Aerospace Engineering and Engineering Mechanic

Humphreys, Todd E.

Kassas, Zaher M.

English

Texas ScholarWorks

CollaborativeOpportunisticNavigationZAK (ZAHER) KASSAS AND TODD HUMPHREYSTHE PROBLEMGNSS signals are insufficient for anytime, anywhere navigation,particularly in deep urban canyons, indoors, and environmentsexperiencing intentional jamming, as they attenuate ∼ 30–50 dB.COPNAV SYSTEM OVERVIEWSignal LandscapeFusion CenterMap andIridiumGPSmeasurementsWi-FiCDMAestimatesGSMHDTVFMUAVCOpNav ReceiverTHEORETICAL RESULTS: OBSERVABILITYCase Rx(s) SOP(s) Observable States1 1 U. m P.K. m = 1: none,m ≥ 2: xr, yr, x˙r, y˙r2 1 U. 1 F.K. δtr, δ˙tr3 1 U. 1 F.K. & 1 P.K. all4 n P.K. 1 U. x˙ri , y˙ri , xs, ys, i = 1, . . . , n5 n P.K. m P.K. x˙ri , y˙ri , i = 1, . . . , n6 1 P.K. 1 F.K. all7 1 F.K. 1 U. allSIMULATION RESULTS: OBSERVABILITYEnvironment with 1 fully-know SOP and 1 partially-known SOP±2σ±2σ˜cδtRx±2σ˜˙xRx±2σx˜Rx±2σ˜cδtSOP±2σ˜˙cδtRx ˜˙cδtSOPTime (s)TRAJECTORY OPTIMIZATIONxr(tk+1) = f [xr(tk),u(tk), tk] +wr(tk)xs(tk+1) = Fs xs(tk) +ws(tk)z(tk) = h [xr(tk), xs(tk)] + v(tk)minimizeu(tk)J [u(tk)]subject to xr(tk+1) = f [xr(tk),u(tk), tk] +wr(tk)xs(tk+1) = Fs xs(tk) +ws(tk)z(tk) = h [xr(tk), xs(tk)] + v(tk)‖u(tk)‖2 ≤ umax,OpNav Environment:Estimator: EKFOptimal Control:z(tk)xˆ(tk|tk), P(tk|tk)u?(tk)SOP1SOP2SOP3SOP4Circular Trajectory argmin log det[P] argmin tr[P]Random Trajectory±2σy˜s4y˜r±2σEXPERIMENTAL RESULTS(a)truetrajectorytrue tower estimated towerlocationlocationestimation uncertaintyellipseREFERENCES[1] Z.M. Kassas and T. Humphreys, “Motion Planning for Optimal InformationGathering in Opportunistic Navigation Ssystems,” AIAA GNC 2013[2] Z.M. Kassas and T. Humphreys, “Observability Analysis of OpportunisticNavigation with Pseudorange Meassurements,” AIAA GNC 20121

Collaborative Opportunistic Navigation

https://repositories.lib.utexas.edu/bitstream/2152/63330/2/GAIN_2013.pdf

Collaborative Opportunistic Navigation

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