Abstract The Galileo high accuracy service (HAS) is a free-of-charge designed to deliver decimeter-level in real-time precise point positioning (PPP) applications using global navigation satellite systems (GNSS). With the intention of facilitating use HAS corrections with open access tools, we present open-source library named HASlib and its integration another RTKLIB. decodes Reed–Solomon encoded E6 data pages outputs commonly used formats. This enables utilization conventional GNSS...

Accurate position information is nowadays very important in many applications. For instance, maintaining the situation awareness command center emergency operations crucial. Due to signal strength attenuation and multipath, Global Navigation Satellite Systems are not suitable for indoor navigation purposes. Radio network-based positioning techniques, such as wireless local area network, require infrastructure that often vulnerable situations. We propose here a distributed system personal...

MEMS gyroscopes are gaining popularity because of their low manufacturing costs in large quantities. For navigation system engineering, this presents a challenge strong nonstationary noise processes, such as 1/ <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">f</i> noise, the output gyros. In practice, on-the-fly calibration is often required before gyroscope data useful and comparable to more expensive optical gyroscopes. paper, we focus on an...

In this paper, a method and system for gyrocompassing based on low-cost micro-electro-mechanical (MEMS) gyroscope are described. The proposed setup is the choice of with specified bias instability better than 2 deg h-1 careful error compensation. aligned parallel to local level, which helps eliminate g-sensitivity effect but also sacrifices fraction Earth's rotation rate that can be observed. additive compensated by rotating sensor mechanically extended Kalman filtering. it demonstrated...

The long-term objective of our research is to develop a method for infrastructure-free simultaneous localization and mapping (SLAM) context recognition tactical situational awareness. Localization will be realized by propagating motion measurements obtained using monocular camera, foot-mounted Inertial Measurement Unit (IMU), sonar, barometer. Due the size weight requirements set applications, Micro-Electro-Mechanical (MEMS) sensors used. However, MEMS suffer from biases drift errors that...

Cycle slips are a common error source in Global Navigation Satellite System (GNSS) carrier phase measurements. In this paper, the cycle slip problem is approached using Receiver Autonomous Integrity Monitoring (RAIM) methodology. Carrier measurements used here single-receiver time-differential positioning method where integer ambiguities canceled, but any remain. The performance of was assessed by comparing detection results to Real-Time Kinematic (RTK) solution and manual data examination....

The upcoming Galileo High Accuracy Service (HAS) will provide decimeter-level Precise Point Positioning (PPP) corrections free of charge. HAS are High-Parity Vertical Reed–Solomon encoded on the E6 navigation data in a format reminiscent but not identical to many State Space Representation (SSR) formats. In this paper we present HASlib which is an open-source library intended facilitate use R&D purposes. decodes frames and outputs RTCM 3 or IGS SSR formats, as configured by user. This makes...

The knowledge of orientation an object with respect to the earth-fixed reference coordinate system is crucial in many applications. For instance, oil mining, it very accurately know drilling equipment under earth surface drill through desired path. In this context, we propose a compact inertial sensor that estimates instantaneous using accelerometer and gyroscope-derived tilt azimuth angles. To keep size small, use two-axis one-axis gyroscope. addition, avoid high cost, biases are removed...

We use motion context recognition to enhance the result of our infrastructure-free indoor navigation algorithm. Target applications are difficult scenarios such as first responder, rescue, and tactical applications. Our algorithm uses inertial visual fusion. Random Forest classifier is taught with training data from Inertial Measurement Unit classify between walking, running climbing. This information used both in pedestrian do stationarity detection adaptive threshold particle filter fusion...

The Indian Regional Navigation Satellite System (IRNSS) is currently under development with four out of the total planned seven satellites deployed in space. Department and Positioning Finnish Geospatial Research Institute (FGI) has been an early adopter this system Europe through its software-based multi-frequency multi-GNSS receiver, called FGI-GSRx. This paper presents results first comprehensive IRNSS receiver implementation Finland, if not Europe, using FGI-GSRx receiver. Following a...

Ultra Wideband (UWB) signals are a promising choice for indoor positioning applications, since they able to penetrate walls certain extent. Nevertheless, signal reflections and Non-Line-of-Sight (NLOS) propagation cause bias in the measured range. This ranging error can be corrected with Machine Learning (ML) methods such as Convolutional Neural Networks (CNNs). However, these ML models often generalize poorly between different environments. In this work we present an instance-based Transfer...

We propose a novel method for three-dimensional navigation and localization of land vehicle in multi-storey parking-garage. In order to navigate or localize 3D space we also need height information addition 2D position. Conventionally, an altimeter is used get the floor level/height information. The solution presented this paper uses low cost gyro odometer sensors, combined with map by means particle filtering collision detection techniques parking garage. This eliminates necessity other...

The Carrier-to-Noise density ratio (C/N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">0</sub> ) in a Global Navigation Satellite System (GNSS) receiver is an important parameter to measure the quality of GNSS signal. most traditional C/N estimation technique implemented based on Narrowband and Wideband Power Ratio (NWPR), which works just perfectly for legacy GPS LI C/A receiver. With advent new modernized signals from different systems, some...

Using the barometer for height estimation often requires use of external reference to correct biases in measurement. These are caused by change ambient pressure environment. The barometric is especially challenging tactical and rescue applications where high temperatures or sudden large shocks can rapidly. We assess suitability barometers infrastructure-free navigation applications. First, this paper investigates effect transition seamless indoor/outdoor navigation. Second, we measure...

Satellite navigation signals are very weak in power and, therefore, rather easy to jam for various purposes both military operations and civilian life. This paper studies the jamming mitigation performance of deep GNSS-INS coupling when a low-cost MEMS inertial measurement unit (IMU) is being used. Deep refers integration architecture which implements inertial-aided vector GNSS tracking instead independent (scalar) loops. In this most important equations involved noncoherent presented using...

A concept and first results of combining multispectral light detection ranging (LiDAR) with positioning sensors to produce spatially resolved target identification in indoor environment is presented. The aim enhance the sensor-based localisation a mapping. There growing need for automatic mobile mapping surveillance buildings locations where satellite not available. LiDAR common sensor feature-based simultaneous As LiDARs are emerging becoming increasingly popular research applications,...

Carouseling is an efficient method to mitigate the measurement errors of inertial sensors, particularly MEMS gyroscopes. In this article, effect carouseling on most significant stochastic error processes a gyroscope, i.e., additive bias, white noise, 1/f and rate random walk, investigated. Variance propagation equations for these under averaging are defined. Furthermore, novel approach generating noise presented. The experimental results show that reduces contributions walk significantly in...

Tactical and rescue operations need infrastructure-free accurate reliable localization, information about the possibly unknown environment knowledge of status each individual. Simultaneous Localization Mapping (SLAM) is a key technology providing means for first two mentioned needs. In this paper we discuss particle filter fusion obtaining localization use in SLAM algorithm. At present, there no single method positioning indoors, but to adaptively integrate measurements from various sensors...

A way is proposed of improving the time to first fix (TTFF) in Global Navigation Satellite System (GNSS) positioning by combining pseudo-range and Doppler with external altitude information. This position a stationary receiver can be resolved using two satellites only. Test results obtained authentic satellite data demonstrate that method sensitive measurement errors but improve TTFF significantly if sky view constrained as, e.g., urban canyons.

This paper underlines the challenges of navigation in Arctic from user perspective by means an online survey. The main target survey was to find out users' views and real-life experiences on geospatial information-based services region. studies relations between represented industry, encountered areas operation. Navigation area similar circumstances high latitudes is known be challenging terms weather conditions, lack infrastructure. As novel technologies, e.g., intelligent transport systems...

Tactical situational awareness for military applications should be based on infrastructure-free systems and able to form knowledge of the previously unknown environment. Simultaneous Localization Mapping (SLAM) is a key technology providing an accurate reliable solution indoor awareness. However, environments requirements , especially size weight limits system, make implementation SLAM using existing algorithms challenging. In particular, we aim implement monocular camera, due limitations,...