Innovative Methods and Materials in Structural Health Monitoring of Civil Infrastructures

In the past, when elements in sructures were composed of perishable materials, such as wood, the maintenance of houses, bridges, etc., was considered of vital importance for their safe use and to preserve their efficiency. With the advent of materials such as reinforced concrete and steel, given their relatively long useful life, periodic and constant maintenance has often been considered a secondary concern. When it was realized that even for structures fabricated with these materials that the useful life has an end and that it was being approached, planning maintenance became an important and non-negligible aspect. Thus, the concept of structural health monitoring (SHM) was introduced, designed, and implemented as a multidisciplinary method. Computational mechanics, static and dynamic analysis of structures, electronics, sensors, and, recently, the Internet of Things (IoT) and artificial intelligence (AI) are required, but it is also important to consider new materials, especially those with intrinsic self-diagnosis characteristics, and to use measurement and survey methods typical of modern geomatics, such as satellite surveys and highly sophisticated laser tools

GNSS Integrity Monitoring assisted by Signal Processing techniques in Harsh Environments

The Global Navigation Satellite Systems (GNSS) applications are growing and more pervasive in the modern society. The presence of multi-constellation GNSS receivers able to use signals coming from different systems like the american Global Positioning System (GPS), the european Galileo, the Chinese Beidou and the russian GLONASS, permits to have more accuracy in position solution. All the receivers provide always more reliable solution but it is important to monitor the possible presence of problems in the position computation. These problems could be caused by the presence of impairments given by unintentional sources like multipath generated by the environment or intentional sources like spoofing attacks. In this thesis we focus on design algorithms at signal processing level used to assist Integrity operations in terms of Fault Detection and Exclusion (FDE). These are standalone algorithms all implemented in a software receiver without using external information. The first step was the creation of a detector for correlation distortion due to the multipath with his limitations. Once the detection is performed a quality index for the signal is computed and a decision about the exclusion of a specific Satellite Vehicle (SV) is taken. The exclusion could be not feasible so an alternative approach could be the inflation of the variance of the error models used in the position computation. The quality signal can be even used for spoofinng applications and a novel mitigation technique is developed and presented. In addition, the mitigation of the multipath can be reached at pseudoranges level by using new method to compute the position solution. The main contributions of this thesis are: the development of a multipath, or more in general, impairments detector at signal processing level; the creation of an index to measure the quality of a signal based on the detector’s output; the description of a novel signal processing method for detection and mitigation of spoofing effects, based on the use of linear regression algorithms; An alternative method to compute the Position Velocity and Time (PVT) solution by using different well known algorithms in order to mitigate the effects of the multipath on the position domain

Adaptive Interference Mitigation in GPS Receivers

Satellite navigation systems (GNSS) are among the most complex radio-navigation systems, providing positioning, navigation, and timing (PNT) information. A growing number of public sector and commercial applications rely on the GNSS PNT service to support business growth, technical development, and the day-to-day operation of technology and socioeconomic systems. As GNSS signals have inherent limitations, they are highly vulnerable to intentional and unintentional interference. GNSS signals have spectral power densities far below ambient thermal noise. Consequently, GNSS receivers must meet high standards of reliability and integrity to be used within a broad spectrum of applications. GNSS receivers must employ effective interference mitigation techniques to ensure robust, accurate, and reliable PNT service. This research aims to evaluate the effectiveness of the Adaptive Notch Filter (ANF), a precorrelation mitigation technique that can be used to excise Continuous Wave Interference (CWI), hop-frequency and chirp-type interferences from GPS L1 signals. To mitigate unwanted interference, state-of-the-art ANFs typically adjust a single parameter, the notch centre frequency, and zeros are constrained extremely close to unity. Because of this, the notch centre frequency converges slowly to the target frequency. During this slow converge period, interference leaks into the acquisition block, thus sabotaging the operation of the acquisition block. Furthermore, if the CWI continuously hops within the GPS L1 in-band region, the subsequent interference frequency is locked onto after a delay, which means constant interference occurs in the receiver throughout the delay period. This research contributes to the field of interference mitigation at GNSS's receiver end using adaptive signal processing, predominately for GPS. This research can be divided into three stages. I first designed, modelled and developed a Simulink-based GPS L1 signal simulator, providing a homogenous test signal for existing and proposed interference mitigation algorithms. Simulink-based GPS L1 signal simulator provided great flexibility to change various parameters to generate GPS L1 signal under different conditions, e.g. Doppler Shift, code phase delay and amount of propagation degradation. Furthermore, I modelled three acquisition schemes for GPS signals and tested GPS L1 signals acquisition via coherent and non-coherent integration methods. As a next step, I modelled different types of interference signals precisely and implemented and evaluated existing adaptive notch filters in MATLAB in terms of Carrier to Noise Density (\u1d436/\u1d4410), Signal to Noise Ratio (SNR), Peak Degradation Metric, and Mean Square Error (MSE) at the output of the acquisition module in order to create benchmarks. Finally, I designed, developed and implemented a novel algorithm that simultaneously adapts both coefficients in lattice-based ANF. Mathematically, I derived the full-gradient term for the notch's bandwidth parameter adaptation and developed a framework for simultaneously adapting both coefficients of a lattice-based adaptive notch filter. I evaluated the performance of existing and proposed interference mitigation techniques under different types of interference signals. Moreover, I critically analysed different internal signals within the ANF structure in order to develop a new threshold parameter that resets the notch bandwidth at the start of each subsequent interference frequency. As a result, I further reduce the complexity of the structural implementation of lattice-based ANF, allowing for efficient hardware realisation and lower computational costs. It is concluded from extensive simulation results that the proposed fully adaptive lattice-based provides better interference mitigation performance and superior convergence properties to target frequency compared to traditional ANF algorithms. It is demonstrated that by employing the proposed algorithm, a receiver is able to operate with a higher dynamic range of JNR than is possible with existing methods. This research also presents the design and MATLAB implementation of a parameterisable Complex Adaptive Notch Filer (CANF). Present analysis on higher order CANF for detecting and mitigating various types of interference for complex baseband GPS L1 signals. In the end, further research was conducted to suppress interference in the GPS L1 signal by exploiting autocorrelation properties and discarding some portion of the main lobe of the GPS L1 signal. It is shown that by removing 30% spectrum of the main lobe, either from left, right, or centre, the GPS L1 signal is still acquirable

An Exploration of Error-correcting Codes for use in Noise-prone Satellite Environments

Satellites are crucial for the modern world to function properly as they provide Global Navigation Satellite System (GNSS) and global communication. However, the data that is stored on these satellites can be corrupted by the radiation found in space, and its bits can be improperly flipped. In the past, Forward Error Correction (FEC) algorithms were selected based on their strength and implemented to correct these bit flips back to their original values. This thesis seeks to determine if the strength of the FEC algorithms Reed Solomon (RS) code and Reed Solomon Product Code (RSPC) directly translates to their effectiveness. These algorithms were coded and tested in Matrix Laboratory (MATLAB) and on a Field Programmable Gate Array (FPGA) under controlled parameters, including the data set sizes, number of bit flips introduced, and the distribution of the bit flips within the data set. From the experiment\u27s results, these other factors significantly influenced the effectiveness of the algorithms as well. Knowing what factors influence the algorithm\u27s effectiveness enable better decision making as to which FEC algorithm to use for a given set of circumstances. The RS codes should be used if the size of the data set is small enough for a single-instance RS code and the range of expected bit flips is narrow and lower than the code\u27s correctable limit. If the data set is large or the range of expected bit flips varies widely and surpasses the RS code\u27s correctable limit, the RSPC should be used for a higher overall success rate in exchange for a lower number of bit flips with a 100% correction rate

Analysis and Detection of Outliers in GNSS Measurements by Means of Machine Learning Algorithms

L'abstract è presente nell'allegato / the abstract is in the attachmen

Modeling and Simulating GNSS Signal Structures and Receivers

In this thesis an end-to-end simulation was implemented encompassing the important effects from the user segments point of view. The modeling and implementation aimed to take all the relevant features into account that have a direct and significant impact on the performance of a GNSS receiver. In particular, emphasis was on the effects that are hard to formulate and treat theoretically, such as non-linearities, stochastic processes and the highly complex boundary conditions generated by the interaction of the signal with the environment. The three most important parts of the model development are the signal model, the signal propagation model and the receiver model. The signal model is an extension of the well-known signal modeling used to describe GPS signals. The present model was extended to include any sort of signal structure The most important part of the signal propagation model is essentially a ray-tracing algorithm together with the application of the Fresnel equations. This is a 3-D exact specular ray-tracing, which was derived and implemented during the work accompanying this thesis. Beside the signal model the receiver model constitutes a major part of this work. Essentially, it is a dynamic modeling of the tracking process (DLL and PLL). As the model is based on continuous calculus it was a challenge to incorporate the effects of the noise processes. However, this was solved by using the Îto calculus to extend the ordinary differential equations to stochastic differential equations. The implementation was verified by comparing the results to known theoretical expressions and an indirect experimental verification was performed in the sense that some of the theoretical formulas have been compared with experimental data.In dieser Artbeit wurde ein end-to-end Simulator entwickelt, der die wichtigsten Effekte aus der Sicht des Empfängernutzers berücksichtigt. Bei der Modellierung und der Implementierung wurde versucht die Faktoren zu berücksichtigen, die einen wesentlichen Einfluss auf die Performance eines GNSS Empfängers haben. Die drei wichtigsten Modellkomponenten sind das Signalmodell, das Signalausbreitungsmodell und das Empfängermodell. Das Signalmodell ist eine Verallgemeinerung des bekannten Signalmodells, das für die Modellierung von GPS C/A-code Signalen verwendet wird. Dieses Modell wurde für beliebige Signalstrukturen erweitert. Der Kern des Signalausbreitungsmodells ist ein Ray-tracing Algorithmus zusammen mit der Anwendung der Fresnel Gleichungen. Dabei handelt es sich um ein exaktes, dreidimensionales Ray-tracing Modell, das während der Arbeit entwickelt und implementiert wurde. Das Empfängermodell stellt ebenfalls einen wichtigen Teil der Arbeit dar. Im Wesentlichen werden die Regelkreise (DLL und PLL) als dynamischer Prozess modelliert. Das Modell basiert auf einem kontinuierlichen Ansatz, was die Einbindung von Rauschprozessen erschwerte. Durch die Interpretation der gewöhnlichen Differentialgleichungen als stochastiche Differentialgleichungen und Verwendung des Îto Kalküls konnten verrauschte Signale berücksichtigt werden. Die Implementierung wurde durch den Vergleich bekannter theoretischer Ergebnisse verifiziert. Da die meisten theoretischen Ausdrücke schon mit Experimenten verglichen worden sind, kann dies als indirekter Vergleich mit Experimenten gesehen werden

Surface deformation analysis in Northeast Italy by using PS-InSAR and GNSS data

In the present study, we exploited the potential of satellite-based geodetic data for detecting and measuring surface displacement in Northeast Italy. In this contest, we focused mainly on 1) the estimation of the interseismic deformation during the satellites’ observation period, 2) the detection and analysis of the main deformation patterns, and 3) the correlation of the signals to the active tectonic structures. Despite the low convergence rates (~ 1.5-3 mm/yr), Northeast Italy is an active tectonic area, as testified by the instrumental and historical seismicity. The Adria-Eurasia convergence is mainly accommodated by the thrusts and strike-slip faults of the Southeastern Alps and the External Dinarides, located in the northern and northeastern sectors of the study area. The Venetian-Friulian plain and the Adriatic coasts, affected by active subsidence, dominate the southern region. We used the Stanford Method for Persistent Scatterers (StaMPS) applied to Sentinel-1 SAR images acquired along the ascending and descending orbit tracks between 2015 and 2019. Based on a stack of single-master differential interferograms, we detected coherent and temporally stable pixels based on amplitude and phase noise analysis. After applying spatial-temporal filters and additional post-processing operations to refine the measurements, we used Adria-fixed GNSS velocities derived by permanent stations in the study area to calibrate the InSAR velocities. The outcome consists of Line-OF-Sight (LOS) mean ground velocity maps derived by displacement time series along the radar directions for each satellite track. The combination of the LOS datasets yields vertical and east-west velocity maps, which are mostly in agreement with GNSS data and previous geodetic studies. Based on our measurements, we observe a significant positive velocity gradient of 1 mm/yr across the westernmost sector of the Alpine system, suggesting an aseismic motion of the root of the Bassano-Valdobbiadene thrust. The positive vertical gradients (~1 and up to 2 mm/yr) across the Alpine-Dinaric systems in the central and eastern sectors and the eastward motion that increases northeastward (1-2 mm/yr) may be related to the active Alpine-Dinaric thrusts and strike-slip faults. We also suggest that the detected westward motion of the Friulian plain (around Udine) might be attributed to the presence of tectonic structures characterized by transcurrent-transpressive kinematics. Finally, we detect other signals, such as the significant subsidence (2-4 mm/yr) along the coasts and on the southern Venetian-Friulian plain, confirming the correlation between subsidence and the geological setting of the study area. In conclusion, our study confirms the potential of MT-InSAR and GNSS data for the estimation of the surface deformations in response to active tectonics, even in areas characterized by low deformation rates, such as Northeast Italy.In the present study, we exploited the potential of satellite-based geodetic data for detecting and measuring surface displacement in Northeast Italy. In this contest, we focused mainly on 1) the estimation of the interseismic deformation during the satellites’ observation period, 2) the detection and analysis of the main deformation patterns, and 3) the correlation of the signals to the active tectonic structures. Despite the low convergence rates (~ 1.5-3 mm/yr), Northeast Italy is an active tectonic area, as testified by the instrumental and historical seismicity. The Adria-Eurasia convergence is mainly accommodated by the thrusts and strike-slip faults of the Southeastern Alps and the External Dinarides, located in the northern and northeastern sectors of the study area. The Venetian-Friulian plain and the Adriatic coasts, affected by active subsidence, dominate the southern region. We used the Stanford Method for Persistent Scatterers (StaMPS) applied to Sentinel-1 SAR images acquired along the ascending and descending orbit tracks between 2015 and 2019. Based on a stack of single-master differential interferograms, we detected coherent and temporally stable pixels based on amplitude and phase noise analysis. After applying spatial-temporal filters and additional post-processing operations to refine the measurements, we used Adria-fixed GNSS velocities derived by permanent stations in the study area to calibrate the InSAR velocities. The outcome consists of Line-OF-Sight (LOS) mean ground velocity maps derived by displacement time series along the radar directions for each satellite track. The combination of the LOS datasets yields vertical and east-west velocity maps, which are mostly in agreement with GNSS data and previous geodetic studies. Based on our measurements, we observe a significant positive velocity gradient of 1 mm/yr across the westernmost sector of the Alpine system, suggesting an aseismic motion of the root of the Bassano-Valdobbiadene thrust. The positive vertical gradients (~1 and up to 2 mm/yr) across the Alpine-Dinaric systems in the central and eastern sectors and the eastward motion that increases northeastward (1-2 mm/yr) may be related to the active Alpine-Dinaric thrusts and strike-slip faults. We also suggest that the detected westward motion of the Friulian plain (around Udine) might be attributed to the presence of tectonic structures characterized by transcurrent-transpressive kinematics. Finally, we detect other signals, such as the significant subsidence (2-4 mm/yr) along the coasts and on the southern Venetian-Friulian plain, confirming the correlation between subsidence and the geological setting of the study area. In conclusion, our study confirms the potential of MT-InSAR and GNSS data for the estimation of the surface deformations in response to active tectonics, even in areas characterized by low deformation rates, such as Northeast Italy

The determination of subtle deformation signals using a permanent CGPS network in the Aegean

Geophysical motions can occur over a broad temporal spectrum, from high frequency seismic movements to very long period tectonic deformation. The Aegean region is tectonically one of the most active areas on Earth. There have, over the past 15 years, been a range of campaign style GPS studies which have looked to increase our knowledge of the area and better define the geodynamic processes involved. In 2002 the Center for the Observation and Modelling of Earthquakes and Tectonics (COMET) established a network of continuously operating GPS receivers (CGPS) throughout the region in order to add to the knowledge gained from previous studies. This thesis focuses on which tectonic motions can be observed using the COMET continuous GPS network. Approaches for the precise analytical estimation of subtle tectonic motion are presented. Daily coordinate estimates of COMET sites and a number of ITRF (International Terrestrial Reference Frame) sites around Europe were calculated using a precise point positioning strategy and ambiguity resolution using NASA’s GIPSY – OASIS II processing software and IGS (International GPS Service) precise products. Time series produced showed post fit standard deviations of 2-3 mm in the horizontal and 6-8 mm in the vertical. Significant annual periodic variation is observed in the time series. The coordinate time series studies were further refined using a selection of filters. Firstly, gross and sigma filters were applied to remove outliers, the data then had a range of regional filters applied looking to best define and remove the common mode error in the area. These filters produced mixed results with time series improvement occurring on a site by site basis. In some cases noise was reduced by a factor of 2 whilst in other cases there was little or no improvement. This combined with a lack of knowledge of the individual site movements led to the use of a filtered baseline method, whereby common mode error was removed purely on a site by site basis. This method revealed expansion across the Hellenic arc of the order of a few millimetres per year and sub millimetre north-south compaction behind the arc. It also revealed first evidence of transient motion at a number of sites parallel to the Hellenic arc. The transient signals occurred every 12 months ±1.5 and lasting for 40 – 100 days. These signals were not so much a reversal of tectonic motion akin to the silent earthquakes observed in Cascadia, Japan and Mexico, instead they appeared more as a pause in the otherwise consistent movement of the Aegean microplate overriding the subducting African lithosphere. In addition to the observed tectonic signals, the effects and implications of the two post processing strategies are analysed and discussed. Higher temporal frequency positioning is carried out on seismic events (Mw 6.7 earthquake Kithera, Mw 8.1 and Mw 6.7 earthquakes, Macquarie island) using instantaneous positioning followed by “sidereal filtering” whereby integer-cycle phase ambiguities are resolved using only single epochs of dual frequency phase and pseudorange data. These positions are then siderealy stacked to reduce the effects of geometry related error. The technique reduces geometry related noise by a factor ≈2 using epoch by epoch 30 second data. The feasibility of the technique for observing pre, co and post seismic signals is demonstrated. A visualisation tool was developed to allow the simultaneous observation of the tectonic motion of a CGPS network data over any spatial and temporal regimes

Bridges Structural Health Monitoring and Deterioration Detection Synthesis of Knowledge and Technology

INE/AUTC 10.0