Probabilistic Map Matching for Robust Inertial Navigation Aiding

Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching of geophysical measurements, such as gravimetry, gravity gradiometry or magnetometry, with a known geo-referenced map. Although simple in concept, this map matching procedure is challenging: the measurements themselves are noisy; their associated spatial location is uncertain; and the measurements may match multiple points within the map (i.e. non-unique solution). In this paper, we propose a probabilistic multiple hypotheses tracker to solve the map matching problem and allow robust inertial navigation aiding. Our approach addresses the problem both locally, via probabilistic data association, and temporally by incorporating the underlying platform kinematic constraints into the tracker. The map matching output is then integrated into the navigation system using an unscented Kalman filter. Additionally, we present a statistical measure of local map information density -- the map feature variability -- and use it to weight the output covariance of the proposed algorithm. The effectiveness and robustness of the proposed algorithm are demonstrated using a navigation scenario involving gravitational map matching.Comment: 12 pages. 13 figure

Improving Detection of Dim Targets: Optimization of a Moment-based Detection Algorithm

Wide area motion imagery (WAMI) sensor technology is advancing rapidly. Increases in frame rates and detector array sizes have led to a dramatic increase in the volume of data that can be acquired. Without a corresponding increase in analytical manpower, much of these data remain underutilized. This creates a need for fast, automated, and robust methods for detecting dim, moving signals of interest. Current approaches fall into two categories: detect-before-track (DBT) and track-before-detect (TBD) methods. The DBT methods use thresholding to reduce the quantity of data to be processed, making real time implementation practical but at the cost of the ability to detect low signal to noise ratio (SNR) targets without acceptance of a high false alarm rate. TBD methods exploit both the temporal and spatial information simultaneously to make detection of low SNR targets possible, but at the cost of computation time. This research seeks to contribute to the near real time detection of low SNR, unresolved moving targets through an extension of earlier work on higher order moments anomaly detection, a method that exploits both spatial and temporal information but is still computationally efficient and massively parallellizable. The MBD algorithm was found to detect targets comparably with leading TBD methods in 1000th the time

Document Based Clustering For Detecting Events in Microblogging Websites

Social media has a great in?uence in our daily lives. People share their opinions, stories, news, and broadcast events using social media. This results in great amounts of information in social media. It is cumbersome to identify and organize the interesting events with this massive volumes of data, typically browsing, searching, monitoring events becomes more and more challenging. A lot of work has been done in the area of topic detection and tracking (TDT). Most of these methods are based on single-modality (e.g., text, images) information or multi-modality information. In the single-modality analysis, many existing methods adopt visual information (e.g., images and videos) or textual information (e.g., names, time references, locations, title, tags, and description) in isolation to model event data for event detection and tracking. This problem can be resolved by a novel multi-model social event tracking and an evolutionary framework not only effectively capturing the events, but also generates the summary of these events over time. We proposed a novel method works with mmETM, which can effectively model the social documents, which includes the long text along with the images. It learns the similarities between the textual and visual modalities to separate the visual and non-visual representative topics. To incorporate our method to social tracking, we adopted an incremental learning technique represented as mmETM, which gives informative textual and visual topics of event in social media with respect to the time. To validate our work, we used a sample data set and conducted various experiments on it. Both subjective and quantitative assessments show that the proposed mmETM technique performs positively against a few best state-of-the art techniques