Single-Line LiDAR Localization via Contribution Sampling and Map Update Technology.

Localization based on single-line lidar is widely used in various robotics applications, such as warehousing, service, transit, and construction, due to its high accuracy, cost-effectiveness, and minimal computational requirements. However, challenges such as LiDAR degeneration and frequent map changes persist in hindering its broader adoption. To address these challenges, we introduce the Contribution Sampling and Map-Updating Localization (CSMUL) algorithm, which incorporates weighted contribution sampling and dynamic map-updating methods for robustness enhancement. The weighted contribution sampling method assigns weights to each map point based on the constraints within degenerate environments, significantly improving localization robustness under such conditions. Concurrently, the algorithm detects and updates anomalies in the map in real time, addressing issues related to localization drift and failure when the map changes. The experimental results from real-world deployments demonstrate that our CSMUL algorithm achieves enhanced robustness and superior accuracy in both degenerate scenarios and dynamic map conditions. Additionally, it facilitates real-time map adjustments and ensures continuous positioning, catering to the needs of dynamic environments.

Distributed Multi-Antenna Positioning for Automatic-Guided Vehicle.

Radio-based positioning systems are typically utilized to provide high-precision position information for automatic-guided vehicles (AGVs). However, the presence of obstacles in harsh environments, as well as carried cargoes on the AGV, will degrade the localization performance, since they block the propagation of radio signals. In this paper, a distributed multi-antenna positioning system is proposed, where multiple synchronous antennas are equipped on corners of an AGV to improve the availability and accuracy of positioning. An estimator based on the Levenberg-Marquardt algorithm is introduced to solve the nonlinear pseudo-range equations. To obtain the global optimal solutions, we propose a coarse estimator that utilizes the displacement knowledge of the antennas to provide a rough initial guess. Simulation results show a better availability of our system compared with the single antenna positioning system. Decimeter accuracy can be obtained under a Gaussian measurement noise with a standard deviation of 0.2 m. The results also demonstrate that the proposed algorithm can achieve positioning accuracy close to the theoretical Cramer-Rao lower bound. Furthermore, given prior information of the yaw angle, the same level of accuracy can be obtained by the proposed algorithm without the coarse estimation step.

Precise and Robust RTK-GNSS Positioning in Urban Environments with Dual-Antenna Configuration.

Robust and centimeter-level Real-time Kinematic (RTK)-based Global Navigation Satellite System (GNSS) positioning is of paramount importance for emerging GNSS applications, such as drones and automobile systems. However, the performance of conventional single-rover RTK degrades greatly in urban environments due to signal blockage and strong multipath. The increasing use of multiple-antenna/rover configurations for attitude determination in the above precise positioning applications, just as well, allows more information involved to improve RTK positioning performance in urban areas. This paper proposes a dual-antenna constraint RTK algorithm, which combines GNSS measurements of both antennas by making use of the geometric constraint between them. By doing this, the reception diversity between two antennas can be taken advantage of to improve the availability and geometric distribution of GNSS satellites, and what is more, the redundant measurements from a second antenna help to weaken the multipath effect on the first antenna. Particularly, an Ambiguity Dilution of Precision (ADOP)-based analysis is carried out to explore the intrinsic model strength for ambiguity resolution (AR) with different kinds of constraints. Based on the results, a Dual-Antenna with baseline VEctor Constraint algorithm (RTK) is developed. The primary advantages of the reported method include: 1) Improved availability and success rate of RTK, even if neither of the two single-antenna receivers can successfully solve the AR problem; and 2) reduced computational burden by adopting the concept of measurement projection. Simulated and real data experiments are performed to demonstrate robustness and precision of the algorithm in GNSS-challenged environments.

A Two-Stage Interference Suppression Scheme Based on Antenna Array for GNSS Jamming and Spoofing.

Jamming and spoofing are the two main types of intentional interference for global navigation satellite system (GNSS) receivers. Due to the entirely different signal characteristics they have, a few techniques can deal with them simultaneously. This paper proposes a two-stage interference suppression scheme based on antenna arrays, which can detect and mitigate jamming and spoofing before the despreading of GNSS receivers. First, a subspace projection was adopted to eliminate the high-power jamming signals. The output signal is still a multi-dimensional vector so that the spatial processing technique can be used in the next stage. Then, the cyclostationarity of GNSS signals were fully excavated to reduce or even remove the noise component in the spatial correlation matrix. Thus, the signal subspace, including information of the power and the directions-of-arrival (DOAs) of the GNSS signals, can be obtained. Next, a novel cyclic correlation eigenvalue test (CCET) algorithm was proposed to detect the presence of a spoofing attack, and the cyclic music signal classification (Cyclic MUSIC) algorithm was employed to estimate the DOAs of all the navigation signals. Finally, this study employed a subspace projection again to eliminate the spoofing signals and provide a higher gain for authentic satellite signals through beamforming. All the operations were performed on the raw digital baseband signal so that they did not introduce additional computational complexity to the GNSS receiver. The simulation results show that the proposed scheme not only suppresses jamming and spoofing effectively but also maximizes the power of the authentic signals. Nonetheless, the estimated DOA of spoofing signals may be helpful for the interference source positioning in some applications.

On-The-Fly Ambiguity Resolution Based on Double-Differential Square Observation.

Global navigation systems provide worldwide positioning, navigation and navigation services. However, in some challenging environments, especially when the satellite is blocked, the performance of GNSS is seriously degraded or even unavailable. Ground based positioning systems, including pseudolites and Locata, have shown their potentials in centimeter-level positioning accuracy using carrier phase measurements. Ambiguity resolution (AR) is a key issue for such high precision positioning. Current methods for the ground based systems need code measurements for initialization and/or approximating linearization. If the code measurements show relatively large errors, current methods might suffer from convergence difficulties in ground based positioning. In this paper, the concept of double-differential square observation (DDS) is proposed, and an on-the-fly ambiguity resolution (OTF-AR) method is developed for ground based navigation systems using two-way measurements. An important advantage of the proposed method is that only the carrier phase measurements are used, and code measurements are not necessary. The clock error is canceled out by two-way measurements between the rover and the base stations. The squared observations are then differenced between different rover positions and different base stations, and a linear model is then obtained. The floating integer values are easy to compute via this model, and there is no need to do approximate linearization. In this procedure, the rover's approximate coordinates are also directly obtained from the carrier measurements, therefore code measurements are not necessary. As an OTF-AR method, the proposed method relies on geometric changes caused by the rover's motion. As shown by the simulations, the geometric diversity of observations is the key factor for the AR success rate. Moreover, the fine floating solutions given by our method also have a fairly good accuracy, which is valuable when fixed solutions are not reliable. A real experiment is conducted to validate the proposed method. The results show that the fixed solution could achieve centimeter-level accuracy.

A Tightly Coupled RTK/INS Algorithm with Ambiguity Resolution in the Position Domain for Ground Vehicles in Harsh Urban Environments.

Vehicles driving in urban canyons are always confronted with a degraded Global Navigation Satellite System (GNSS) signal environment. The surrounding obstacles may cause signal reflections or blockages, which lead to large multipath noises and intermittent GNSS reception. Under these circumstances, it is not feasible to use conventional real-time kinematic (RTK) algorithms to maintain high-precision performance for positioning. In order to meet the special requirements of safety-critical applications under non-ideal observation conditions, a novel tightly coupled RTK/Inertial Navigation System (INS) algorithm is proposed in this paper, which can provide accurate and reliable positioning results continuously. Our integrated RTK/INS algorithm has three features. Firstly, INS measurements are used to help search for integer ambiguities in the position domain. INS solutions can provide a more accurate initial location and a more efficient search region. Secondly, the criterion for determining whether a candidate position is the correct solution is only related to the fractional value of the carrier-phase measurement. Thus, the new algorithm is immune to cycle slips as well as large pseudorange noises. Thirdly, our algorithm can provide more accurate ranging information than the pseudorange, even though it may not necessarily be fixed successfully, because it selects the weighted ambiguity solution as the result rather than the candidate point with maximum probability. The proposed algorithm is demonstrated on both simulated and real datasets. Compared with single epoch RTK and conventional tightly coupled RTK/INS integrations that search integer ambiguities in the ambiguity domain, our method attains better accuracy and stability in a simulated environment. Moreover, the real experimental results are presented to validate the performance of the new integrated navigation algorithm.

A Low-Cost INS-Integratable GNSS Ultra-Short Baseline Attitude Determination System.

Traditional attitude determination using global navigation satellite system (GNSS) carrier phases is mostly applied on geodetic-grade receivers with sufficient baseline length. However, for some special applications such as mobile communication base station smart antenna attitude determination, only low-cost receivers with ultra-short baselines can be employed, and the environments are more challenging. When solving the ambiguity resolution (AR) problem with low-cost receivers, it is hard for the traditional methods in ambiguity domain to estimate float ambiguities accurately due to the large code pseudorange noises; thus, such systems fail to determine the correct ambiguities. Aiming at improving the AR success rate for ultra-short baselines attitude determination with low-cost receivers, we provide an objective function named Mean Square Residual (MSR) based on the geometrical relationship among the position spherical search space, the fractional carrier phases, and the possible ambiguities. The method can be calculated without code pseudoranges, and thus, can provide a higher AR success rate when using low-cost receivers. The corresponding analysis and acceptance test method are discussed in this contribution, and further, as an extension for more complicated urban dynamic applications, a GNSS/Inertial Navigation System (INS) integrated system is introduced. Several experiments have been conducted to verify performance.

GNSS Spoofing Detection and Mitigation Based on Maximum Likelihood Estimation.

Spoofing attacks are threatening the global navigation satellite system (GNSS). The maximum likelihood estimation (MLE)-based positioning technique is a direct positioning method originally developed for multipath rejection and weak signal processing. We find this method also has a potential ability for GNSS anti-spoofing since a spoofing attack that misleads the positioning and timing result will cause distortion to the MLE cost function. Based on the method, an estimation-cancellation approach is presented to detect spoofing attacks and recover the navigation solution. A statistic is derived for spoofing detection with the principle of the generalized likelihood ratio test (GLRT). Then, the MLE cost function is decomposed to further validate whether the navigation solution obtained by MLE-based positioning is formed by consistent signals. Both formulae and simulations are provided to evaluate the anti-spoofing performance. Experiments with recordings in real GNSS spoofing scenarios are also performed to validate the practicability of the approach. Results show that the method works even when the code phase differences between the spoofing and authentic signals are much less than one code chip, which can improve the availability of GNSS service greatly under spoofing attacks.

Mitigating Multipath Bias Using a Dual-Polarization Antenna: Theoretical Performance, Algorithm Design, and Simulation.

It is well known that multipath effect remains a dominant error source that affects the positioning accuracy of Global Navigation Satellite System (GNSS) receivers. Significant efforts have been made by researchers and receiver manufacturers to mitigate multipath error in the past decades. Recently, a multipath mitigation technique using dual-polarization antennas has become a research hotspot for it provides another degree of freedom to distinguish the line-of-sight (LOS) signal from the LOS and multipath composite signal without extensively increasing the complexity of the receiver. Numbers of multipath mitigation techniques using dual-polarization antennas have been proposed and all of them report performance improvement over the single-polarization methods. However, due to the unpredictability of multipath, multipath mitigation techniques based on dual-polarization are not always effective while few studies discuss the condition under which the multipath mitigation using a dual-polarization antenna can outperform that using a single-polarization antenna, which is a fundamental question for dual-polarization multipath mitigation (DPMM) and the design of multipath mitigation algorithms. In this paper we analyze the characteristics of the signal received by a dual-polarization antenna and use the maximum likelihood estimation (MLE) to assess the theoretical performance of DPMM in different received signal cases. Based on the assessment we answer this fundamental question and find the dual-polarization antenna's capability in mitigating short delay multipath-the most challenging one among all types of multipath for the majority of the multipath mitigation techniques. Considering these effective conditions, we propose a dual-polarization sequential iterative maximum likelihood estimation (DP-SIMLE) algorithm for DPMM. The simulation results verify our theory and show superior performance of the proposed DP-SIMLE algorithm over the traditional one using only an RHCP antenna.

Asymmetric Dual-Band Tracking Technique for Optimal Joint Processing of BDS B1I and B1C Signals.

Along with the rapid development of the Global Navigation Satellite System (GNSS), satellite navigation signals have become more diversified, complex, and agile in adapting to increasing market demands. Various techniques have been developed for processing multiple navigation signals to achieve better performance in terms of accuracy, sensitivity, and robustness. This paper focuses on a technique for processing two signals with separate but adjacent center frequencies, such as B1I and B1C signals in the BeiDou global system. The two signals may differ in modulation scheme, power, and initial phase relation and can be processed independently by user receivers; however, the propagation delays of the two signals from a satellite are nearly identical as they are modulated on adjacent frequencies, share the same reference clock, and undergo nearly identical propagation paths to the receiver, resulting in strong coherence between the two signals. Joint processing of these signals can achieve optimal measurement performance due to the increased Gabor bandwidth and power. In this paper, we propose a universal scheme of asymmetric dual-band tracking (ASYM-DBT) to take advantage of the strong coherence, the increased Gabor bandwidth, and power of the two signals in achieving much-reduced thermal noise and more accurate ranging results when compared with the traditional single-band algorithm.

Generalized Theory and Decoupled Evaluation Criteria for Unmatched Despreading of Modernized GNSS Signals.

In order to provide better navigation service for a wide range of applications, modernized global navigation satellite systems (GNSS) employs increasingly advanced and complicated techniques in modulation and multiplexing of signals. This trend correspondingly increases the complexity of signal despreading at the receiver when matched receiving is used. Considering the numerous low-end receiver who can hardly afford such receiving complexity, it is feasible to apply some receiving strategies, which uses simplified forms of local despreading signals, which is termed unmatched despreading. However, the mismatch between local signal and received signal causes performance loss in code tracking, which is necessary to be considered in the theoretical evaluation methods of signals. In this context, we generalize the theoretical signal evaluation model for unmatched receiving. Then, a series of evaluation criteria are proposed, which are decoupled from unrelated influencing factors and concentrates on the key factors related to the signal and its receiving, thus better revealing the inherent performance of signals. The proposed evaluation criteria are used to study two GNSS signals, from which constructive guidance are derived for receivers and signal designer.

A Method of Detections' Fusion for GNSS Anti-Spoofing.

The spoofing attack is one of the security threats of systems depending on the Global Navigation Satellite System (GNSS). There have been many GNSS spoofing detection methods, and each of them focuses on a characteristic of the GNSS signal or a measurement that the receiver has obtained. The method based on a single detector is insufficient against spoofing attacks in some scenarios. How to fuse multiple detections together is a problem that concerns the performance of GNSS anti-spoofing. Scholars have put forward a model to fuse different detection results based on the Dempster-Shafer theory (DST) of evidence combination. However, there are some problems in the application. The main challenge is the valuation of the belief function, which is a key issue in DST. This paper proposes a practical method of detections' fusion based on an approach to assign the belief function for spoofing detections. The frame of discernment is simplified, and the hard decision of hypothesis testing is replaced by the soft decision; then, the belief functions for some detections can be evaluated. The method is discussed in detail, and a performance evaluation is provided, as well. Detections' fusion reduces false alarms of detection and makes the result more reliable. Experimental results based on public test datasets demonstrate the performance of the proposed method.

An SDR-Based Real-Time Testbed for GNSS Adaptive Array Anti-Jamming Algorithms Accelerated by GPU.

Nowadays, software-defined radio (SDR) has become a common approach to evaluate new algorithms. However, in the field of Global Navigation Satellite System (GNSS) adaptive array anti-jamming, previous work has been limited due to the high computational power demanded by adaptive algorithms, and often lack flexibility and configurability. In this paper, the design and implementation of an SDR-based real-time testbed for GNSS adaptive array anti-jamming accelerated by a Graphics Processing Unit (GPU) are documented. This testbed highlights itself as a feature-rich and extendible platform with great flexibility and configurability, as well as high computational performance. Both Space-Time Adaptive Processing (STAP) and Space-Frequency Adaptive Processing (SFAP) are implemented with a wide range of parameters. Raw data from as many as eight antenna elements can be processed in real-time in either an adaptive nulling or beamforming mode. To fully take advantage of the parallelism resource provided by the GPU, a batched method in programming is proposed. Tests and experiments are conducted to evaluate both the computational and anti-jamming performance. This platform can be used for research and prototyping, as well as a real product in certain applications.

Angle-of-Arrival Assisted GNSS Collaborative Positioning.

For outdoor and global navigation satellite system (GNSS) challenged scenarios, collaborative positioning algorithms are proposed to fuse information from GNSS satellites and terrestrial wireless systems. This paper derives the Cramer-Rao lower bound (CRLB) and algorithms for the angle-of-arrival (AOA)-assisted GNSS collaborative positioning. Based on the CRLB model and collaborative positioning algorithms, theoretical analysis are performed to specify the effects of various factors on the accuracy of collaborative positioning, including the number of users, their distribution and AOA measurements accuracy. Besides, the influences of the relative location of the collaborative users are also discussed in order to choose appropriate neighboring users, which is in favor of reducing computational complexity. Simulations and actual experiment are carried out with several GNSS receivers in different scenarios, and the results are consistent with theoretical analysis.

A Kalman filter-based short baseline RTK algorithm for single-frequency combination of GPS and BDS.

The emerging Global Navigation Satellite Systems (GNSS) including the BeiDou Navigation Satellite System (BDS) offer more visible satellites for positioning users. To employ those new satellites in a real-time kinematic (RTK) algorithm to enhance positioning precision and availability, a data processing model for the dual constellation of GPS and BDS is proposed and analyzed. A Kalman filter-based algorithm is developed to estimate the float ambiguities for short baseline scenarios. The entire work process of the high-precision algorithm based on the proposed model is deeply investigated in detail. The model is validated with real GPS and BDS data recorded from one zero and two short baseline experiments. Results show that the proposed algorithm can generate fixed baseline output with the same precision level as that of either a single GPS or BDS RTK algorithm. The significantly improved fixed rate and time to first fix of the proposed method demonstrates a better availability and effectiveness on processing multi-GNSSs.

1.5 µm orthogonally polarized dual-output heralded single photon source based on optical fibers with birefringence.

In this paper, a heralded single photon source (HSPS) at 1.5 µm with two independent orthogonally polarized outputs is realized based on a piece of polarization maintaining dispersion shifted fiber (PM-DSF). The HSPS is based on two scalar spontaneous four wave mixing (SFWM) processes along the two fiber polarization axes, while two vector SFWM processes are suppressed due to the high birefringence in the PM-DSF. The preparation efficiencies of the two independent outputs are about 73.7% and 69.1%, respectively, under a second-order correlation function g(2)(0) of 0.059. The indistinguishability between the two independent heralded single photons is demonstrated by Hong-Ou-Mandel (HOM) interference with a visibility of 78.9%, showing its great potential in quantum optics experiments and applications of quantum information.

[Response of Water Quality in Small Reservoirs to Landscape Composition, Landscape Configuration, and Reservoir Characteristics in the Upper Reaches of the Yangtze River During Dry Season].

Small reservoirs in the Yangtze River are large in quantity and widely distributed, which have important ecological and economic benefits. It is of great significance to explore the response law of small reservoir water quality to environmental variables for improving reservoir water quality. Based on the measured water quality data of 36 small reservoirs in the upper reaches of the Yangtze River, combined with the measured water quality data, using correlation analysis, redundancy analysis, and other research methods, we divided the environmental variables into three categories:landscape configuration index, landscape composition index, and reservoir characteristic index, and explored their impact on the change in water quality index. The research results showed that:① farms were the main source of NO3--N, TN, and TP, and residential land was the main source of TP. Paddy, forest land, and wasteland had positive effects on the retention and purification of N and P in reservoirs. ② The LPI of farms was significantly positively correlated with the concentrations of TN and NO3--N in the reservoir, and the paddy and forest were significantly negatively correlated with the concentrations of NO3--N and TN in the reservoir. The PD of farms was positively correlated with TP. The LPI was negatively correlated with TP content. ③ The correlation between average reservoir depth and reservoir water quality was the strongest. Reservoir capacity, reservoir average depth, and reservoir LSI had significant positive effects on water quality improvement. ④ Among the environmental variables of the reservoir, landscape configuration index had the highest explanatory rate (24%), followed by that of the reservoir characteristics index (11%) and landscape composition index (9%). Watershed factors were the key factors (55%), and internal factors (19%) also had a significant influence on reservoir water quality. The research results can provide a theoretical basis for controlling water quality degradation of small reservoirs by managing and optimizing the landscape characteristics of reservoirs.

Functions of traditional ponds in altering sediment budgets in the hilly area of the Three Gorges Reservoir, China.

The landscape pattern will affect the sediment transport process. The cluster of ponds is a common landscape, which has traditionally been used for irrigation in the hilly area of the Three Gorges Reservoir (TGR). However, little is known about how the landscape elements temporally changed over the past decades and if the ponds can be applied to function in balancing watershed sediments against soil erosion. The Jinglingxi watershed, covering 20.5 km2, was selected as the study area. The changes in pond number, surface area, and drainage catchment were analyzed with aid of high-resolution typographical map and unmanned aerial vehicles imagery. The spatial WaTEM/SEDEM model was developed to simulate watershed soil erosion and sediment deposition under the absence and presence of water bodies scenarios. Results from different simulation scenarios were compared and revealed the trapping effects of the multi-pond system. From 1983 to 2016, the number and total area of ponds roughly doubled. The density reached 30 ponds/km2. From 1983 to 2016, the total drainage area of ponds increased from 13.22% to 35.4% of the whole watershed. The sediments deposited at the bottom of ponds can indicate the past specific sediment yield (SSY) in drainage catchments. Our results suggest that the multi-pond system not only reduce watershed sediment export but also alter the sediment deposition in different land uses. The reduced sediments export is expected to prolong the service life of downstream reservoirs at the expectancy of ponds' storage capacities. The ecological compensation from downstream reservoirs' revenues to upstream regions should be established to drive dredging actions for the upstream ponds.

NDVI indicated long-term interannual changes in vegetation activities and their responses to climatic and anthropogenic factors in the Three Gorges Reservoir Region, China.

Natural and social environmental changes in the China's Three Gorges Reservoir Region (TGRR) have received worldwide attention. Identifying interannual changes in vegetation activities in the TGRR is an important task for assessing the impact these changes have on the local ecosystem. We used long-term (1982-2011) satellite-derived Normalized Difference Vegetation Index (NDVI) datasets and climatic and anthropogenic factors to analyze the spatiotemporal patterns of vegetation activities in the TGRR, as well as their links to changes in temperature (TEM), precipitation (PRE), downward radiation (RAD), and anthropogenic activities. At the whole TGRR regional scale, a statistically significant overall uptrend in NDVI variations was observed in 1982-2011. More specifically, there were two distinct periods with different trends split by a breakpoint in 1991: NDVI first sharply increased prior to 1991, and then showed a relatively weak rate of increase after 1991. At the pixel scale, most parts of the TGRR experienced increasing NDVI before the 1990s but different trend change types after the 1990s: trends were positive in forests in the northeastern parts, but negative in farmland in southwest parts of the TGRR. The TEM warming trend was the main climate-related driver of uptrending NDVI variations pre-1990s, and decreasing PRE was the main climate factor (42%) influencing the mid-western farmland areas' NDVI variations post-1990s. We also found that anthropogenic factors such as population density, man-made ecological restoration, and urbanization have notable impacts on the TGRR's NDVI variations. For example, large overall trend slopes in NDVI were more likely to appear in TGRR regions with large fractions of ecological restoration within the last two decades. The findings of this study may help to build a better understanding of the mechanics of NDVI variations in the periods before and during TGDP construction for ongoing ecosystem monitoring and assessment in the post-TGDP period.