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The regional service of the Chinese BeiDou satellite navigation system is now in operation with a constellation including five Geostationary Earth Orbit satellites (GEO), five Inclined Geosynchronous Orbit (IGSO) satellites and four Medium Earth Orbit (MEO) satellites. Besides the standard positioning service with positioning accuracy of about 10 m, both precise relative positioning and precise point positioning are already demonstrated. As is well known, precise orbit and clock determination is essential in enhancing precise positioning services. To improve the satellite orbits of the BeiDou regional system, we concentrate on the impact of the tracking geometry and the involvement of MEOs, and on the effect of integer ambiguity resolution as well. About seven weeks of data collected at the BeiDou Experimental Test Service (BETS) network is employed in this experimental study. Several tracking scenarios are defined, various processing schemata are designed and carried out; and then, the estimates are compared and analyzed in detail. The results show that GEO orbits, especially the along-track component, can be significantly improved by extending the tracking network in China along longitude direction, whereas IGSOs gain more improvement if the tracking network extends in latitude. The involvement of MEOs and ambiguity-fixing also make the orbits better. [ABSTRACT FROM AUTHOR]

In this work, the use of a calibration satellite (L2-CalSat) flying in formation with a Cosmic Microwave Background (CMB) polarization mission in an orbit located at the second Lagrange point, is proposed. The new generation of CMB telescopes are expected to reach unprecedented levels of sensitivity to allow a very precise measurement of the B-mode of polarization, the curl-like polarization component expected from gravitational waves coming from Starobinski inflationary models. Due to the CMB polarized signal weakness, the instruments must be subjected to very precise calibration processes before and after launching. Celestial sources are often used as external references for calibration after launch, but these sources are not perfectly characterized. As a baseline option, L2-CalSat is based on the CubeSat standard and serves as a perfectly known source of a reference signal to reduce polarization measurements uncertainty. A preliminary design of L2-CalSat is described and, according to the scanning strategy followed by the telescope, the influence of the relative position between the spacecrafts in the calibration process is studied. This new calibration element will have a huge impact on the performance of CMB space missions, providing a significant improvement in the measurements accuracy without requiring new and costly technological developments. [ABSTRACT FROM AUTHOR]

In this work, we propose and evaluate a pose-graph optimization-based real-time multi-sensor fusion framework for vehicle positioning using low-cost automotive-grade sensors. Pose-graphs can model multiple absolute and relative vehicle positioning sensor measurements and can be optimized using nonlinear techniques. We model pose-graphs using measurements from a precise stereo camera-based visual odometry system, a robust odometry system using the in-vehicle velocity and yaw-rate sensor, and an automotive-grade GNSS receiver. Our evaluation is based on a dataset with 180 km of vehicle trajectories recorded in highway, urban, and rural areas, accompanied by postprocessed Real-Time Kinematic GNSS as ground truth. We compare the architecture's performance with (i) vehicle odometry and GNSS fusion and (ii) stereo visual odometry, vehicle odometry, and GNSS fusion; for offline and real-time optimization strategies. The results exhibit a 20.86% reduction in the localization error's standard deviation and a significant reduction in outliers when compared with automotive-grade GNSS receivers. [ABSTRACT FROM AUTHOR]

In a conventional Unmanned aerial vehicles (UAV) navigational system Global Navigation Satellite System (GNSS) sensor is often a main source of data for trajectory generation. Even video tracking based systems need some GNSS data for proper work. The goal of this study is to develop an optics-based system to estimate the ground speed of the UAV in the case of the GNSS failure, jamming, or unavailability. The proposed approach uses a camera mounted on the fuselage belly of the UAV. We can obtain the ground speed of the airplane by using the digital cropping, the stabilization of the real time image, and template matching algorithms. By combining the ground speed vector components with measurements of airspeed and altitude, the wind velocity and drift are computed. The obtained data were used to improve efficiency of the video-tracking based on a navigational system. An algorithm allows this computation to be performed in real time on board of a UAV. The algorithm was tested in Software-in-the-loop and implemented on the UAV hardware. Its effectiveness has been demonstrated through the experimental test results. The presented work could be useful for upgrading the existing MUAV products (with embedded cameras) already delivered to the customers only by updating their software. It is especially significant in the case when any necessary hardware upgrades would be economically unjustified or even impossible to be carried out. [ABSTRACT FROM AUTHOR]

Concerning the triple-frequency ambiguity resolution, in principle there are three different realizations. The first one is to fix all the ambiguities of the original frequencies together. However, it is also believed that fixing the combined integer ambiguities with longer wavelength, such as extra-wide-lane (EWL), wide-lane (WL), should be advantageous. Also, it is demonstrated that fixing sequentially EWL, WL and one type of original ambiguities provides better results, as the previously fixed ambiguities increase parameters' precision for later fixings. In this paper, we undertake a comparative study of the three fixing approaches by means of experimental validation. In order to realize the three fixing approaches from the same information in terms of adjustment, we developed a processing strategy to provide fully consistent normal equations. We first generate the normal equation with the original undifferentiated carrier phase ambiguities, then map it into that with the combined and double-differenced ambiguities required by the individual approach for fixing. Four baselines of 258 m, 22 km, 47 km and 53 km are selected and processed in both static and kinematic mode using the three ambiguity-fixing approaches. Indicators including time of first fixed solution (TFFS), the correct fixing rate, positioning accuracy and RATIO are used to evaluate and investigate results. We also made a preliminary theoretical explanation of the results by looking into the decorrelation procedure of the ambiguity searching algorithm and the intermediate results. As conclusions, integrated searching of original ambiguities or combined ambiguities has almost the same fixing performance, whereas the sequential fixing of EWL, WL and B1 ambiguities overperforms the integrated searching. By the way, the third-frequency data can shorten the TFFS significantly but can hardly improve the positioning. [ABSTRACT FROM AUTHOR]

Radiometric calibration utilizing the Moon as a reference source is termed as lunar calibration. It is a useful method for evaluating the performance of optical sensors onboard satellites orbiting the Earth. Lunar calibration provides sufficient radiometric calibration opportunities without requiring any special equipment, and is suitable for nano/microsatellites. This study applies lunar calibration to a multispectral sensor, Ocean Observation Camera (OOC), on board a microsatellite named Rapid International Scientific Experiment Satellite. Simulating the brightness of the Moon based on the RObotic Lunar Observatory and SELENE/Spectrum Profiler models, sensitivity degradation was proven to be negligible in any of the four spectral bands of the OOC with the sensor temperature correction. A bluing trend in the OOC's sensor sensitivity was revealed, indicating a shorter observation wavelength shows larger irradiance. Comparing the top-of-atmosphere reflectance of Railroad Valley Playa with the Radiometric Calibration Network dataset revealed that the derived calibration parameter from the lunar calibration was valid for correcting the bluing trend in the visible range. Although the lunar and vicarious calibration parameters for the infrared band were unexpectedly inconsistent, lunar calibration could potentially contribute toward estimating the contaminated background radiance in the Earth observation images. [ABSTRACT FROM AUTHOR]

Precise navigation is often performed by sensor fusion of different sensors. Among these sensors, optical sensors use image features to obtain the position and attitude of the camera. Runway relative navigation during final approach is a special case where robust and continuous detection of the runway is required. This paper presents a robust threshold marker detection method for monocular cameras and introduces an on-board real-time implementation with flight test results. Results with narrow and wide field-of-view optics are compared. The image processing approach is also evaluated on image data captured by a different on-board system. The pure optical approach of this paper increases sensor redundancy because it does not require input from an inertial sensor as most of the robust runway detectors. [ABSTRACT FROM AUTHOR]