Operation ◽  
Content Type ◽  
Satellite Systems ◽  
Global Navigation ◽  
Global Navigation Satellite ◽  
Cost Implications

Subject The maritime security of global navigation satellite systems. Significance Global Navigation Satellite Systems (GNSSs) are critical to the safe and efficient operation of maritime transport, yet civilian GNSSs have little security. This has been highlighted most recently during tensions over ships passing the Strait of Hormuz, in which Iran allegedly tampered with GNSS signals to seize vessels. Impacts EU-based operators will have the advantage of access to the Galileo protected modes when launched. Developers of future GNSSs will face calls to include civilian secure modes. Secure civilian modes have cost implications for the shipping sector.

Rising use of GNSS will test domestic regulators

2019 ◽  
Keyword(s):  
Civil Liberties ◽  
International Standards ◽  
Global Navigation Satellite Systems ◽  
Personal Privacy ◽  
Content Type ◽  
Satellite Systems ◽  
Location Data ◽  
Safety Cases ◽  
Commercial Applications ◽  
Global Navigation Satellite

Subject Domestic governance of GNSS. Significance The growing use of location data generated by global navigation satellite systems (GNSS) has implications for personal privacy, civil liberties and public safety. Cases involving its use and abuse have already gained national prominence in several jurisdictions, but most issues remain unresolved. Impacts Providers of products and services that use GNSS will face new requirements to ensure safety and privacy. Demand for illegal jammers will rise as more items are fitted with location trackers as a security feature. International standards will emerge for commercial applications.

Multi-Sensor Integrated Navigation in Urban and Indoor Environments

2018 ◽  
pp. 397-442 ◽  
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.

Modelling of the reference STARs procedures in the context of RPAS integration in non-segregated airspace

2020 ◽  
Vol 92 (9) ◽  
pp. 1385-1392
Author(s):  
Daniel Lichoń
Keyword(s):  
Traffic Management ◽  
Design Guidelines ◽  
Global Navigation Satellite Systems ◽  
Civil Aviation ◽  
Very High Frequency ◽  
Content Type ◽  
Mean Values ◽  
Satellite Systems ◽  
Reference Shape ◽  
Global Navigation Satellite

Purpose This work presents the part of the research in the integration of the remotely piloted aircraft systems (RPAS) in non-segregated airspace. The purpose of this study is to elaborate the reference shape of the Standard Instrument Arrivals (STARs) procedures of controlled airports. The STARs parameters are unique for the aerodromes and depend on navigational aids (NAVAIDs), manoeuvres and aircraft categories. Therefore, the elaboration of reference shapes was advisable in the context of RPAS integration research. Design/methodology/approach The models were based on the procedure design guidelines by International Civil Aviation Organization. The statistics of existing STARs were prepared using Aeronautical Information Publications to determine the representative procedural parameters. Construction of procedural shapes required to define the nominal flight path and tolerance areas. Findings In statistics, the standard deviation of distances was below the determined reference mean values, thus the models were convergent with existing procedures. Research limitations/implications The modelling was limited to initial, intermediate, final and missed approach segments. Arrival segment was not modelled. NAVAIDs include Instrument Landing System Category 1 (in final and missed approach) and very high-frequency omni-directional ranging or global navigation satellite systems (in initial and intermediate approach segments). Practical implications Prepared models may be used in research in the integration of the new types of aerial vehicles in existing air traffic management systems. Originality/value The reference STARs possess commonly used procedural manoeuvres (straight-in, turn, racetrack and base turn) and different NAVAIDs. The parameters of approach segments were determined as representative of the existing procedures. Moreover, the models are suitable to place at arbitrary origin and runway axis bearing.

“After 300 meters turn right” – the future of Russia’s GLONASS and the development of global satellite navigation systems

foresight ◽  
2014 ◽  
Vol 16 (5) ◽  
pp. 448-461 ◽  
Author(s):  
Mikhail B. Bokov ◽  
Anastasia Edelkina ◽  
Marina Klubova ◽  
Thomas Thurner ◽  
Natalia P. Velikanova ◽  
...  
Keyword(s):  
Large Scale ◽  
Global Navigation Satellite Systems ◽  
Navigation Systems ◽  
Niche Markets ◽  
Content Type ◽  
Satellite Systems ◽  
The Future ◽  
Comprehensive Picture ◽  
Satellite Navigation Systems ◽  
Global Navigation Satellite

Purpose – Global navigation satellite systems (GNSS) were designed to determine the exact location of objects on land, water and air for military purposes. With the opening of the satellite signal for civilian use, the technology created business opportunities for various applications. Today, satellite positioning technology is used by transporters, carriers, motorists, surveyors, builders, foresters, etc. through a wide array of devices like mobile phones or multimedia devices with built-in receiver modules. Design/methodology/approach – This paper provides the results of a recently held foresight exercise on the future development of Russia’s GLONASS system. Findings – The foresight exercise suggested a number niche markets where the GLONASS technology could be of great use, like monitoring of buildings and construction sides or the monitoring of shipments. In addition, in the case of Russia, large-scale government-driven investment programs will be key drivers for GLONASS’ growth perspectives. Originality/value – The paper provides a comprehensive picture of the development of GNSS for civilian use until 2020.

Global reliance on GPS creates new risks

2019 ◽  
Keyword(s):  
Power Distribution ◽  
Autonomous Vehicles ◽  
Critical Infrastructure ◽  
Organised Crime ◽  
Global Navigation Satellite Systems ◽  
Economic Losses ◽  
Navigation Systems ◽  
Content Type ◽  
Satellite Systems ◽  
Global Navigation Satellite

Subject Reliance on GPS. Significance Critical infrastructure, essential services and entire industries have become dependent on global navigation satellite systems (GNSSs). This dependence has emerged in an unplanned and unanticipated manner. GNSSs are vulnerable to disruption, with a risk of serious economic losses, loss of life and threats to national security. Impacts Reliance on GNSS will rise in established industries, notably finance, power distribution, agriculture and transportation. GNSS will be vital to the successful development of emerging industries such as autonomous vehicles, drones and new space systems. Demand will grow for high-quality GNSS receivers and software, and for backup systems such as ground-based radio navigation systems. Rising dependence on GNSS will incentivise efforts by national militaries and organised crime to exploit vulnerabilities. The greatest vulnerabilities may emerge in poorer countries where finances are more constrained and regulation is likely to be weaker.

Global GNSS governance faces fragmented future

2019 ◽  
Keyword(s):  
Global Navigation Satellite Systems ◽  
Critical Infrastructures ◽  
Navigation Satellite ◽  
Content Type ◽  
Crucial Element ◽  
Satellite Systems ◽  
Global Navigation ◽  
Day To Day Operations ◽  
Global Navigation Satellite

Subject GNSS governance. Significance Global navigation satellite systems (GNSS) are integrated into critical infrastructures and the day-to-day operations of businesses and governments globally. Their governance will be an important issue in the era of connected devices and cyberconflict. Impacts The strategic advantage of having an indigenous GNSS will decrease as multi-constellation receivers become the norm. Disruption of GNSS will be a crucial element of future conflicts between national militaries. Provider states may develop ways to deny access selectively to their own systems.

scholarly journals GNSS/LiDAR-Based Navigation of an Aerial Robot in Sparse Forests

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4061 ◽  
Author(s):  
Antonio C. B. Chiella ◽  
Henrique N. Machado ◽  
Bruno O. S. Teixeira ◽  
Guilherme A. S. Pereira
Keyword(s):  
Autonomous Navigation ◽  
Unscented Kalman Filter ◽  
Unmanned Vehicles ◽  
Global Navigation Satellite Systems ◽  
Fusion Algorithm ◽  
Forest Environment ◽  
Satellite Systems ◽  
Aerial Robot ◽  
Robust Adaptive ◽  
Global Navigation Satellite

Autonomous navigation of unmanned vehicles in forests is a challenging task. In such environments, due to the canopies of the trees, information from Global Navigation Satellite Systems (GNSS) can be degraded or even unavailable. Also, because of the large number of obstacles, a previous detailed map of the environment is not practical. In this paper, we solve the complete navigation problem of an aerial robot in a sparse forest, where there is enough space for the flight and the GNSS signals can be sporadically detected. For localization, we propose a state estimator that merges information from GNSS, Attitude and Heading Reference Systems (AHRS), and odometry based on Light Detection and Ranging (LiDAR) sensors. In our LiDAR-based odometry solution, the trunks of the trees are used in a feature-based scan matching algorithm to estimate the relative movement of the vehicle. Our method employs a robust adaptive fusion algorithm based on the unscented Kalman filter. For motion control, we adopt a strategy that integrates a vector field, used to impose the main direction of the movement for the robot, with an optimal probabilistic planner, which is responsible for obstacle avoidance. Experiments with a quadrotor equipped with a planar LiDAR in an actual forest environment is used to illustrate the effectiveness of our approach.

A type of collective detection scheme with improved pigeon-inspired optimization

2016 ◽  
Vol 9 (1) ◽  
pp. 105-123 ◽  
Author(s):  
Zhengxuan JIA
Keyword(s):  
Optimization Problem ◽  
Search Space ◽  
Global Navigation Satellite Systems ◽  
Detection Scheme ◽  
Content Type ◽  
Satellite Systems ◽  
Collective Detection ◽  
Increasing Demand ◽  
Global Navigation Satellite ◽  
Positioning Algorithm

Purpose – With increasing demand of localization service in challenging environments where Global Navigation Satellite Systems (GNSS) signals are considerably weak, a powerful approach, the collective detection (CD), has been developed. However, traditional CD techniques are computationally intense due to the large clock bias search space. Therefore, the purpose of this paper is to develop a new scheme of CD with less computational burden, in order to accelerate the detection and location process. Design/methodology/approach – This paper proposes a new scheme of CD. It reformulates the problem of GNSS signal detection as an optimization problem, and solves it with the aid of an improved Pigeon-Inspired Optimization (PIO). With the improved PIO algorithm adopted, the positioning algorithm arrives to evaluate only a part of the points in the search space, avoiding the problems of grid-search method which is universally adopted. Findings – Faced with the complex optimization problem, the improved PIO algorithm proves to have good performance. In the acquisition of simulated and real signals, the proposed scheme of CD with the improved PIO algorithm also have better efficiency, precision and stability than traditional CD algorithm. Besides, the improved PIO algorithm also proves to be a better candidate to be integrated into the proposed scheme than particle swarm optimization, differential evolution and PIO. Originality/value – The novelty associated with this paper is the proposition of the new scheme of CD and the improvement of PIO algorithm. Thus, this paper introduces another possibility to ameliorate the traditional CD.

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