Collaborative Navigation as a Solution for PNT Applications in GNSS Challenged Environments – Report on Field Trials of a Joint FIG / IAG Working Group

Abstract

PNT stands for Positioning, Navigation, and Timing. Space-based PNT refers to the capabilities enabled by GNSS, and enhanced by Ground and Space-based Augmentation Systems (GBAS and SBAS), which provide position, velocity, and timing information to an unlimited number of users around the world, allowing every user to operate in the same reference system and timing standard. Such information has become increasingly critical to the security, safety, prosperity, and overall quality of-life of many citizens. As a result, spacebased PNT is now widely recognized as an essential element of the global information infrastructure. This paper discusses the importance of the availability and continuity of PNT information, whose application, scope and significance have exploded in the past 10-15 years. A paradigm shift in the navigation solution has been observed in recent years. It has been manifested by an evolution from traditional single sensor-based solutions, to multiple sensor-based solutions and ultimately to collaborative navigation and layered sensing, using non-traditional sensors and techniques -so called signals of opportunity. A joint working group under

Application of Multi-sensor Information Fusion Based on Improved Particle Swarm Optimization in Unmanned System Path Planning

“…Resampling needs to be integrated with all the particles to achieve, limiting the parallel computation of particle swarm optimization. In addition, according to the principle of re-sampling, the larger weight of the particles will be more of the selected copy [21]. After a number of iterations, it will inevitably lead to the same particles more and more, the lack of diversity of particles, particle degradation may occur, So that the state estimation produces a large deviation.…”

Range validation of UWB and Wi-Fi for integrated indoor positioning

“…Localization capabilities are nowadays standard features in mobile devices leading to the fact that society has become increasingly reliant on a location-enabled lifestyle (Saeedi and El-Sheimy 2015). Seamless precise navigation in combined outdoor and indoor environments, however, is still a great challenge (see, e.g., (Gikas et al 2016b;Kealy et al 2015;Toth et al 2017)). Application specific requirements of indoor positioning systems (IPS) create the baseline for the performance needs of the solutions under development.…”

Cooperative Navigation between a Ground Vehicle and an Unmanned Aerial Vehicle in GNSS-Challenged Environments

“…In military situations, UAVs or UGVs, may go from situations where GNSS is readily available to completely denied (e.g., being jammed or traversing inside a cave). The major downside of GNSS is that it requires an open-sky (Kealy et al, 2015). In military operations, sub-meter level accuracy and high update rates (e.g., > 10 Hz) are needed, and this is not always possible with standalone GNSS (Zador et al, 2000).…”

“…Many collaborative navigation techniques focus on the use of Vehicle Ad-Hoc Networks (VANETs), where multi-sensor fusion is used on individual nodes, and the collaboration between nodes is opportunistic in nature. Most of the collaborative navigation communication is with Dedicated Short Range Communications (DSRC) for vehicle-to-vehicle and vehicle-toinfrastructure communication (Kealy et al, 2015).…”

“…Using peer-to-peer updates for positioning is not new, as there is plenty of research that has been conducted on stationary nodes (Bais and Morgan, 2012) (Kealy et al, 2015) and on moving nodes (Gao et al, 2014) (Parker and Valaee, 2007) (Kassas and Humphreys, 2013). For example, Bais and Morgan (2012) evaluated the best position for placing base stations, to have the area covered by 4 base stations at all times.…”