Mass-Market Receiver for Static Positioning: Tests and Statistical Analyses

Nowadays, there are several low cost GPS receivers able to provide both pseudorange and carrier phase measurements in the L1band, that allow to have good realtime performances in outdoor condition. The present paper describes a set of dedicated tests in order to evaluate the positioning accuracy in static conditions. The quality of the pseudorange and the carrier phase measurements let hope for interesting results. The use of such kind of receiver could be extended to a large number of professional applications, like engineering fields: survey, georeferencing, monitoring, cadastral mapping and cadastral road. In this work, the receivers performance is verified considering a single frequency solution trying to fix the phase ambiguity, when possible. Different solutions are defined: code, float and fix solutions. In order to solve the phase ambiguities different methods are considered. Each test performed is statistically analyzed, highlighting the effects of different factors on precision and accurac

Indoor Positioning with GNSS-Like Local Signal Transmitters

Not all the techniques proposed have, of course, been based on radio techniques, but they are the most important ones for two main reasons: their level of development and maturity on the one hand and their ability to "cross" or to "get around" obstacles such as walls, furniture or people on the other hand. Optical based techniques, like laser based distance measurements or vision based (camera) scene analysis systems present some real advantages in terms of measurement accuracy (a few millimetres for the former) or orientation determination (very useful for any guidance system, available for the latter). Unfortunately, the foreseen use of positioning devices being mainly dedicated to pedestrians in urban environments, optical obstacles are numerous. These latter techniques are then considered as potential hybridisation candidates. Many types of sensors have also been studied for positioning, such as infrared or ultrasound. Once again, although accuracy can reach centimetre values, the environmental constraints are not compatible with the ubiquitous systems being sought. Another category is, of course, inertial systems which could be a valuable alternative to radio systems: time and distance associated position drifts are not yet sufficiently mastered and the given positioning is relative , which means the need for "something else" in order to provide the user with an absolute location. The object of this section is to focus on radio based approaches

Precise indoor positioning with pseudolites : iRTK, iPPP and iPPP-RTK

A pseudolite (PL) is a ground-based positioning system that offers flexible deployment and accurate “orbits”. The PL system can carry on the role of the GNSS to provide precise positioning for indoor users. However, there are some unusual challenges that seriously affect the performance of a PL system in precise indoor positioning. To raise PL-based positioning accuracy up to the centimeter level or higher, the use of the PL carrier phase measurement with ambiguity resolution is a unique consideration. The PL phase ambiguities are also contaminated by clock bias, multipath errors, and cycle clips. Their existence destroys the integer nature of ambiguity and impedes the pursuit of further accuracy improvement. The major contributions in this research for addressing the above-mentioned challenging issues are specified as follows: 1. The ground-based AR methods are discussed. The impact of ground-based geometry on indoor AR is researched, and the influence of linearization error is also investigated. An efficient PL-based AR method is studied and verified in the balance of gaining convenience and avoiding linearization impact. 2. The clock bias between PL transmitters can be properly handled in a way that time synchronization can be achieved with a transmitter-only PL system at low cost and simplicity. Therefore, the PL-based the ambiguities are able to be fixed to correct integers, and centimeter-level indoor precise positioning can be reliably achieved. In addition, the proposed way for time synchronization is also applicable for other ground-based systems for precise positioning purposes. 3. The stochastic model for mitigation of indoor multipath and NLOS is investigated. The experimental results demonstrate that the proposed stochastic model is superior to other existing models in indoor multipath mitigation as it is competent to suppress the multipath errors mainly caused by multipath to the smallest in both static and kinematic results, respectively. Moreover, it is also verified to be efficient for NLOS mitigation. With the proposed new stochastic model, precise point positioning is confidently expected indoors. 4. The methods for PL-based cycle slips are extensively studied and discussed. Numerical results indicate that the integer-cycle slips can be efficiently and accurately detected and corrected. The concern about PL-based cycle slip is minimized, the reliability and sustainability of PL-based precise indoor positioning can be promised

Pseudolite Architecture and Performance Analysis for the FAA\u27s NextGen Airspace

By 2025 the FAA plans to have fully implemented its NextGen Airspace design. NextGen takes advantage of modern positioning technologies as well as automation, data sharing, and display technologies that will allow more efficient use of our ever busier National Airspace (NAS). A key element of NextGen is the transition from surveillance RADAR providing aircraft separation and navigation to the use of the GPS and Automatic Dependent Surveillance Broadcast (ADS-B). ADS-B couples the precision of the GPS with networked ground and airborne receivers to provide precise situational awareness to pilots and controllers. The result is increased safety, capacity, and access with reduced reliance on an outdated and costly existing infrastructure. Reliance on the vulnerable GPS requires a backup system with higher positioning accuracy than those that are in place today. The USAF 746th Test Squadron at Holloman AFB, in partnership with Locata Corp., has demonstrated an Ultra High Accuracy Reference System (UHARS) over the Holloman Range composed of pseudolites (ground based satellites) transmitting GPS like signals. This study evaluates the suitability of the UHARS when applied on a national scale to meet Alternate Precision Navigation and Timing (APNT) requirements. From a systems architecture perspective UHARS is evaluated against APNT CONOPs stated Operational Improvements and Scenarios. From a signal architecture perspective the UHARS is evaluated against frequency and bandwidth constraints, service volume requirements and positioning accuracy determined by NextGen Airspace aircraft separation criteria

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

Investigations of Dempster-Shafer theory in the context of WLAN-based indoor localization

Accurate user's locations and real-time location estimations in indoor environments, are important parameters to achieve reliable Location Based Services (LBSs). Non-Bayesian frameworks are gaining more and more interest in order to improve the location accuracy indoors when WLAN positioning is used. The main objective of this thesis is to study the feasibility of Dempster Shafer non-Bayesian combining in the context of received signal strength (RSS)-based indoor WLAN localization. The motivation of our work has been to look for new approaches in order to try to deal better with the incomplete or erroneous data measurements used in the training phase of any WLAN positioning algorithm. State-of-art studies show that the accuracy of mobile position estimation by WLAN localization algorithms with the Bayesian framework is not satisfactory. Thus, it makes sense to try to investigate non-Bayesian approaches and to see their usefulness in the context of WLAN localization. First, a comprehensive analysis of various DST combining rules with RSS-based positioning methods has been performed. Then, the idea has been implemented via MATLAB simulator and the outputs were compared to the Bayesian approaches. The comparison is in terms of root mean square errors, correct floor detection probabilities and error radius and we used real-field data measurements as test data. Typically, the current published research work based on non-Bayesian frameworks in the context of wireless localization is limited to fingerprinting methods. Both the fingerprinting and the path-loss model using the DST frameworks are carried out in this thesis. The thesis results contain two parts. The first one examines the fingerprinting with various DST combination while the other one deals with the path-loss and DST combination. The positioning accuracy estimated by Bayesian framework is compared to the DST and a high correlation between these two has been observed. As expected, the Bayesian framework results are slightly less accurate (on average) than the DST, because the DST fuse RSS from multiple access points with different beliefs or underlying uncertainty and allows the uncertainty to be a model parameter

WIFI indoor positioning for mobile devices, an application for the UJI Smart Campus

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.Smart Campus has emerged as a study platform of a Smart City. There are some similarities between the Campus and a City. Due to this, is possible use a Smart Campus as attesting bench and then apply these investigations to implement in a Smart City. One of this potential technologies is the Indoor Positioning System using the Wi-Fi network. The aim of this work is research and implement a mobile application to carry out the indoor positioning in the context of the UJI Smart Campus. The prototype developed allows to perform the first part of the Wi-Fi Indoor Positioning, the mapping phase. This application implements a system to display and all UJI cartography (campus basemap, UJI buildings and UJI buildings interiors). When whole system will be developed, it will allow implement the indoor positioning in a future applications for the Smart Campus

OCR-RTPS: An OCR-based real-time positioning system for the valet parking

Obtaining the position of ego-vehicle is a crucial prerequisite for automatic control and path planning in the field of autonomous driving. Most existing positioning systems rely on GPS, RTK, or wireless signals, which are arduous to provide effective localization under weak signal conditions. This paper proposes a real-time positioning system based on the detection of the parking numbers as they are unique positioning marks in the parking lot scene. It does not only can help with the positioning with open area, but also run independently under isolation environment. The result tested on both public datasets and self-collected dataset show that the system outperforms others in both performances and applies in practice. In addition, the code and dataset will release later.Comment: 25 pages, 9 figure

Optimisation de l'infrastructure d'un système de positionnement indoor à base de transmetteurs GNSS

Dans le but de fournir un service GNSS (Global Navigation Satellite System) de localisation continu et disponible partout, les systèmes utilisant des pseudolites et des répéteurs semblent être des solutions pertinentes pour la localisation en indoor. Le système à répélites, inspiré de ces deux méthodes (répéteurs et pseudolites), est aussi proposé pour résoudre cette problématique. Les répélites sont des transmetteurs locaux qui, installés en intérieur, formeront une constellation locale. Ils émettent tous un signal GNSS unique mais déphasé par un délai spécifique à chacun d eux. Ces délais sont nécessaires pour distinguer les différents signaux reçus au niveau du récepteur. Les travaux de cette thèses sont réalisés dans le cadre du système à répélites et dans l objectif d améliorer son architecture et de réduire ses interférences inter-système. En effet, l architecture du système (un peu encombrante) et les interférences éventuelles avec les signaux satellitaires reçus par un récepteur placé à l extérieur font partie des inconvénients de ce système. On cherche donc à traiter ces deux difficultés de façon à minimiser leurs effets. Dans une première partie, on étudie les différents codes GNSS existants dans la littérature ainsi que les techniques de modulation employées. Ceci nous mène à proposer des codes ayant un niveau d interférence équivalent à la référence GPS (obtenue entre deux codes GPS) pour les bandes L1 de GPS et G1 de Glonass. Dans une seconde étape, on développe la modulation IMBOC (Indoor Modified Binary Offset Carrier) pour générer de nouveaux codes caractérisés par des niveaux d interférence réduits (comparés à la référence GPS). Parmi ces codes il y a deux catégories : ceux qui sont adaptés aux systèmes à répélites (émettant un code unique) et ceux qui sont adaptés aux systèmes pseudolites. Une étude théorique et des simulations des niveaux d interférences pour les codes émis dans la bande GPS et Glonass sont réalisées pour déterminer les gains en termes de niveaux de bruit. Ce gain (par rapport à la référence GPS) en puissance d interférence s élève à 16 dB pour Glonass et 20 dB pour GPS. Pour valider les performances de ces codes, on génère les signaux IMBOC et on observe les interférences réelles qu ils induisent sur un récepteur GPS recevant un signal satellitaire. Dans la deuxième partie, on utilise la fibre optique pour transmettre le signal du générateur jusqu aux répélites et pour créer les délais initiaux par propagation du signal dans des bobines de fibre. Ainsi on remplace les câbles coaxiaux et les montages électroniques (de déphasage) par des bobines de fibres plus légères, facile à installer et à faible perte de puissance. Il reste cependant à évaluer avec une précision centimétrique les délais réels induits sur chaque signal dans le but de garantir une précision de localisation inférieure au mètre. Cette précision semble en effet représenter un bon compromis entre complexité globale du système de localisation et réponse à un ensemble suffisant de besoins des utilisateurs potentiels. On développe alors une technique d estimation des délais basée sur la mesure de déphasage (entre deux signaux sinusoïdaux) et une analyse statistique des séries de mesures. Pour finir, on présente quelques résultats de localisation obtenus avec notre système à répélites déployé dans un environnement indoor typiqueIn order to make the GNSS positioning service continuous and available when going from an outdoor to an indoor environment, pseudolite and repeater based systems have been developed. A new system called repealite is a combination of both pseudolites and repeaters. It is based on transmitting a single signal through a set of transmitters (thus creating the local constellation). In order to avoid interference between the repealite signals and to distinguish between them at the receiver s end, each signal is shifted with a specific delay. The research carried out in this PhD aims at optimizing two aspects of the repealite based system. Firstly, we need to mitigate the effect of the interference caused on the satellite signals received outdoors. So we decided to design new codes characterized by low interference levels with outdoor signals. Secondly, we worked on the infrastructure part in order to simplify it and to make it easier to install: this is mainly achieved through the use of optical fibers. In the first part, we study the codes and the modulation techniques currently used in the GNSS systems. Then, we propose a few codes having an interference level equivalent to that of the GPS (obtained when computing two GPS codes). These new codes are compatible with the GPS L1 or the Glonass G1 bands. In a second step, we focus on the modulation techniques and create the so-called IMBOC (Indoor Modified Binary Offset Carrier) that aims at minimizing the interference levels with outdoor signals. With this modulation, we propose new IMBOC codes capable of much lower interference levels than the GPS reference. In order to evaluate the performance of the proposed codes, we carried out a theoretical study, simulations and experimental tests. The interference gain reached about 20 dB on the GPS band and 16 dB on the Glonass one. The proposed codes are divided into two categories: those reserved to the repealite system (using a single code) and families of codes suited to pseudolite based systems. Finally, we generated the IMBOC signals modulated by the new codes and tested the real interference induced on an outdoor receiver tracking the satellite signals. In the second part, we use optical fibers in order to replace the coaxial cables used to transmit signals from the GNSS-like signal generator to the repealites. In addition, the initial delay needed for each repealite is added by propagating the signals through rolls of fibers. Indeed, optical fiber offers advantages such as lightness, flexibility and low power loss that make it suitable to simplify the infrastructure of the system. In order to evaluate the real delays of these various fibers, we develop an estimating method based on phase shift measurements (between two sinusoidal signals) and statistical analysis of the series of measurements. This method should have uncertainties lower than one centimeter in order to insure a sub-meter precision (in absolute positioning with the repealite positioning system). In order to validate this method, we compare it to a GNSS based calibration approach. Finally, we carry out a few positioning tests with the repealite positioning system deployed in a typical indoor environment. These tests deal with absolute and relative positioning and give an idea about the system s performanceEVRY-INT (912282302) / SudocSudocFranceF

A comprehensive proposal for securing terrestrial radionavigation systems

The security of terrestrial radionavigation systems (TRNS) has not yet been addressed in the literature. This proposal builds on what is known about securing global navigation satellite systems (GNSS) to address this gap, re-evaluating proposals for GNSS security in light of the distinctive properties of TRNS. TRNS of the type envisioned in this paper are currently in their infancy, unburdened by considerations of backwards compatibility: security for TRNS is a clean slate. This thesis argues that waveform- or signal-level security measures are irrelevant for TRNS, preventing neither spoofing nor unauthorized use of the service. Thus, only security measures which modify navigation message bits merit consideration. This thesis proposes orthogonal mechanisms combining navigation message encryption (NME) and navigation message authentication (NMA), constructed from standard cryptography primitives and specialized to TRNS: message encryption allows providers to offer tiered access to navigation parameters on a bit-by-bit basis, and message authentication disperses the bits of a message authentication code across all data packets, posing an additional challenge to spoofers. This cryptographic proposal, however, is still vulnerable to certain types of replay threats. This thesis addresses this gap by augmenting TRNS with autonomous signal-situational-awareness (SSA) capability, allowing TRNS operators to detect spoofing and meaconing attacks. Two signal authentication techniques for SSA are developed to detect a weak spoofing signal in the presence of static and dynamic multipath. This thesis also proposes enhancements to these signal authentication techniques. These enhancements exploit the synergy from combining information across multiple epochs, or over multiple monitoring beacons, to further lower the spoofer detection threshold. Both techniques with their enhancements are shown to be effective in simulations of the varied operating environments that a generic TRNS will encounter. With both proposed cryptographic NME+NMA scheme and autonomous SSA in place, TRNS gains a defensive capability that GNSS cannot easily match: a comprehensive defense against most man-in-the-middle attacks on position, navigation and timing services.Aerospace Engineerin