A Differential Positioning System Using Modulation Correlation of Signals of Opportunity

Global Navigation Satellite Systems (GNSS) have become the positioning systems of choice for many applications. However, GNSS signals are susceptible to obstruction, interference and jamming. Therefore, to maximize robustness and integrity, it is necessary to employ a dissimilar positioning technology that can operate independently and back-up GNSS. One such technology exploits ‘signals of opportunity’ – signals that are designed for purposes other than navigation. This paper presents a system that uses amplitude modulation (AM) radio broadcasts in the medium frequency (MF) band. At these frequencies, the predominant ground-wave propagation mode offers better coverage in remote areas and over sea than is achievable with higher frequency signals. The system is differential and operates by correlating modulation information between the reference and user receivers. A system of this form mitigates the deterioration in and around buildings encountered in prior systems and can provide absolute position using fewer signals than a system using only carrier phase. The system presented in this paper uses generalized cross correlation to obtain time difference of arrival measurements that are subsequently used for position determination. Preliminary results indicate the system provides a robust position solution. Moreover, the system offers the potential to be combined with carrier phase measurements to achieve enhanced performance, while the modulation correlation technique is readily extendable to other types of signal

A New Differential Positioning Method using Modulation Correlation of Signals of Opportunity

Global Navigation Satellite Systems (GNSS) have become the positioning systems of choice for many applications. However, GNSS signals are susceptible to obstruction, interference and jamming. Therefore, to maximize robustness and integrity, it is necessary to employ a dissimilar positioning technology that can operate independently and back-up GNSS. One such technology exploits 'signals of opportunity' - signals that are designed for purposes other than navigation.This paper presents a system that uses amplitude modulation (AM) radio broadcasts in the medium frequency (MF) band. At these frequencies, the predominant ground-wave propagation mode offers better coverage in remote areas and over sea than is achievable with higher frequency signals.The system is differential and operates by correlating modulation information between the reference and user receivers. A system of this form mitigates the deterioration in and around buildings encountered in prior systems and can provide absolute position using fewer signals than a system using only carrier phase.The system presented in this paper uses generalized cross correlation to obtain time difference of arrival measurements that are subsequently used for position determination. Preliminary results indicate the system provides a robust position solution. Moreover, the system offers the potential to be combined with carrier phase measurements to achieve enhanced performance, while the modulation correlation technique is readily extendable to other types of signal

Novel Environmental Features for Robust Multisensor Navigation

Many navigation techniques have now become so reliant on GNSS that there is no back up when there is limited or no signal reception. If there is interference, intentional or otherwise, with the signal, navigation could be lost or become misleading [1]. Other navigation techniques harness different technologies such as Wi-Fi [2], eLoran and inertial navigation. However, each of these techniques has its own limitations, such as coverage, degradation in urban areas or solution drift [3]. Therefore there is a need for new navigation and positioning techniques that may be integrated with GNSS to increase the reliability of the system as a whole. This paper presents the results of a feasibility study to identify a set of novel environmental features that could be used for navigation in the temporary absence of GNSS or degradation of the signal. By measuring these features during times of GNSS availability a map can be produced. This can be referred to during times of limited reception, a principle already used for some Wi-Fi positioning techniques [2]. Therefore a “measurable” can be defined as a feature either man-made or natural that is spatially distinct and has limited temporal variation. Possibilities considered include magnetic anomalies [4], light intensity and road signs. Firstly, a brainstorming exercise and a literature study were conducted to generate a list of possible environmental features that was assessed for the viability of each candidate. The features were ranked according to three criteria: practicality, precision and coverage. The definition of practicality for each measurable was that a suitable detector must be installable on a road vehicle, particularly an emergency vehicle, at a reasonable cost with minimal alterations to the vehicle. Precision was defined in terms of the spatial variation of the environmental feature and thus the accuracy with which position information might be derived from it. Coverage was assessed in terms of the availability of the feature over a range of different environments. Continuous coverage is not required because the new measurables may be used in combination and integrated with dead reckoning techniques, such as odometry and inertial navigation [3]. The outcome of the viability study was used to determine which features are to be experimentally tested. Magnetic anomalies, road texture and a dozen other environmental features were found to be worth investigation. Features which were discounted include wind speed and pulsars [5]. The initial experiment was carried out on foot in Central London. The same tests were repeated on two separate days, with a closed loop circuit walked three times on each occasion. This experiment used an Inertial Measurement Unit (IMU), comprising accelerometer and gyro triads, together with a barometer, three-axis magnetometer and GNSS receiver. The experiment was also recorded using a camcorder from the point of view of a pedestrian, enabling visual and audio features of the environment to be assessed. Magnetic anomalies were found to be a promising source of position information. Peaks in the magnetometer data were observed on all rounds at approximately the same positions. There were also similarities seen in the temperature profiles after correcting for the temporal variation of the background temperature. Another potential source of position information was found to be text-based signs. It is relatively simple to extract text from camera images and it is easily stored in a feature database. However, methods of dealing with identically-worded signs in close proximity will need to be developed. Sound levels were analysed in 10s intervals for the mean, minimum and maximum sound volume. There was no clear correlation observed between the different rounds of the experiment. Due to the pedestrian experimental results sound levels of the surroundings will not be used in further experimentation. An alternative area of enquiry for using sound (in the vehicular experiments) is using microphones to indirectly measure road texture based on the noise from the wheel contact with the road [6]. The paper will also present results of road vehicle experiments. Multiple circuits of the same routes will be compared. Different environments will be assessed including rural, dual carriageways, suburban and urban roads. Sensors to be used include the IMU and 3-axis magnetometer from the pedestrian experiment, a barometer, gas sensors, a microphone, an axle-mounted accelerometer, an ambient light sensor and a thermometer. These will be placed either on, inside or under the vehicle as determined by the individual needs of the sensors. The results will be used to determine which of these sensors could be potentially used for a multisensor integrated navigation system and also the environments in which they work optimally. Using the results of the three feasibility study phases (literature review, pedestrian and road experiment) the next project stage will be to produce a demonstration system that uses the most feasible features of the environment and creates a map database during times GNSS is present. This database will then be used for navigation in times of need. In the long term, it is envisaged that this technique will be implemented cooperatively, with a batch of vehicles collecting feature data and contributing it to a common shared database. / References [1] Thomas, M., et al., Global Navigation Space Systems: Reliance and Vulnerabilities, London, UK: Royal Academy of Engineering, 2011. [2] Jones, K., L. Liu, and F. Alizadeh-Shabdiz, “Improving Wireless Positioning with Look-ahead Map-Matching,” Proc. MobiQuitous 2007, Phildaelphia, PA, February 2008, pp. 1-8. [3] Groves, P.D., Principles of GNSS, Inertial, and Multisensor Intergrated Navigation Systems, Second Edition, Artech House, 2013. [4] Judd, T., and T. Vu, “Use of a New Pedometric Dead Reckoning Module in GPS Denied Environments,” Proc. IEEE/ION PLANS, Monterey, CA, May 2008, pp. 120?128. [5] Walter, D. J., "Feasibility study of novel environmental feature mapping to bridge GNSS outage," Young Navigator Conference, London, 2012. [6] Mircea, M., et al., “Strategic mapping of the ambient noise produced by road traffic, accordingly to European regulations,” Proc. IEEE International Conference on Automation, Quality and Testing, Robotics, Cluj Napoca, Romania, May 2008

Benchmarking 2D hydraulic models for urban flood simulations

This paper describes benchmark testing of six two-dimensional (2D) hydraulic models (DIVAST, DIVASTTVD, TUFLOW, JFLOW, TRENT and LISFLOOD-FP) in terms of their ability to simulate surface flows in a densely urbanised area. The models are applied to a 1·0 km × 0·4 km urban catchment within the city of Glasgow, Scotland, UK, and are used to simulate a flood event that occurred at this site on 30 July 2002. An identical numerical grid describing the underlying topography is constructed for each model, using a combination of airborne laser altimetry (LiDAR) fused with digital map data, and used to run a benchmark simulation. Two numerical experiments were then conducted to test the response of each model to topographic error and uncertainty over friction parameterisation. While all the models tested produce plausible results, subtle differences between particular groups of codes give considerable insight into both the practice and science of urban hydraulic modelling. In particular, the results show that the terrain data available from modern LiDAR systems are sufficiently accurate and resolved for simulating urban flows, but such data need to be fused with digital map data of building topology and land use to gain maximum benefit from the information contained therein. When such terrain data are available, uncertainty in friction parameters becomes a more dominant factor than topographic error for typical problems. The simulations also show that flows in urban environments are characterised by numerous transitions to supercritical flow and numerical shocks. However, the effects of these are localised and they do not appear to affect overall wave propagation. In contrast, inertia terms are shown to be important in this particular case, but the specific characteristics of the test site may mean that this does not hold more generally

Road navigation using multiple dissimilar environmental features to bridge GNSS outages

Many navigation techniques have now become so reliant on GNSS that there is no back-up when there is limited or no signal reception. If there is interference, deliberate jamming or spoofing, and/or blockage and reflection of the signals by buildings, navigation could be lost or become misleading. Other navigation techniques harness different technologies such as Wi-Fi, eLoran and inertial navigation. However, each of these techniques has its own limitations, such as coverage, degradation in urban areas or solution drift. Therefore there is a need for new navigation and positioning paradigms that may be integrated with GNSS to increase the reliability of the system as a whole. This paper presents the results of a feasibility study to identify a set of novel environmental features that could be used for road navigation in the temporary absence or degradation of GNSS. By measuring these features during times of GNSS availability, a map can be produced. This map can be referred to during times of limited reception. The most feasible environmental features are identified, their potential for providing position information is quantified and various methods of combining these features are analysed. It was found across multiple test routes that it is possible to determine the position of a vehicle along a route using three sensors: barometer, magnetometer and a camera looking at road signs. This work is relevant to any road application that requires resilient positioning. Examples include navigation and tracking of ambulances, fire, police and security vehicles; high-value asset tracking; transport logistics; road-user charging and pay-as-you-drive insurance

Investigating the effect of thermal gradients on stress in solid oxide fuel cell anodes using combined synchrotron radiation and thermal imaging

Thermal gradients can arise within solid oxide fuel cells (SOFCs) due to start-up and shut-down, non-uniform gas distribution, fast cycling and operation under internal reforming conditions. Here, the effects of operationally relevant thermal gradients on Ni/YSZ SOFC anode half cells are investigated using combined synchrotron X-ray diffraction and thermal imaging. The combination of these techniques has identified significant deviation from linear thermal expansion behaviour in a sample exposed to a one dimensional thermal gradient. Stress gradients are identified along isothermal regions due to the presence of a proximate thermal gradient, with tensile stress deviations of up to 75Â MPa being observed across the sample at a constant temperature. Significant strain is also observed due to the presence of thermal gradients when compared to work carried out at isothermal conditions

A New Differential Positioning Technique Applicable to Generic FDMA Signals of Opportunity

A differential positioning technique is proposed that is capable of exploiting the many radio frequency (RF) signals that are transmitted using frequency division multiple access (FDMA). The technique is designed to operate on ‘signals of opportunity’ (signals that are designed for purposes other than navigation), and requires no knowledge of the modulation format or signal content. Example FDMA signals of opportunity include amplitude modulated (AM) broadcast signals, frequency modulated (FM) broadcast signals, and television signals. In principle, the system can operate simultaneously on these different types of signals, maximizing performance by exploiting heterogeneous signal qualities and using whatever signals are available at a particular location. As a result, the technology has the potential to provide positioning in Global Navigation Satellite System (GNSS) deprived environments, such as in urban canyons, and deep indoors. The proposed positioning technique operates by bringing portions of a signal received at reference and user locations together and adaptively correlation testing them. The correlation-testing is used to jointly estimate the differential time offset (DTO) and the differential frequency offset (DFO). In order to improve accuracy the DTO measurements are Doppler-smoothed using the DFO measurements. The DTO measurements are used to calculate ranging measurements that are used to obtain a position. The concept is experimentally validated on AM broadcast signals in the medium frequency (MF) and low frequency (LF) bands. Preliminary results indicate that the system provides a position solution in difficult environments, such as indoors. It is expected that expanding the system to incorporate more signals will result in significant performance gains

Acupuncture for chronic neck pain: a pilot for a randomised controlled trial

Background: Acupuncture is increasingly being used for many conditions including chronic neck pain. However the evidence remains inconclusive, indicating the need for further well-designed research. The aim of this study was to conduct a pilot randomised controlled parallel arm trial, to establish key features required for the design and implementation of a large-scale trial on acupuncture for chronic neck pain. Methods: Patients whose GPs had diagnosed neck pain were recruited from one general practice, and randomised to receive usual GP care only, or acupuncture ( up to 10 treatments over 3 months) as an adjunctive treatment to usual GP care. The primary outcome measure was the Northwick Park Neck Pain Questionnaire (NPQ) at 3 months. The primary analysis was to determine the sample size for the full scale study. Results: Of the 227 patients with neck pain identified from the GP database, 28 (12.3%) consenting patients were eligible to participate in the pilot and 24 (10.5%) were recruited to the trial. Ten patients were randomised to acupuncture, receiving an average of eight treatments from one of four acupuncturists, and 14 were randomised to usual GP care alone. The sample size for the full scale trial was calculated from a clinically meaningful difference of 5% on the NPQ and, from this pilot, an adjusted standard deviation of 15.3%. Assuming 90% power at the 5% significance level, a sample size of 229 would be required in each arm in a large-scale trial when allowing for a loss to follow-up rate of 14%. In order to achieve this sample, one would need to identify patients from databases of GP practices with a total population of 230,000 patients, or approximately 15 GP practices roughly equal in size to the one involved in this study (i.e. 15,694 patients). Conclusion: This pilot study has allowed a number of recommendations to be made to facilitate the design of a large-scale trial, which in turn will help to clarify the existing evidence base on acupuncture for neck pain

Could Work Be a Source of Behavioural Disorders? A Study in Horses

Stress at work, as shown by a number of human studies, may lead to a variety of negative and durable effects, such as impaired psychological functioning (anxiety, depression…). Horses share with humans this characteristic of working on a daily basis and are submitted then to work stressors related to physical constraints and/or more “psychological” conflicts, such as potential controversial orders from the riders or the requirement to suppress emotions. On another hand, horses may perform abnormal repetitive behaviour (“stereotypies”) in response to adverse life conditions. In the present study, we investigated whether the type of work the horses are used for may have an impact on their tendency to show stereotypic behaviour (and its type) outside work. Observations in their box of 76 horses all living in the same conditions, belonging to one breed and one sex, revealed that the prevalence and types of stereotypies performed strongly depended upon the type of work they were used for. The stereotypies observed involved mostly mouth movements and head tossing/nodding. Work constraints probably added to unfavourable living conditions, favouring the emergence of chronic abnormal behaviours. This is especially remarkable as the 23 hours spent in the box were influenced by the one hour work performed every day. To our knowledge, this is the first evidence of potential effects of work stressors on the emergence of abnormal behaviours in an animal species. It raises an important line of thought on the chronic impact of the work situation on the daily life of individuals

Labrador retrievers under primary veterinary care in the UK: demography, mortality and disorders

Abstract Background Labrador retrievers are reportedly predisposed to many disorders but accurate prevalence information relating to the general population are lacking. This study aimed to describe demography, mortality and commonly recorded diseases in Labrador retrievers under UK veterinary care. Methods The VetCompass™ programme collects electronic patient record data on dogs attending UK primary-care veterinary practices. Demographic analysis covered all33,320 Labrador retrievers in the VetCompass™ database under veterinary care during 2013 while disorder and mortality data were extracted from a random sample of 2074 (6.2%) of these dogs. Results Of the Labrador retrievers with information available, 15,427 (46.4%) were female and 15,252 (53.6%) were male. Females were more likely to be neutered than males (59.7% versus 54.8%, P <  0.001). The overall mean adult bodyweight was 33.0 kg (SD 6.1). Adult males were heavier (35.2 kg, SD 5.9 kg) than adult females (30.4 kg, SD 5.2 kg) (P <  0.001). The median longevity of Labrador retrievers overall was 12.0 years (IQR 9.9–13.8, range 0.0–16.0). The most common recorded colours were black (44.6%), yellow (27.8%) and liver/chocolate (reported from hereon as chocolate) (23.8%). The median longevity of non-chocolate coloured dogs (n = 139, 12.1 years, IQR 10.2–13.9, range 0.0–16.0) was longer than for chocolate coloured animals (n = 34, 10.7 years, IQR 9.0–12.4, range 3.8–15.5) (P = 0.028). Of a random sample of 2074 (6.2%) Labrador retrievers under care in 2013 that had full disorder data extracted, 1277 (61.6%) had at least one disorder recorded. The total number of dogs who died at any date during the study was 176. The most prevalent disorders recorded were otitis externa (n = 215, prevalence 10.4%, 95% CI: 9.1–11.8), overweight/obesity (183, 8.8%, 95% CI: 7.6–10.1) and degenerative joint disease (115, 5.5%, 95% CI: 4.6–6.6). Overweight/obesity was not statistically significantly associated with neutering in females (8.3% of entire versus 12.5% of neutered, P = 0.065) but was associated with neutering in males (4.1% of entire versus 11.4% of neutered, P < 0.001). The prevalence of otitis externa in black dogs was 12.8%, in yellow dogs it was 17.0% but, in chocolate dogs, it rose to 23.4% (P < 0.001). Similarly, the prevalence of pyo-traumatic dermatitis in black dogs was 1.1%, in yellow dogs it was 1.6% but in chocolate dogs it rose to 4.0% (P = 0.011). Conclusions The current study assists prioritisation of health issues within Labrador retrievers. The most common disorders were overweight/obesity, otitis externa and degenerative joint disease. Males were significantly heavier females. These results can alert prospective owners to potential health issues and inform breed-specific wellness checks