LARAMOTIONS: a conceptual study on laser networks for near-term collision avoidance for space debris in the low Earth orbit.

A conceptual study has been carried out on laser station networks to enhance Space Situational Awareness and contribute to collision avoidance in the low Earth orbit by high-precision laser tracking of debris objects and momentum transfer via photon pressure from ground-based high-power lasers. Depending on the network size, geographical distribution of stations, orbit parameters, and remaining time to conjunction, multipass irradiation enhances the efficiency of photon momentum coupling by 1-2 orders of magnitude and has the potential to eventually yield a promisingly significant reduction of the collision rate in low Earth orbit.

Reconstruction of the Instantaneous Earth Rotation Vector with Sub-Arcsecond Resolution Using a Large Scale Ring Laser Array.

Absolute rotation rate sensing with extreme sensitivity requires a combination of several large scale gyroscopes in order to obtain the full vector of rotation. We report on the construction and operation of a four-component, tetrahedral laser gyroscope array as large as a five story building and situated in a near surface, underground laboratory. It is demonstrated that reconstruction of the full Earth rotation vector can be achieved with sub-arcsecond resolution over more than six weeks.

Self-Calibration for the Time Difference of Arrival Positioning.

The time-difference-of-arrival (TDOA) self-calibration is an important topic for many applications, such as indoor navigation. One of the most common methods is to perform nonlinear optimization. Unfortunately, optimization often gets stuck in a local minimum. Here, we propose a method of dimension lifting by adding an additional variable into the l 2 norm of the objective function. Next to the usual numerical optimization, a partially-analytical method is suggested, which overdetermines the system of equations proportionally to the number of measurements. The effect of dimension lifting on the TDOA self-calibration is verified by experiments with synthetic and real measurements. In both cases, self-calibration is performed for two very common and often combined localization systems, the DecaWave Ultra-Wideband (UWB) and the Abatec Local Position Measurement (LPM) system. The results show that our approach significantly reduces the risk of becoming trapped in a local minimum.

Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices.

In this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements. We present a linear algorithm that calculates the relative pose in 2D or 3D with four degrees of freedom (4-DOF). This algorithm needs a minimum of five or six distance measurements, respectively, to estimate the relative pose uniquely. We use the linear algorithm in conjunction with outlier detection algorithms and as a good initial estimate for iterative least squares refinement. The proposed method outperforms other related linear methods in terms of distance measurements needed and in terms of accuracy. In comparison with a related linear algorithm in 2D, we can reduce 10% of the translation error. In contrast to the more general 6-DOF linear algorithm, our 4-DOF method reduces the minimum distances needed from ten to six and the rotation error by a factor of four at the standard deviation of our ultra-wideband (UWB) transponders. When using the same amount of measurements the orientation error and translation error are approximately reduced to a factor of ten. We validate our method with simulations and an experimental setup, where we integrate ultra-wideband (UWB) technology into simultaneous localization and mapping (SLAM)-based devices. The presented relative pose estimation method is intended for use in augmented reality applications for cooperative localization with head-mounted displays. We foresee practical use cases of this method in cooperative SLAM, where map merging is performed in the most proactive manner.

Decawave UWB Clock Drift Correction and Power Self-Calibration.

The position accuracy based on Decawave Ultra-Wideband (UWB) is affected mainly by three factors: hardware delays, clock drift, and signal power. This article discusses the last two factors. The general approach to clock drift correction uses the phase-locked loop (PLL) integrator, which we show is subject to signal power variations, and therefore, is less suitable for clock drift correction. The general approach to the estimation of signal power correction curves requires additional measurement equipment. This article presents a new method for obtaining the curve without additional hardware and clock drift correction without the PLL integrator. Both correction methods were fused together to improve two-way ranging (TWR).

Dynamic Vertical Mapping with Crowdsourced Smartphone Sensor Data.

In this paper, we present our novel approach for the crowdsourced dynamic vertical mapping of buildings. For achieving this, we use the barometric sensor of smartphones to estimate altitude differences and the moment of the outdoor to indoor transition to extract reference pressure. We have identified the outdoor-indoor transition (OITransition) via the fusion of four different sensors. Our approach has been evaluated extensively over a period of 6 months in different humidity, temperature, and cloud-coverage situations, as well as over different hours of the day, and it is found that it can always predict the correct number of floors, while it can approximate the altitude with an average error of 0.5 m.

Ground-based demonstration of the European Laser Timing (ELT) experiment.

The development of techniques for the comparison of distant clocks and for the distribution of stable and accurate time scales has important applications in metrology and fundamental physics research. Additionally, the rapid progress of frequency standards in the optical domain is presently demanding additional efforts for improving the performances of existing time and frequency transfer links. Present clock comparison systems in the microwave domain are based on GPS and two-way satellite time and frequency transfer (TWSTFT). European Laser Timing (ELT) is an optical link presently under study in the frame of the ESA mission Atomic Clock Ensemble in Space (ACES). The on-board hardware for ELT consists of a corner cube retro-reflector (CCR), a single-photon avalanche diode (SPAD), and an event timer board connected to the ACES time scale. Light pulses fired toward ACES by a laser ranging station will be detected by the SPAD diode and time tagged in the ACES time scale. At the same time, the CCR will re-direct the laser pulse toward the ground station providing precise ranging information. We have carried out a ground-based feasibility study at the Geodetic Observatory Wettzell. By using ordinary satellites with laser reflectors and providing a second independent detection port and laser pulse timing unit with an independent time scale, it is possible to evaluate many aspects of the proposed time transfer link before the ACES launch.

Continuous geodetic time-transfer analysis methods.

We address two issues that limit the quality of time and frequency transfer by carrier phase measurements from the Global Positioning System (GPS). The first issue is related to inconsistencies between code and phase observations. We describe and classify several types of events that can cause inconsistencies and observe that some of them are related to the internal clock of the GPS receiver. Strategies to detect and overcome time-code inconsistencies have been developed and implemented into the Bernese GPS Software package. For the moment, only inconsistencies larger than the 20 ns code measurement noise level can be detected automatically. The second issue is related to discontinuities at the day boundaries that stem from the processing of the data in daily batches. Two new methods are discussed: clock handover and ambiguity stacking. The two approaches are tested on data obtained from a network of stations, and the results are compared with an independent time-transfer method. Both methods improve the stability of the transfer for short averaging times, but there is no benefit for averaging times longer than 8 days. We show that continuous solutions are sufficiently robust against modeling and preprocessing errors to prevent the solution from accumulating a permanent bias.