202 research outputs found

    A Positioning System in an Urban Vertical Heterogeneous Network (VHetNet)

    Full text link
    Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the positioning performance of any standalone GNSS is still poor in urban areas. To improve the positioning performance of legacy GNSSs in urban areas, a positioning system, which utilizes high altitude platform station (HAPS) and 5G gNodeBs (gNBs), in a futuristic urban vertical heterogeneous network (VHetNet) is proposed. In this paper, we demonstrate the effectiveness of gNBs in improving the vertical positioning accuracy for both the GPS-only system and the HAPS-aided GPS system by analyzing the impact of the density of gNBs and the pseudorange error of gNB on the positioning performance of the gNB augmented positioning systems. We also demonstrate the effectiveness of receiver autonomous integrity monitoring (RAIM) algorithms on the HAPS and/or gNB aided GPS systems in urban areas

    A Review of Environmental Context Detection for Navigation Based on Multiple Sensors

    Get PDF
    Current navigation systems use multi-sensor data to improve the localization accuracy, but often without certitude on the quality of those measurements in certain situations. The context detection will enable us to build an adaptive navigation system to improve the precision and the robustness of its localization solution by anticipating possible degradation in sensor signal quality (GNSS in urban canyons for instance or camera-based navigation in a non-textured environment). That is why context detection is considered the future of navigation systems. Thus, it is important firstly to define this concept of context for navigation and to find a way to extract it from available information. This paper overviews existing GNSS and on-board vision-based solutions of environmental context detection. This review shows that most of the state-of-the art research works focus on only one type of data. It confirms that the main perspective of this problem is to combine different indicators from multiple sensors

    Seamless Positioning and Navigation in Urban Environment

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

    Precise Point Positioning Augmentation for Various Grades of Global Navigation Satellite System Hardware

    Get PDF
    The next generation of low-cost, dual-frequency, multi-constellation GNSS receivers, boards, chips and antennas are now quickly entering the market, offering to disrupt portions of the precise GNSS positioning industry with much lower cost hardware and promising to provide precise positioning to a wide range of consumers. The presented work provides a timely, novel and thorough investigation into the positioning performance promise. A systematic and rigorous set of experiments has been carried-out, collecting measurements from a wide array of low-cost, dual-frequency, multi-constellation GNSS boards, chips and antennas introduced in late 2018 and early 2019. These sensors range from dual-frequency, multi-constellation chips in smartphones to stand-alone chips and boards. In order to be comprehensive and realistic, these experiments were conducted in a number of static and kinematic benign, typical, suburban and urban environments. In terms of processing raw measurements from these sensors, the Precise Point Positioning (PPP) GNSS measurement processing mode was used. PPP has become the defacto GNSS positioning and navigation technique for scientific and engineering applications that require dm- to cm-level positioning in remote areas with few obstructions and provides for very efficient worldwide, wide-array augmentation corrections. To enhance solution accuracy, novel contributions were made through atmospheric constraints and the use of dual- and triple-frequency measurements to significantly reduce PPP convergence period. Applying PPP correction augmentations to smartphones and recently released low-cost equipment, novel analyses were made with significantly improved solution accuracy. Significant customization to the York-PPP GNSS measurement processing engine was necessary, especially in the quality control and residual analysis functions, in order to successfully process these datasets. Results for new smartphone sensors show positioning performance is typically at the few dm-level with a convergence period of approximately 40 minutes, which is 1 to 2 orders of magnitude better than standard point positioning. The GNSS chips and boards combined with higher-quality antennas produce positioning performance approaching geodetic quality. Under ideal conditions, carrier-phase ambiguities are resolvable. The results presented show a novel perspective and are very promising for the use of PPP (as well as RTK) in next-generation GNSS sensors for various application in smartphones, autonomous vehicles, Internet of things (IoT), etc

    Investigation of Context Determination for Advanced Navigation using Smartphone Sensors

    Get PDF
    Navigation and positioning is inherently dependent on the context, which comprises both the operating environment and the behaviour of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning, while the behaviour can contribute additional information to the navigation solution. Although many navigation and positioning techniques have been developed, no single one is capable of providing reliable and accurate positioning in all contexts. Therefore, it is necessary for a navigation system to be able to operate across different types of contexts. Context adaptive navigation offers a solution to this problem by detecting the operating contexts and adopting different positioning techniques accordingly. This study focuses on context determination with the available sensors on smartphone, through framework design, behavioural and environmental context detection, context association, comprehensive experimental tests, and system demonstration, building the foundation for a context-adaptive navigation system. In this thesis, the overall framework of context determination is first designed. Following the framework, the behavioural contexts, covering different human activities and vehicle motions, are recognised by different machine learning classifiers in hierarchy. Their classification results are further enhanced by feature selection and a connectivity dependent filter. Environmental contexts are detected from GNSS measurements. Indoor and outdoor environments are first distinguished based on the availability and strength of GNSS signals using a hidden Markov model based method. Within the model, the different levels of connections between environments are exploited as well. Then a fuzzy inference system is designed to enable the further classification of outdoor environments into urban and open-sky. As behaviours and environments are not completely independent, this study also considers context association, investigating how behaviours can be associated within environment detection. Tests in a series of multi-context scenarios have shown that the association mechanism can further improve the reliability of context detection. Finally, the proposed context determination system has been demonstrated in daily scenarios

    Methods for Improving Performance in Consumer Grade GNSS Receivers

    Get PDF
    Viimeisten kolmen vuosikymmenen aikana satelliittinavigointi on kehittynyt ammatti ja sotilaskäyttäjien tekniikasta kaikkien saatavilla olevaksi tekniikaksi. Varsinkin viimeisen 15 vuoden aikana, kun vastaanottimet alkoivat pienentyä ja halpenivat, on lisääntynyt määrä yrityksiä, jotka toimittavat GPS-laitteita satoihin erilaisiin sovelluksiin. Kaikille moderneille tekniikoille on myös tyypillistä, että tutkimukseen ja siihen liittyvään vastaanottimien kehittämiseen on käytetty valtavasti rahaa, mikä on johtanut huomattavaan parantumiseen vastaanottimen suorituskyvyssä. GPS-vastaanottimien kehitystyön lisäksi uusien maailmanlaajuisten satelliittinavigointijärjestelmien, kuten venäläisen GLONASS, kiinalaisen BeiDou- ja eurooppalaisen Galileo-järjestelmien käyttöönotto tarjoaa entistä enemmän mahdollisuuksia suorituskyvyn parantamiseen. Sekä GPS että nämä uudet järjestelmät ovat myös ottaneet käyttöön uudentyyppisiä signaalirakenteita, jotka voivat tarjota parempilaatuisia havaintoja ja siten parantaa kaikkien vastaanottimien suorituskykyä. Lopuksi menetelmät, kuten PPP ja RTK, jotka aiemmin olivat varattu ammattikäyttäjille, ovat tulleet kuluttajamarkkinoille mahdollistaen ennennäkemättömän suorituskyvyn jokaiselle satelliittinavigointivastaanottimien käyttäjälle. Tässä opinnäytetyössä arvioidaan tämän kehityksen vaikutusta sekä suorituskykyyn että vastaanottimen arkkitehtuuriin. Työssä esitellään yksityiskohtaisesti FGI:ssä kehitetyn ohjelmistopohjaisen vastaanottimen, FGI-GSRx:n. Tämän vastaanottimen avulla on työssä arvioitu miten sekä uudet konstellaatiot että uudet nykyaikaiset signaalit ja niitten seurantamenetelmät vaikuttavat suorituskykyyn ja vastaanotin arkkitehtuuriin. Tämän lisäksi on arvioitu PPP- ja RTK-tarkkuuspaikannusmenetelmien vaikutus FinnRefCORS-verkkoa käyttäen useiden erityyppisten vastaanottimien kanssa, mukaan lukien kuluttajalaatuiset vastaanottimet. Tulokset osoittavat, että enemmän konstellaatioita ja signaaleja käytettäessä paikannusratkaisun tarkkuus paranee 3 metristä 1,4 metriin hyvissä olosuhteissa ja yli 10-kertaiseksi tiheästi rakennetuissa kaupungeissa, jossa käytettävissä olevien signaalien määrä kasvaa kertoimella 2 käytettäessä kolmea konstellaatiota. Uusia moderneja modulaatiotekniikoita, kuten BOC-modulaatiota, käytettäessä tulokset osoittavat Galileo-ratkaisun tarkkuuden paranevan lähes 25%:lla ja esitelty uusi signaalinkäsittelymenetelmä lisää tällaisen tarkkuuden saatavuutta 50%:sta lähes 100%:iin. Lopuksi tarkkuuspaikannusmenetelmien tulokset osoittavat, että 15 cm:n tarkkuus on saavutettavissa, mikä on merkittävä parannus verrattuna 1,4 metrin tarkkuuteen. Näiden parannusten saavuttamiseksi on olennaista, että itse vastaanotin on mukautettu hyödyntämään näitä uusia signaaleja ja konstellaatioita. Tämä tarkoittaa, että nykyaikaisten kuluttajamarkkinoiden vastaanottimien suunnittelu on haastavaa ja monissa tapauksissa ohjelmistopohjainen vastaanotin olisi parempi ja halvempi valinta kuin uusien mikropiirien kehittäminen.For the last three decades, satellite navigation has evolved from being a technology for professional and military users to a technology available for everyone. Especially during the last 15 years, since the receivers started getting smaller and cheaper, there has been an increasing number of companies delivering Global Positioning System (GPS) enabled devices for hundreds of different kind of applications. Typical for any modern technology, there has also been an enormous amount of money spent on research and accompanied receiver development resulting in an immense increase in receiver performance. In addition to the development efforts on GPS receivers the introduction of new global navigation satellite systems such as the Russian Globalnaja Navigatsionnaja Sputnikovaja Sistema (GLONASS), the Chinese BeiDou, and the European Galileo systems offers even more opportunities for improved performance. Both GPS and these new systems have also introduced new types of signal structures that can provide better quality observations and even further improve the performance of all receivers. Finally, methods like Precise Point Positioning (PPP) and Real Time Kinematic (RTK) that earlier were reserved for professional users have entered into the consumer market enabling never before seen performance for every user of satellite navigation receivers. This thesis will assess the impact of this development on both performance as well as on receiver architecture. The design of the software defined receiver developed at FGI, the FGI-GSRx, is presented in detail in this thesis. This receiver has then been used to assess the impact of using multiple constellations as well as new novel signal processing methods for modern signals. To evaluate the impact of PPP and RTK methods the FinnRef Continuously Operating Reference Station (CORS) network has been used together with several different types of receivers including consumer grade off the shelf receivers. The results show that when using more constellations and signals the accuracy of the positioning solution improves from3 meters to 1.4 meters in open sky conditions and by more than a factor 10 in severe urban canyons. For severe urban canyons the available also increases by a factor 2 when using three constellations. When using new modern modulation techniques like high order BOC results show an accuracy improvement for a Galileo solution of almost 25 % and the presented new signal processing method increase the availability of such an accuracy from 50 % to almost 100 %. Finally, results from precise point positioning methods show that an accuracy of 15 cm is achievable, which is a significant improvement compared to an accuracy of 1.4 m for a standalone multi constellation solution. To achieve these improvements, it is essential that the receiver itself is adapted to make use of these new signals and constellations. This means that the design of modern consumer market receivers is challenging and in many cases a software define receiver would be a better and cheaper choice than developing new Application Specific Integrated Circuit (ASIC)’s

    Closely-coupled integration of Locata and GPS for engineering applications

    Get PDF
    GPS has become an almost indispensable part of our infrastructure and modern life. Yet because its accuracy, reliability, and integrity depend on the number and geometric distribution of the visible satellites, it is not reliable enough for the safety of life, environmental or economically critical applications. Traditionally, this has been addressed by augmentation from dedicated support systems, or integration with other sensors. However, from an engineering perspective only expensive inertial systems or pseudolites offer the accuracy required. In the case of pseudolites, the equivalent of ground based satellites, geometry constraints, fading multipath, imprecise clocks, the near-far effect, tropospheric delay and legislative obstructions make them difficult to implement. This thesis takes a step forward, by proposing a loosely coupled integration with Locata, a novel, terrestrial positioning technology, based on the pseudolite concept. It avoids the above pitfalls by utilising frequency and spatially separated antennas and a license-free frequency band, though this comes at the cost of in-bound interference. Its ability to provide stand-alone position and network synchronisation at nanosecond level is used commercially in open-cast mining and in military aviation. Discussion of Locata and GPS technology has identified their shortcomings and main limiting factors as well as the advantages of the proposed integration. During the course of this research, tropospheric delay, planar solution and known point initialisation ambiguity resolution methods have been identified as the main limiting factors for Locata. These are analysed in various static and kinematic scenarios. Discussion also includes ambiguity resolution, noise and interference detection and system performance in indoor and outdoor scenarios. The proposed navigation engine uses a closely coupled integration at the measurement level and LAMBDA as the ambiguity resolution method for Locata and GPS. A combined solution is demonstrated to offer a geometrical improvement, especially in the respect of height determination, with centimetre to decimetre accuracy and a minimum requirement of two signals from any component. This study identifies that proper separation and de-correlation of Locata and GPS ambiguities and better tropospheric models are essential to reach centimetre level accuracy. The thesis concludes with examples of system implementation including: seamless navigation, city-wide network deployment, urban canyons, a long term-monitoring scenario and indoor positioning. This demonstrates how the proposed navigation engine can be an advantage in areas such as: civil engineering, GIS, mobile mapping, deformation, machine navigation and control

    A systematic review of perception system and simulators for autonomous vehicles research

    Get PDF
    This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.This work was partially supported by DGT (ref. SPIP2017-02286) and GenoVision (ref. BFU2017-88300-C2-2-R) Spanish Government projects, and the “Research Programme for Groups of Scientific Excellence in the Region of Murcia" of the Seneca Foundation (Agency for Science and Technology in the Region of Murcia – 19895/GERM/15)
    corecore