Hybridation and Fusion of Satellite and Telecommunication Network Based Positioning Methods. F. CASTANIE IRIT/INP-ENSEEIHT
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1 Hybridation and Fusion of Satellite and Telecommunication Network Based Positioning Methods F. CASTANIE IRIT/INP-ENSEEIHT
2 Contents 1. Browsing over the satellite Navigation Systems: 1.1 Basic Principles 1.2 Augmentation with external navigation means 1.3 Augmentation with self-sensory means 2. Positioning with wireless communication networks: 2.1 Positioning capabilities of wireless networks 2.2 Hybridation: Fusion Algorithms
3 1. Browsing over the satellite Navigation Systems The requirements
4 Civil Aviation requirements
5 Civil Aviation requirements
6 River navigation requirements
7 Sea Navigation requirements AIS (Automatic Identification System)
8 Railway Safety requirements
9 Road Safety requirements Inter Vehicle Hazard Warning
10 Urban Area Safety requirements
11 1. Browsing over the satellite Navigation Systems 1.1 Basic Principles Starting from 3 measures of traveling time (ideally) allows positioning
12 1.1 Basic Principles
13 1. Browsing over the satellite Navigation Systems 1.1 Basic Principles
14 Satellite Navigation Systems imperfections Satellite Visibility
15 Satellite Navigation Systems imperfections EM Propagation Speed
16 Satellite Navigation Systems imperfections Satellite Orbital Positions
17 Satellite Navigation Systems imperfections Multipath Propagations
18 Satellite Navigation Systems imperfections Shadowing CLESTA Complément Local EGNOS pour la Surveillance du Trafic Aéroportuaire
19 1.Browsing over the satellite Navigation Systems 1.1 Basic Principles The Satellite-Based Improvements
20 The Satellite-Based Improvements: Multiconstellation
21 The Satellite-Based Improvements: Signal Sophistication E1/L1 and E5a/L5 equal For GPS Interoperability
22 The Satellite-Based Improvements: Signal Sophistication
23
24 The Satellite-Based Improvements: EGNOS Complement
25 The Satellite-Based Improvements: EGNOS Complement
26 The Satellite-Based Improvements: EGNOS Complement
27 The Satellite-Based Improvements: EGNOS Complement
28
29 GPS GPS+EGNOS+GALILEO
30 Satellite service availability GPS only (Toulouse city center)
31 Satellite service availability Galileo (Toulouse city center)
32
33 1.2 Augmentation with external navigation means AGPS
34 1.2 Augmentation with external navigation means AGPS
35 1.2 Augmentation with external navigation means AGPS
36 1.2 Augmentation with external navigation means AGPS
37 1.3 Augmentation with self-sensory means
38 1.3 Augmentation with self-sensory means URBAN NAVIGATION SYSTEM FOR AUTOMOTIVEAPPLICATIONS USING HSGPS, INERTIAL AND WHEEL SPEED SENSORS Mariana Spangenberg, TeSA/Thales Alenia Space Olivier Julien, University of Toulouse, ENAC Vincent Calmettes, University of Toulouse,ISAE-SUPAERO/TeSA Gregoire Duchateau, Thales Alenia Space
39 1.3 Augmentation with self-sensory means
40 2. Positioning with wireless communication networks 2.1 Positioning capabilities of wireless networks: - Received Power Measurement fingerprintig - Time of Arrival TOA - Differential Time of Arrival DTOA - Angle of Arrival AOA
41 Fingerprinting Principle
42 Fingerprinting Principle Received GSM powers from 7 BTS versus time Improved Positioning using GSM and GNSS Tight Hybridization P. Paimblanc,, W. Chauvet,, D. Bonacci, T. Sadiki, F. Castanié,, TESA Laboratory.
43 2.1 Positioning capabilities of wireless networks TNT
44 2.1 Positioning capabilities of wireless networks TNT
45 2.1 Positioning capabilities of wireless networks GSM Power Measurement fingerprinting
46 2.1 Positioning capabilities of wireless networks GSM Power Measurement fingerprinting
47 2.1 Positioning capabilities of wireless networks WiFi Fingerprinting Principle «Techniques et technologies de localisation avancées pour terminaux mobiles dans les environnements indoor» DOCTORAT DE L UNIVERSIT E JOSEPH FOURIER 22 Janvier 2007 Frédéric Evennou
48 2.1 Positioning capabilities of wireless networks WiFi Fingerprinting Principle
49 2.1 Positioning capabilities of wireless networks UMTS
50 2.1 Positioning capabilities of wireless networks TOA and TDOA Principle
51 2.1 Positioning capabilities of wireless networks TDOA Principle UWB
52 TOA Principle UWB Wide-Band Indoor Localization Effectiveness in Presence of Moving People C. Laderrière 1,2,3, M. Heddebaut2, N. Rocher1, A. Rivenq3.1Pole Star SA, Toulouse, France 2INRETS-LEOST, Villeneuve d'ascq, France3UVHC, Valenciennes, France
53 UWB Channel Response
54 2.1 Positioning capabilities of wireless networks AOA Principle
55 2.1 Positioning capabilities of wireless networks TDOA Principle UWB DOP «Techniques et technologies de localisation avancées pour terminaux mobiles dans les environnements indoor» DOCTORAT DE L UNIVERSIT E JOSEPH FOURIER 22 Janvier 2007 Frédéric Evennou
56 2.2 Hybridation: Fusion Algorithms Kalman Filter KF Particle Kalman Filtering PKF Neural Networks all other Data Fusion Principles
57 2.2 Hybridation: Fusion Algorithms
58 2.2 Hybridation: Fusion Algorithms
59 2.2 Hybridation: Fusion Algorithms «Techniques et technologies de localisation avancées pour terminaux mobiles dans les environnements indoor» DOCTORAT DE L UNIVERSIT E JOSEPH FOURIER 22 Janvier 2007 Frédéric Evennou
60 2.2 Hybridation: Fusion Algorithms WiFi + GSM
61 2.2 Hybridation: Fusion Algorithms WiFi + GSM
62 2.2 Hybridation: Fusion Algorithms WiFi + GSM Innovative GNSS/Wi-Fi Hybridization for Indoor/Outdoor Location Stéphane Terrenoir, Jaouad Chouki, Baptiste Godefroy, Jean-Baptiste Prost, Pole Star SA
63 2.2 Hybridation: Fusion Algorithms WiFi + INS
64 2.2 Hybridation: Fusion Algorithms GPS+ SIG Urban areas are known as difficult environments for GPS based positioning : deep streets mask GPS signals or create multipath effects that result in degraded accuracy or lacks of coverage. Traditional map matching is not suitable for pedestrian usage, and sometimes fails for cars.
65 2.2 Hybridation: Fusion Algorithms GPS+ GSM Positioning error vs time for scenario 2 with 7 GSM BTS in sight and 0 satellite available between t=51 and t=106 s Improved Positioning using GSM and GNSS Tight Hybridization P. Paimblanc,, W. Chauvet,, D. Bonacci, T. Sadiki, F. Castanié,, TESA Laboratory.
66 Conclusion For Safe Positioning in critical applications, absolutely necessary to «merge» (i.e carry out «Hybridation», or «Mitigation» actually «Data Fusion») of a wide variety of positioning means and measures. Many open questions, and consequently many research topics in Signal Processing, Data Fusion, Sensors
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