Robust Positioning in the Presence of Multipath and NLOS GNSS Signals

GNSS signals can be blocked and reflected by nearby objects, such as buildings, walls, and vehicles. They can also be reflected by the ground and by water. These effects are the dominant source of GNSS positioning errors in dense urban environments, though they can have an impact almost anywhere. Non- line-of-sight (NLOS) reception occurs when the direct path from the transmitter to the receiver is blocked and signals are received only via a reflected path. Multipath interference occurs, as the name suggests, when a signal is received via multiple paths. This can be via the direct path and one or more reflected paths, or it can be via multiple reflected paths. As their error characteristics are different, NLOS and multipath interference typically require different mitigation techniques, though some techniques are applicable to both. Antenna design and advanced receiver signal processing techniques can substantially reduce multipath errors. Unless an antenna array is used, NLOS reception has to be detected using the receiver's ranging and carrier-power-to-noise-density ratio (C/N0) measurements and mitigated within the positioning algorithm. Some NLOS mitigation techniques can also be used to combat severe multipath interference. Multipath interference, but not NLOS reception, can also be mitigated by comparing or combining code and carrier measurements, comparing ranging and C/N0 measurements from signals on different frequencies, and analyzing the time evolution of the ranging and C/N0 measurements

Stress-Energy Tensor for the Massless Spin 1/2 Field in Static Black Hole Spacetimes

The stress-energy tensor for the massless spin 1/2 field is numerically computed outside and on the event horizons of both charged and uncharged static non-rotating black holes, corresponding to the Schwarzschild, Reissner-Nordstrom and extreme Reissner-Nordstr\"om solutions of Einstein's equations. The field is assumed to be in a thermal state at the black hole temperature. Comparison is made between the numerical results and previous analytic approximations for the stress-energy tensor in these spacetimes. For the Schwarzschild (charge zero) solution, it is shown that the stress-energy differs even in sign from the analytic approximation. For the Reissner-Nordstrom and extreme Reissner-Nordstrom solutions, divergences predicted by the analytic approximations are shown not to exist.Comment: 5 pages, 4 figures, additional discussio

Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques

The performance of different filtering algorithms combined with 3D mapping-aided (3DMA) techniques is investigated in this paper. Several single- and multi-epoch filtering algorithms were implemented and then tested on static pedestrian navigation data collected in the City of London using a u-blox EVK M8T GNSS receiver and vehicle navigation data collected in Canary Wharf, London, by a trial van with a Racelogic Labsat 3 GNSS front-end. The results show that filtering has a greater impact on mobile positioning than static positioning, while 3DMA GNSS brings more significant improvements to positioning accuracy in denser environments than in more open areas. Thus, multi-epoch 3DMA GNSS filtering should bring the maximum benefit to mobile positioning in dense environments. In vehicle tests at Canary Wharf, 3DMA GNSS filtering reduced the RMS horizontal position error by approximately 68% and 57% compared to the single-epoch 3DMA GNSS and filtered conventional GNSS, respectively

The Origins of [CII] Emission in Local Star-forming Galaxies

The [CII] 158um fine-structure line is the brightest emission line observed in local star-forming galaxies. As a major coolant of the gas-phase interstellar medium, [CII] balances the heating, including that due to far-ultraviolet photons, which heat the gas via the photoelectric effect. However, the origin of [CII] emission remains unclear, because C+ can be found in multiple phases of the interstellar medium. Here we measure the fractions of [CII] emission originating in the ionized and neutral gas phases of a sample of nearby galaxies. We use the [NII] 205um fine-structure line to trace the ionized medium, thereby eliminating the strong density dependence that exists in the ratio of [CII]/[NII] 122um. Using the FIR [CII] and [NII] emission detected by the KINGFISH and Beyond the Peak Herschel programs, we show that 60-80% of [CII] emission originates from neutral gas. We find that the fraction of [CII] originating in the neutral medium has a weak dependence on dust temperature and the surface density of star formation, and a stronger dependence on the gas-phase metallicity. In metal-rich environments, the relatively cooler ionized gas makes substantially larger contributions to total [CII] emission than at low abundance, contrary to prior expectations. Approximate calibrations of this metallicity trend are provided.Comment: 8 pages, accepted for publication in Ap

Mapping species distributions: A comparison of skilled naturalist and lay citizen science recording

To assess the ability of traditional biological recording schemes and lay citizen science approaches to gather data on species distributions and changes therein, we examined bumblebee records from the UK’s national repository (National Biodiversity Network) and from BeeWatch. The two recording approaches revealed similar relative abundances of bumblebee species but different geographical distributions. For the widespread common carder (Bombus pascuorum), traditional recording scheme data were patchy, both spatially and temporally, reflecting active record centre rather than species distribution. Lay citizen science records displayed more extensive geographic coverage, reflecting human population density, thus offering better opportunities to account for recording effort. For the rapidly spreading tree bumblebee (Bombus hypnorum), both recording approaches revealed similar distributions due to a dedicated mapping project which overcame the patchy nature of naturalist records. We recommend, where possible, complementing skilled naturalist recording with lay citizen science programmes to obtain a nation-wide capability, and stress the need for timely uploading of data to the national repository

WiFi-RTT Posterity SLAM for Pedestrian Navigation in Indoor Environments

WiFi has vast infrastructure presence making it an ideal candidate for mobile indoor positioning. WiFi Fine Time Measurement (FTM), is a WiFi protocol that enables the time of flight (ToF) of a WiFi signal to be determined; referred to as WiFi Round Trip Timing (RTT). This has allowed ToF based positioning algorithms to be applied to WiFi signals which could provide an improvement over the established RSSI-based positioning. A common assumption in WiFi RTT research is prior knowledge of the access point locations in an environment. The research in this paper explores the accuracy of WiFi RTT positioning in an indoor environment by utilising a FastSLAM algorithm applied to WiFi RTT that improves over time with the benefit of previous SLAM maps of the environment, this is known as Posterity SLAM. This specific version of the algorithm presents a positioning solution that has sub-two-metre accuracy for the mobile device without the need for a dedicated survey step. In some cases the final horizontal position error of the mobile device was sub-metre. The algorithm was effective at improving the accuracy of landmark estimates for shorter trials 100% of the time. For the landmark estimates, Posterity SLAM achieved sub-two-metre accuracy 78% of the time improving on regular SLAM which achieved sub-two-metre accuracy 61% of the time. The landmark position accuracy was sub-metre 42% of the time for Posterity SLAM and 28% of the time for regular SLAM

Profiling strugglers in a graduate-entry medicine course at Nottingham: a retrospective case study

Background 10-15% of students struggle at some point in their medicine course. Risk factors include weaker academic qualifications, male gender, mental illness, UK ethnic minority status, and poor study skills. Recent research on an undergraduate medicine course provided a toolkit to aid early identification of students likely to struggle, who can be targeted by established support and study interventions. The present study sought to extend this work by investigating the number and characteristics of strugglers on a graduate-entry medicine (GEM) programme. Methods A retrospective study of four GEM entry cohorts (2003–6) was carried out. All students who had demonstrated unsatisfactory progress or left prematurely were included. Any information about academic, administrative, personal, or social difficulties, were extracted from their course progress files into a customised database and examined. Results 362 students were admitted to the course, and 53 (14.6%) were identified for the study, of whom 15 (4.1%) did not complete the course. Students in the study group differed from the others in having a higher proportion of 2ii first degrees, and scoring less well on GAMSAT, an aptitude test used for admission. Within the study group, it proved possible to categorise students into the same groups previously reported (struggler throughout, pre-clinical struggler, clinical struggler, health-related struggler, borderline struggler) and to identify the majority using a number of flags for early difficulties. These flags included: missed attendance, unsatisfactory attitude or behaviour, health problems, social/family problems, failure to complete immunity status checks, and attendance at academic progress committee. Conclusions Problems encountered in a graduate-entry medicine course were comparable to those reported in a corresponding undergraduate programme. A toolkit of academic and non-academic flags of difficulty can be used for early identification of many who will struggle, and could be used to target appropriate support and interventions