Дисертації з теми "Seamless positioning and navigation"
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1
Peltola, Pekka. "Towards seamless pedestrian navigation." Thesis, University of Nottingham, 2018. http://eprints.nottingham.ac.uk/51886/.
Повний текст джерелаАнотація:
The best methods for processing a positioning solution vary between the positioning technologies. The main methods are examined and the best are chosen and used in the final implementation. The path-loss modelling is the faster method when using BLE. It is slightly more advantageous, although slightly less accurate, when compared with the very laborious Fingerprinting alternative. For an UWB system, the accurate timing method is the better option over the signal strength measures. These sensor subsystems produce the positioning solutions that are of different quality. The fusion filter is then the motor, where the information fusion of these subsystems happens. For the fusion, multiple methods exist. Accuracy and computational efficiency are the driving factors in this process of continuous development of an ultimate seamless navigation system. A truly seamless navigation system uses the best available sensors and methods in the derivation of the most accurate positioning solution. This acquisition relies on the context inference process. The system adapts to all contexts throughout the navigation process. The developed novel seamless positioning system in this thesis was implemented successfully and was proven to operate correctly. The accuracy of the implemented system reaches a level below 4 metres (95%), outdoors. Indoors, the accuracy reaches a level below 2 metres. The availability, the deployment and the existing infrastructure are an issue to be tackled in the future. The thesis work was conducted as a part of the Marie Curie Initial Training Network project, named Multi-Pos. This project consisted of 15 researchers at different locations in Europe. Part of the thesis is a result of the cooperation between the project partners. Especially the parts of the work done on context detection and the literature review were completed with common effort.
2
Do, Ju-Yong. "Road to seamless positioning : hybrid positioning system combining GPS and television signals /." May be available electronically:, 2008. http://proquest.umi.com/login?COPT=REJTPTU1MTUmSU5UPTAmVkVSPTI=&clientId=12498.
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3
Jirawimut, Rommanee. "Integrated positioning system for pedestrian navigation." Thesis, Brunel University, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.250048.
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4
Streletskiy, Y. S. "Global positioning system." Thesis, Sumy State University, 2015. http://essuir.sumdu.edu.ua/handle/123456789/40496.
Повний текст джерелаАнотація:
Space exploration has a great meaning for mankind. There are
many space technologies that have been explored for space, but then
transformed for human everyday use. One of such technologies is
GPS navigation.
5
Khider, Mohammed [Verfasser]. "Multisensor-Based Positioning for Pedestrian Navigation / Mohammed Khider." München : Verlag Dr. Hut, 2014. http://d-nb.info/1047994984/34.
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6
Song, Yajun, and Qishan Zhang. "Personal Positioning and Navigation System Based on GPS." International Foundation for Telemetering, 1996. http://hdl.handle.net/10150/611393.
Повний текст джерелаАнотація:
International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, CaliforniaThe Global Positioning System (GPS) is a very accurate, all-weather, world wide three dimensional navigation system and it has been used in almost every field related to positioning and navigation. This paper presents a new application of GPS technology - personal positioning and navigation system. It combines VP ONCORE receiver OEM (Original Equipment Manufacture) board and an intelligent system controller, with a keyboard and a programmable LCD as its peripherals. This system can realize rich navigation functions and satisfy the need of personal use.
7
Sandmark, David. "Navigation Strategies for Improved Positioning of Autonomous Vehicles." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-159830.
Повний текст джерелаАнотація:
This report proposes three algorithms using model predictive control (MPC) in order to improve the positioning accuracy of an unmanned vehicle. The developed algorithms succeed in reducing the uncertainty in position by allowing the vehicle to deviate from a planned path, and can also handle the presence of occluding objects. To achieve this improvement, a compromise is made between following a predefined trajectory and maintaining good positioning accuracy. Due to the recent development of threats to systems using global navigation satellite systems to localise themselves, there is an increased need for methods of localisation that can function without relying on receiving signals from distant satellites. One example of such a system is a vehicle using a range-bearing sensor in combination with a map to localise itself. However, a system relying only on these measurements to estimate its position during a mission may get lost or gain an unacceptable level of uncertainty in its position estimates. Therefore, this thesis proposes a selection of algorithms that have been developed with the purpose of improving the positioning accuracy of such an autonomous vehicle without changing the available measurement equipment. These algorithms are: A nonlinear MPC solving an optimisation problem. A linear MPC using a linear approximation of the positioning uncertainty to reduce the computational complexity. A nonlinear MPC using a linear approximation (henceforth called the approximate MPC) of an underlying component of the positioning uncertainty in order to reduce computational complexity while still having good performance. The algorithms were evaluated in two different types of simulated scenarios in MATLAB. In these simulations, the nonlinear, linear and approximate MPC algorithms reduced the root mean squared positioning error by 20-25 %, 14-18 %, and 23-27 % respectively, compared to a reference path. It was found that the approximate MPC seems to have the best performance of the three algorithms in the examined scenarios, while the linear MPC may be used in the event that this is too computationally costly. The nonlinear MPC solving the full problem is a reasonable choice only in the case when computing power is not limited, or when the approximation used in the approximate MPC is too inaccurate for the application.
8
Mazaheri, Shima. "Indoor navigation." Thesis, Mittuniversitetet, Avdelningen för informationssystem och -teknologi, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-32798.
Повний текст джерелаАнотація:
In our day to day activity, imagine if you go to a museum, hospital or any kind of huge building. You need to find the best way to get into a specific depart- ment. It might be difficult to find the way even if you have the map of the building in your hand. Indoor positioning systems can be used to locate people or objects inside a building, using radio waves, signals, or other sensory information collected by a smartphone or tablet. Bluetooth Low Energy (BLE) beacons broadcast signals, and bluetooth devices, such as smartphones, can then receive these signals. BLE devices can take Received Signal Strength Indication (RSSI) information together with an algorithm to calculate the location of the user. This is a useful method for indoor environments when using Global Positioning System (GPS) is not an option [1]. In this project I tried to find a better solution for localization and navigation when GPS does not work. The focus of the project is to use communication be- tween smartphones and beacons, for guidance in inside environments, without using GPS. This thesis is about the applications I produced, which can be used for indoor localization and navigation. Using the applications, you can map any building such as university, hospital, museum, big mall etc. To map a building, you upload a map of the building and put waypoints where you placed beacons. Once mapping is done, you can log in to the web admin and put some informa- tion for each beacon. As a user, when outside a nearby mapped building, your phone can get notified (trough bluetooth), and you can download the user app, which includes the map of the building and shows your location. With the user app you can easily find your favorite places in the building and get information about place near you.
9
Zhu, Guoliang. "Trajectory-aided GNSS land navigation : application to train positioning." Thesis, Troyes, 2014. http://www.theses.fr/2014TROY0007/document.
Повний текст джерелаАнотація:
Au cours des dernières années, la technologie GNSS a attiré beaucoup d’attention autour du monde et elle a été largement appliquée dans de nombreux domaines. D'autre part, le système d'exploitation ferroviaire avancé a été largement utilisé pour assurer la sécurité, la sûreté et l'efficacité du réseau ferroviaire. L'efficacité de ce système se fonde sur la disponibilité du positionnement fiable du train. L’application de cette technologie au positionnement du train est un domaine de recherche très prometteur. Dans cette thèse, plusieurs algorithmes sont proposés pour le positionnement du train en utilisant des signaux GNSS et un modèle géométrique de voie stocké dans la base de données à bord du train. Premièrement, la distance, vitesse du train sont estimées en utilisant des signaux GNSS et un modèle géométrique ‘idéal’ qui est composé de lignes droites, de courbes de transition et d'arcs de cercle. L’impact du rayon de courbure de la voie sur ces estimations est étudié. Deuxièmement, la distance, vitesse du train sont estimées en utilisant des signaux GNSS et un modèle géométrique ‘non-idéal’ qui est approché par une ligne polygonale avec un certain niveau d'incertitude. L’impact de l’incertitude de la voie sur ces estimations est étudié. Finalement, la distance, vitesse du train sont estimées à l’aide d’intégration des mesures GNSS et une base de données bruitée. L’impact des erreurs de GNSS et de la base de données sur ces estimations est étudiéOver these years, GNSS technology has attracted many attentions around world and it has been widely applied in navigation for airplanes, ground vehicles and boats. On the other hand, advanced railway operating systems have been widely used to guarantee the safety and efficiency of the railway network. The efficiency of these systems is based on the availability of reliable train positioning. Hence, applying GNSS technology to the train positioning is a very promising research area, since it has such important benefits as lower initial costs and lower maintenance. In this thesis, several algorithms are proposed for train positioning by using GNSS signals and the railway centerline stored in the onboard computer database. At first, the train travelled distance, speed are estimated by using GNSS signals and an ''ideal'' railway centerline which is composed of straight line segments, transition curves and arcs of circles. The impact of the railroad curvature on these estimations is studied. Secondly, the train travelled distance, speed are estimated by using GNSS signals and a ''non-ideal'' railway centerline which is defined by a polygonal line with some level of uncertainty. The impact of the track geometric model imprecision on these estimations is studied. Finally, the train travelled distance, speed are estimated by integrating the GNSS measurements with a track database. The impact of the GNSS measurements and the track database errors on these estimations is studied
10
Cheng, Chao-heh. "Calculations for positioning with the Global Navigation Satellite System." Ohio : Ohio University, 1998. http://www.ohiolink.edu/etd/view.cgi?ohiou1176839268.
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11
Skog, Isaac. "GNSS-aided INS for land vehicle positioning and navigation." Licentiate thesis, Stockholm : Signalbehandling, Kungliga Tekniska högskolan, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-4556.
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O'Shea, Patrick Joseph S. M. Massachusetts Institute of Technology. "Multiple hypothesis positioning algorithm for robust GPS-denied navigation." Thesis, Massachusetts Institute of Technology, 2018. https://hdl.handle.net/1721.1/122396.
Повний текст джерелаАнотація:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2018Cataloged from PDF version of thesis.
Includes bibliographical references (pages 113-117).
In the past few decades, GPS has become the dominant source of precision navigation and is often required for many modern systems to operate. However, recent exposure of GPS vulnerabilities have called into question its overall resiliency and shown necessity for robust alternatives. Precision celestial navigation using Draper's Skymark technique can be used to replace GPS. However, these systems rely on prior position knowledge for system initialization. In GPS-denied scenarios, prior position knowledge may not be available or trustworthy. Similarly, other GPS-denied navigation techniques such as landmark navigation or vision-aided navigation can be difficult when there is limited prior position information. Therefore, the Multiple Hypothesis Positioning algorithm is developed in this thesis to provide robust positioning in GPS-denied navigation scenarios where little or no prior position knowledge is available.
The proposed robust positioning algorithm makes use of Multiple Hypothesis Tracking techniques to develop an object identification and observer positioning framework. The Multiple Hypothesis Positioning framework is developed broadly in this thesis to encompass multiple applications of the proposed algorithm. The Multiple Hypothesis Positioning framework is applied to two separate applications including a Lost-at-Sea positioning algorithm and a Lost-in-a-Forest positioning algorithm. The Lost-at-Sea application serves as an initialization process for Draper's Skymark technique in situations where no prior position knowledge is available. The Lost-in-a-Forest positioning algorithm uses pattern matching techniques to identify trees near an observer and compare these locally observed trees to a global map of all tree locations. The pattern matching techniques are combined with the Multiple Hypothesis Positioning framework to determine the observer's global position.
Both applications were tested in robust Monte Carlo simulations with positive results. Overall, the proposed Multiple Hypothesis Positioning algorithm and framework prove effective tools for robust positioning in GPS-denied navigation applications where prior position information is unavailable.
"The material included in this thesis was funded through internal research and development funds from the Charles Stark Draper Laboratories. This research is this thesis was supported by the Draper Education Office and the Draper Fellowship Program"--Page 5.
by Patrick Joseph O'Shea.
S.M.
S.M. Massachusetts Institute of Technology, Department of Aeronautics and Astronautics
13
A, Kuzmenko. "CORRELATION-EXTREME NAVIGATION SYSTEM BASED ON MORPHOLOGICAL ANALYSIS." Thesis, ПОЛІТ.Сучасні проблеми науки.Гуманітарні науки:тези доповідей XVII Міжнародної науково-практичної конференції молодих учених і студентів:[y 2-x т.].Т.2(м.Київ,4-7 квітня 2017 р.)/[ред.кол.:В.М.Ісаєнко та ін.]; Національний авіаційний університет.-К.:НАУ,2017.-374 с, 2017. http://er.nau.edu.ua/handle/NAU/27745.
Повний текст джерелаАнотація:
Therefore, advantage of morphological method is associated with the possibility of improving the integration of image registration conditions. Introduced by morphological analysis the notion of «form» significantly enriches the radiometric properties of reference image, making possible to build a more robust detection algorithms.
14
Ptasinski, Piotr. "Inverse DGPS positioning augmented with digital altitude map datasets." Thesis, Brunel University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.270572.
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Napier, M. E. "Application of inertial positioning to high accuracy underwater surveys." Thesis, University of Newcastle Upon Tyne, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.353771.
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del, Peral-Rosado José A. "Evaluation of the LTE positioning capabilities in realistic navigation channels." Doctoral thesis, Universitat Autònoma de Barcelona, 2014. http://hdl.handle.net/10803/283523.
Повний текст джерелаАнотація:
En comunicaciones móviles, los avances de nuevas tecnologías están principalmente impulsados por el incremento en las velocidades de transmisión. Uno de estos avances es el uso de señales multiportadora que permiten una distribución flexible y eficiente de recursos en tiempo y frecuencia. Diversos sistemas utilizan esta característica para combinar funcionalidades de comunicaciones con posicionamiento, debido a la creciente demanda de servicios de datos y localización en dispositivos móviles. Sin embargo, la principal degradación en interiores y escenarios urbanos se produce por el efecto del canal multicamino, que induce un considerable sesgo en la estimación de distancias. Por lo tanto, es necesario contrarrestar el multicamino para alcanzar el máximo rendimiento en posicionamiento.
Esta tesis aborda el potencial de las señales multiportadora en comunicaciones móviles para la estimación de distancias en canales severos, caracterizados por denso multicamino. Para ello, se considera el caso práctico del estándar de comunicaciones Long Term Evolution (LTE). Este estándar es de especial interés ya que define una señal multiportadora OFDM dedicada para posicionamiento mediante diferencias en los tiempos de llegada observados (OTDoA), llamada señal de referencia de posicionamiento (PRS). Por lo tanto, la primera parte de la tesis evalúa la precisión de posicionamiento alcanzable utilizando la PRS en LTE con receptores convencionales, como el filtro adaptado o las técnicas basadas en la correlación.
La contribución principal de la tesis se encuentra en la segunda parte, con la introducción de la estimación conjunta del tiempo de retardo y la respuesta del canal. Ésta es una solución óptima para señales multiportadora, ya que la estimación de canal se puede implementar fácilmente en el dominio frecuencial. Sin embargo, la mayoría de los algoritmos de estimación conjunta se centran en aplicaciones de comunicaciones, sin considerar la precisión extrema de la estimación de retardo requerida para posicionamiento. Por lo tanto, en esta tesis se propone una innovadora parametrización del canal para caracterizar el multicamino cercano. Este modelo de estimación de canal se basa en el tiempo de retardo y términos equiespaciados junto a un término arbitrario, con una posición variable entre los dos primeros términos equiespaciados. Este nuevo método híbrido se adopta en el estimador de máxima verosimilitud conjunto (JML) del tiempo de retardo para mejorar la estimación de la distancia en presencia de multicamino cercano. La optimalidad del estimador se confirma ya que su varianza alcanza la cota de Cramér-Rao. El rendimiento de este estimador de distancias se compara con los estimadores convencionales en condiciones realistas de navegación. Estas condiciones se caracterizan mediante modelos de canal estándar adoptados en LTE, ruido Gaussiano blanco aditivo (AWGN) y los anchos de banda de LTE. Los resultados en las estimaciones del tiempo de retardo se utilizan para determinar el orden óptimo del modelo de los estimadores, y para evaluar la máxima precisión en la estimación de distancias. Se muestra una mejora importante mediante el estimador JML propuesto en entornos con multicamino cercano.
En la última parte de la tesis, el objetivo es validar el rendimiento del estimador de distancias con señales LTE reales. Para ello, se desarrolla un receptor software-defined radio (SDR) para el posicionamiento OTDoA en LTE. Se utiliza un escenario preliminar con cuatro estaciones base sincronizadas para validar el sistema de posicionamiento. A continuación, se obtiene la envolvente del error producido por multicamino (MPEE) en los estimadores JML para los casos de señal emulada y simulada. El trabajo se completa con la validación del rendimiento del nuevo estimador conjunto de distancias, utilizando el receptor SDR en un canal urbano emulado. Los resultados obtenidos muestran la mejora en la precisión de las distancias del nuevo estimador en canales de navegación realistas.The provision of high-data rates leads the advances of new technologies in mobile communications. One of these advances is the use of multicarrier signals that allow a flexible allocation of resources in time and frequency, thus the spectrum can be efficiently shared for different applications. This feature is used by several systems to combine communications and positioning capabilities, due to the increasing demand of data and location services. However, the main impairment in indoor and urban scenarios is the effect of the multipath channel, which induces a considerable bias on the ranging estimation. Thus, countermeasures against multipath are necessary to achieve the ultimate positioning performance. This thesis deals with the ranging capabilities of multicarrier signals in mobile communications over harsh environments, characterized by dense multipath. For this purpose, the practical case of the Long Term Evolution (LTE) mobile communications standard is considered. The LTE standard is of special interest because it defines an OFDM multicarrier signal dedicated to support the observed time difference of arrival (OTDoA) positioning, which is based on ranging estimates with respect to the reference base stations. This pilot signal is called positioning reference signal (PRS), and it is used for time-delay estimation (TDE) in the procedure to locate the mobile device. Thus, the first part of the thesis is aimed to assess the achievable localization capabilities of LTE conventional receivers, e.g. matched filter or correlation-based techniques, using the PRS. Despite the inter-cell interference can be mostly removed by the coordinated transmission of the PRS, multipath notably degrades the positioning accuracy of these conventional estimators. The main contribution of this thesis is provided in the second part, by introducing the joint estimation of time delay and channel response. This is an optimum solution for multicarrier signals, due to the straightforward implementation of the channel estimation in the frequency domain. However, most of the joint estimation algorithms are focused on communication applications, without considering the extreme accuracy of the TDE required for positioning. Thus, a novel channel parameterization is proposed in this thesis to characterize close-in multipath. This channel estimation model is based on the time delay and equi-spaced taps together with an arbitrary-tap with variable position between the first two equi-spaced taps. This new hybrid approach is adopted in the joint maximum likelihood (JML) time-delay estimator to improve the ranging performance in the presence of short-delay multipath. The optimality of this estimator is confirmed because its variance attains the Cram\'er-Rao bound. The ranging performance of this estimator is then compared to conventional estimators in realistic navigation conditions. These conditions are characterized by standard channel models adopted in LTE, additive white Gaussian noise (AWGN) and the LTE signal bandwidths. The resulting time-delay estimations are used to determine the optimum model order of the estimators, and to assess the achievable ranging accuracy. A notable improvement is shown by the JML estimator proposed in close-in multipath scenarios. In the last part of the thesis, the goal is to validate the ranging performance of the proposed estimator using real LTE signals. For this purpose, a software-defined radio (SDR) receiver is developed for OTDoA positioning in LTE. A preliminary scenario with four synchronized base stations is used to validate the positioning engine. Then, the multipath error envelope (MPEE) of the JML estimators is obtained for the emulated and simulated signal cases. The work is completed with the validation of the ranging performance of the new JML time-delay and channel estimator, by using the SDR receiver in an emulated urban channel. The results obtained show the improvement on the ranging accuracy of the new JML estimator over realistic navigation channels.
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Abdalla, K. A. "An analysis of transit and GPS point positioning results." Thesis, University of Newcastle Upon Tyne, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.381397.
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Ramjattan, Allison Natasha. "Integrated GPS and dead reckoning for land vehicle navigation." Thesis, University of Newcastle Upon Tyne, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.318180.
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Fuente, C. de la. "High accuracy coordinate determination using Global Positioning System." Thesis, University of Nottingham, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384790.
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al, Nabhan Mohammad Mousa. "Adaptive, reliable, and accurate positioning model for location-based services." Thesis, Brunel University, 2009. http://bura.brunel.ac.uk/handle/2438/3963.
Повний текст джерелаАнотація:
This thesis presents a new strategy in achieving highly reliable and accurate position solutions fulfilling the requirements of Location-Based Services (LBS) pedestrians’ applications. The new strategy is divided into two main parts. The first part integrates the available positioning technology within the surrounding LBS application context by introducing an adaptive LBS framework. The context can be described as a group of factors affecting the application behaviour; this includes environmental states, available resources and user preferences. The proposed adaptive framework consists of several stages, such as defining the contextual factors that have a direct effect on the positioning performance, identifying preliminary positioning performance requirements associated with different LBS application groups, and introducing an intelligent positioning services selection function. The second part of this work involves the design and development of a novel positioning model that is responsible for delivering highly reliable, accurate and precise position solutions to LBS users. This new model is based on the single frequency GPS Standard Positioning Service (SPS). Additionally, it is incorporated within the adaptive LBS framework while providing the position solutions, in which all identified contextual factors and application requirements are accounted. The positioning model operates over a client-server architecture including two main components, described as the Localisation Server (LS) and the Mobile Unit (MU). Hybrid functional approaches were developed at both components consisting of several processing procedures allowing the positioning model to operate in two position determination modes. Stand-alone mode is used if enough navigation information was available at the MU using its local positioning device (GPS/EGNOS receiver). Otherwise, server-based mode is utilised, in which the LS intervenes and starts providing the required position solutions. At the LS, multiple sources of GPS augmentation services were received using the Internet as the sole augmentation data transportation medium. The augmentation data was then processed and integrated for the purpose of guaranteeing the availability of valid and reliable information required for the provision of accurate and precise position solutions. Two main advanced position computation methods were developed at the LS, described as coordinate domain and raw domain. The positioning model was experimentally evaluated. According to the reported results, the LS through the developed position computation methods, was able to provide position samples with an accuracy of less than 2 meters, with high precision at 95% confidence level; this was achieved in urban, rural, and open space (clear satellite view) navigation environments. Additionally, the integrity of the position solutions was guaranteed in such environments during more than 90% of the navigation time, taking into consideration the identified integrity thresholds (Horizontal Alert Limits (HAL)=11 m). This positioning performance has outperformed the existing GPS/EGNOS service which was implemented at the MU in all scenarios and environments. In addition, utilising a simulation evaluation facility the developed positioning model performance was quantified with reference to a hybrid positioning service that will be offered by future Galileo Open Service (OS) along with GPS/EGNOS. Using the statistical t-test, it was concluded that there is no significant difference in terms of the position samples’ accuracy achieved from the developed positioning model and the hybrid system at a particular navigation environment described as rural area. The p-value was 0.08 and the level of significance used was 0.05. However, a significant difference in terms of the service integrity for the advantage of the hybrid system was experienced in all remaining scenarios and environments more especially the urban areas due to surrounding obstacles and conditions.
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Kihlberg, Johan, and Simon Tegelid. "Map Aided Indoor Positioning." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-77766.
Повний текст джерелаАнотація:
The popularity of wireless sensor networks is constantly increasing, both for use instatic machine to machine environments as well as dynamic environments wherethe sensor nodes are carried by humans. Higher demands are put on real-timetracking algorithms of the sensor nodes, both in terms of accuracy and speed. This thesis addresses the issue of tracking persons wearing small sensor nodeswithin a radio network. Focus lies on fusing sensor data in an efficient way withconsideration to the computationally constrained sensor nodes. Different sensorsare stochastically modelled, evaluated, and fused to form an estimate of the person’sposition. The central approach to solve the problem is to use a dead reckoning methodby detecting steps taken by the wearer combined with an Inertial MeasurementUnit to calculate the heading of the person wearing the sensor node. To decreasethe unavoidable drift which is associated with a dead reckoning algorithm, a mapis successfully fused with the dead reckoning algorithm. The information from themap can to a large extent remove drift. The developed system can successfully track a person wearing a sensor nodein an office environment across multiple floors. This is done with only minorknowledge about the initial conditions for the user. The system can recover fromdivergence situations which increases the long term reliability.Intresset för trådlösa sensornätverk ökar konstant, såväl för statiska maskintill-maskintillämpningar som för dynamiska miljöer där sensornoderna är burnaav människor. Allt högre krav ställs på positioneringsalgoritmer för sensornätverken,där både hög precision och låg beräkningstid ofta är krav. Denna rapport behandlar problemet med att bestämma positionen av personburnasensornoder. Rapportens fokus är att effektivt kombinera sensordatamed hänsyn till sensornodernas begränsade beräkningskapacitet. Olika sensorermodelleras stokastiskt, utvärderas och kombineras för att forma en skattning avsensornodens position. Den huvudsakliga metoden för att lösa problemet är att dödräkna sensornodbärarenssteg kombinerat med kompass och tröghetssensorer för att skattastegets riktning. En karta över byggnaden används för att reducera den annarsoundvikliga drift som härrör från dödräkning. Informationen från kartan visarsig i stor utsträckning kunna reducera den här driften. Det utvecklade systemet kan följa en person genom en kontorsmiljö somsträcker sig över flera våningsplan. Detta med enbart lite information om personensinitiala position. Systemet kan även återhämta sig från situationer däralgoritmen divergerar vilket ökar systemets pålitlighet på lång sikt.
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Harris, William M. "Integrated Global Positioning System and inertial navigation system integrity monitor performance." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175091451.
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Kline, Paul A. "Fault detection and isolation for integrated navigation systems using the global positioning system." Ohio : Ohio University, 1991. http://www.ohiolink.edu/etd/view.cgi?ohiou1183731476.
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Winter, Marylin. "Artificial neural networks and map-matching for GPS navigation." Thesis, University of South Wales, 2006. https://pure.southwales.ac.uk/en/studentthesis/artificial-neural-networks-and-mapmatching-for-gps-navigation(67bf2a4a-fcd2-4a86-8895-0ed296461bc5).html.
Повний текст джерелаАнотація:
Global navigation satellite systems (GNSS), such as the Global Positioning System (GPS) have been increasingly used in navigation and tracking of vehicles. Using GPS, certain positioning errors and limitations, such as multipath effects and the geometric position of the satellites (DOP) or signal obstructions by high buildings, trees and terrain, have to be considered. Generally travel on road or footpath, map-matching algorithms can be used to correlate the computed system location with a digital map network. Map Matched GPS (MMGPS) is a test-bed simulator for researching algorithms and techniques to reduce the error in position provided by a low cost stand-alone GPS receiver. In order to correctly map-match the GPS positions, a decision about the correct road can be difficult, especially at road junctions, slip roads or almost parallel roads. Investigations into the use of artificial neural networks (ANNs) for reliability and accuracy improvement of map-matched GPS positioning was initiated in previous research [Winter, 2002]. However, there are generally strong interference effects that lead to slow learning and poor generalization when a single ANN is trained to perform different subtasks on different occasions [Jacobs et al., 1991], e.g. correct transport network (TN) segment selection considering different TN geometry. Interference can be reduced by training a system composed of several different "expert" ANNs using a TN geometry indicator to decide which of the experts should be used for each training case. An aim of this research was the design, development and implementation of such a modular neural network (MNN). This work uses a new measure for indicating TN geometry, directly derived from GPS positions in MMGPS. An improvement of more than 50% to traditional map-matching techniques was achieved using the proposed MNN approach, when the correct road could not be uniquely identified by map-matching.
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Dongkai, Yang, Kou Yanhong, Chen Zhi, Zhang Qishan, and Xu Aigong. "TEST AND EVALUATION OF GPS/DR APPLICATION FOR CAR NAVIGATION SYSTEM." International Foundation for Telemetering, 2003. http://hdl.handle.net/10150/605598.
Повний текст джерелаАнотація:
International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, NevadaGlobal Positioning System (GPS) was analyzed in terms of its repeatable accuracy, UTM projection for 2D plane coordinate system, satellite visibility performance and the horizontal dilution of positioning (HDOP). The principle of Dead Reckoning together with body coordinate system transformation was introduced. The complementary performance of GPS and DR, and GPS/DR integration using gyroscope and accelerometer were given. Test results were demonstrated that the repeatable accuracy of GPS alone is about 10 meters in open air, and DR can provide continuous positioning output within sufficient accuracy when GPS signal is outage.
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MacDonald, Vincent J. "A systems engineering approach to the design of a vehicle navigation system." Master's thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-04272010-020120/.
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Lee, Hung Kyu Surveying & Spatial Information Systems Faculty of Engineering UNSW. "Integration of GPS/Pseudolite/INS for high precision kinematic positioning and navigation." Awarded by:University of New South Wales, 2004. http://handle.unsw.edu.au/1959.4/39971.
Повний текст джерелаАнотація:
The integrated GPS/INS system has become an indispensable tool for providing precise and continuous position, velocity, and attitude information for many positioning and navigation applications. Although the integrated GPS/INS system provides augmented solutions that make use of the complementary features of each component system, its performance is still limited by the quality of GPS measurements, and the geometric strength of the satellite constellation. To address such a problem this research has focussed on the integration of GPS, Pseudolite and INS technologies. The main research contributions are summarised below: (a)A cost effective GPS/INS integration approach has been developed and tested, consisting of a single-frequency L1 GPS receiver and a tactical-grade strapdown INS. Results of field experiments demonstrate that this approach is capable of delivering position accuracies of the order of a few centimetres under a benign operational environment and provides continuously positioning at sub-decimetre accuracy during GPS signal blockage lasting up to about five seconds. (b) A novel kinematic positioning and navigation system based on GPS/Pseudolite/INS integration has been proposed as an alternative to existing GPS/INS systems. With this integration approach, the continuity, integrity, and precision of the GPS/INS system can be significantly improved as the inclusion of pseudolite signals enhances the GPS signal availability and the geometry strength. (c)The impact of pseudolite location errors in such pseudolite-augmented systems has been investigated. Theoretical and numerical analyses reveal that the error effects on measurement models, and on final positioning solutions, can be minimised by selecting optimal pseudolite location(s). (d)A new ambiguity resolution procedure has been developed for use in the proposed GPS/Pseudolite/INS system. It is designed to rapidly and reliably resolve the single-frequency ambiguities due not only to the aiding by pseudolites and INS, but also by adopting a realistic stochastic model and a statistically rigorous ambiguity validation test. The proposed procedure can indeed improve the performance of the single-frequency ambiguity resolution algorithm in terms of both reliability and time-to-fix-ambiguity. (e)An effective cycle slip detection and identification algorithm has been developed, which is suitable for the integrated GPS/Pseudolite/INS system. Test results indicate that induced cycle slips can be reliably detected and instantaneously identified, even if the slips occur at successive epochs. (f)Flight trials have been conducted to evaluate the overall performance for aircraft approach and landing using the GPS/Pseudolite/INS system. Results from these trials show that an enhancement in the accuracy and reliability of the vehicle navigation solution can be achieved with the employment of one or more pseudolite.
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Poutrel, Richard 1977. "Global Positioning System navigation and digital communications for cooperating Unmanned Air Vehicles." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/82243.
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Ollander, Simon [Verfasser]. "Accurate Positioning in Urban Canyons with Multi-frequency Satellite Navigation / Simon Ollander." Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2021. http://d-nb.info/1228364478/34.
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Barton, Ian M. "Antenna Performance Analysis for the Nationwide Differential Global Positioning." Ohio University / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1126820930.
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Zhang, Yujie. "High Performance Differential Global Positioning System for Long Baseline Application." Ohio University / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1129587373.
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Mirabadi, Ahmad. "Fault tolerant train navigation systems using a multisensor integration approach." Thesis, University of Sheffield, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322911.
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Szilassy, Martin, and Daniel Örn. "Low Energy GPS Positioning : A device-server approach." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-118788.
Повний текст джерелаАнотація:
GPS is widely used for localization and tracking, however traditional GPS receivers consume too much energy for many applications. This thesis implements and evaluates the performance of a low energy GPS solution, including a working hardware prototype, that reduces energy consumption significantly. The prototype operates for 2 years on a coin cell battery, sampling every minute. The corresponding time for a traditional receiver is 2 days. The main difference is that a traditional receiver requires 30 seconds of data to estimate a position; this solution only requires 2 milliseconds of data, a reduction of a factor 15 000. The solution consists of a portable device, sampling the GPS signal, and server software that utilizes Doppler navigation and Coarse Time Navigation to estimate positions. The median positioning error is at most 38 meters in our tests. We expect that this solution will enable positioning for billions of devices in the near future.
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Mangonneaux, Audrey. "Autonomous system for submetric positioning of aircraft on airport surface." Thesis, Toulouse, INPT, 2014. http://www.theses.fr/2014INPT0069.
Повний текст джерелаАнотація:
D’importants efforts sont faits actuellement pour améliorer la navigation aéroportuaire, notamment grâce au concept A-SMGCS (Advanced Surface Movement Guidance and Control System). Le but étant de pouvoir naviguer par tout temps, en particulier en condition de mauvaise visibilité. Un état de l’art des fonctions actuellement disponibles ainsi que des fonctions envisagées pour aider les pilotes sont présentés dans cette thèse. Le cœur du problème pour développer de nouvelles fonctionnalités pour la navigation aéroportuaire est de fournir une position estimée de l’avion avec un haut niveau de précision et d’intégrité. Généralement, cette position est calculée à partir du GNSS (Global Navigation Satellite System) et elle est parfois hybridée avec de l’inertie. La précision actuelle de la position estimée de l’avion est de l’ordre de la dizaine de mètres et son intégrité est caractérisée par un rayon de protection à 10-7/h de l’ordre de la centaine de mètre. Ce niveau de précision et d’intégrité n’est pas suffisant pour naviguer à la surface de l’aéroport en mauvaise condition de visibilité. Une précision sub-métrique associée à une intégrité métrique est requise (voir chapitre II de la thèse) pour naviguer en toute sécurité, en particulier à la porte d’embarquement où l’avion doit se garer. Dans un premier temps, les besoins pour naviguer en toute sécurité à la surface de l’aéroport ont été analysés afin de pouvoir en dériver des exigences sur la navigation. Les différents capteurs et moyens envisageables pour estimer la position de l’avion avec le niveau de précision requis sont introduits ainsi que leurs modèles d’erreur. Les résultats des simulations sont présentés dans le dernier chapitreImportant effort is being undertaken to design new A-SMGCS (Advanced Surface Movement Guidance and Control System) architecture and functions that will enable an efficient and safe management of the traffic on the surface of the airport, in all weather conditions. The state of the art in airport navigation, with the current functions available to assist pilots, and also the additional applications envisaged to improve the airport navigation in low visibility condition is introduced. To develop new airport navigation functionalities, the heart of the problem is to provide an aircraft position estimate with a high level of accuracy and integrity. This position is often provided by GNSS (Global Navigation Satellite System) and sometimes it is hybridize with inertia. The current aircraft position estimate accuracy is about dozen meters and the integrity is characterized by a protection level about hundred meters at 10-7/h. This current accuracy and integrity are not sufficient no navigate safely on the airport surface in low visibility conditions. A submetric accuracy with a high integrity level is required (see chapter II), particularly at the gate to park the aircraft. First of all, needs to navigate safely on the airport surface have been analyzed to be able to derive requirements about navigation system. It is important to note that a good knowledge of the context (airport environment) is required to develop an appropriate application. After this analysis of needs and context, a solution has been developed in this thesis. The proposed solution has been validated by simulation
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Shengxi, Ding, Zhang Bo, Tan Jingchang, and Zeng Dayi. "THE STUDY OF EMBEDDED INTELLIGENT VEHICLE NAVIGATION SYSTEM*." International Foundation for Telemetering, 2002. http://hdl.handle.net/10150/607541.
Повний текст джерелаАнотація:
International Telemetering Conference Proceedings / October 21, 2002 / Town & Country Hotel and Conference Center, San Diego, CaliforniaThe intelligent vehicle navigation system is the multifunctional and complex integrate system that involved in auto positioning technology, geography information system and digital map database, computer technology, multimedia and wireless communication technology. In this paper, the autonomous navigation system based on the embedded hardware and embedded software platform is proposed. The system has advantages of low cost, low power consumption, multifunction and high stability and reliability.
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Moleski, Travis W. "Trilateration Positioning Using Hybrid Camera-LiDAR System." Ohio University / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1628267212548992.
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Travis, William E. Bevly David M. "Methods for minimizing navigation errors induced by ground vehicle dynamics." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Spring/master's/TRAVIS_WILLIAM_14.pdf.
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Botterill, Tom. "Visual navigation for mobile robots using the Bag-of-Words algorithm." Thesis, University of Canterbury. Computer Science and Software Engineering, 2011. http://hdl.handle.net/10092/5511.
Повний текст джерелаАнотація:
Robust long-term positioning for autonomous mobile robots is essential for many applications. In many
environments this task is challenging, as errors accumulate in the robot’s position estimate over time. The
robot must also build a map so that these errors can be corrected when mapped regions are re-visited; this
is known as Simultaneous Localisation and Mapping, or SLAM.
Successful SLAM schemes have been demonstrated which accurately map tracks of tens of kilometres, however
these schemes rely on expensive sensors such as laser scanners and inertial measurement units. A more
attractive, low-cost sensor is a digital camera, which captures images that can be used to recognise where
the robot is, and to incrementally position the robot as it moves. SLAM using a single camera is challenging
however, and many contemporary schemes suffer complete failure in dynamic or featureless environments, or
during erratic camera motion. An additional problem, known as scale drift, is that cameras do not directly
measure the scale of the environment, and errors in relative scale accumulate over time, introducing errors
into the robot’s speed and position estimates.
Key to a successful visual SLAM system is the ability to continue operation despite these difficulties, and
to recover from positioning failure when it occurs. This thesis describes the development of such a scheme,
which is known as BoWSLAM. BoWSLAM enables a robot to reliably navigate and map previously unknown
environments, in real-time, using only a single camera.
In order to position a camera in visually challenging environments, BoWSLAM combines contemporary visual
SLAM techniques with four new components. Firstly, a new Bag-of-Words (BoW) scheme is developed, which
allows a robot to recognise places it has visited previously, without any prior knowledge of its environment.
This BoW scheme is also used to select the best set of frames to reconstruct positions from, and to find
efficient wide-baseline correspondences between many pairs of frames. Secondly, BaySAC, a new outlier-
robust relative pose estimation scheme based on the popular RANSAC framework, is developed. BaySAC
allows the efficient computation of multiple position hypotheses for each frame. Thirdly, a graph-based
representation of these position hypotheses is proposed, which enables the selection of only reliable position
estimates in the presence of gross outliers. Fourthly, as the robot explores, objects in the world are recognised
and measured. These measurements enable scale drift to be corrected. BoWSLAM is demonstrated mapping
a 25 minute 2.5km trajectory through a challenging and dynamic outdoor environment in real-time, and
without any other sensor input; considerably further than previous single camera SLAM schemes.
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Ankrum, Aaron G. "Application of systems engineering methods to the design of an aviation navigation system." Master's thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-03302010-020359/.
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Ramaswamy, Sridhar. "An investigation of integrarted Global Positioning System and inertial navigation system fault detection." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1172777336.
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Ramaswamy, Sridhar. "An investigation of integrated global positioning system and inertial navigation system fault detection." Ohio University / OhioLINK, 2000. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1172777336.
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Walchko, Kevin J. "Low cost inertial navigation learning to integrate noise and find your way /." [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1001193.
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Clark, Benjamin J. Bevly David M. "GPS/INS operation in shadowed environments." Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SUMMER/Mechanical_Engineering/Thesis/Clark_Benjamin_45.pdf.
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Ely, William Stewart Surveying & Spatial Information Systems Faculty of Engineering UNSW. "Gras development, approval and implementation in Australia." Awarded by:University of New South Wales. School of Surveying & Spatial Information Systems, 2006. http://handle.unsw.edu.au/1959.4/24225.
Повний текст джерелаАнотація:
This Thesis covers the development of an alternative Global Navigation Satellite System (GNSS) augmentation technology that has become known as the Ground-based Regional Augmentation System (GRAS). GNSS augmentation technologies in support of aviation have largely been developed by countries with large economies such as the USA and members of the European Union. These technologies have focussed on solutions to the specific problems of the host nations, based on the demographics, political and economic factors relevant to them. Outside these countries, the role of GNSS augmentation has largely been ignored, specifically when considering wide area augmentation utilising Satellite Based Augmentation Systems (SBAS). SBAS technologies are expensive, and cannot be justified for nations like Australia with a relatively small number of aircraft, operated in a focussed geographic area. Utilising SBAS services provided by another country introduces cultural, legal and institutional issues that are not always easily addressed. GRAS was derived to provide a cost-effective wide area augmentation capability to nations that lacked the economic ability to field SBAS technologies. This work covers the evolution of the GRAS concept, the construction and testing of the GRAS test bed and its associated test avionics, as well as the development of standards needed to support GRAS as an internationally accepted aviation standard. The major outcome from this work was the confirmation that GRAS could meet the Required Navigation Performance (RNP) standards for Approaches with Vertical Guidance Level 2 (APV-II) as well as all less demanding modes of flight. Results from numerous ground and flight tests conducted under this research program have been reviewed by the International Civil Aviation Organisation (ICAO) GNSS Panel (GNSSP), and been instrumental in the development and validation of Standards and Recommended Practices (SARPs) which promulgate how ICAO standardised systems should perform. The final component of this work describes the project management and technology approval processes needed to get an internationally standardised system into operational use, and the particular problems that a small country like Australia has in progressing these tasks on the World stage.
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Maghdid, Halgurd. "Hybridisation of GNSS with other wireless/sensors technologies onboard smartphones to offer seamless outdoors-indoors positioning for LBS applications." Thesis, University of Buckingham, 2015. http://bear.buckingham.ac.uk/163/.
Повний текст джерелаАнотація:
Location-based services (LBS) are becoming an important feature on today’s smartphones (SPs) and tablets. Likewise, SPs include many wireless/sensors technologies such as: global navigation satellite system (GNSS), cellular, wireless fidelity (WiFi), Bluetooth (BT) and inertial-sensors that increased the breadth and complexity of such services. One of the main demand of LBS users is always/seamless positioning service. However, no single onboard SPs technology can seamlessly provide location information from outdoors into indoors. In addition, the required location accuracy can be varied to support multiple LBS applications. This is mainly due to each of these onboard wireless/sensors technologies has its own capabilities and limitations. For example, when outdoors GNSS receivers on SPs can locate the user to within few meters and supply accurate time to within few nanoseconds (e.g. ± 6 nanoseconds). However, when SPs enter into indoors this capability would be lost. In another vain, the other onboard wireless/sensors technologies can show better SP positioning accuracy, but based on some pre-defined knowledge and pre-installed infrastructure. Therefore, to overcome such limitations, hybrid measurements of these wireless/sensors technologies into a positioning system can be a possible solution to offer seamless localisation service and to improve location accuracy. This thesis aims to investigate/design/implement solutions that shall offer seamless/accurate SPs positioning and at lower cost than the current solutions. This thesis proposes three novel SPs localisation schemes including WAPs synchronisation/localisation scheme, SILS and UNILS. The schemes are based on hybridising GNSS with WiFi, BT and inertial-sensors measurements using combined localisation techniques including time-of-arrival (TOA) and dead-reckoning (DR). The first scheme is to synchronise and to define location of WAPs via outdoors-SPs’ fixed location/time information to help indoors localisation. SILS is to help locate any SP seamlessly as it goes from outdoors to indoors using measurements of GNSS, synched/located WAPs and BT-connectivity signals between groups of cooperated SPs in the vicinity. UNILS is to integrate onboard inertial-sensors’ readings into the SILS to provide seamless SPs positioning even in deep indoors, i.e. when the signals of WAPs or BT-anchors are considered not able to be used. Results, obtained from the OPNET simulations for various SPs network size and indoors/outdoors combinations scenarios, show that the schemes can provide seamless and locate indoors-SPs under 1 meter in near-indoors, 2-meters can be achieved when locating SPs at indoors (using SILS), while accuracy of around 3-meters can be achieved when locating SPs at various deep indoors situations without any constraint (using UNILS). The end of this thesis identifies possible future work to implement the proposed schemes on SPs and to achieve more accurate indoors SPs’ location.
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Bingxin, Yi, Zhang Qishan, and Ding Shengxi. "INTELLIGENT VEHICLE NAVIGATION SYSTEM CONNECTED WITH INTERNET." International Foundation for Telemetering, 2003. http://hdl.handle.net/10150/606700.
Повний текст джерелаАнотація:
International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, NevadaThe intelligent vehicle navigation system is a multifunctional and complex integrated system that uses autonomous vehicle navigation, geography information, database system, computer technology, multimedia technology and wireless communication. In this paper, an autonomous navigation system based on embedded hardware and embedded operation system that is Linux is proposed. The system has advantages of low cost, small mass, multifunction and high stability, especially connecting with Internet.
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Henderson, Harold Paulk Bevly David M. "Relative positioning of unmanned ground vehicles using ultrasonic sensors." Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SPRING/Mechanical_Engineering/Thesis/Henderson_Harold_55.pdf.
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Sakpere, Wilson Evuarherhe. "A near field communication framework for indoor navigation : design and deployment considerations." Thesis, Cape Peninsula University of Technology, 2015. http://hdl.handle.net/20.500.11838/2290.
Повний текст джерелаАнотація:
Thesis (MTech (Information Technology))--Cape Peninsula University of Technology, 2015.Navigation systems are known to provide time and location information for easy and accurate navigation in a specified environment. While Global Positioning System (GPS) has recorded a considerable success for navigating outdoors, the absence of GPS indoors has made orientation in an indoor environment challenging. Furthermore, existing technologies and methods of indoor positioning and navigation, such as WLAN, Bluetooth and Infrared, have been complex, inaccurate, expensive and challenging to implement; thereby limiting the usability of these technologies in less developed countries. This limitation of navigation services makes it difficult and time consuming to locate a destination in indoor and closed spaces. Hence, recent works with Near Field Communication (NFC) has kindled interest in positioning and navigation. While navigating, users in less developed nations face several challenges, such as infrastructure complexity, high-cost solution, inaccuracy and usability. However, this research focuses on providing interventions to alleviate usability challenges, in order to strengthen the overall accuracy and the navigation effectiveness in stringent environments through the experiential manipulation of technical attributes of the positioning and navigation system in indoor environments. Therefore, this study adopted the realist ontology and the positivist epistemological approach. It followed a quantitative and experimental method of empirical enquiry, and software engineering and synthesis research methods. The study entails three implementation processes, namely map generation, positioning framework and navigation service using a prototype mobile navigation application that uses the NFC technology. It used open-source software and hardware engineering tools, instruments and technologies, such as Ubuntu Linux, Android Software Development Kit, Arduino, NFC APIs and PandaBoard. The data was collected and the findings evaluated in three stages: pre-test, experiment and post-test.
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Rey-Ubago, Beatriz del. "The emerging GNSS : Galileo, the European alternative to the Global Positioning System." Thesis, McGill University, 2002. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=78212.
Повний текст джерелаАнотація:
The Global Satellite Navigation System (GNSS), the core of the International Civil Aviation Organization (ICAO) Communication, Navigation, Surveillance/Air Traffic Management concept is capable of supporting future aviation needs. The implementation of this revolutionary technology however remains overshadowed by a series of complex institutional and legal issues. The extraterritorial control and ownership of existing GNSS systems coupled with the dual character of this technology poses a serious threat to the concept of national sovereignty as traditionally understood. This is further aggravated by the fact that there exists only one de facto GNSS signal provider, thus placed in a position to impose its own conditions without reference to the requirements of the rest of the world.In an attempt to secure both European political independence and a fair share in the global GNSS market Europe has decided to play an active role by launching Galileo, an autonomous global constellation under the control of civil authorities scheduled to be operational by 2008.
The present thesis analyses the desirability of a suitable legal and institutional GNSS framework to achieve universal acceptance of the GNSS. However, in the context of the present status quo it is unrealistic to expect that the only GNSS signal provider surrender its nationally procured system under the umbrella of an international instrument. National security concerns and industrial policy goals underlie this tendency. The present situation may turn different when the incumbent GPS faces the competition of Galileo, an alternative civil system willing to offer firm legal guarantees of service performance albeit in exchange for a fee. The entire viability of this theory remains however dependent upon the European capability of defining a successful business case for Galileo.
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Aquilanti, Claudia. "Sensor Fusion of GPS and speed information for low-cost automotive positioning and navigation." Thesis, KTH, Signalbehandling, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-53767.
Повний текст джерелаАнотація:
Global navigation satellite systems, such as the Global Positioning System (GPS) are nowadays widespread in the consumer and professional fields. To guarantee the desired accuracy, availability, integrity and robustness performance, it is necessary to add to GPS receivers aiding systems, like extra sensors, which can be expensive. In order to reduce the expenses, a low-cost alternative aiding system is here presented. The main idea is to extract the information needed to support the GPS services from an easily measurable signal as the one provided by the power supply of a car. This signal has a frequency component related to the rpm speed of the engine, thus it can be used to estimate the speed, and related states, when the GPS service is unavailable for some reason. Unfortunately, the frequency component isequal to the speed measured by the GPS up to a scale factor dependent on the gear engaged, so it is necessary to estimate over time these scale factors in order to use the information. In this thesis project we implemented an off-line system which leads to the estimation over time of the scale factors. A sensor fusion solution has been used: training data consisting only of speed measurement provided by the GPS and measurements of the signal of interest are processed through a bench of five Kalman Filters (one for each gear) which leads to the estimation of the scale factors. Three measurement campaigns with three different cars have been conducted in order to collect an exhaustive amount of datasets necessary to calibrate and then validate the system.