Improved localization framework for autonomous vehicles via tensor and antenna array based GNSS receivers

2020 ◽  
Author(s):  
Giovanni A. Santos ◽  
Joao Paulo C. L. da Costa ◽  
Daniel V. de Lima ◽  
Mateus da R. Zanatta ◽  
Bruno J. G. Praciano ◽  
...  
Keyword(s):  
Antenna Array ◽  
Autonomous Vehicles ◽  
Gnss Receivers

Robust tensor-based techniques for antenna array-based GNSS receivers in scenarios with highly correlated multipath components

2020 ◽  
Vol 101 ◽  
pp. 102715 ◽  
Author(s):  
Daniel Valle de Lima ◽  
Mateus da Rosa Zanatta ◽  
João Paulo C.L. da Costa ◽  
Rafael T. de Sousa Jr. ◽  
Martin Haardt
Keyword(s):  
Antenna Array ◽  
Gnss Receivers ◽  
Highly Correlated

scholarly journals Experimental demonstration of peripherally-excited antenna arrays

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Ayman H. Dorrah ◽  
George V. Eleftheriades
Keyword(s):  
Antenna Array ◽  
Millimeter Wave ◽  
Antenna Arrays ◽  
Autonomous Vehicles ◽  
Communication Systems ◽  
Phased Arrays ◽  
Active Element ◽  
Practical Implementation ◽  
Experimental Demonstration ◽  
Automotive Radars

AbstractEmerging technologies such as 5G communication systems, autonomous vehicles and satellite Internet have led to a renewed interest in 2D antennas that are capable of generating fixed/scannable pencil beams. Although traditional active phased arrays are technologically suitable for these applications, there are cases where other alternatives are more attractive, especially if they are simpler and less costly to design and fabricate. Recently, the concept of the Peripherally-Excited (PEX) antenna array has been proposed, promising a sizable reduction in the active-element count, especially when compared with traditional phased arrays. Albeit at the price of exhibiting some constraints on the possible beam-pointing directions. Here, we demonstrate the first practical implementation of the PEX antenna concept, and the proposed design is capable of generating single or multiple independently scannable pencil beams at broadside and tilted radiation directions, from a shared radiating aperture. The proposed structure is also easily scalable to higher millimeter-wave frequencies, and can be particularly useful in MIMO and duplex antenna applications, commonly encountered in automotive radars, among others.

scholarly journals The Unbiased Characteristic of Doppler Frequency in GNSS Antenna Array Processing

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Yuchen Xie ◽  
Zhengrong Li ◽  
Feiqiang Chen ◽  
Huaming Chen ◽  
Feixue Wang
Keyword(s):  
Antenna Array ◽  
Carrier Phase ◽  
Array Processing ◽  
Doppler Frequency ◽  
Low Complexity ◽  
Satellite System ◽  
Accurate Estimation ◽  
Array Technology ◽  
Gnss Receivers ◽  
Global Navigation Satellite

The antenna array technology, especially the spaced-time array processing (STAP), is one of the effective methods used in Global Navigation Satellite System (GNSS) receivers to refrain the power of jamming and enhance the performance of receivers in the circumstance of interference. However, biases induced to the receiver because of many reasons, including characteristic of antennas, front-end channel electronics, and space-time filtering, are extremely harmful to the high precise positioning of receivers. Although plenty of works have been done to calibrate the antenna and to mitigate these biases, achieving a good performance of antijamming, high accuracy, and low complexity at the same time still remains challenging. Different from existing works, this paper leverages the characteristic of GNSS signal’s Doppler frequency in STAP, which is proven to remain unbiased to solve the problem, even when the nonideal antennas are used and the interference circumstance changes. Since the integration of frequency is carrier phase, the unbiased Doppler frequency leads to an accurate estimation of carrier phase which can be used to calibrate the antenna array without extra apparatus or complicating algorithms. Therefore, a simple Doppler-aid strategy may be developed in the future to solve the difficulty of STAP bias mitigation.

scholarly journals A Multi-Antenna Scheme for Early Detection and Mitigation of Intermediate GNSS Spoofing

Sensors ◽  
2019 ◽  
Vol 19 (10) ◽  
pp. 2411 ◽  
Author(s):  
Jaroslaw Magiera
Keyword(s):  
Early Detection ◽  
Antenna Array ◽  
Early Stage ◽  
Detection Algorithm ◽  
Adaptive Beamforming ◽  
Spoofing Detection ◽  
Gnss Receivers ◽  
Multipath Detection ◽  
Highly Correlated ◽  
Processing Techniques

This article presents a method for detecting and mitigating intermediate GNSS spoofing. In this type of attack, at its early stage, a spoofer transmits counterfeit signals which have slight time offsets compared to true signals arriving from satellites. The anti-spoofing method proposed in this article fuses antenna array processing techniques with a multipath detection algorithm. The latter is necessary to separate highly correlated true and counterfeit GNSS signals. Spoofing detection is based on comparison of steering vectors related to received spatial components. Whereas mitigation is achieved by means of adaptive beamforming which excises interferences arriving from common direction and preserves undistorted signals from GNSS satellites. Performance of proposed method is evaluated through simulations, results of which prove the usefulness of this method for protecting GNSS receivers from intermediate spoofing interference.

Miniature Continuous Coverage Antenna Array for GNSS Receivers

2008 ◽  
Vol 7 ◽  
pp. 592-595 ◽  
Author(s):  
J.A. Kasemodel ◽  
C.-C. Chen ◽  
I.J. Gupta ◽  
J.L. Volakis
Keyword(s):  
Antenna Array ◽  
Continuous Coverage ◽  
Gnss Receivers

scholarly journals LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments

2020 ◽  
Vol 12 (14) ◽  
pp. 2323
Author(s):  
Ahmed Aboutaleb ◽  
Amr S. El-Wakeel ◽  
Haidy Elghamrawy ◽  
Aboelmagd Noureldin
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Three Dimensional ◽  
Sensor System ◽  
Extended Kalman Filtering ◽  
Land Vehicle ◽  
Position Errors ◽  
Gnss Receivers

The autonomous vehicles (AV) industry has a growing demand for reliable, continuous, and accurate positioning information to ensure safe traffic and for other various applications. Global navigation satellite system (GNSS) receivers have been widely used for this purpose. However, GNSS positioning accuracy deteriorates drastically in challenging environments such as urban environments and downtown cores. Therefore, inertial sensors are widely deployed inside the land vehicle for various purposes, including the integration with GNSS receivers to provide positioning information that can bridge potential GNSS failures. However, in dense urban areas and downtown cores where GNSS receivers may incur prolonged outages, the integrated positioning solution may become prone to severe drift resulting in substantial position errors. Therefore, it is becoming necessary to include other sensors and systems that can be available in future land vehicles to be integrated with both the GNSS receivers and inertial sensors to enhance the positioning performance in such challenging environments. This work aims to design and examine the performance of a multi-sensor system that fuses the GNSS receiver data with not only the three-dimensional reduced inertial sensor system (3D-RISS), but also with the three-dimensional point cloud of onboard light detection and ranging (LiDAR) system. In this paper, a comprehensive LiDAR processing and odometry method is developed to provide a continuous and reliable positioning solution. In addition, a multi-sensor Extended Kalman filtering (EKF)-based fusion is developed to integrate the LiDAR positioning information with both GNSS and 3D-RISS and utilize the LiDAR updates to limit the drift in the positioning solution, even in challenging or ultimately denied GNSS environment. The performance of the proposed positioning solution is examined using several road test trajectories in both Kingston and Toronto downtown areas involving different vehicle dynamics and driving scenarios. The proposed solution provided a performance improvement over the standalone inertial solution by 64%. Over a GNSS outage of 10 min and 2 km distance traveled, our solution achieved position errors less than 2% of the distance travelled.

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