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Modern systems and devices, including unmanned aerial systems (UASs), autonomous vehicles, and other unmanned and autonomous systems, commonly rely on the Global Positioning System (GPS) for positioning, navigation, and timing (PNT). Cellular mobile devices rely on GPS for PNT and location-based services. Many of these systems cannot function correctly without GPS; however, GPS signals are susceptible to a wide variety of signal-related disruptions and cyberattacks. GPS threat detection and mitigation have received significant attention recently. There are many surveys and systematic reviews in the literature related to GPS security; however, many existing reviews only briefly discuss GPS security within a larger discussion of cybersecurity. Other reviews focus on niche topics related to GPS security. There are no existing comprehensive reviews of GPS security issues in the literature. This paper fills that gap by providing a comprehensive treatment of GPS security, with an emphasis on UAS applications. This paper provides an overview of the threats to GPS and the state-of-the-art techniques for attack detection and countermeasures. Detection and mitigation approaches are categorized, and the strengths and weaknesses of existing approaches are identified. This paper also provides a comprehensive overview of the state-of-the-art on alternative positioning and navigation techniques in GPS-disrupted environments, discussing the strengths and weaknesses of existing approaches. Finally, this paper identifies gaps in existing research and future research directions. [ABSTRACT FROM AUTHOR]

One of the key challenges in Multi-Spectral Automatic Diagnostic (MAD) robot design is the precise targeting of narrow-angle cameras on a specific part of the equipment. The paper shows that a low-cost MAD robot, whose navigation system is based on open-source ArduRover firmware and a pair of low-cost Ublox F9P GNSS receivers, can inspect the 8 × 4 degree ultraviolet camera bounding the targeting error within 0.5 degrees. To achieve this result, we propose a new targeting procedure that can be implemented without any modifications in ArduRover firmware and outperforms more expensive solutions based on LiDAR SLAM and UWB. This paper will be interesting to the developers of robotic systems for power equipment inspection because it proposes a simple and effective solution for MAD robots' camera targeting and provides the first quantitative analysis of the GNSS reception conditions during power equipment inspection. This analysis is based on the experimental results collected during the inspection of the overhead power transmission lines and equipment inspections on the open switchgear of different power plants. Moreover, it includes not only satellite, dilution of precision, and positioning/heading estimation accuracy but also the direct measurements of angular errors that could be achieved on operating power plants using GNSS-only camera targeting. [ABSTRACT FROM AUTHOR]

This paper is devoted to the application of object localization and identification with information combined from a radar system and a dedicated portable/mobile electronic device equipped with a global positioning system (GPS) receiver. This device is able to provide object's (staff member, and staff vehicle) rough location and identification. Such systems are required in very restrictive security areas like airports (e.g., open-air area and apron). Currently, the outdoor area of the airport is typically protected by a surveillance system operated by security guards. Surveillance systems are composed of different sensors, video and infrared cameras, and microwave radars. The sheer number of events generated via the system can lead to fatigue among staff, potentially resulting in the omission of critical events. To address this issue, we propose an electronic system equipped with a wireless module and a GPS module. This approach enables automatic identification of objects through the fusion of data from two independent systems (GPS and radar). The radar system is capable of precisely localizing and tracking objects, while the described system is able to identify registered objects. This paper contains a description of the subsystems of a portable/mobile electronic device. The fusion of information from the proposed system (rough location and identification) with the precise location obtained from short-range radar is intended to reduce the number of false alerts in the surveillance system. [ABSTRACT FROM AUTHOR]

This document provides a summary of several research papers related to Global Navigation Satellite Systems (GNSS) and positioning applications. The papers cover various topics such as ionospheric disturbance, risk assessment of GNSS threats, GNSS antenna calibration, jamming detection, low-cost GNSS receivers, urban positioning techniques, and GNSS augmentation methods. The findings of these studies contribute to the understanding and improvement of GNSS technology and its applications. The authors hope that these articles will help address scientific and practical challenges in the field. [Extracted from the article]

Driverless technology refers to the technology that vehicles use to drive independently with the help of driverless system under the condition of unmanned intervention. The working environment of construction machinery is bad, and the working conditions are complex. The use of driverless technology can greatly reduce the risk of driver operation, reduce labor costs and improve economic benefits.Aiming at the problem of the GPS positioning signal in the working environment of construction machinery being weak and not able to achieve accurate positioning, this paper uses the fusion SLAM algorithm based on improved NDT to realize the real-time positioning of the whole vehicle through reconstruction of the scene. Considering that the motion characteristics of crawler construction machinery are different from those of ordinary passenger cars, this paper improves the existing pure pursuit algorithm. Simulations and real vehicle tests show that the algorithm combined with the fusion SLAM algorithm can realize the motion control of driverless crawler construction machinery well, complete the tracking of the set trajectory perfectly and have high robustness. Considering that there is no mature walking method of driverless crawler construction machinery for reference, the research of this paper will lay a foundation for the development of driverless crawler construction machinery. [ABSTRACT FROM AUTHOR]

This paper presents a novel methodology to localise Unmanned Ground Vehicles (UGVs) using Unmanned Aerial Vehicles (UAVs). The UGVs are assumed to be operating in a Global Navigation Satellite System (GNSS)-denied environment. The localisation of the ground vehicles is achieved using UAVs that have full access to the GNSS. The UAVs use range sensors to localise the UGV. One of the major requirements is to use the minimum number of UAVs, which is two UAVs in this paper. Using only two UAVs leads to a significant complication that results an estimation unobservability under certain circumstances. As a solution to the unobservability problem, the main contribution of this paper is to present a methodology to treat the unobservability problem. A Constrained Extended Kalman Filter (CEKF)-based solution, which uses novel kinematics and heuristics-based constraints, is presented. The proposed methodology has been assessed based on the stochastic observability using the Posterior Cramér–Rao Bound (PCRB), and the results demonstrate the successful operation of the proposed localisation method. [ABSTRACT FROM AUTHOR]

In GNSS/IMU integrated navigation systems, factors like satellite occlusion and non-line-of-sight can degrade satellite positioning accuracy, thereby impacting overall navigation system results. To tackle this challenge and leverage historical pseudorange information effectively, this paper proposes a graph optimization-based GNSS/IMU model with virtual constraints. These virtual constraints in the graph model are derived from the satellite's position from the previous time step, the rate of change of pseudoranges, and ephemeris data. This virtual constraint serves as an alternative solution for individual satellites in cases of signal anomalies, thereby ensuring the integrity and continuity of the graph optimization model. Additionally, this paper conducts an analysis of the graph optimization model based on these virtual constraints, comparing it with traditional graph models of GNSS/IMU and SLAM. The marginalization of the graph model involving virtual constraints is analyzed next. The experiment was conducted on a set of real-world data, and the results of the proposed method were compared with tightly coupled Kalman filtering and the original graph optimization method. In instantaneous performance testing, the method maintains an RMSE error within 5% compared with real pseudorange measurement, while in a continuous performance testing scenario with no available GNSS signal, the method shows approximately a 30% improvement in horizontal RMSE accuracy over the traditional graph optimization method during a 10-second period. This demonstrates the method's potential for practical applications. [ABSTRACT FROM AUTHOR]

The Global Navigation Satellite System (GNSS) software-defined receivers offer greater flexibility, cost-effectiveness, customization, and integration capabilities compared to traditional hardware-based receivers, making them essential for a wide range of applications. The continuous evolution of GNSS research and the availability of new features require these software-defined receivers to upgrade continuously to facilitate the latest requirements. The Finnish Geospatial Research Institute (FGI) has been supporting the GNSS research community with its open-source implementations, such as a MATLAB-based GNSS software-defined receiver 'FGI-GSRx' and a Python-based implementation 'FGI-OSNMA' for utilizing Galileo's Open Service Navigation Message Authentication (OSNMA). In this context, longer datasets are crucial for GNSS software-defined receivers to support adaptation, optimization, and facilitate testing to investigate and develop future-proof receiver capabilities. In this paper, we present an updated version of FGI-GSRx, namely, FGI-GSRx-v2.0.0, which is also available as an open-source resource for the research community. FGI-GSRx-v2.0.0 offers improved performance as compared to its previous version, especially for the execution of long datasets. This is carried out by optimizing the receiver's functionality and offering a newly added parallel processing feature to ensure faster capabilities to process the raw GNSS data. This paper also presents an analysis of some key design aspects of previous and current versions of FGI-GSRx for a better insight into the receiver's functionalities. The results show that FGI-GSRx-v2.0.0 offers about a 40% run time execution improvement over FGI-GSRx-v1.0.0 in the case of the sequential processing mode and about a 59% improvement in the case of the parallel processing mode, with 17 GNSS satellites from GPS and Galileo. In addition, an attempt is made to execute v2.0.0 with MATLAB's own parallel computing toolbox. A detailed performance comparison reveals an improvement of about 43% in execution time over the v2.0.0 parallel processing mode for the same GNSS scenario. [ABSTRACT FROM AUTHOR]

Analytical coarse alignment and Kalman filter fine alignment based on zero-velocity are typically used to obtain initial attitude for inertial navigation systems (SINS) on a static base. However, in the shipboard mooring state, the static observation condition is corrupted. This paper presents a rapid alignment method for SINS on swaying bases. The proposed method begins with a coarse alignment technique in the inertial frame to obtain an initial rough attitude. Subsequently, a Kalman filter with position updates is employed to estimate the remaining misalignment error. To enhance the filter estimation performance, an appropriate lower boundary is set to the target states' variances according to a carefully designed relative convergence index. The variance-constraint Kalman filter (VCKF) approach is proposed in this paper, and the shipborne experiments validate its effectiveness. The results demonstrate that the VCKF approach significantly reduces the time requirement for fine alignment to achieve the same accuracy on a swaying base, from 90 min in the classic Kalman filter to 30 min. Additionally, the parameter estimation performance in the Kalman filter is also improved, particularly in situations where unpredicted external interference is involved during fine alignment. [ABSTRACT FROM AUTHOR]

Global Navigation Satellite Systems (GNSS) offer comprehensive position, navigation, and timing (PNT) estimates worldwide. Given the growing demand for reliable location awareness in both indoor and outdoor contexts, the advent of fifth-generation mobile communication technology (5G) has enabled expansive coverage and precise positioning services. However, the power received by the signal of interest (SOI) at terminals is notably low. This can lead to significant jamming, whether intentional or unintentional, which can adversely affect positioning receivers. The diagnosis of jamming types, such as classification, assists receivers in spectrum sensing and choosing effective mitigation strategies. Traditional jamming diagnosis methodologies predominantly depend on the expertise of classification experts, often demonstrating a lack of adaptability for diverse tasks. Recently, researchers have begun utilizing convolutional neural networks to re-conceptualize a jamming diagnosis as an image classification issue, thereby augmenting recognition performance. However, in real-world scenarios, the assumptions of independent and homogeneous distributions are frequently violated. This discrepancy between the source and target distributions frequently leads to subpar model performance on the test set or an inability to procure usable evaluation samples during training. In this paper, we introduce LJCD-Net, a deep adversarial migration-based cross-domain jamming generalization diagnostic network. LJCD-Net capitalizes on a fully labeled source domain and multiple unlabeled auxiliary domains to generate shared feature representations with generalization capabilities. Initially, our paper proposes an uncertainty-guided auxiliary domain labeling weighting strategy, which estimates the multi-domain sample uncertainty to re-weight the classification loss and specify the gradient optimization direction. Subsequently, from a probabilistic distribution standpoint, the spatial constraint imposed on the cross-domain global jamming time-frequency feature distribution facilitates the optimization of collaborative objectives. These objectives include minimizing both the source domain classification loss and auxiliary domain classification loss, as well as optimizing the inter-domain marginal probability and conditional probability distribution. Experimental results demonstrate that LJCD-Net enhances the recognition accuracy and confidence compared to five other diagnostic methods. [ABSTRACT FROM AUTHOR]

The frequent occurrence of extreme climate events has a significant impact on people's lives. Heavy rainfall can lead to an increase of regional Terrestrial Water Storage (TWS), which will cause land subsidence due to the influence of hydrological load. At present, regional TWS is mostly obtained from Gravity Recovery and Climate Experiment (GRACE) data, but the method has limitations for small areas. This paper used water level and flow data as hydrological signals to study the land subsidence caused by heavy rainfall in the Chaohu Lake area of East China (June 2016–August 2016). Pearson's correlation coefficient was used to study the interconnection between water resource changes and Global Navigation Satellites System (GNSS) vertical displacement. Meanwhile, to address the reliability of the research results, combined with the Coefficient of determination method, the research findings were validated by using different institutional models. The results showed that: (1) During heavy rainfall, the vertical displacement caused by atmospheric load was larger than non-tidal oceanic load, and the influence trends of the two were opposite. (2) The rapidly increasing hydrologic load in the Chaohu Lake area resulted in greater subsidence displacement at the closer CORS station (CHCH station) than the more distant CORS station (LALA station). The Pearson correlation coefficients between the vertical displacement and water level were as high as −0.80 and −0.64, respectively. The phenomenon confirmed the elastic deformation principle of disc load. (3) Although there was a systematic bias between the different environmental load deformation models, the deformation trends were generally consistent with the GNSS monitoring results. The average Coefficients of determination between the different models and the GNSS results were 0.63 and 0.77, respectively. The results demonstrated the effectiveness of GNSS in monitoring short-term hydrological load. This study reveals the spatial-temporal evolution of land deformation during heavy rainfall around Chaohu Lake, which is of reference significance for water resource management and infrastructure maintenance in this area. [ABSTRACT FROM AUTHOR]

Satellite clock error is a key factor affecting the positioning accuracy of a global navigation satellite system (GNSS). In this paper, we use a gated recurrent unit (GRU) neural network to construct a satellite clock bias forecasting model for the BDS-3 navigation system. In order to further improve the prediction accuracy and stability of the GRU, this paper proposes a satellite clock bias forecasting model, termed ITSSA-GRU, which combines the improved sparrow search algorithm (SSA) and the GRU, avoiding the problems of GRU's sensitivity to hyperparameters and its tendency to fall into local optimal solutions. The model improves the initialization population phase of the SSA by introducing iterative chaotic mapping and adopts an iterative update strategy based on t-step optimization to enhance the optimization ability of the SSA. Five models, namely, ITSSA-GRU, SSA-GRU, GRU, LSTM, and GM(1,1), are used to forecast the satellite clock bias data in three different types of orbits of the BDS-3 system: MEO, IGSO, and GEO. The experimental results show that, as compared with the other four models, the ITSSA-GRU model has a stronger generalization ability and forecasting effect in the clock bias forecasting of all three types of satellites. Therefore, the ITSSA-GRU model can provide a new means of improving the accuracy of navigation satellite clock bias forecasting to meet the needs of high-precision positioning. [ABSTRACT FROM AUTHOR]

Time is an extremely important element in the field of GNSS positioning. In precise positioning with a single-centimetre accuracy, satellite clock corrections are used. In this article, the longest available data set of satellite clock corrections of four GNSS systems from 2014 to 2021 was analysed. This study covers the determination of the quality (outliers number and magnitude), availability, stability, and determination of the specificity and nature of the clock correction for each satellite system. One problem with the two newest satellite systems (Galileo and BeiDou) is the lack of availability of satellite signals in the early years of the analysis. These data were available only in the later years of the period covered by the analysis, as most of the satellites have only been in orbit since 2018–2019. Interestingly, the percentage of outlying observations was highest in Galileo and lowest in BeiDou. Phase and frequency plots showed a significant number of outlying observations. On the other hand, after eliminating outlying observations, each system showed a characteristic graph waveform. The most consistent and stable satellite clock corrections are provided by the GPS and GLONASS systems. The main problems discussed in this paper are the determination of the number and magnitude of outliers in clock products of four GNSS systems (GPS, GLONASS, Galileo, Beidou) and the study on the long-term stability of GNSS clocks analysis, which covers the years 2014–2021. [ABSTRACT FROM AUTHOR]

The point cloud is one of the measurement results of local measurement and is widely used because of its high measurement accuracy, high data density, and low environmental impact. However, since point cloud data from a single measurement are generally small in spatial extent, it is necessary to accurately globalize the local point cloud to measure large components. In this paper, the method of using an iGPS (indoor Global Positioning System) as an external measurement device to realize high-accuracy globalization of local point cloud data is proposed. Two calibration models are also discussed for different application scenarios. Verification experiments prove that the average calibration errors of these two calibration models are 0.12 mm and 0.17 mm, respectively. The proposed method can maintain calibration precision in a large spatial range (about 10 m × 10 m × 5 m), which is of high value for engineering applications. [ABSTRACT FROM AUTHOR]

UAVs are nowadays used for several surveying activities, some of which imply flying close to tall walls, in and out of tunnels, under bridges, and so forth. In these applications, RTK GNSS positioning delivers results with very variable quality. It allows for centimetric-level kinematic navigation in real time in ideal conditions, but limitations in sky visibility or strong multipath effects negatively impact the positioning quality. This paper aims at assessing the RTK positioning limitations for lightweight and low-cost drones carrying cheap GNSS modules when used to fly in some meaningful critical operational conditions. Three demanding scenarios have been set up simulating the trajectories of drones in tasks such as infrastructure (i.e., building or bridges) inspection. Different outage durations, flight dynamics, and obstacle sizes have been considered in this work to have a complete overview of the positioning quality. The performed tests have allowed us to define practical recommendations to safely fly drones in potentially critical environments just by considering common software and standard GNSS parameters. [ABSTRACT FROM AUTHOR]

The development of unmanned ground vehicles and unmanned aerial vehicles requires high-precision navigation due to the autonomous motion and higher traffic intensity. The existing L1 band GNSS receivers are a good and cheap decision for smartphones, vehicle navigation, fleet management systems, etc., but their accuracy is not good enough for many civilian purposes. At the same time, real-time kinematic (RTK) navigation allows for position precision in a sub-centimeter range, but the system cost significantly narrows this navigation to a very limited area of applications, such as geodesy. A practical solution includes the integration of dual-band GNSS receivers and inertial sensors to solve high-precision navigation tasks, but GNSS position accuracy may significantly affect IMU performance due to having a great impact on Kalman filter performance in unmanned vehicles. The estimation of dilution-of-precision (DOP) parameters is essential for the filter performance as the optimality of the estimation in the filter is closely connected to the quality of a priori information about the noise covariance matrix and measurement noise covariance. In this regard, the current paper analyzes the DOP parameters of the latest generation dual-band GNSS receivers and compares the results with the L1 ones. The study was accomplished using two types of antennas—L1/L5 band patch and wideband helix antennas, which were designed and assembled by the authors. In addition, the study is extended with a comparison of GNSS receivers from different generations but sold on the market by one of the world's leading GNSS manufacturers. The analyses of dilution-of-precision (DOP) parameters show that the introduction of dual-band receivers may significantly increase the navigation precision in a sub-meter range, in addition to multi-constellation signal reception. The fast advances in the performance of the integrated CPU in GNSS receivers allow the number of correlations and tracking satellites to be increased from 8–10 to 24–30, which also significantly improves the position accuracy even of L1-band receivers. [ABSTRACT FROM AUTHOR]

Utilizing reliable and accurate positioning and navigation systems is crucial for saving the lives of rescue personnel and accelerating rescue operations. However, Global Navigation Satellite Systems (GNSSs), such as GPS, may not provide stable signals in dense forests. Therefore, integrating multiple sensors like GPS and Inertial Measurement Units (IMUs) becomes essential to enhance the availability and accuracy of positioning systems. To accurately estimate rescuers' positions, this paper employs the Adaptive Unscented Kalman Filter (AUKF) algorithm with measurement noise variance matrix adaptation, integrating IMU and GPS data alongside barometric altitude measurements for precise three-dimensional positioning in complex environments. The AUKF enhances estimation robustness through the adaptive adjustment of the measurement noise variance matrix, particularly excelling when GPS signals are interrupted. This study conducted tests on two-dimensional and three-dimensional road scenarios in forest environments, confirming that the AUKF-algorithm-based integrated navigation system outperforms the traditional Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and Adaptive Extended Kalman Filter (AEKF) in emergency rescue applications. The tests further evaluated the system's navigation performance on rugged roads and during GPS signal interruptions. The results demonstrate that the system achieves higher positioning accuracy on rugged forest roads, notably reducing errors by 18.32% in the north direction, 8.51% in the up direction, and 3.85% in the east direction compared to the EKF. Furthermore, the system exhibits good adaptability during GPS signal interruptions, ensuring continuous and accurate personnel positioning during rescue operations. [ABSTRACT FROM AUTHOR]

At the current stage, the automation level of GNSS RTK equipment is low, and manual operation leads to decreased accuracy and efficiency in setting out. To address these issues, this paper has designed an algorithm for automatic setting out that resolves the common problem of reduced accuracy in conventional RTK. First, the calculation of the laser rotation center is conducted using relevant parameters to calibrate the instrument's posture and angle. Then, by analyzing the posture information, the relative position and direction of the instrument to the point to be set out are determined, and the rotation angles in the horizontal and vertical directions are calculated. Following this, the data results are analyzed, and the obtained rotation angles are output to achieve automatic control of the instrument. Finally, a rotating laser composed of servo motors and laser modules is used to control the GNSS RTK equipment to locate the set-out point, thereby determining its position on the ground and displaying it in real-time. Compared to traditional GNSS RTK equipment, the proposed automatic setting out algorithm and the developed GNSS laser RTK equipment reduce the setting out error from 15 mm to 10.3 mm. This reduces the barrier to using GNSS RTK equipment, minimizes human influence, enhances the work efficiency of setting out measurements, and ensures high efficiency and stability under complex conditions. [ABSTRACT FROM AUTHOR]

When analyzing GPS time series, common mode errors (CME) often obscure the actual crustal movement signals, leading to deviations in the velocity estimates of station coordinates. Therefore, mitigating the impact of CME on station positioning accuracy is crucial to ensuring the precision and reliability of GNSS time series. The current approach to separating CME mainly uses signal filtering methods to decompose the residuals of the observation network into multiple signals, from which the signals corresponding to CME are identified and separated. However, this method overlooks the spatial correlation of the stations. In this paper, we improved the Independent Component Analysis (ICA) method by introducing correlation coefficients as weighting factors, allowing for more accurate emphasis or attenuation of the contributions of the GNSS network's spatial distribution during the ICA process. The results show that the improved Weighted Independent Component Analysis (WICA) method can reduce the root mean square (RMS) of the coordinate time series by an average of 27.96%, 15.23%, and 28.33% in the E, N, and U components, respectively. Compared to the ICA method, considering the spatial distribution correlation of stations, the improved WICA method shows enhancements of 12.53%, 3.70%, and 8.97% in the E, N, and U directions, respectively. This demonstrates the effectiveness of the WICA method in separating CMEs and provides a new algorithmic approach for CME separation methods. [ABSTRACT FROM AUTHOR]

In urban road environments, global navigation satellite system (GNSS) signals may be interrupted due to occlusion by buildings and obstacles, resulting in reduced accuracy and discontinuity of combined GNSS/inertial navigation system (INS) positioning. Improving the accuracy and robustness of combined GNSS/INS positioning systems for land vehicles in the presence of GNSS interruptions is a challenging task. The main objective of this paper is to develop a method for predicting GNSS information during GNSS outages based on a long short-term memory (LSTM) neural network to assist in factor graph-based combined GNSS/INS localization, which can provide a reliable combined localization solution during GNSS signal outages. In an environment with good GNSS signals, a factor graph fusion algorithm is used for data fusion of the combined positioning system, and an LSTM neural network prediction model is trained, and model parameters are determined using the INS velocity, inertial measurement unit (IMU) output, and GNSS position incremental data. In an environment with interrupted GNSS signals, the LSTM model is used to predict the GNSS positional increments and generate the pseudo-GNSS information and the solved results of INS for combined localization. In order to verify the performance and effectiveness of the proposed method, we conducted real-world road test experiments on land vehicles installed with GNSS receivers and inertial sensors. The experimental results show that, compared with the traditional combined GNSS/INS factor graph localization method, the proposed method can provide more accurate and robust localization results even in environments with frequent GNSS signal loss. [ABSTRACT FROM AUTHOR]

In this paper, we propose a novel switched approach to perform smartphone-based pedestrian navigation tasks even in scenarios where GNSS signals are unavailable. Specifically, when GNSS signals are available, the proposed approach estimates both the position and the average bias affecting the measurements from the accelerometers. This average bias is then utilized to denoise the accelerometer data when GNSS signals are unavailable. We test the effectiveness of denoising the acceleration measurements through the estimated average bias by a synthetic example. The effectiveness of the proposed approach is then validated through a real experiment which is conducted along a pre-planned 150 m path. [ABSTRACT FROM AUTHOR]

GNSS spoofing has become a significant security vulnerability threatening remote sensing systems. Hardware fingerprint-based GNSS receiver identification is one of the solutions to address this security issue. However, existing research has not provided a solution for distinguishing GNSS receivers of the same specification. This paper first theoretically proves that the CSACs (Chip-Scale Atomic Clocks) used in GNSS receivers have unique hardware noise and then proposes a fingerprinting scheme based on this hardware noise. Experiments based on the neural network method demonstrate that this fingerprint achieved an identification accuracy of 94.60% for commercial GNSS receivers of the same specification and performed excellently in anomaly detection, confirming the robustness of the fingerprinting method. This method shows a new real-time GNSS security monitoring method based on CSACs and can be easily used with any commercial GNSS receivers. [ABSTRACT FROM AUTHOR]

Social interactions are characterized by being very diverse and changing over time. Understanding this diversity and dynamics, as well as their emerging patterns, is of great interest from social, health, and educational perspectives. The development of new devices has been made possible in recent years by advances in applied technology. This paper presents the design and development of a novel device composed of several sensors. Specifically, we propose a proximity sensor integrated by three devices: a Bluetooth sensor, a global positioning system (GPS) unit and an accelerometer. By means of this sensor it is possible to detect the presence of neighboring sensors in various configurations and operating conditions. Profiles based on the Received Signal Strength Indicator (RSSI) exhibit behavior consistent with that reported by empirical relationships. The present sensor is functional in detecting the proximity of other sensors and is thus useful for the identification of interactions between people in relevant contexts such as schools. [ABSTRACT FROM AUTHOR]

Current research on the interference of GNSS (Global Navigation Satellite System) array antennas focuses on the single interference effect and the improvement of interference hardware capability, while the multi-degree-of-freedom (DOF) interference model and mechanism remain to be fully studied. Aiming at this problem, this paper analyzes the preconditions for the definition of anti-jamming degrees of freedom and the characteristics of super-DOF interference through formula derivation and simulation. First, by analyzing the influence of the number of interfering signals on the angular resolution, the prerequisite of the definition of anti-interference degrees of freedom in the airspace is proposed. Second, the definition of anti-interference degrees of freedom is used to calculate the change rule of the critical power of the interference under different numbers of interfering signals. Finally, the influence of super-DOF interference on the array antenna is analyzed. The results show that the prerequisite for the anti-interference freedom of the array antenna is that the distribution interval of the interfering signal is greater than 15°, taking a four-array element uniform circular array antenna as an example. The critical interference power of the array antenna decreases by about 15 dB when the number of interfering signals exceeds the degrees of freedom of the array antenna's interference immunity, provided that the interference resolution is satisfied. The conclusions of this paper give the critical power change rule of multi-DOF interference and the effect of super-DOF interference, as well as the prerequisites for the setting of interference signals, which can be used, for example, in the deployment of distributed interference sources and the development of anti-jamming algorithms. [ABSTRACT FROM AUTHOR]

The disruptive effect of radio frequency interference (RFI) on global navigation satellite system (GNSS) signals is well known, and in the last four decades, many have been investigated as countermeasures. Recently, low-Earth orbit (LEO) satellites have been looked at as a good opportunity for GNSS RFI monitoring, and the last five years have seen the proliferation of many commercial and academic initiatives. In this context, this paper proposes a new spaceborne system to detect, classify, and localize terrestrial GNSS RFI signals, particularly jamming and spoofing, for civil use. This paper presents the implementation of the RFI detection software module to be hosted on a nanosatellite. The whole development work is described, including the selection of both the target platform and the algorithms, the implementation, the detection performance evaluation, and the computational load analysis. Two are the implemented RFI detectors: the chi-square goodness-of-fit (GoF) algorithm for non-GNSS-like interference, e.g., chirp jamming, and the snapshot acquisition for GNSS-like interference, e.g., spoofing. Preliminary testing results in the presence of jamming and spoofing signals reveal promising detection capability in terms of sensitivity and highlight room to optimize the computational load, particularly for the snapshot-acquisition-based RFI detector. [ABSTRACT FROM AUTHOR]

The study of power quality (PQ) has gained relevance over the years due to the increase in non-linear loads connected to the grid. Therefore, it is important to study the propagation of power quality disturbances (PQDs) to determine the propagation points in the grid, and their source of generation. Some papers in the state of the art perform the analysis of punctual measurements of a limited number of PQDs, some of them using high-cost commercial equipment. The proposed method is based upon a developed proprietary system, composed of a data logger FPGA with GPS, that allows the performance of synchronized measurements merged with the full parameterized PQD model, allowing the detection and tracking of disturbances propagating through the grid using wavelet transform (WT), fast Fourier transform (FFT), Hilbert–Huang transform (HHT), genetic algorithms (GAs), and particle swarm optimization (PSO). Measurements have been performed in an industrial installation, detecting the propagation of three PQDs: impulsive transients propagated at two locations in the grid, voltage fluctuation, and harmonic content propagated to all the locations. The results obtained show that the low-cost system and the developed methodology allow the detection of several PQDs, and track their propagation within a grid with 100% accuracy. [ABSTRACT FROM AUTHOR]

Visual simultaneous localization and mapping is a widely used technology for mobile robots to carry out precise positioning in the environment of GNSS technology failure. However, as the robot moves around indoors, its position accuracy will gradually decrease over time due to common and unavoidable environmental factors. In this paper, we propose an improved method called RTABMAP-VIWO, which is based on RTABMAP. The basic idea is to use an Extended Kalman Filter (EKF) framework for fusion attitude estimates from the wheel odometry and IMU, and provide new prediction values. This helps to reduce the local cumulative error of RTABMAP and make it more accurate. We compare and evaluate three kinds of SLAM methods using both public datasets and real indoor scenes. In the dataset experiments, our proposed method reduces the Root-Mean-Square Error (RMSE) coefficient by 48.1% compared to the RTABMAP, and the coefficient is also reduced by at least 29.4% in the real environment experiments. The results demonstrate that the improved method is feasible. By incorporating the IMU into the RTABMAP method, the trajectory and posture errors of the mobile robot are significantly improved. [ABSTRACT FROM AUTHOR]

High-precision positioning from Global Navigation Satellite Systems (GNSS) has garnered increased interest due to growing demand in various applications, like autonomous car navigation and precision agriculture. Precise Point Positioning (PPP) offers a distinct advantage over differential techniques by enabling precise position determination of a GNSS rover receiver through the use of external corrections sourced from either the Internet or dedicated correction satellites. However, PPP's implementation has been challenging due to the need to mitigate numerous GNSS error sources, many of which are eliminated in differential techniques such as Real-Time Kinematics (RTK) or overlooked in Standard Point Positioning (SPP). This paper extensively reviews PPP's error sources, such as ionospheric delays, tropospheric delays, satellite orbit and clock errors, phase and code biases, and site displacement effects. Additionally, this article examines various PPP models and correction sources that can be employed to address these errors. A detailed discussion is provided on implementing the standard dual-frequency (DF)-PPP to achieve centimeter- or millimeter-level positioning accuracy. This paper includes experimental examples of PPP implementation results using static data from the International GNSS Service (IGS) station network and a kinematic road test based on the actual trajectory to showcase DF-PPP development for practical applications. By providing a fusion of theoretical insights with practical demonstrations, this comprehensive review offers readers a pragmatic perspective on the evolving field of Precise Point Positioning. [ABSTRACT FROM AUTHOR]

Rubidium atomic clocks have been used extensively in various fields, with applications such as a core component of Global Navigation Satellite Systems (GNSS). However, they exhibit inherently poor long-term stability. This paper presents the development of a control system for rubidium atomic clocks. It introduces an adaptive Kalman filtering algorithm for the disciplining of a rubidium atomic clock, utilizing autocovariance least squares (ALS) to estimate the clock's noise parameters. The experimental results demonstrate that the proposed algorithm achieves a high estimation accuracy. The standard deviation of the clock error between the steered rubidium atomic clock 1 Pulse Per Second (1PPS) and Coordinated Universal Time (UTC) provided by the National Time Service Center (NTSC) is better than 2.568 nanoseconds(ns), with peak-to-peak values improving to within 11.358 ns. Notably, its frequency stability is reduced to 3.06 × 10−13 @100,000 s. The results for the rubidium atomic clock demonstrate that the adaptive Kalman filtering algorithm proposed herein constitutes an accurate and effective control strategy for the rubidium atomic clock discipline. [ABSTRACT FROM AUTHOR]

Aeromagnetic surveys are widely used in geological exploration, mineral resource assessment, environmental monitoring, military reconnaissance, and other areas. It is necessary to perform magnetic compensation for interference in these fields. In recent years, large unmanned aerial vehicles (UAVs) have been more suitable for magnetic detection missions because of the greater loads they can carry. This article proposes some methods for the magnetic compensation of large multiload UAVs. Because of the interference of the large platform and instrument noise, the standard deviations (stds) of the compensation data used in this paper are larger. At the beginning of this article, using the traditional T-L model, we avoid the shortcomings of the anti-magnetic interference ability of triaxial magnetic gate magnetometers. The direction cosine information is obtained by using an inertial navigation system, the global positioning system, and a triaxial magnetic gate magnetometer. Then, we increase the amplitude of the maneuvers in the compensation process; this reduces the multicollinearity problems in the compensation matrix to a certain extent, but it also results in greater magnetic field interference. Lastly, we employ the method of Lasso regularization Newton iteration (LRNM). Compared to the traditional methods of least squares (LS) and singular value decomposition (SVD), LRNM provides improvements of 34% and 27%, respectively. In summary, this series of schemes can be used to perform effective compensation for large multi-load UAVs and improve the actual use of large UAVs, making them more accurate in the measurement of aeromagnetic survey data. [ABSTRACT FROM AUTHOR]

In order to reduce the position errors of the Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) integrated navigation system during GPS denial, this paper proposes a method based on the Particle Swarm Optimization–Back Propagation Neural Network (PSO-BPNN) to replace the GPS for positioning. The model relates the position information, velocity information, attitude information output by the SINS, and the navigation time to the position errors between the position information output by the SINS and the actual position information. The performance of the model is compared with the BPNN through an actual ship experiment. The results show that the PSO-BPNN can obviously reduce the position errors in the case of GPS signal denial. [ABSTRACT FROM AUTHOR]

Global positioning systems often fall short in dense forest environments, leading to increasing demand for innovative localization methods. Notably, existing methods suffer from the following limitations: (1) traditional localization frameworks necessitate several fixed anchors to estimate the locations of targets, which is difficult to satisfy in complex and uncertain forestry environments; (2) the uncertain environment severely decreases the quality of signal measurements and thus the localization accuracy. To cope with these limitations, this paper proposes a new method of trajectory localization for forestry environments with the assistance of UAVs. Based on the multi-agent DRL technique, the topology of UAVs is optimized in real-time to cater for high-accuracy target localization. Then, with the aid of RSS measurements from UAVs to the target, the least squares algorithm is used to estimate the location, which is more flexible and reliable than existing localization systems. Furthermore, a shared replay memory is incorporated into the proposed multi-agent DRL system, which can effectively enhance learning performance and efficiency. Simulation results show that the proposed method can obtain a flexible and high-accuracy localization system with the aid of UAVs, which exhibits better robustness against high-dimensional heterogeneous data and is suitable for forestry environments. [ABSTRACT FROM AUTHOR]

In this paper, new path optimization algorithms are developed for uncrewed aerial vehicle (UAV) self-localization and target tracking, exploiting beacon (landmark) bearings and angle-of-arrival (AOA) measurements from a manoeuvring target. To account for time-varying rotations in the local UAV coordinates with respect to the global Cartesian coordinate system, the unknown orientation angle of the UAV is also estimated jointly with its location from the beacon bearings. This is critically important, as orientation errors can significantly degrade the self-localization performance. The joint self-localization and target tracking problem is formulated as a Kalman filtering problem with an augmented state vector that includes all the unknown parameters and a measurement vector of beacon bearings and target AOA measurements. This formulation encompasses applications where Global Navigation Satellite System (GNSS)-based self-localization is not available or reliable, and only beacons or landmarks can be utilized for UAV self-localization. An optimal UAV path is determined from the optimization of the Bayesian Fisher information matrix by means of A- and D-optimality criteria. The performance of this approach at different measurement noise levels is investigated. A modified closed-form projection algorithm based on a previous work is also proposed to achieve optimal UAV paths. The performance of the developed UAV path optimization algorithms is demonstrated with extensive simulation examples. [ABSTRACT FROM AUTHOR]

This paper presents an enhanced ground vehicle localization method designed to address the challenges associated with state estimation for autonomous vehicles operating in diverse environments. The focus is specifically on the precise localization of position and orientation in both local and global coordinate systems. The proposed approach integrates local estimates generated by existing visual–inertial odometry (VIO) methods into global position information obtained from the Global Navigation Satellite System (GNSS). This integration is achieved through optimizing fusion in a pose graph, ensuring precise local estimation and drift-free global position estimation. Considering the inherent complexities in autonomous driving scenarios, such as the potential failures of a visual–inertial navigation system (VINS) and restrictions on GNSS signals in urban canyons, leading to disruptions in localization outcomes, we introduce an adaptive fusion mechanism. This mechanism allows seamless switching between three modes: utilizing only VINS, using only GNSS, and normal fusion. The effectiveness of the proposed algorithm is demonstrated through rigorous testing in the Carla simulation environment and challenging UrbanNav scenarios. The evaluation includes both qualitative and quantitative analyses, revealing that the method exhibits robustness and accuracy. [ABSTRACT FROM AUTHOR]

This paper proposes an improved initial alignment method for a strap-down inertial navigation system/global navigation satellite system (SINS/GNSS) integrated navigation system with large misalignment angles. Its methodology is based on the three-dimensional special Euclidean group and extended Kalman filter (SE2(3)/EKF) and aims to overcome the challenges of achieving fast alignment under large misalignment angles using traditional methods. To accurately characterize the state errors of attitude, velocity, and position, these elements are constructed as elements of a Lie group. The nonlinear error on the Lie group can then be well quantified. Additionally, a group vector mixed error model is developed, taking into account the zero bias errors of gyroscopes and accelerometers. Using this new error definition, a GNSS-assisted SINS dynamic initial alignment algorithm is derived, which is based on the invariance of velocity and position measurements. Simulation experiments demonstrate that the alignment method based on SE2(3)/EKF can achieve a higher accuracy in various scenarios with large misalignment angles, while the attitude error can be rapidly reduced to a lower level. [ABSTRACT FROM AUTHOR]

In dynamic and unpredictable environments, the precise localization of first responders and rescuers is crucial for effective incident response. This paper introduces a novel approach leveraging three complementary localization modalities: visual-based, Galileo-based, and inertial-based. Each modality contributes uniquely to the final Fusion tool, facilitating seamless indoor and outdoor localization, offering a robust and accurate localization solution without reliance on pre-existing infrastructure, essential for maintaining responder safety and optimizing operational effectiveness. The visual-based localization method utilizes an RGB camera coupled with a modified implementation of the ORB-SLAM2 method, enabling operation with or without prior area scanning. The Galileo-based localization method employs a lightweight prototype equipped with a high-accuracy GNSS receiver board, tailored to meet the specific needs of first responders. The inertial-based localization method utilizes sensor fusion, primarily leveraging smartphone inertial measurement units, to predict and adjust first responders' positions incrementally, compensating for the GPS signal attenuation indoors. A comprehensive validation test involving various environmental conditions was carried out to demonstrate the efficacy of the proposed fused localization tool. Our results show that our proposed solution always provides a location regardless of the conditions (indoors, outdoors, etc.), with an overall mean error of 1.73 m. [ABSTRACT FROM AUTHOR]

Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS) is currently the premier technique for achieving centimeter-level accuracy quickly and easily. However, the robustness of RTK-GNSS diminishes in challenging environments due to severe multipath effects and a limited number of available GNSS signals. This is a pressing issue, especially for GNSS users in the navigation industry. This paper proposes and evaluates several methodologies designed to overcome these issues by enhancing the availability and reliability of RTK-GNSS solutions in urban environments. Our novel approach involves the integration of conventional methods with a new technique that leverages surplus satellites—those not initially used for positioning—to more reliably detect incorrect fix solutions. We conducted three tests in densely built-up areas within the Tokyo region. The results demonstrate that our approach not only surpasses the fix rate of the latest commercial receivers and a popular open-source RTK-GNSS program but also improves positional reliability to levels comparable to or exceeding those of the aforementioned commercial technology. [ABSTRACT FROM AUTHOR]

Global Navigation Satellite Systems provide autonomous vehicles with precise position information through the process of position augmentation. This paper presents a series of performance tests aimed to compare the position accuracy of augmentation techniques such as classical Differential Global Navigation Satellite System, Real-time Kinematic and Real-time eXtended. The aim is to understand the limitations and choose the best position augmentation technique in order to obtain accurate, trustworthy position estimates of a vehicle in urban environments. The tests are performed in and around the German cities of Wuppertal and Duesseldorf, using a vehicle fitted with the navigation system POS-LV 220, developed by Applanix Corporation. In order to evaluate the real-time performance of position augmentation techniques in a highly challenging environment, a total of four test regions are selected. The four test regions are characterized mainly by uneven terrain with tall buildings around the University of Wuppertal, flat terrain with roads of varying width in the city centre of Wuppertal and Duesseldorf and flat terrain in a tunnel section located in the city of Wuppertal. The performances of the different position augmentation are compared using a Root Mean Square (RMS) error estimate obtained as an output from the Applanix system. Furthermore, a High-Definition map of the environment is used for the purpose of model validation, which justifies the use of RMS error estimate as an evaluation metric for the performance analysis tests. According to the performance tests carried out as per the conditions specified in this paper, the Real-time eXtended (RTX) position augmentation method enables to obtain a more robust position information of the vehicle than Real-time Kinematic (RTK) method, with a typical accuracy of a few centimeter in an urban environment. [ABSTRACT FROM AUTHOR]

Energy management methods (EMMs) utilizing sensing, communication, and networking technologies appear to be one of the most promising directions for energy saving and environmental protection of fuel cell vehicles (FCVs). In real-world driving situations, EMMs based on driving cycle information are critical for FCVs and have been extensively studied. The collection and processing of driving cycle information is a fundamental and critical work that cannot be separated from sensors, global positioning system (GPS), vehicle-to-vehicle (V2V), vehicle-to-everything (V2X), intelligent transportation system (ITS) and some processing algorithms. However, no reviews have comprehensively summarized the EMMs for FCVs from the perspective of driving cycle information. Motivated by the literature gap, this paper provides a state-of-the-art understanding of EMMs for FCVs from the perspective of driving cycle information, including a detailed description for driving cycle information analysis, and a comprehensive summary of the latest EMMs for FCVs, with a focus on EMMs based on driving pattern recognition (DPR) and driving characteristic prediction (DCP). Based on the above analysis, an in-depth presentation of the highlights and prospects is provided for the realization of high-performance EMMs for FCVs in real-world driving situations. This paper aims at helping the relevant researchers develop suitable and efficient EMMs for FCVs using driving cycle information. [ABSTRACT FROM AUTHOR]

In this paper, an adaptive and robust Kalman filter algorithm based on the maximum correntropy criterion (MCC) is proposed to solve the problem of integrated navigation accuracy reduction, which is caused by the non-Gaussian noise and time-varying noise of GPS measurement in complex environment. Firstly, the Grubbs criterion was used to remove outliers, which are contained in the GPS measurement. Then, a fixed-length sliding window was used to estimate the decay factor adaptively. Based on the fixed-length sliding window method, the time-varying noises, which are considered in integrated navigation system, are addressed. Moreover, a MCC method is used to suppress the non-Gaussian noises, which are generated with external corruption. Finally, the method, which is proposed in this paper, is verified by the designed simulation and field tests. The results show that the influence of the non-Gaussian noise and time-varying noise of the GPS measurement is detected and isolated by the proposed algorithm, effectively. The navigation accuracy and stability are improved. [ABSTRACT FROM AUTHOR]

The determination of a mobile terminal's position with high accuracy and ubiquitous coverage is still challenging. Global satellite navigation systems (GNSSs) provide sufficient accuracy in areas with a clear view to the sky. For GNSS-denied environments like indoors, complementary positioning technologies are required. A promising approach is to use the Earth's magnetic field for positioning. In open areas, the Earth's magnetic field is almost homogeneous, which makes it possible to determine the orientation of a mobile device using a compass. In more complex environments like indoors, ferromagnetic materials cause distortions of the Earth's magnetic field. A compass usually fails in such areas. However, these magnetic distortions are location dependent and therefore can be used for positioning. In this paper, we investigate the influence of elementary structures, in particular a sphere and a cylinder, on the achievable accuracy of magnetic positioning methods. In a first step, we analytically calculate the magnetic field around a sphere and a cylinder in an outer homogeneous magnetic field. Assuming a noisy magnetic field sensor, we investigate the achievable positioning accuracy when observing these resulting fields. For our analysis, we calculate the Cramér–Rao lower bound, which is a fundamental lower bound on the variance of an unbiased estimator. The results of our investigations show the dependency of the positioning error variance on the magnetic sensor properties, in particular the sensor noise variance and the material properties, i.e., the relative permeability of the sphere with respect to the cylinder and the location of the sensor relative to the sphere with respect to the cylinder. The insights provided in this work make it possible to evaluate experimental results from a theoretical perspective. [ABSTRACT FROM AUTHOR]

Real-time acquisition of location information for agricultural robotic systems is a prerequisite for achieving high-precision intelligent navigation. This paper proposes a data filtering and combined positioning method, and establishes an active screening model. The dynamic and static positioning drift points of the carrier are eliminated or replaced, reducing the complexity of the original Global Navigation Satellite System (GNSS) output data in the positioning system. Compared with the traditional Kalman filter combined positioning method, the proposed active filtering–Kalman filter algorithm can reduce the maximum distance deviation of the carrier along a straight line from 0.145 m to 0.055 m and along a curve from 0.184 m to 0.0640 m. This study focuses on agricultural robot positioning technology, which has an important influence on the development of smart agriculture. [ABSTRACT FROM AUTHOR]

This paper proposes a novel method to improve the clock bias short-term prediction accuracy of navigation receivers then solve the problem of low positioning accuracy when the satellite signal quality deteriorates. Considering that the clock bias of a navigation receiver is equivalent to a virtual satellite, the predicted value of clock bias is used to assist navigation receivers in positioning. Consequently, a combined prediction method for navigation receiver clock bias based on Empirical Mode Decomposition (EMD) and Back Propagation Neural Network (BPNN) analysis theory is demonstrated. In view of systematic errors and random errors in the clock bias data from navigation receivers, the EMD method is used to decompose the clock bias data; then, the BPNN prediction method is used to establish a high-precision clock bias prediction model; finally, based on the clock bias prediction value, the three-dimensional positioning of the navigation receiver is realized by expanding the observation equation. The experimental results show that the proposed model is suitable for clock bias time series prediction and providing three-dimensional positioning information meets the requirements of navigation application in the harsh environment of only three satellites. [ABSTRACT FROM AUTHOR]

In recent years, smartphones have emerged as the primary terminal for navigation and location services among mass users, owing to their universality, portability, and affordability. However, the highly integrated antenna design within smartphones inevitably introduces interference from internal signal sources, leading to a misalignment between the antenna phase center (APC) and the antenna geometric center. Accurately determining a smartphone's APC can mitigate system errors and enhance positioning accuracy, thereby meeting the increasing demand for precise and reliable user positioning. This paper delves into a detailed analysis of the generation of Global Navigation Satellite System (GNSS) receiver antenna phase center errors and proposes a method for correcting the receiver antenna phase center. Subsequently, a smartphone positioning experiment was conducted by placing the smartphone on an observation column with known coordinates. The collected observations were processed in static relative positioning mode, referencing observations from geodetic-grade equipment, and the accuracy of the static relative positioning fixed solution was evaluated. Following weighted estimation, we determined the antenna phase center of the Xiaomi Mi8 and corrected the APC. A comparison of the positioning results of the Xiaomi Mi8 before and after APC correction revealed minimal impact on the standard deviations (STDs) but significant influence on the root mean square errors (RMSEs). Specifically, the RMSEs in the E/N/U direction were reduced by 59.6%, 58.5%, and 42.0%, respectively, after APC correction compared to before correction. Furthermore, the integer ambiguity fixing rate slightly improved after the APC correction. In conclusion, the determination of a smartphone's APC can effectively reduce system errors in the plane direction of GNSS positioning, thereby enhancing smartphone positioning accuracy. This research holds significant value for advancing high-precision positioning studies related to smartphones. [ABSTRACT FROM AUTHOR]

There is an increasing demand for navigation capability for space vehicles. The exploitation of the so-called Space Service Volume (SSV), and hence the extension of the Global Navigation Satellite System (GNSS) from terrestrial to space users, is currently considered a fundamental step. Knowledge of the constellation antenna pattern, including the side lobe signals, is the main input for assessing the expected GNSS signal availability and navigation performance, especially for high orbits. The best way to define and share this information with the final GNSS user is still an open question. This paper proposes a novel methodology for the definition of a high-fidelity and easy-to-use statistical model to represent GNSS constellation antenna patterns. The reconstruction procedure, based on antenna characterization techniques and statistical learning, is presented here through its successful implementation for the "Galileo Reference Antenna Pattern (GRAP)" model, which has been proposed as the reference model for the Galileo programme. The GRAP represents the expected Equivalent Isotropic Radiated Power (EIRP) variation for the Galileo FOC satellites, and it is obtained by processing the measurements retrieved during the characterization campaign performed on the Galileo FOC antennas. The mathematical background of the model is analyzed in depth in order to better assess the GRAP with respect to different objectives such as improved resolution, smoothness and proper representation of the antenna pattern statistical distribution. The analysis confirms the enhanced GRAP properties and envisages the possibility of extending the approach to other GNSSs. The discussion is complemented by a preliminary use case characterization of the Galileo performance in SSV. The accessibility, a novel indicator, is defined in order to represent in a quick and compact manner, the expected Galileo SSV quality for different altitudes and target mission requirements. The SSV characterization is performed to demonstrate how simply and effectively the GRAP model can be inserted into user analysis. The work creates the basis for an improved capability for assessing Galileo-based navigation in SSV according to the current knowledge of the antenna pattern. [ABSTRACT FROM AUTHOR]

This paper proposes a new sensor using optical flow to stabilize a quadrotor when a GPS signal is not available. Normally, optical flow varies with the attitude of the aerial vehicle. This produces positive feedback on the attitude control that destabilizes the orientation of the vehicle. To avoid this, we propose a novel sensor using an optical flow camera with a 6DoF IMU (Inertial Measurement Unit) mounted on a two-axis anti-shake stabilizer mobile aerial gimbal. We also propose a robust algorithm based on Sliding Mode Control for stabilizing the optical flow sensor downwards independently of the aerial vehicle attitude. This method improves the estimation of the position and velocity of the quadrotor. We present experimental results to show the performance of the proposed sensor and algorithms. [ABSTRACT FROM AUTHOR]

The performance of low-cost smart terminals is limited by the performance of their low-cost Global Navigation Satellite System (GNSS) hardware and chips, as well as by the impact of complex urban environments, which affect the positioning accuracy and stability of GNSS services. To this end, this paper proposes a robust adaptive Kalman filter for different environments that can be applied after data preprocessing. Based on the Kalman filter algorithm, a robust estimation approach is introduced into real-time kinematic (RTK) positioning to make judgments on the abnormal observation values of low-cost smart terminals, which amplifies the variance and covariance of the outlier observation equation, and reduces the impact of outliers on positioning performance. The Institute of Geodesy and Geophysics III (IGG III) function is used for regulation purposes, where prior information is modified and refreshed using the equivalent weight matrix and adaptive factors, thus reducing the impact of system model errors on system state estimation results. In addition, a robust factor is defined to adjust positioning deviation weighting between the pre- and post-test robust estimates. The experimental results show that after robust RTK positioning in the static experiments, the overall improvement in positioning accuracies of the Xiaomi 8, Huawei P40, Huawei mate40, and low-cost M8 receiver reached 29.6%, 31.3%, 32.1%, and 30.7%, respectively. Similarly, after applying the proposed robust method in the dynamic experiments, the overall positioning accuracies of the Xiaomi 8, Huawei P40, Huawei mate40, and the low-cost M8 receiver improved by 28.3%, 32.9%, 35.4%, and 26.2%, respectively. The experimental results reveal that an excellent positioning effect of a smartphone is positively correlated with robust RTK positioning performance. However, it is worth noting that when the positioning accuracy reaches a high level, such as the positioning results achieved using low-cost receivers, the robustness performance shows a relatively decreasing trend. This finding suggests that under the condition of high positioning accuracy, the sensitivity of specific positioning equipment to interference sources may increase, resulting in a decline in the effect of robust RTK positioning. [ABSTRACT FROM AUTHOR]

The location-based smartphone service brings new development opportunities for seamless indoor/outdoor positioning. However, in complex scenarios such as cities, tunnels, overpasses, forests, etc., using only GNSS on smartphones cannot provide stable and reliable positioning results. Usually, additional sensors are needed to assist GNSS. This paper investigates the GNSS positioning algorithm assisted by pedestrian dead reckoning (PDR) in complex scenarios. First, we introduce a step detection algorithm based on the peak–valley of acceleration modulus, and the Weinberg model and the Mahony algorithm in PDR are used to estimate step length and heading. On this basis, we evaluated the performance of GNSS/PDR fusion positioning in an open scenario, a semiopen scenario, and a blocked scenario, respectively. Finally, we develop a GNSS/PDR real-time positioning software, called China University of Mining and Technology-POSitioning (CUMT-POS) version 1.0, on the Android 10 platform. By comparing GNSS solutions, PDR solutions, GNSS/PDR solutions, and real-time kinematic (RTK) solutions, we verify the potential auxiliary ability of PDR for GNSS positioning in complex environments, proving that multisource sensor fusion positioning significantly improves reliability and stability. Our research can help the realization of urban informatization and smart cities. [ABSTRACT FROM AUTHOR]

This paper presents the design, proof-of-concept implementation, and preliminary performance assessment of an affordable real-time High-Sensitivity (HS) Global Navigation Satellite System (GNSS) receiver. Specifically tailored to capture and track weak Galileo E1b/c signals, this receiver aims to support research endeavors focused on advancing GNSS signal processing algorithms, particularly in scenarios characterized by pronounced signal attenuation. Leveraging System-on-Chip Field-Programmable Gate Array (SoC-FPGA) technology, this design merges the adaptability of Software Defined Radio (SDR) concepts with the the robust hardware processing capabilities of FPGAs. This innovative approach enhances power efficiency compared to conventional designs relying on general-purpose processors, thereby facilitating the development of embedded software-defined receivers. Within this architecture, we implemented a modular GNSS baseband processing engine, offering a versatile platform for the integration of novel algorithms. The proposed receiver undergoes testing with live signals, showcasing its capability to process GNSS signals even in challenging scenarios with a carrier-to-noise density ratio ( C / N 0 ) as low as 20 dB-Hz, while delivering navigation solutions. This work contributes to the advancement of low-cost, high-sensitivity GNSS receivers, providing a valuable tool for researchers engaged in the development, testing, and validation of experimental GNSS signal processing techniques. [ABSTRACT FROM AUTHOR]

One of the important issues being explored in Industry 4.0 is collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable the precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow for the precise determination of an object's orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems, it is 10–20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e., it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper, we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show a beacon bearing accuracy of Δ φ = 0.51 ° , which corresponds to a positioning accuracy of Δ R = 6.55 cm, with a position update frequency of f u p d a t e = 50 Hz. [ABSTRACT FROM AUTHOR]