Satellite Navigation for the Age of Autonomy

Global Navigation Satellite Systems (GNSS) brought navigation to the masses. Coupled with smartphones, the blue dot in the palm of our hands has forever changed the way we interact with the world. Looking forward, cyber-physical systems such as self-driving cars and aerial mobility are pushing the limits of what localization technologies including GNSS can provide. This autonomous revolution requires a solution that supports safety-critical operation, centimeter positioning, and cyber-security for millions of users. To meet these demands, we propose a navigation service from Low Earth Orbiting (LEO) satellites which deliver precision in-part through faster motion, higher power signals for added robustness to interference, constellation autonomous integrity monitoring for integrity, and encryption / authentication for resistance to spoofing attacks. This paradigm is enabled by the 'New Space' movement, where highly capable satellites and components are now built on assembly lines and launch costs have decreased by more than tenfold. Such a ubiquitous positioning service enables a consistent and secure standard where trustworthy information can be validated and shared, extending the electronic horizon from sensor line of sight to an entire city. This enables the situational awareness needed for true safe operation to support autonomy at scale.Comment: 11 pages, 8 figures, 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS

Ford Highway Driving RTK Dataset: 30,000 km of North American Highways

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous Driving (AD) features. These range from a need for road determination ($<$5 meters), lane determination ($<$1.5 meters), and determining where the vehicle is within the lane ($<$0.3 meters). This paper presents the Ford Highway Driving RTK (Ford-HDR) dataset. This dataset includes nearly 30,000 km of data collected primarily on North American highways during a driving campaign designed to validate driver assistance features in 2018. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System (INS) which couples two survey-grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. This dataset is being released into the public domain to spark further research in the community.Comment: 8 pages, 4 figures, ION GNSS+ 202

Office design and health: a systematic review

Aim: To carry out a systematic review of recent research into the effects of workplace design, comparing individual with shared workspaces, on the health of employees. Methods: The research question was "Does workplace design (specifically individual offices compared with shared workspaces) affect the health of workers?" A literature search limited to articles published between 2000 and 2017 was undertaken. A systematic review was carried out, and the findings of the reviewed studies grouped into themes according to the primary outcomes measured in the studies. Results: The literature search identified 15 relevant studies addressing health effects of shared or open-plan offices compared with individual offices. Our systematic review found that, compared with individual offices, shared or open-plan office space is not beneficial to employees' health, with consistent findings of deleterious effects on staff health, wellbeing and productivity. Our findings are also consistent with those of earlier reviews. Conclusion: These findings have public health implications for the New Zealand workforce. Decisions about workplace design should include weighing the short-term financial benefits of open-plan or shared workspaces against the significant harms, including increased sickness absence, lower job satisfaction and productivity, and possible threats to recruitment and retention of staff

Standalone and RTK GNSS on 30,000 km of North American Highways

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane determination (<1.5 meters), and determining where the vehicle is within the lane (<0.3 meters). This work examines the performance of Global Navigation Satellite Systems (GNSS) on 30,000 km of North American highways to better understand the automotive positioning needs it meets today and what might be possible in the near future with wide area GNSS correction services and multi-frequency receivers. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System which couples two survey grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. We assess on-road GNSS accuracy, availability, and continuity. Availability and continuity are broken down in terms of satellite visibility, satellite geometry, position type (RTK fixed, RTK float, or standard positioning), and RTK correction latency over the network. Results show that current automotive solutions are best suited to meet road determination requirements at 98% availability but are less suitable for lane determination at 57%. Multi-frequency receivers with RTK corrections were found more capable with road determination at 99.5%, lane determination at 98%, and highway-level lane departure protection at 91%.Comment: Accepted for the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 201

Astrophysically Triggered Searches for Gravitational Waves: Status and Prospects

In gravitational-wave detection, special emphasis is put onto searches that focus on cosmic events detected by other types of astrophysical observatories. The astrophysical triggers, e.g. from gamma-ray and X-ray satellites, optical telescopes and neutrino observatories, provide a trigger time for analyzing gravitational wave data coincident with the event. In certain cases the expected frequency range, source energetics, directional and progenitor information is also available. Beyond allowing the recognition of gravitational waveforms with amplitudes closer to the noise floor of the detector, these triggered searches should also lead to rich science results even before the onset of Advanced LIGO. In this paper we provide a broad review of LIGO's astrophysically triggered searches and the sources they target

Search for Gravitational Wave Bursts from Soft Gamma Repeaters

We present the results of a LIGO search for short-duration gravitational waves (GWs) associated with Soft Gamma Repeater (SGR) bursts. This is the first search sensitive to neutron star f-modes, usually considered the most efficient GW emitting modes. We find no evidence of GWs associated with any SGR burst in a sample consisting of the 27 Dec. 2004 giant flare from SGR 1806-20 and 190 lesser events from SGR 1806-20 and SGR 1900+14 which occurred during the first year of LIGO's fifth science run. GW strain upper limits and model-dependent GW emission energy upper limits are estimated for individual bursts using a variety of simulated waveforms. The unprecedented sensitivity of the detectors allows us to set the most stringent limits on transient GW amplitudes published to date. We find upper limit estimates on the model-dependent isotropic GW emission energies (at a nominal distance of 10 kpc) between 3x10^45 and 9x10^52 erg depending on waveform type, detector antenna factors and noise characteristics at the time of the burst. These upper limits are within the theoretically predicted range of some SGR models.Comment: 6 pages, 1 Postscript figur

Searching for gravitational waves from known pulsars

We present upper limits on the amplitude of gravitational waves from 28 isolated pulsars using data from the second science run of LIGO. The results are also expressed as a constraint on the pulsars' equatorial ellipticities. We discuss a new way of presenting such ellipticity upper limits that takes account of the uncertainties of the pulsar moment of inertia. We also extend our previous method to search for known pulsars in binary systems, of which there are about 80 in the sensitive frequency range of LIGO and GEO 600.Comment: Accepted by CQG for the proceeding of GWDAW9, 7 pages, 2 figure

First joint search for gravitational-wave bursts in LIGO and GEO600 data

We present the results of the first joint search for gravitational-wave bursts by the LIGO and GEO600 detectors. We search for bursts with characteristic central frequencies in the band 768 to 2048 Hz in the data acquired between the 22nd of February and the 23rd of March, 2005 (fourth LSC Science Run - S4). We discuss the inclusion of the GEO600 data in the Waveburst-CorrPower pipeline that first searches for coincident excess power events without taking into account differences in the antenna responses or strain sensitivities of the various detectors. We compare the performance of this pipeline to that of the coherent Waveburst pipeline based on the maximum likelihood statistic. This likelihood statistic is derived from a coherent sum of the detector data streams that takes into account the antenna patterns and sensitivities of the different detectors in the network. We find that the coherentWaveburst pipeline is sensitive to signals of amplitude 30 - 50% smaller than the Waveburst-CorrPower pipeline. We perform a search for gravitational-wave bursts using both pipelines and find no detection candidates in the S4 data set when all four instruments were operating stably.Comment: 30 pages, 8 figure

A Joint Search for Gravitational Wave Bursts with AURIGA and LIGO

The first simultaneous operation of the AURIGA detector and the LIGO observatory was an opportunity to explore real data, joint analysis methods between two very different types of gravitational wave detectors: resonant bars and interferometers. This paper describes a coincident gravitational wave burst search, where data from the LIGO interferometers are cross-correlated at the time of AURIGA candidate events to identify coherent transients. The analysis pipeline is tuned with two thresholds, on the signal-to-noise ratio of AURIGA candidate events and on the significance of the cross-correlation test in LIGO. The false alarm rate is estimated by introducing time shifts between data sets and the network detection efficiency is measured with simulated signals with power in the narrower AURIGA band. In the absence of a detection, we discuss how to set an upper limit on the rate of gravitational waves and to interpret it according to different source models. Due to the short amount of analyzed data and to the high rate of non-Gaussian transients in the detectors noise at the time, the relevance of this study is methodological: this was the first joint search for gravitational wave bursts among detectors with such different spectral sensitivity and the first opportunity for the resonant and interferometric communities to unify languages and techniques in the pursuit of their common goal.Comment: 18 pages, IOP, 12 EPS figure