80 research outputs found
Data Fusion Algorithms for Multiple Inertial Measurement Units
A single low cost inertial measurement unit (IMU) is often used in conjunction with GPS to increase the accuracy and improve the availability of the navigation solution for a pedestrian navigation system. This paper develops several fusion algorithms for using multiple IMUs to enhance performance. In particular, this research seeks to understand the benefits and detriments of each fusion method in the context of pedestrian navigation. Three fusion methods are proposed. First, all raw IMU measurements are mapped onto a common frame (i.e., a virtual frame) and processed in a typical combined GPS-IMU Kalman filter. Second, a large stacked filter is constructed of several IMUs. This filter construction allows for relative information between the IMUs to be used as updates. Third, a federated filter is used to process each IMU as a local filter. The output of each local filter is shared with a master filter, which in turn, shares information back with the local filters. The construction of each filter is discussed and improvements are made to the virtual IMU (VIMU) architecture, which is the most commonly used architecture in the literature. Since accuracy and availability are the most important characteristics of a pedestrian navigation system, the analysis of each filter’s performance focuses on these two parameters. Data was collected in two environments, one where GPS signals are moderately attenuated and another where signals are severely attenuated. Accuracy is shown as a function of architecture and the number of IMUs used
Assessment of Measurement Distortions in GNSS Antenna Array Space-Time Processing
Antenna array processing techniques are studied in GNSS as effective tools to mitigate interference in spatial and spatiotemporal domains. However, without specific considerations, the array processing results in biases and distortions in the cross-ambiguity function (CAF) of the ranging codes. In space-time processing (STP) the CAF misshaping can happen due to the combined effect of space-time processing and the unintentional signal attenuation by filtering. This paper focuses on characterizing these degradations for different controlled signal scenarios and for live data from an antenna array. The antenna array simulation method introduced in this paper enables one to perform accurate analyses in the field of STP. The effects of relative placement of the interference source with respect to the desired signal direction are shown using overall measurement errors and profile of the signal strength. Analyses of contributions from each source of distortion are conducted individually and collectively. Effects of distortions on GNSS pseudorange errors and position errors are compared for blind, semi-distortionless, and distortionless beamforming methods. The results from characterization can be useful for designing low distortion filters that are especially important for high accuracy GNSS applications in challenging environments
Combined Acquisition and Tracking Methods for GPS L1 C/A and L1C Signals
As part of the GPS modernization, the GPS L1 C/A signal will be augmented by the L1C signal. With this improvement, for the first time, several signals from the same constellation will be available at the same frequency. In this paper, an acquisition method is implemented to combine the GPS L1 C/A and L1C signals before correlation. The combined acquisition succeeds to acquire the signal at low C/N0, whereas the acquisition of the L1C data channel alone fails. Concerning the tracking, a method to combine the GPS L1 C/A and L1C signals before the discriminator is developed. This method shows better performance than the traditional tracking using only one signal. Finally, a Kalman filter to combine the signals in the tracking is developed. It shows better performance than the traditional tracking in all conditions. Since the L1C signal will not be broadcast before 2013, these methods are tested using a software signal simulator
Use of a Multi-Reference GPS Station Network for Precise 3D Positioning in Constricted Waterways
Numerous coastal and inland marine operations, including navigation in shallow constricted waterways require time-consuming and expensive maintenance that includes frequent precise multi-beam hydrographic surveys and dredging operations. In addition, environmental and safety concerns lead to the establishment of stringent regulations regarding the minimum under keel clearance for commercial shipping operations. The clearance is partly a function of the navigation channel charting accuracy and the ability to determine the instantaneous water level in real time. The use of real-time kinematic (RTK) GPS to provide a three-dimensional accuracy of better than 10 cm has the potential to improve the effectiveness of channel maintenance and commercial navigation. In order for RTK GPS to yield such a high level of accuracy, carrier phase observables must be used. One of the most important limitations is the requirement for short distances between the ship and shore-based fixed reference stations. With the current GPS capability, the distance should be kept to less than 15 to 20 km to assure a continuous service. Establishing reference stations with such a high density is time-consuming, logistically difficult and results in high maintaining cost and operational reliability issues. In this paper a method to substantially reduce the number of reference stations is investigated through field trials conducted along the St. Lawrence Seaway, Canada, in 1998 and 1999. The proximity of the trials to a solar maximum resulted in a very high level of atmospheric activity and provided an opportunity to examine the advantages and limitations of both the conventional and multi-reference station RTK methods under such conditions. The results of the trials show that the new approach results in a substantial improvement of up to 60%
Design and Testing of a Multi-Sensor Pedestrian Location and Navigation Platform
Navigation and location technologies are continually advancing, allowing ever higher accuracies and operation under ever more challenging conditions. The development of such technologies requires the rapid evaluation of a large number of sensors and related utilization strategies. The integration of Global Navigation Satellite Systems (GNSSs) such as the Global Positioning System (GPS) with accelerometers, gyros, barometers, magnetometers and other sensors is allowing for novel applications, but is hindered by the difficulties to test and compare integrated solutions using multiple sensor sets. In order to achieve compatibility and flexibility in terms of multiple sensors, an advanced adaptable platform is required. This paper describes the design and testing of the NavCube, a multi-sensor navigation, location and timing platform. The system provides a research tool for pedestrian navigation, location and body motion analysis in an unobtrusive form factor that enables in situ data collections with minimal gait and posture impact. Testing and examples of applications of the NavCube are provided
Pain Reactivity and Plasma β-Endorphin in Children and Adolescents with Autistic Disorder
International audienceBackground: Reports of reduced pain sensitivity in autism have prompted opioid theories of autism and have practical care ramifications. Our objective was to examine behavioral and physiological pain responses, plasma β-endorphin levels and their relationship in a large group of individuals with autism.Methodology/Principal Findings: The study was conducted on 73 children and adolescents with autism and 115 normal individuals matched for age, sex and pubertal stage. Behavioral pain reactivity of individuals with autism was assessed in three observational situations (parents at home, two caregivers at day-care, a nurse and child psychiatrist during blood drawing), and compared to controls during venepuncture. Plasma β-endorphin concentrations were measured by radioimmunoassay. A high proportion of individuals with autism displayed absent or reduced behavioral pain reactivity at home (68.6%), at day-care (34.2%) and during venepuncture (55.6%). Despite their high rate of absent behavioral pain reactivity during venepuncture (41.3 vs. 8.7% of controls, P<0.0001), individuals with autism displayed a significantly increased heart rate in response to venepuncture (P<0.05). Moreover, this response (Δ heart rate) was significantly greater than for controls (mean±SEM; 6.4±2.5 vs. 1.3±0.8 beats/min, P<0.05). Plasma β-endorphin levels were higher in the autistic group (P<0.001) and were positively associated with autism severity (P<0.001) and heart rate before or after venepuncture (P<0.05), but not with behavioral pain reactivity.Conclusions/Significance: The greater heart rate response to venepuncture and the elevated plasma β-endorphin found in individuals with autism reflect enhanced physiological and biological stress responses that are dissociated from observable emotional and behavioral reactions. The results suggest strongly that prior reports of reduced pain sensitivity in autism are related to a different mode of pain expression rather than to an insensitivity or endogenous analgesia, and do not support opioid theories of autism. Clinical care practice and hypotheses regarding underlying mechanisms need to assume that children with autism are sensitive to pain
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