Signals of Opportunity Aided Inertial Navigation

Morales, Joshua J.; Roysdon, Paul F.; Kassas, Zaher M.

doi:10.33012/2016.14652

Cited by 47 publications

(43 citation statements)

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“…In this case, one mode of the estimator could be matched to velocity random walk dynamics, while the other mode could be matched to stationary dynamics. In practice, the receiver is typically coupled with an inertial measurement unit (IMU), which is used to propagate the estimator's state between measurement updates from eNodeBs …”

Section: Lte Navigation Frameworkmentioning

confidence: 99%

“…Among the different SOPs, cellular signals are particularly attractive due to their ubiquity, geometric diversity, high received power, and large bandwidth . Cellular signals can be exploited for localization either to produce a navigation solution in a standalone fashion or to aid the INS in the absence of GNSS signals . Moreover, it has been demonstrated that fusing cellular signals with GNSS signals, when available, significantly improves the positioning accuracy …”

Section: Introductionmentioning

confidence: 99%

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LTE receiver design and multipath analysis for navigation in urban environments

2018

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Mitigating multipath of cellular long‐term evolution (LTE) signals for robust positioning in urban environments is considered. A computationally efficient receiver, which uses a phase‐locked loop (PLL)–aided delay‐locked loop (DLL) to track the received LTE signals, is presented. The PLL‐aided DLL uses orthogonal frequency division multiplexing (OFDM)–based discriminator functions to estimate and track the time‐of‐arrival. The code phase and carrier phase performances in an additive white Gaussian noise (AWGN) channel are evaluated numerically. The effects of multipath on the code phase and carrier phase are analyzed, demonstrating robust multipath mitigation for high transmission LTE bandwidths. The average of the DLL discriminator functions over multiple LTE symbols is presented to reduce the pseudorange error. The proposed receiver is evaluated on a ground vehicle in an urban environment. Experimental results show a root mean square error (RMSE) of 3.17 m, a standard deviation of 1.06 m, and a maximum error of 6.58 m between the proposed LTE receiver and the GPS navigation solution over a 1.44 km trajectory. The accuracy of the obtained pseudoranges with the proposed receiver is compared against two algorithms: estimation of signal parameters by rotational invariance techniques (ESPRIT) and EKAT (ESPRIT and Kalman filter).

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Section: Lte Navigation Frameworkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

LTE receiver design and multipath analysis for navigation in urban environments

2018

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“…Note that both (17) and (18) are smooth everywhere, as opposed to the original likelihood in (3). A similar procedure can be applied to smooth the likelihood of the Doppler measurements in (4). While the use of slack variables increases the size of the optimization, the added numerical stability generally decreases the number of iterations for the solver, and overall results in smaller solve times.…”

Section: Implementation For Fhmlementioning

confidence: 99%

Finite Horizon Maximum Likelihood Estimation for Integrated Navigation with RF Beacon Measurements

Shankar

Ezal

Hespanha

2019

Asian Journal of Control

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We develop a Finite Horizon Maximum Likelihood Estimator (FHMLE) that fuses Inertial Measurement Unit (IMU) and radio frequency (RF) measurements over a sliding window of finite length for three-dimensional navigation. Available RF data includes pseudo-ranges, angles of transmission (AoT), and Doppler shift measurements. The navigation estimates are obtained by solving a finite-dimensional nonlinear optimization using a primal-dual interior point algorithm (PDIP). The benefits of the proposed estimation method are highlighted using simulations results comparing the FHMLE approach with an Unscented Kalman Filter (UKF), in a scenario where an aircraft approaches a carrier, with RF measurements from beacons aboard the carrier, and low-cost IMU measurements aboard the aircraft. When the Geometric Dilution of Precision is large, we found that the FHMLE is able to achieve smaller estimation errors than the UKF, which tends to carry a bias throughout the trajectory.

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“…In addition to jamming and spoofing, unintentional interference or even the possible yet unlikely event of on-board GNSS receiver failure constitute major threats on safe and reliable UAV navigation. In such cases where GNSS signals are unusable, cellular signals of opportunity (SOPs) could be used for navigation either in (1) a standalone fashion [3], [4] or (2) an integrated fashion, aiding the UAV's inertial navigation system [5], [6]. Several receiver designs have been published recently, producing time-ofarrival (TOA) and frequency-of-arrival (FOA) measurements from cellular code-division multiple access (CDMA) and longterm evolution (LTE) signals [7]- [10].…”

Section: Introductionmentioning

confidence: 99%

Opportunistic UAV Navigation With Carrier Phase Measurements From Asynchronous Cellular Signals

Khalife

Kassas

2020

IEEE Trans. Aerosp. Electron. Syst.

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This paper presents a framework for opportunistic unmanned aerial vehicle (UAV) navigation by exploiting carrier phase measurements from ambient cellular signals of opportunity. In the proposed framework, the cellular base transceiver stations (BTSs) are not assumed to be synchronous. A complete framework that employs an extended Kalman filter (EKF) is presented, including filter initialization and process and measurement noise covariance selection. The EKF estimates the position and velocity of the UAV as well as the differences between the UAV-mounted receiver and each of the BTSs' clock bias and clock drift. The observability of the estimation framework is analyzed and the boundedness of the EKF's errors is studied. A lower bound for the EKF estimation error covariance is derived, and it is shown that the covariance remains bounded. Monte Carlo simulations are conducted to study the effect of the number of BTSs, the initial UAV speed, and the receiver's oscillator quality, on the estimation performance. Two sets of experimental results are presented demonstrating UAVs navigating exclusively with cellular carrier phase measurements via the developed framework, achieving a total position root mean-squared error of 2.94 m and 5.99 m for UAV trajectories of 2.6 km and 2.9 km, respectively.

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Signals of Opportunity Aided Inertial Navigation

Cited by 47 publications

References 0 publications

LTE receiver design and multipath analysis for navigation in urban environments

LTE receiver design and multipath analysis for navigation in urban environments

Finite Horizon Maximum Likelihood Estimation for Integrated Navigation with RF Beacon Measurements

Opportunistic UAV Navigation With Carrier Phase Measurements From Asynchronous Cellular Signals

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