Institute of Navigation
Institute of Navigation
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Cooperative Localization for GNSS-Denied Subterranean Navigation: A UAV–UGV Team Approach
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4.
This paper presents a cooperative navigation architecture in a global navigation satellite system (GNSS)-denied subterranean environment using an unmanned ground vehicle (UGV) and unmanned aerial vehicle (UAV) team. The main focus of this design is to prolong the UAV mission time by reducing the UAV payload, sensing, and computational elements. To accomplish this, the UGV handles the mapping of the environment, its own state estimation, and the state estimation of the UAV using the UAV’s proprioceptive sensors, a three-dimensional lidar, and an ultra-wideband ranging radio that communicates with a similar radio on the UAV. The UAV is assumed to be instrumented with an inertial measurement unit, stereo camera, and laser altimeter, and the data from these instruments are shared with the UGV over a local network for use in UAV state estimation. This paper presents the architecture for localization of a UAV/UGV team and realizes the implementation using two different nonlinear state estimators. Details and a comparison between an extended Kalman filter and an incremental factor graph optimization implementation are provided. The performance of the presented algorithms is analyzed via experiments conducted in a motion-capture facility.
มุมมอง: 366

วีดีโอ

Improving the Prediction of GNSS Satellite Visibility in Urban Canyons Based on a Graph Transformer
มุมมอง 2414 วันที่ผ่านมา
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Signals from global navigation satellite systems (GNSSs) in urban areas suffer from serious multipath errors caused by building blockages and reflections. The use of deep neural networks offers great potential for predictin...
GNSS Meta-Signal Tracking Using a Bicomplex Kalman Filter
มุมมอง 2214 วันที่ผ่านมา
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Global navigation satellite system (GNSS) signals from different frequencies can be effectively treated as a single entity, characterized by common delays and carrier phases, leading to so-called GNSS meta-signals. A conven...
Hybrid Carrier Tracking with Decoupled Local Filters in Multi-Frequency GNSS Receivers
มุมมอง 1914 วันที่ผ่านมา
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. The collaborative efforts of multi-frequency receivers have proven to be a significant advantage in the challenging environments of global navigation satellite system carrier tracking. This paper delves into the exploration...
Addressing Inaccurate Phase Center Offsets in POD for Agile Satellite Missions
มุมมอง 31หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Incorrect offsets between a satellite’s center of mass and its global navigation satellite system antenna phase center pose challenges to the precise orbit determination (POD) of many current Earth observation missions. Bas...
Feasibility Study of GBAS/INS and RRAIM for Airport Surface Movement Under Low-Visibility Conditions
มุมมอง 18หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Currently, surface movement, encompassing all operations on the airport surface prior to take-off and after landing, cannot be achieved under low-visibility conditions by an aircraft-guidance-only solution. In addition to s...
Timescale Realization with Linked Platforms for AltPNT
มุมมอง 15หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Recognition of the critical importance of positioning, navigation, and timing to all economic sectors is driving the development of diverse alternatives to global navigation satellite systems (GNSSs), termed AltPNT. One pro...
Tightly Coupled Graph Neural Network and Kalman Filter for Smartphone Positioning
มุมมอง 25หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Smartphone positioning based on global navigation satellite systems is crucial for various applications, including navigation, emergency response, and augmented and virtual reality. Despite significant advancements, constra...
Efficient Signal Quality Monitoring of GNSS Signals Disturbed by Evil Waveforms
มุมมอง 11หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Evil waveforms (EWFs) are anomalies in signals transmitted by a global navigation satellite system, provoked by electric malfunctions, that can significantly degrade the accuracy of the receiver’s position, velocity, and ti...
Improving GNSS Positioning Correction Using Deep Reinforcement Learning with an ARAM
มุมมอง 33หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. High-precision global navigation satellite system (GNSS) positioning for automatic driving in urban environments remains an unsolved problem because of the impact of multipath interference and non-line-of-sight reception. R...
Galileo High Accuracy Service: Tests in Different Operational Conditions
มุมมอง 20หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. With corrections transmitted through the E6 signal, the Galileo High Accuracy Service (HAS) provides the information necessary to execute a stand-alone precise point positioning algorithm in real time. Once fully operationa...
Satellite Ephemeris Parameterization Methods to Support Lunar PNT Services
มุมมอง 10หลายเดือนก่อน
Video abstract for paper published in NAVIGATION: Journal of the Institute of Navigation, Volume 71 Number 4. For full paper, or more information, navi.ion.org/content/71/4. Plans to establish a satellite network around the Moon to support communication, position, navigation, and timing services are rapidly evolving. Satellites that are part of this system broadcast their ephemeris as finite pa...
Webinar: Satellite Ephemeris Parameterization Methods to Support Lunar PNT Services
มุมมอง 132หลายเดือนก่อน
Presented by: Keidai Iiyama Read the full paper: navi.ion.org/content/71/4/navi.664 Plans to establish a satellite network around the Moon to support communication, position, navigation, and timing services are rapidly evolving. Satellites that are part of this system broadcast their ephemeris as finite parameters to lunar users for user state estimation. In this work, we investigate lunar sate...
Direction Moon: A Journey of our Satellite Navigation System Beyond its Limits
มุมมอง 9K3 หลายเดือนก่อน
Dr. Oscar Pozzobon is co-founder, President and CEO of Qascom. He received a bachelor in information technology from University of Padova, a Master in Telecommunication Engineering from University of Queensland, and a Phd in Aeronautics and Satellite applications from Centre of Studies and Activities for Space, University of Padova. He has been involved in the last 20 years in the design of all...
Webinar: Authentication Security of Combinatorial Watermarking for GNSS Signal Authentication
มุมมอง 1533 หลายเดือนก่อน
The full paper can be accessed for free at: navi.ion.org/content/71/3/navi.655 Watermarking signal authentication is a technique in which a global navigation satellite system (GNSS) provider cryptographically perturbs the spreading code to allow for limited cryptographic authentication of a signal. Several proposals and studies have been presented or are underway to augment GNSS signals with th...
Expanding Network RTK Coverage Using Ionospheric Free Combination and Kriging for Troposphere
มุมมอง 794 หลายเดือนก่อน
Expanding Network RTK Coverage Using Ionospheric Free Combination and Kriging for Troposphere
Highly Efficient RTK-Based Precise Relative Navigation for Autonomous Rendezvous CubeSat
มุมมอง 764 หลายเดือนก่อน
Highly Efficient RTK-Based Precise Relative Navigation for Autonomous Rendezvous CubeSat
Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons
มุมมอง 814 หลายเดือนก่อน
Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons
Impacts of Global Navigation Satellite System Jamming on Aviation
มุมมอง 1374 หลายเดือนก่อน
Impacts of Global Navigation Satellite System Jamming on Aviation
High-Precision Time Transfer and Relative Orbital Determination Among LEO Satellites in Real Time
มุมมอง 684 หลายเดือนก่อน
High-Precision Time Transfer and Relative Orbital Determination Among LEO Satellites in Real Time
Distributed Nonlinear Least-Squares Solver for Practical Network Determination
มุมมอง 294 หลายเดือนก่อน
Distributed Nonlinear Least-Squares Solver for Practical Network Determination
Linear Estimation of Deterministic Accelerometer Errors
มุมมอง 504 หลายเดือนก่อน
Linear Estimation of Deterministic Accelerometer Errors
Kalman Filtering with Uncertain and Asynchronous Measurement Epochs
มุมมอง 554 หลายเดือนก่อน
Kalman Filtering with Uncertain and Asynchronous Measurement Epochs
Authentication Security of Combinatorial Watermarking for GNSS Signal Authentication
มุมมอง 294 หลายเดือนก่อน
Authentication Security of Combinatorial Watermarking for GNSS Signal Authentication
Weiss-Weinstein Bound of Frequency Estimation Error for Very Weak GNSS Signals
มุมมอง 174 หลายเดือนก่อน
Weiss-Weinstein Bound of Frequency Estimation Error for Very Weak GNSS Signals
Factor Graphs for Navigation Applications: A Tutorial
มุมมอง 1504 หลายเดือนก่อน
Factor Graphs for Navigation Applications: A Tutorial
Array-Aided Precise Orbit and Attitude Determination of CubeSats using GNSS
มุมมอง 484 หลายเดือนก่อน
Array-Aided Precise Orbit and Attitude Determination of CubeSats using GNSS
Webinar: Implementation and Accuracy of Doppler Navigation with LEO Satellites
มุมมอง 5945 หลายเดือนก่อน
Webinar: Implementation and Accuracy of Doppler Navigation with LEO Satellites
Assessment of Cryptographic Approaches for Quantum-Resistant Galileo OSNMA
มุมมอง 856 หลายเดือนก่อน
Assessment of Cryptographic Approaches for Quantum-Resistant Galileo OSNMA
Implementation and Accuracy of Doppler Navigation with LEO Satellites
มุมมอง 1536 หลายเดือนก่อน
Implementation and Accuracy of Doppler Navigation with LEO Satellites

ความคิดเห็น

  • @effervescentrelief
    @effervescentrelief หลายเดือนก่อน

    So it was a spy tool all along.

  • @刘胜-v2j
    @刘胜-v2j หลายเดือนก่อน

    Thank you so much. But the paper link is wrong lineked to another paper "Fault-Free Integrity of Urban Driverless Vehicle Navigation with Multi-Sensor Integration: A Case Study in Downtown Chicago"

  • @SharleenTodd-w5q
    @SharleenTodd-w5q 2 หลายเดือนก่อน

    Brown Elizabeth White Brenda Jackson Dorothy

  • @JenkinsRudolf-c6k
    @JenkinsRudolf-c6k 2 หลายเดือนก่อน

    Harris Amy Clark Betty Smith Robert

  • @TobiasTernence-i3c
    @TobiasTernence-i3c 2 หลายเดือนก่อน

    Martinez Sarah Lee Karen Garcia Donald

  • @CottonChristian-e3r
    @CottonChristian-e3r 2 หลายเดือนก่อน

    Anderson Carol Harris Jennifer Jones George

  • @PowellRandolph-k4c
    @PowellRandolph-k4c 2 หลายเดือนก่อน

    White Jose Johnson Sandra Perez Laura

  • @BernardaSchemmel-o1x
    @BernardaSchemmel-o1x 2 หลายเดือนก่อน

    Ratke Inlet

  • @DullesDick-u6c
    @DullesDick-u6c 2 หลายเดือนก่อน

    Gonzalez Christopher White Shirley Wilson Michelle

  • @hilwaamanamankiyar-pp5bf
    @hilwaamanamankiyar-pp5bf 2 หลายเดือนก่อน

    GNSS

  • @teapot_
    @teapot_ 2 หลายเดือนก่อน

    I think you did a good job of explaining, but sorry I couldn't listen with the background music. It's to off-putting.

  • @steveevans7050
    @steveevans7050 2 หลายเดือนก่อน

    We should make a huge space elevators in every major country that goes to to top of the atmosphere- or aleast high enough to get close to the sun. Ontop of these space elevators- using magnetics and bullet train techonoly to reach the top, we should put 20× 20mile photovoltaic cells. Run power down them to cities below to power major cities. The other function of this space elevator would be a space/ earth station that we could launch from to explore space. This would eliminate the need to propel rockets from the earth surface the rockets would launch from a zero gravity area and could even be propelled by magnetics into space, eventually drastically cutting cost of space exploration. This would be a.safe haven also incase something happened to our earth and the solar power banks at the top of the space elevator could be used as a power source to charge up space craft, as well as, space stations. Lazers could be put at the top to shoot asteroids to be mined and brought closer to use using magnetics ( asteroids are magnetic) and could be used to propel magnetic rockets with their magnetism and we could possibly explore and become civilized and inter planetary on asteroids before we become civilized on Mars or other planets. Earth Shields could be developed to help us from a beetjuice disaster or exploading star and could be maintained from the top of these solar elevators and shield or major cities from light rays in the future. A treaty would have to be established to ensure that everyone would be sage with this texh and not weponize it. I'm sure the galactic federation would monitor something like that anyway. Just a thought....

  • @RUNOV.A
    @RUNOV.A 2 หลายเดือนก่อน

    Hello. Cool topic. Take very good care of yourself 🎉

  • @YoungMerle-f6v
    @YoungMerle-f6v 2 หลายเดือนก่อน

    Martinez Deborah Davis Michelle Lopez Brian

  • @mayurireddy8196
    @mayurireddy8196 3 หลายเดือนก่อน

    Institute of Navigation

  • @ConnieDana-n6n
    @ConnieDana-n6n 3 หลายเดือนก่อน

    Moore Margaret Davis William Garcia Christopher

  • @Orbitaonamika
    @Orbitaonamika 4 หลายเดือนก่อน

    Garcia Elizabeth Moore Deborah Smith Eric

  • @hubertmillet1166
    @hubertmillet1166 4 หลายเดือนก่อน

    thanks a lot

  • @rielt12
    @rielt12 5 หลายเดือนก่อน

    Thanks everyone for joining me. It was my pleasure to host the webinar! If anyone has any thoughts or questions, please comment here!

  • @akshaysonandkar5901
    @akshaysonandkar5901 5 หลายเดือนก่อน

    Very interesting concept. This is very interesting for application in geodesy/ airborne gravimetry, where the Velocity and kinematic acceleration is of great importance. Thanks Ariel.

  • @odellkercado211
    @odellkercado211 8 หลายเดือนก่อน

    'Promo sm' ✨

  • @MikeRay19
    @MikeRay19 10 หลายเดือนก่อน

    I will have to watch this video twice at least...

  • @tonysewell3700
    @tonysewell3700 10 หลายเดือนก่อน

    Looking forward to being part of this community when my antenna arrives😊

  • @BoneyardLabs
    @BoneyardLabs 10 หลายเดือนก่อน

    Excellent Video! Can't wait to see what the future holds for this project!

  • @shizane101
    @shizane101 10 หลายเดือนก่อน

    Geodnet is doing a phenomenal job incentivizing where to deploy 👏

  • @muck2710
    @muck2710 11 หลายเดือนก่อน

    Thankyou

  • @troydixon7
    @troydixon7 ปีที่แล้ว

    🎯

  • @马萨储塞弟弟
    @马萨储塞弟弟 ปีที่แล้ว

    I want to ask for the future work of the fgo

    • @qmoda
      @qmoda ปีที่แล้ว

      To make it achieving better real-time performance!

  • @Nobody-vr5nl
    @Nobody-vr5nl ปีที่แล้ว

    I love the idea of DePIN, they are the only crypto projects i join. People on their own deploying a physical network. Off oading that cost to the public in the hopes that it will be worth it all. I thought about this during covid for something like folding@home when i was donating my compute power, and turned out this idea is already a thing (DePIN). Rewarding real world work with tokens, which are virtually "free" to the project managers in order to create something great together. The key is to reward ppl that do it right, and not get a repeat of projects that reward ppl in seemingly meaningless ways.

  • @Darkmatterkun
    @Darkmatterkun ปีที่แล้ว

    where is the code available?

  • @KE7IN_
    @KE7IN_ ปีที่แล้ว

    Great introduction to the project. Love how the web3 and DePIN model fits perfectly with this network.

  • @MelissaJean143
    @MelissaJean143 ปีที่แล้ว

    @ my ❤ & 🙏

  • @hughvera3569
    @hughvera3569 ปีที่แล้ว

    Hi can be use AM iboc ofdm to make idem work?

  • @WJSweeney
    @WJSweeney ปีที่แล้ว

    This is your granddaughter:Good Job Zeyde ❤❤😘😘

  • @sreegowthamjosyula9447
    @sreegowthamjosyula9447 ปีที่แล้ว

    Well Explained! Thanks.

  • @weisongwen3042
    @weisongwen3042 ปีที่แล้ว

    Nice presentation! What is the meaning of matrix P? Compared with the conventional GDOP based satellite selection, what are the differences?

  • @weisongwen3042
    @weisongwen3042 ปีที่แล้ว

    Nice presentation and very interesting work!

  • @tank_tales
    @tank_tales ปีที่แล้ว

    Thank you Dr. Humphreys for such a wonderful lecture

  • @qmoda
    @qmoda ปีที่แล้ว

    What an elegant method for satellite selection!

  • @joaosocio2508
    @joaosocio2508 ปีที่แล้ว

    Very good

  • @DevadasKuna
    @DevadasKuna ปีที่แล้ว

    Good Contribution to IRNSS research community...

  • @tank_tales
    @tank_tales ปีที่แล้ว

    Thank you so much

  • @tank_tales
    @tank_tales ปีที่แล้ว

    Wow so many advancements in the field of GNSS

  • @abbotrasleigh1965
    @abbotrasleigh1965 2 ปีที่แล้ว

    𝓅𝓇o𝓂o𝓈𝓂 😳

  • @MerinaShow
    @MerinaShow 2 ปีที่แล้ว

    Thank you for sharing this information! I am on the Physics and Robotics Research Team under Dr. Lucia Riderer at Citrus College. We are currently building an autonomous rover and I have been looking into Mchenry's work. It is great to hear this information directly from him!

  • @havefunbesafe
    @havefunbesafe 2 ปีที่แล้ว

    Thank you…this is a topic I’m interested in

  • @johnaweiss
    @johnaweiss 2 ปีที่แล้ว

    Is the narrator one of the paper authors?

  • @danielghani3903
    @danielghani3903 2 ปีที่แล้ว

    thank you elite

  • @amortalbeing
    @amortalbeing 2 ปีที่แล้ว

    Why is this only single channeled (left channel only has voice!)? would really appreciate if you fix the issue thanks

  • @haseebnabi8543
    @haseebnabi8543 2 ปีที่แล้ว

    Dr. Todd Humphreys is such an inspiring personality in the field of GNSS Signal security