Comparative Study of SLAM Techniques for UAV

In the last few decades, the main problem which has attracted the attention of researchers in the field of aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of aerial vehicles where the GPS system does not work. Aerial robotics are used to perform many tasks such as rescue, transportation, search, control, monitoring, and different military operations where the performance of humans is impossible because of their vast top view and reachability anywhere. There are many different techniques and algorithms which are used to overcome the localization and mapping problem. These techniques and algorithms use different sensors such as Red Green Blue and Depth (RGBD), Light Detecting and Range (LIDAR), Ultra-Wideband (UWB) techniques, and probability-based SLAM which uses two algorithms Linear Kalman Filter (LKF) and Extended Kalman filter (EKF). LKF consists of 5 phases and this algorithm is only used for linear system problems but on the other hand, EKF algorithm is also used for non-linear system. EKF is found better than LKF due to accuracy, practicality, and efficiency while dealing SLAM problem.

Establishment of European Regional Ionosphere Model Based on Spherical Harmonic Functions

In order to study the temporal and spatial variation characteristics of the regional ionosphere and the modeling accuracy, the experiment is based on the spherical harmonic function model, using the GPS, Glonass, and Galileo dual-frequency observation data from the 305th-334th day of the European CORS network in 2019 to establish a global ionospheric model. By analyzing and evaluating the accuracy of the global ionospheric puncture points, VTEC, and comparing code products, the test results showed that the GPS system has the most dense puncture electricity distribution, the Glonass system is the second, and the Galileo system is the weakest. The values of ionospheric VTEC calculated by GPS, Glonass and Galileo are slightly different, but in terms of trends, they are the same as those of ESA, JPL and UPC. GPS data has the highest accuracy in global ionospheric modeling. GPS, Glonass and Galileo have the same trend, but Glonass data is unstable and fluctuates greatly.

Precipitable water vapour monitoring using ground based GPS system

The sensing of near real time Precipitable Water Vapour (PWV) using Global Positioning System (GPS) over Indian region were analyzed. GPS data collected from five stations at hourly interval were utilized to determine near real time PWV using GAMIT software. Sliding window technique was used to derive near real time PWV. The PWV determined from GPS observations of each site were compared with respective radiosonde measurements. The results shows that the derived GPS precipitable water well agree for some stations with the independent radiosonde measurements. We have also examined the variation of hourly GPS-PWV with hourly rainfall observation and found that PWV increases significantly before the event take place and decreases after the event.

Research on the Construction of Cold Chain Logistics Intelligent System Based on 5G Ubiquitous Internet of Things

In the research on the construction of cold chain logistics intelligent system based on 5G ubiquitous Internet of Things as an emerging technology, the Internet of Things is penetrating into the logistics field with its technical advantages and changing the original industry form. According to the development status of cold chain logistics, this paper constructs a set of cold chain logistics intelligent system by using RFID technology, sensing equipment, GPS system, fuzzy PID hierarchical control, and other Internet of Things technologies and analyzes the impact of the cost sharing ratio of Internet of Things on the income of wholesalers, retailers, and supply chain. The example analysis shows that when retailers share all the adoption costs of the Internet of Things, the benefit of the whole fresh agricultural product cold chain logistics is the largest. This study provides a scientific basis for logistics decision-making for wholesalers and retailers and has important application value for improving the logistics efficiency of the whole fresh agricultural product cold chain.

At the End of a Slippery Slope: A Pilot Study of Deceleration Mats for Snow Tubing

On-slope pilot testing of snow tubes was conducted at two ski areas in the United States to examine the effects of deceleration mats. Snow tube and rider kinematics were measured using an instrumented bodysuit and a GPS system worn by the rider. For each test, the riders descended a tubing run with minimal input and stopped in the run-out area. Snow tube and rider speeds when entering the run-out area were controlled to be approximately 9.5 m/s. Test trials were conducted with and without deceleration mats. Four deceleration mat conditions were tested, including two raised surface protuberances (ribs and projections) and two mat geometry parameters (flat and folded). The deceleration and effective coefficient of friction (COF) were determined for each trial. Data were recorded for 75 test trials with a mean (± standard deviation) speed entering the run-out area of 9.5 (±1.8) m/s. There were no significant differences in the deceleration or effective coefficient of friction between the surface protuberance conditions. The peak deceleration and effective COF for the folded mats (5.1 ± 1.6 m/s2 and 0.26 ± 0.14) was greater than for the flat (3.3 ± 0.8 m/s2 and 0.10 ± 0.07) and no mat (0.06 ± 0.3 m/s2 and 0.08 ± 0.03) conditions (all p < 0.05). Deceleration mats in run-out areas slow snow tube riders faster than without deceleration mats. Folding the deceleration mats produced greater deceleration but did not produce significantly different kinematics for the riders.

Spoofing Attack Detection Method for UAV Navigation System

An implementation of methods for protecting unmanned aerial vehicles (UAVs) from spoofing attacks of the global positioning system (GPS) to ensure safe navigation is discussed in this paper. The Global Navigation Satellite System (GNSS) is widely used to locate UAVs and is by far the most popular navigation solution. This is due to the simplicity and relatively low cost of this technology, as well as the accuracy of the transmitted coordinates. However, there are many security threats to GPS navigation. Primarily this is due to the nature of the GPS signal, the signal is transmitted in the clear, so an attacker can block or tamper with it. This study analyzes the existing GPS protection methods. As part of the study, an experimental stand and scenarios of attacks on the UAV GPS system were developed. Data from the UAV flight logbook was collected and an analysis of cyber-physical parameters was carried out to see an effect of the attack on the on-board sensors readings. Based on this, a new method for detecting UAV anomalies was proposed, based on an analysis of changes in UAV internal parameters. This self-diagnosis method allows the UAV to independently assess the presence of changes in its subsystems and identify signs of a cyberattack. To detect an attack, the UAV collects data on changes in cyber-physical parameters over a certain period of time, then updates this data. As a result it is necessary for the UAV to determine the degree of difference between the two time series of the collected data. The greater the degree of difference between the updated data and the previous ones, the more likely the UAV is under attack.

Validity and Reliability of an Inertial Sensor Device for Specific Running Patterns in Soccer

Electronic performance tracking devices are largely employed in team sports to monitor performance and improve training. To date, global positioning system (GPS) based devices are those mainly used in soccer training. The aim of this study was to analyse the validity and reliability of the inertial sensor device (ISD) in monitoring distance and speed in a soccer-specific circuit and how their performance compare to a GPS system. 44 young male soccer players (age: 14.9 ± 1.1, range 9–16, years, height: 1.65 ± 0.10 m, body mass: 56.3 ± 8.9 kg) playing in a non-professional soccer team in Italy, participated in the study. We assessed the players trough a soccer running sport-specific circuit. An ISD and a GPS were used to assess distance and speed. Data was compared to a video reference system, and the difference were quantified by means of the root mean square error (RMSE). Significant differences were found for both GPS and ISD devices for distance and speed. However, lower error for distance (dRMSE 2.23 ± 1.01 m and 5.75 ± 1.50 m, respectively) and speed (sRMSE 0.588 ± 0.152 m·s–1 and 1.30 ± 0.422 m·s–1, respectively) were attained by the ISD compared to the GPS. Overall, our results revealed a statistically significant difference between systems in data monitoring for either distance and speed. However, results of this study showed that a smaller error was obtained with the ISD than the GPS device. Despite caution is warranted within the interpretation of these results, we observed a better practical applicability of the ISD due to its small size, lower cost and the possibility to use the device indoor.

The influence of external load variables on creatine kinase change during preseason training period

Objective The aim of the present study was to analyse the relationships between creatine kinase (CK) concentration, an indirect marker of muscle damage, and global positioning system (GPS)-derived metrics of a continuous two-week-long preseason training period in elite football. Design Twenty-one elite male professional soccer players were assessed during a 14-day preseason preparatory period. CK concentrations were determined each morning, and a GPS system was used to quantify the external load. A generalized estimating equation (GEE) model was established to determine the extent to which the external load parameter explained post-training CK levels. Results The GEE model found that higher numbers of decelerations (χ 2 = 7.83, P = 0.005) were most strongly associated with the post-training CK level. Decelerations and accelerations accounted for 62% and 11% of the post-training CK level, respectively, and considerable interindividual variability existed in the data. Conclusion The use of GPS to predict muscle damage could be of use to coaches and practitioners in prescribing recovery practices. Based on GPS data, more individualized strategies could be devised and could potentially result in better subsequent performance.

Application of Multi-System Combination Precise Point Positioning in Landslide Monitoring

To verify the positioning performance and reliability of multi-system combination Precise Point Positioning in landslide monitoring, we carried out a multi-system combination Precise Point Positioning calculation experiment on the monitoring data of a single landslide disaster area in Fujian Province. The coordinates of the monitoring points obtained by a continuously operating reference station and the monitoring station for static relative positioning were used as reference values. The GPS system was used as the standard system and the combined PPP solution mode of G/R/C, G/R/E and G/R/E/C was used to obtain the surface displacement of the landslide area. The research showed that multi-system combination PPP converges to the centimeter level in about 30 min. The average value of internal accordant precision was more than 1 mm after convergence, and that of the external accordant precision was more than 5 cm, which meets the centimeter-level accuracy requirements in rapid landslide deformation monitoring.

GPS Meteorology : Error in the estimation of precipitable water by ground based GPS system in some meso-scale thunderstorms - A case study

Remote sensing by ground based GPS receivers provide continuous and accurate measurement of precipitable water (PW) of an order of 1.5 mm comparable to radiosondes and water vapour radiometers. In the present work we have examined the amount of PW variation in three thunderstorms accompanied with rain shower that occurred over the GPS station. In all the three thunderstorms event heavy rain was reported. However on comparison of observed rainfall with GPS estimated precipitable water (hourly) in real time, it is observed that among the three, in one event the amount of precipitable water (PW) is much less (~20mm) for the same amount of rainfall. After analysing and taken into account various source of error, we suspect that in a mesoscale thunderstorms or squall lines associated with heavy rainfall, discrepancies arise because the wet mapping functions that used to map the wet delay at any angle to the zenith do not represent the localized atmospheric condition particularly for narrow towering thunder clouds and non-availability of GPS satellites in the zenith direction. On the other hand for the larger thunder cells the atmosphere is very nearly azimuthally symmetric with respect to GPS receiver, the error due to the wet mapping function is minimal.