scholarly journals Many Ways Lead to the Goal—Possibilities of Autonomous and Infrastructure-Based Indoor Positioning

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 397
Author(s):  
Hossein Shoushtari ◽  
Thomas Willemsen ◽  
Harald Sternberg
Keyword(s):  
Mobile Networks ◽  
Dead Reckoning ◽  
Simulated Data ◽  
Minimum Cost ◽  
Cost Effective ◽  
Satellite System ◽  
Position Estimation ◽  
Robust Solution ◽  
Position Data ◽  
Global Navigation Satellite

There are many ways to navigate in Global Navigation Satellite System-(GNSS) shaded areas. Reliable indoor pedestrian navigation has been a central aim of technology researchers in recent years; however, there still exist open challenges requiring re-examination and evaluation. In this paper, a novel dataset is used to evaluate common approaches for autonomous and infrastructure-based positioning methods. The autonomous variant is the most cost-effective realization; however, realizations using the real test data demonstrate that the use of only autonomous solutions cannot always provide a robust solution. Therefore, correction through the use of infrastructure-based position estimation based on smartphone technology is discussed. This approach invokes the minimum cost when using existing infrastructure, whereby Pedestrian Dead Reckoning (PDR) forms the basis of the autonomous position estimation. Realizations with Particle Filters (PF) and a topological approach are presented and discussed. Floor plans and routing graphs are used, in this case, to support PDR positioning. The results show that the positioning model loses stability after a given period of time. Fifth Generation (5G) mobile networks can enable this feature, as well as a massive number of use-cases, which would benefit from user position data. Therefore, a fusion concept of PDR and 5G is presented, the benefit of which is demonstrated using the simulated data. Subsequently, the first implementation of PDR with 5G positioning using PF is carried out.

scholarly journals The Single-Shore-Station-Based Position Estimation Method of an Automatic Identification System

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1590 ◽  
Author(s):  
Yi Jiang ◽  
Kai Zheng
Keyword(s):  
Estimation Method ◽  
Satellite System ◽  
Position Estimation ◽  
Automatic Identification ◽  
Identification System ◽  
Automatic Identification System ◽  
Shore Station ◽  
Position Data ◽  
Positioning Method ◽  
Global Navigation Satellite

In order to overcome the vulnerability of the Global Navigation Satellite System (GNSS), the International Maritime Organization (IMO) initiated the ranging mode (R-Mode) of the automatic identification system (AIS) to provide resilient position data. As the existing AIS is a communication system, the number of shore stations as reference stations cannot satisfy positioning requirements. Especially in the area near a shore station, it is very common that a vessel can only receive signals from one shore station, where the traditional positioning method cannot be used. A novel position estimation method using multiple antennas on shipborne equipment is proposed here, which provides a vessel’s position even though the vessel can only receive signals from a single shore station. It is beneficial for solving positioning issues in proximity to the coast. Further, as the distances between different antennas to the shore station are not sufficiently independent, the positioning matrix can easily be near singularity or ill-conditioned; thus, an effective position solving method is derived. Furthermore, the proposed method is verified and evaluated in different scenarios by numerical simulation. We assessed the influencing factors of positioning performance, such as the vessel’s heading angle, the relative position, and the distances between the shore station and the vessel. The proposed method widely expands the application scope of the AIS R-Mode positioning system.

Metode Deteksi ‘Potential Security Threats’ Pada ADS-B Data dengan Memonitor EM Emisi Radiasi pada Jaringan Ethernet

2019 ◽  
Vol 11 (1) ◽  
pp. 39-44
Author(s):  
Reza Septiawan ◽  
I Made Astawa ◽  
Arief Rufiyanto ◽  
Tahar Agastani
Keyword(s):  
Traffic Management ◽  
Air Traffic Management ◽  
Satellite System ◽  
Traffic Monitoring ◽  
Air Traffic ◽  
Security Threats ◽  
Signal Source ◽  
Position Data ◽  
Accurate Position ◽  
Global Navigation Satellite

Precision, Navigation, and Timing (PNT) system based on Global Navigation Satellite System (GNSS) becomes significant in the air traffic management, especially in the use of Automatic Dependent Surveillance Broadcast system (ADS-B) for air traffic monitoring. Therefore the integrity of GNSS is significant to provide a reliable data necessary for ADS-B. GNSS Interference due to intentional or unintentional surrounding signal source may decrease the integrity of GNSS signal and therefore may result in the in-accurate position data of ADS-B message. ADS-B message itself is also vulnerable from potential security threats in their network. This paper proposed a methodology to detect potential security threats of ADS-B network system for both GNSS signal and ADS-B data by measuring and monitoring the electromagnetic radiated emission from ethernet cable IPv4 Cat5.

scholarly journals Investigation of Tightly Combined Single-Frequency and Single-Epoch Precise Positioning Using Multi-GNSS Data

2020 ◽  
Vol 12 (2) ◽  
pp. 285
Author(s):  
Chenlong Deng ◽  
Qian Liu ◽  
Xuan Zou ◽  
Weiming Tang ◽  
Jianhui Cui ◽  
...  
Keyword(s):  
Satellite System ◽  
Position Estimation ◽  
Single Frequency ◽  
Navigation Satellite ◽  
Typical Situation ◽  
Practical Algorithms ◽  
Ambiguity Fixing ◽  
Global Navigation ◽  
Global Navigation Satellite ◽  
Tc Model

The loose combination (LC) and the tight combination (TC) are two different models in the combined processing of four global navigation satellite systems (GNSSs). The former is easy to implement but may be unusable with few satellites, while the latter should cope with the inter-system bias (ISB) and is applicable for few tracked satellites. Furthermore, in both models, the inter-frequency bias (IFB) in the GLObal NAvigation Satellite System (GLONASS) system should also be removed. In this study, we aimed to investigate the performance difference of ambiguity resolution and position estimation between these two models simultaneously using the single-frequency data of all four systems (GPS + GLONASS + Galileo + BeiDou Navigation Satellite System (BDS)) in three different environments, i.e., in an open area, with surrounding high buildings, and under a block of high buildings. For this purpose, we first provide the definition of ISB and IFB from the perspective of the hardware delays, and then propose practical algorithms to estimate the IFB rate and ISB. Thereafter, a comprehensive performance comparison was made between the TC and LC models. Experiments were conducted to simulate the above three observation environments: the typical situation and situations suffering from signal obstruction with high elevation angles and limited azimuths, respectively. The results show that in a typical situation, the TC and LC models achieve a similar performance. However, when the satellite signals are severely obstructed and few satellites are tracked, the float solution and ambiguity fixing rates in the LC model are dramatically decreased, while in the TC model, there are only minor declines and the difference in the ambiguity fixing rates can be as large as 30%. The correctly fixed ambiguity rates in the TC model also had an improvement of around 10%. Once the ambiguity was fixed, both models achieved a similar positioning accuracy.

Autonomous Navigation of a Mobile Robot Based on GNSS/DR Integration in Outdoor Environments

2014 ◽  
Vol 26 (2) ◽  
pp. 214-224 ◽  
Author(s):  
Taro Suzuki ◽  
◽  
Mitsunori Kitamura ◽  
Yoshiharu Amano ◽  
Nobuaki Kubo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Dead Reckoning ◽  
Satellite System ◽  
Mobile Robot Navigation ◽  
Observation Data ◽  
Multipath Mitigation ◽  
Ir Camera ◽  
Outdoor Environments ◽  
Global Navigation Satellite

This paper describes the development of a mobile robot system and an outdoor navigationmethod based on global navigation satellite system (GNSS) in an autonomous mobile robot navigation challenge, called the Tsukuba Challenge, held in Tsukuba, Japan, in 2011 and 2012. The Tsukuba Challenge promotes practical technologies for autonomous mobile robots working in ordinary pedestrian environments. Many teams taking part in the Tsukuba Challenge used laser scanners to determine robot positions. GNSS was not used in localization because its positioning has multipath errors and problems in availability. We propose a technique for realizing multipath mitigation that uses an omnidirectional IR camera to exclude “invisible” satellites, i.e., those entirely obstructed by a building and whose direct waves therefore are not received. We applied GPS / dead reckoning (DR) integrated based on observation data from visible satellites determined by the IR camera. Positioning was evaluated during Tsukuba Challenge 2011 and 2012. Our robot ran the 1.4 km course autonomously and evaluation results confirmed the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

Failure Modes and Models for Integrated GPS/INS Systems

2007 ◽  
Vol 60 (2) ◽  
pp. 327-348 ◽  
Author(s):  
Umar Iqbal Bhatti ◽  
Washington Yotto Ochieng
Keyword(s):  
Failure Modes ◽  
Cost Effective ◽  
Satellite System ◽  
Integrated System ◽  
Data Consistency ◽  
Coupling Mechanism ◽  
Integrity Monitoring ◽  
Potential Failure ◽  
Receiver Autonomous Integrity Monitoring ◽  
Global Navigation Satellite

GPS is the most widely used global navigation satellite system. By design, there is no provision for real time integrity information within the Standard Positioning Service (SPS). However, in safety critical sectors like aviation, stringent integrity performance requirements must be met. This can be achieved externally or at the receiver level through receiver autonomous integrity monitoring (RAIM). The latter is a cost effective method that relies on data consistency, and therefore requires redundant measurements. An external aid to provide this redundancy can be in the form of an Inertial Navigation System (INS). This should enable continued performance even during RAIM holes (when no redundant satellite measurements are available). However, due to the inclusion of an additional system and the coupling mechanism, integrity issues become more challenging. To develop an effective integrity monitoring capability, a good understanding of the potential failure modes of the integrated system is vital. In this paper potential failure modes of integrated GPS/INS systems are identified. This is followed by the specification of corresponding models that would be required to investigate the capability of existing integrity algorithms and to develop enhancements or new algorithms.

Urban Fleet Monitoring with GPS and GLONASS

1998 ◽  
Vol 51 (3) ◽  
pp. 382-393 ◽  
Author(s):  
M. Tsakiri ◽  
M. Stewart ◽  
T. Forward ◽  
D. Sandison ◽  
J. Walker
Keyword(s):  
Global Positioning System ◽  
Public Transport ◽  
Urban Areas ◽  
Dead Reckoning ◽  
Satellite System ◽  
Basic Function ◽  
Positioning System ◽  
Positioning Systems ◽  
Global Positioning ◽  
Global Navigation Satellite

The increasing volume of traffic in urban areas has resulted in steady growth of the mean driving time on fixed routes. Longer driving times lead to significantly higher transportation costs, particularly for vehicle fleets, where efficiency in the distribution of their transport tasks is important in staying competitive in the market. For bus fleets, the optimal control and command of the vehicles is, as well as the economic requirements, a basic function of their general mission. The Global Positioning System (GPS) allows reliable and accurate positioning of public transport vehicles except within the physical limitations imposed by built-up city ‘urban canyons’. With a view to the next generation of satellite positioning systems for public transport fleet management, this paper highlights the limitations imposed on current GPS systems operating in the urban canyon. The capabilities of a future positioning system operating in this type of environment are discussed. It is suggested that such a system could comprise receivers capable of integrating the Global Positioning System (GPS) and the Russian equivalent, the Global Navigation Satellite System (GLONASS), and relatively cheap dead-reckoning sensors.

scholarly journals AIOSAT - Autonomous Indoor & Outdoor Safety Tracking System

2019 ◽  
Vol 26 (1) ◽  
pp. 21-32
Author(s):  
Iñigo Adin ◽  
Paul Zabalegui ◽  
Alejandro Perez ◽  
Jaione Arrizabalaga ◽  
Jon Goya ◽  
...  
Keyword(s):  
Rural Areas ◽  
Tracking System ◽  
Dead Reckoning ◽  
Wide Band ◽  
Satellite System ◽  
System Level ◽  
Horizon 2020 ◽  
Rescue Workers ◽  
Global Navigation Satellite ◽  
Map Data

Abstract Even though satellite-based positioning increases rescue workers’ safety and efficiency, signal availability, reliability, and accuracy are often poor during fire operations, due to terrain formation, natural and structural obstacles or even the conditions of the operation. In central Europe, the stakeholders report a strong necessity to complement the location for mixed indoor-outdoor and GNSS blocked scenarios. As such, location information often needs to be augmented. For that, European Global Navigation Satellite System Galileo could help by improving the availability of the satellites with different features. Moreover, a multi-sensored collaborative system could also take advantage of the rescue personnel who are already involved in firefighting and complement the input data for positioning. The Autonomous Indoor & Outdoor Safety Tracking System (AIOSAT) is a multinational project founded through the Horizon 2020 program, with seven partners from Spain, Netherlands and Belgium. It is reaching the first year of progress (out of 3) and the overarching objective of AIOSAT system is to advance beyond the state of the art in tracking rescue workers by creating a high availability and high integrity team positioning and tracking system. On the system level approach, this goal is achieved by fusing the GNSS, EDAS/EGNOS, pedestrian dead reckoning and ultra-wide band ranging information, possibly augmented with map data. The system should be able to work both inside buildings and rural areas, which are the test cases defined by the final users involved in the consortium and the advisory board panel of the project

scholarly journals MOVING OBJECT CLASSIFICATION USING MULTILAYER LASER SCANNING WITH SPACE SUBDIVISION FRAMEWORK

2020 ◽  
Vol V-4-2020 ◽  
pp. 103-108
Author(s):  
M. Nakagawa ◽  
M. Taguchi
Keyword(s):  
Real Time ◽  
Urban Areas ◽  
Laser Scanning ◽  
Laser Scanner ◽  
Object Classification ◽  
Point Clouds ◽  
Satellite System ◽  
Space Subdivision ◽  
Position Data ◽  
Global Navigation Satellite

Abstract. In this paper, we focus on the development of intelligent construction vehicles to improve the safety of workers in construction sites. Generally, global navigation satellite system positioning is utilized to obtain the position data of workers and construction vehicles. However, construction fields in urban areas have poor satellite positioning environments. Therefore, we have developed a 3D sensing unit mounted on a construction vehicle for worker position data acquisition. The unit mainly consists of a multilayer laser scanner. We propose a real-time object measurement, classification and tracking methodology with the multilayer laser scanner. We also propose a methodology to estimate and visualize object behaviors with a spatial model based on a space subdivision framework consisting of agents, activities, resources, and modifiers. We applied the space subdivision framework with a geofencing approach using real-time object classification and tracking results estimated from temporal point clouds. Our methodology was evaluated using temporal point clouds acquired from a construction vehicle in drilling works.

scholarly journals A Robust GNSS/PDR Integration Scheme with GRU-Based Zero-Velocity Detection for Mass-Pedestrians

2022 ◽  
Vol 14 (2) ◽  
pp. 300
Author(s):  
Dongpeng Xie ◽  
Jinguang Jiang ◽  
Jiaji Wu ◽  
Peihui Yan ◽  
Yanan Tang ◽  
...  
Keyword(s):  
Low Cost ◽  
Single Point ◽  
Dead Reckoning ◽  
Satellite System ◽  
Integration Scheme ◽  
Fusion Algorithm ◽  
Zero Velocity ◽  
Single Antenna ◽  
Other Information ◽  
Global Navigation Satellite

Aiming at the problem of high-precision positioning of mass-pedestrians with low-cost sensors, a robust single-antenna Global Navigation Satellite System (GNSS)/Pedestrian Dead Reckoning (PDR) integration scheme is proposed with Gate Recurrent Unit (GRU)-based zero-velocity detector. Based on the foot-mounted pedestrian navigation system, the error state extended Kalman filter (EKF) framework is used to fuse GNSS position, zero-velocity state, barometer elevation, and other information. The main algorithms include improved carrier phase smoothing pseudo-range GNSS single-point positioning, GRU-based zero-velocity detection, and adaptive fusion algorithm of GNSS and PDR. Finally, the scheme was tested. The root mean square error (RMSE) of the horizontal error in the open and complex environments is lower than 1 m and 1.5 m respectively. In the indoor elevation experiment where the elevation difference of upstairs and downstairs exceeds 25 m, the elevation error is lower than 1 m. This result can provide technical reference for the accurate and continuous acquisition of public pedestrian location information.

scholarly journals Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates

2015 ◽  
Vol 1 (2) ◽  
pp. 1-12
Author(s):  
António João Ferreira ◽  
José Miguel Almeida ◽  
Eduardo Silva
Keyword(s):  
Dead Reckoning ◽  
Satellite System ◽  
Vehicle Localization ◽  
Rail Vehicle ◽  
Position Errors ◽  
Railroad Tracks ◽  
Rail Vehicles ◽  
Global Navigation Satellite ◽  
Global Uncertainty

A novel dead reckoning algorithm conceived for localization of small inspection rail vehicles in Global Navigation Satellite System (GNSS) denied environments is presented. This work focus on simplifying the rail vehicle localization task, taking into account restrictions on movement imposed by the railroad tracks. Considering that dead reckoning techniques accumulate errors over time, leading to increasing global uncertainty, a method was designed to correct the estimates and also smooth trajectory errors backwards in time, through visualization of global landmarks. Results show the effectiveness of this approach in reducing long-term position errors. The current document reports real railroad experiments, featuring a specially designed non-motorized mobile modeling vehicle.

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