Motion Planning for Optimal Information Gathering in Opportunistic Navigation Systems

Motion planning for optimal information gathering in an opportunistic navigation (OpNav) environment is considered. An OpNav environment can be thought of as a radio frequency signal landscape within which a receiver locates itself in space and time by extracting information from ambient signals of opportunity (SOPs). The receiver is assumed to draw only pseudorange-type observations from the SOPs, and such observations are fused through an estimator to produce an estimate of the receiver’s own states. Since not all SOP states in the OpNav environment may be known a priori, the receiver must estimate the unknown SOP states of interest simultaneously with its own states. In this work, the following problem is studied. A receiver with no a priori knowledge about its own states is dropped in an unknown, yet observable, OpNav environment. Assuming that the receiver can prescribe its own trajectory, what motion planning strategy should the receiver adopt in order to build a high-fidelity map of the OpNav signal landscape, while simultaneously localizing itself within this map in space and time? To answer this question, first, the minimum conditions under which the OpNav environment is fully observable are established, and the need for receiver maneuvering to achieve full observability is highlighted. Then, motivated by the fact that not all trajectories a receiver may take in the environment are equally beneficial from an information gathering point of view, a strategy for planning the motion of the receiver is proposed. The strategy is formulated in a coupled estimation and optimal control framework of a gradually identified system, where optimality is defined through various information-theoretic measures. Simulation results are presented to illustrate the improvements gained from adopting the proposed strategy over random and pre-defined receiver trajectories.Aerospace Engineering and Engineering Mechanic

The Price of Anarchy in Active Signal Landscape Map Building

Multiple receivers with a priori knowledge about their own initial states are assumed to be dropped in an unknown environment comprising multiple signals of opportunity (SOPs) transmitters. The receivers draw pseudorange observations from the SOPs. The receivers’ objective is to build a high-fidelity signal landscape map of the environment, which would enable the receivers to navigate accurately with the aid of the SOPs. The receivers could command their own maneuvers and such commands are computed so to maximize the information gathered about the SOPs in a greedy fashion. Several information fusion and decision making architectures are possible. This paper studies the price of anarchy in building signal landscape maps to assess the degradation in the map quality should the receivers produce their own maps and make their own maneuver decisions versus a completely centralized approach. In addition, a hierarchical architecture is proposed in which the receivers build their own maps and make their own decisions, but share relevant information. Such architecture is shown to produce maps of comparable quality to the completely centralized approach.Aerospace Engineering and Engineering Mechanic

A Graphical Approach to GPS Software-Defined Receiver Implementation

Global positioning system (GPS) software-defined receivers (SDRs) offer many advantages over their hardwarebased counterparts, such as flexibility, modularity, and upgradability. A typical GPS receiver is readily expressible as a block diagram, making a graphical approach a natural choice for implementing GPS SDRs. This paper presents a real-time, graphical implementation of a GPS SDR, consisting of two modes: acquisition and tracking. The acquisition mode performs a twodimensional fast Fourier transform (FFT)-based search over code offsets and Doppler frequencies. The carrier-aided code tracking mode consists of the following main building blocks: correlators, code and carrier phase detectors, code and carrier phase filters, a code generator, and a numerically-controlled oscillator. The presented GPS SDR provides an abstraction level that enables future research endeavors.Aerospace Engineering and Engineering Mechanic

Status and prospects of mackerel and tuna fishery in Bangladesh

Present status and future prospects of mackerel and tuna fisheries in Bangladesh were assessed during July 2003-June 2004. The work concentrated on the fishing gears, length of fishes, total landings and market price of the catch and highlighted the prospects of the fishery in Bangladesh. Four commercially important species of mackerels and tuna viz. Scomberomorus guttatus, Scomberomorus commerson, Rastrelliger kanagurta, and Euthynnus affinis were included in the study. About 95% of mackerels and tuna were caught by drift gill nets and the rest were caught by long lines (4%) and marine set-bag-net (1%). Average monthly total landing of mackerels and tunas was about 264 t, of which 147 t landed in Cox's Bazar and 117 t in Chittagong sites. Total catches of the four species in Cox's Bazar and Chittagong sites were found to be 956 and 762 t, respectively. The poor landing was observed during January-February and the peak landing was in November and July. Gross market value of the annual landing of mackerels and tunas (1,718 t) was found to be 1,392 latch taka. Nevertheless, the mackerel and tuna fisheries in Bangladesh are increasingly contributing to the marine fish production of the country and have very good potential for further expansion for both domestic and export market

Tightly-Coupled Opportunistic Navigation for Deep Urban and Indoor Positioning

A strategy is presented for exploiting the frequency stability, transmit location, and timing information of ambient radio-frequency “signals of opportunity” for the purpose of navigating in deep urban and indoor environments. The strategy, referred to as tightly-coupled opportunistic navigation (TCON), involves a receiver continually searching for signals from which to extract navigation and timing information. The receiver begins by characterizing these signals, whether downloading characterizations from a collaborative online database or performing characterizations on-the-fly. Signal observables are subsequently combined within a central estimator to produce an optimal estimate of position and time. A simple demonstration of the TCON strategy focused on timing shows that a TCONenabled receiver can characterize and use CDMA cellular signals to correct its local clock variations, allowing it to coherently integrate GNSS signals beyond 100 seconds.Aerospace Engineering and Engineering Mechanic

Adaptive Estimation of Signals of Opportunity

To exploit unknown ambient radio frequency signals of opportunity (SOPs) for positioning and navigation, one must estimate their states along with a set of parameters that characterize the stability of their oscillators. SOPs can be modeled as stochastic dynamical systems driven by process noise. The statistics of such process noise is typically unknown to the receiver wanting to exploit the SOPs for positioning and navigation. Incorrect statistical models jeopardize the estimation optimality and may cause filter divergence. This necessitates the development of adaptive filters, which provide a significant improvementover fixed filters through the filter learning process. This paper develops two such adaptive filters: an innovationbased maximum likelihood filter and an interacting multiple model filter and compares their performance and complexity. Numerical and experimental results are presented demonstrating the superiority of these filters over fixed, mismatched filters.Aerospace Engineering and Engineering Mechanic

The Demand for Military Spending in Egypt

Egypt plays a pivotal role in the security of the Middle East as the doorway to Europe and its military expenditure reflects its involvement in the machinations of such an unstable region, showing considerable variation over the last forty years. These characteristics make it a particularly interesting case study of the determinants of military spending. This paper presents such a study, estimating an econometric model of the Egyptian demand for military spending, taking into account important strategic and political factors. Both economic and strategic factors are found to play a role in determining military burden, with clear positive effects of lagged military burden, suggesting some sort of institutional inertia, plus negative output and net imports effects. The main strategic effect is the impact of Israel’s military burden, with no effect for that of the Jordanian and Syrian allies, but the results also suggest that simple arms race relationships are not an adequate representation of the relevant strategic factors.Egypt, demand for military expenditure, political determinants, strategic determinants

Development of artificial breeding techniques for long-whiskered catfish, Sperata aor and giant river catfish, Sperata seenghala of Bangladesh

Sperata aor and S. seenghala are the two important native catfishes of Bangladesh but commercial farming of these species is not possible due to lack of naturally collected or artificially produced seeds for stocking. Attempts were made to develop techniques for seed production by artificial breeding and nursery-rearing of fries of these catfishes. A total of 60 S. seenghala (750-1,500 g) and 10 S. aor (600-1,000 g) broods were collected from the Brahmaputra river-basin and floodplains in Mymensingh region four months prior to their breeding season. The collected brood fishes were reared in separate earthen ponds with supplementary feeds comprising of rice bran (40%), mustard oil cake (29%), fish meal (30%) and vitamin-premix (1 %). Three experiments were conducted to optimize the hormone dose. A total of nine S. seenghala females weighing from 750 to 1,500 g were given an initial and resolving dose of 12-20 and 16-24 mg PG/kg body weight, respectively. The males weighing from 650-950 g were administered a single dose of 18-26 mg PG/kg body weight at the time of the time of administering the resolving dose to the females. The females ovulated partially and the eggs were examined under a compound microscope, but most of them were found to be less ripe or damaged. Collection of milt by stripping the males was not successful. The testes were taken out and sperm were observed to be non-motile and less developed. In view of stimulating natural propagation of S. seenghala, artificial holes (nests) were constructed in the pond bottom. Each hole was 0.7 m in diameter and 0.3 m in depth. A total of 10 holes were made and then 10 pairs of S. seenghala breeders (800-1,200 g) were stocked in the pond. In mid February, 3,000 fry of S. seenghala with a mean length of 4.60 cm and weight of 0.36 g were collected by repeated netting followed by drying of the pond. The fry were then stocked in a nursery pond and fed with commercial feed (SABINCO starter-1). The average length and weight of the fingerlings were 9.01 cm and 3.95 g, respectively and the estimated survival was 60% after two months of rearing. S. aor did not respond to natural spawning. Further study is essential to develop techniques for their successful artificial and natural breeding

Collaborative Opportunistic Navigation

Aerospace Engineering and Engineering Mechanic

Integrity-Based Path Planning Strategy for Urban Autonomous Vehicular Navigation Using GPS and Cellular Signals

An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global Positioning System (GPS) signals. Given a desired destination, an optimal path is calculated, which minimizes a cost function that considers both the horizontal protection level (HPL) and travel distance. The constraints are that (i) the ratio of nodes with faulty signals to the total nodes be lower than a maximum allowable ratio and (ii) the HPLs along each candidate path be lower than the horizontal alert limit (HAL). To predict the faults and HPL before the vehicle is driven, GPS and LTE pseudoranges along the candidate paths are generated utilizing a commercial ray-tracing software and three-dimensional (3D) terrain and building maps. Simulated pseudoranges inform the path planning algorithm about potential biases due to reflections from buildings in urban environments. Simulation results are presented showing that the optimal path produced by the proposed path planning strategy has the minimum average HPL among the candidate paths.Comment: Submitted to ION GNSS+ 202