International Association of Geodesy

 

Sub-commission 4.1: Multi-sensor Systems

COMMISSION 4: Positioning and Applications

   
 

Terms of Reference
Steering Committee
Sub-Commission 4.1 Members
 

WG 4.1.1
WG 4.1.2
WG 4.1.3

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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Welcome to Sub-commission 4.1: Multi-sensor Systems

 

2003-2007

 

Terms of Reference

To coordinate research and other activities that address the broader areas of multi-sensor system theory and applications, with a special emphasis on integrated guidance, navigation, positioning and orientation of airborne and land-based platform. The primary sensors of interest will be Global Navigation Satellite Systems (GNSS) and inertial navigation systems; however the important role of other techniques used for indoor and pedestrian navigation is also recognized. The SC will carry out its work in close cooperation with other IAG Entities, as well as via linkages with relevant scientific and professional organizations such as ISPRS, FIG, IEEE, ION.

Objectives:

  • To follow the technical advances in navigation sensors and algorithms, including autonomous vehicle navigation, based on:
    - positioning sensors and techniques such as GPS (and pseudolites), INS, including MEMS IMU, wheel sensors, ultrasonic and magnetic sensors, and
    - positioning methods based on celluar network and their combination with GPS.
  • To follow the technical advances in mapping sensors, such as CCD cameras, laser range finders, laser scanners and radar devices.
  • To standardize definitions and measurements of sensor-related parameters.
  • To study and report on the performance of standalone and integrated navigation systems.
  • To stimulate new ideas and innovation in:
    - navigation algorithms, sensor calibration, synchronization and inter-calibration,
    - real-time sensor information processing and georeferencing o sensor and data fusion, and
    - automation techniques for information extraction from multi-sensor systems using expert systems.
  • To study and monitor the progress in new applications (not limited to conventional mapping) of multi-sensor systems (transportation, engineering, car navigation, personal navigation, indoor navigation, etc.).
  • To promote research and collaboration with countries with no or limited access to modern multi-sensor technology.

 

Steering Committee:

 

Sub-commission 4.1 Members:

  • Kai Borre
    University of Aalborg
    Institut 8
    Niels Jernes Vej 14, rum 4-333
    9220 Aalborg 0, Denmark
  • Shyam Chakraborty
    Communication Laboratory
    Dept. of ECE
    Helsinki University of Technology,
    Otakaari 5A, P.O. Box 3000
    FIN 02015 HUT, Finland
  • Bertrand Merminod
    Swiss Federal Institute of Technology (EPFL)
    Faculté ENAC - Institut du Développement Territorial - Géomatique
    Laboratoire de Topométrie
    Bâtiment GR
    CH-1015 Lausanne, Switzerland

    URL: http://topo.epfl.ch/
  • Dieter Pfoser
    Data and Knowledge Engineering Group
    Research Unit 3
    Research Academic Computer Technology Institute
    Akteou 11 & Poulopoulou Str.
    11851 Thisseio
    Athens, Greece
    URL: http://dke.cti.gr/
  • Martin Wagner
    Institut fuer Informatik (I1)
    TU Muenchen
    Boltzmannstr. 3, D-85748 Garching b. Muenchen, Germany

 

Sub-commission 4.1 News and Updates:

  • SC4.1 Steering Committee was held in Kunming, China, during the 4th International Symposium on MMT, Kunming China, March 28-31, 2004. Several issues related to the definition of membership, WG current activities and the plans for the future, linkages to other professional organizations, and joint sessions/meetings with other Sub-Commissions were discussed.
  • ION Annual Meeting, Dayton, OH, June 7-9, 2004: SC 4.1, in collaboration with Commission 2, organized three sessions on Geodetic and Geoinformation Science, where a number of SC4.1 members presented their research work (see: http://www.ion.org/meetings/am2004program.cfm) Sessions were organized and chaired by Dorota Brzezinska and Chris Jekeli of The Ohio State University.
  • The SC4.1 will be well represented at the 2004 International Symposium on GPS/GNSS (GNSS2004), Sydney, 6-8 December 2004. Jinling Wang (University of New South Wales), a member of the SC4.1. Steering Committee, is the convener of this meeting, Chris Rizos (University of New South Wales), president of Commission 4, is a chair of the Scientific Committee, and Dorota Brzezinska (The Ohio State University) plans to attend.
  • The SC4.1 will be well represented at the XXth ISPRS congress, Istanbul July 15-22, where a special session  on Mobile Multi-Sensor Systems will take place (collaboration between IAG, FIG and ISPRS). The session is co-chaired by Naser El-Shemy (University of Calgary), Dorota Brzezinska (The Ohio State University) and Antonio Vettore (University of Padua)
  • SC 4.1 is involved in organizing the 5th International Symposium on Mobile Mapping Technology, Padua Italy, 2006. Naser El-Sheimy (University of Calgary) was selected a co-convener and a chair of the Scientific Committee and Dorota Brzezinska (The Ohio State University) was selected co-chair of the Scientific Committee. It is organized in collaboration with FIG.
  • A joint symposium  of SC4.1, SC4.2 and SC4.4. will be held in 2006 (most probably early September) as a follow-on to the 2nd Symposium on Geodesy for Geotechnical and Structural Engineering  held in Berlin in 2002. All three SC have communicated on that subject and will work together on the symposium preparation
  • Currently, Dorota Brzezinska (The Ohio State University) is involved in investigating the possibility of establish the collaboration with the American Institute of Navigation (ION). As the ION Council member, she prepared and presented a proposal to the ION Council  in June 2004. As a result, a Sub-Committe of the ION Outreach Committee on Cooperation w/ Other Professional Societies was formed (chaired by Dorota Brzezinska), and charged with a task of investigating terms and conditions for establishing professional collaboration with sister organizations, including IAG.

 

Sub-commission 4.1 Working Groups

WG4.1.1 Advances in Inertial Navigation and Error Modeling Algorithms

Chair: Sameh Nassar (Canada)
Co-Chair: Jay Kwon (USA)

Terms of Reference: To study and report the performance of the currently used inertial error modeling algorithms, and to promote the development of new methods and techniques for modeling inertial sensor errors. To implement innovative ideas for processing inertial data and integrating inertial systems with other sensors. To report the advances in the development of new inertial sensor technologies.

WG4.1.1 members:

Walid Abdelhamid (Canada)
Kai-Wei Chiang (Canada)
Mahmoud El-Gizawy (Canada)
Thilanka Galappaththi (Canada)
Haiying Hou (Canada)
Christopher Jekeli (USA)
Hong-Kyu Lee (Australia)
Xiaoji Niu (Canada)
Abouelmagd Noureldin (Canada)
Charles Toth (USA)
Yudan Yi (USA)

The current activities of WG 4.1.1 include multi-sensor system integration (INS, GPS, MEMS), direct georeferencing, airborne gravimetry, inertial systems error modeling (autoregressive models, neural networks, fuzzy logic, federated Kalman filters), performance evaluation of currently used inertial error models for all sensor types (high quality, medium quality and low-cost, wavelet multi-resolution analysis, stochastic modeling of inertial sensor errors and optimal estimation techniques. Innovative ideas are investigated and implemented in integrating INS with GPS and other sensors (wavelet multi-resolution analysis) and effective methods for handling inertial sensor data are studied and applied (wavelet de-noising, thresholding techniques, FIR filters).

In particular, Dr. Sameh Nassar, a team member of the The Mobile Multi-Sensor Systems (MMSS) research group at the University of Calgary, conducts research in the integration and optimal combination of multi-sensors for position, location, navigation, attitude determination and GIS applications. These sensors include: GPS, INS, imaging and thermal cameras, MEMS sensors, digital compass, laser scanner and odometers. The integration of these sensors is performed for personal, road vehicle, shipborne and airborne mobile navigation.

At the Ohio State University, Dr. Jay Kwon and Prof. Christopher Jekeli are conducting research on the development of an optimal gravity compensation algorithm for the next-generation inertial navigation system based on atom interferometry. Development of stochastic and deterministic gravity modeling, and combining the gravity from external source to achieve the precision navigation solution are being investigated. In addition, the mobile mapping research group at OSU conducts research on stochastic error modeling for the MEMS IMU sensors, improved gravity compensation for inertial navigation, integration of IMU sensors with other aiding sensors, such as pseudolites, and their performance analysis, and tight integration of navigation and imaging components for high-accuracy navigation and mapping.

The research conducted at the University of New South Wales by Hung-Kyu Lee and others is focused on the development and testing of multi-sensor integration algorithms and methodologies for precise positioning and navigation applications. The significant contributions are in the areas of Kalman filter design and performance analysis for high precision GPS/INS integration, development and testing of locally-augmented GPS/INS integration system (e.g., integration of GPS/INS with ground-based pseudolites) and GPS multi-antenna system to determine vehicle’s attitude, GPS carrier phase ambiguity resolution and cycle slip detection/identification, and analysis of GPS/Galileo receiver autonomous integrity monitoring. In particular, the approach for integrating GPS/Pseudolite/INS has the potential to provide precise navigation solutions (i.e., position, velocity, and attitude information) even under harsh GPS operational environments where insufficient satellites are tracked.

For more information on the current activities of WG4.1.1 click here:
http://www.geomatics.ucalgary.ca/research/MMSensor/team/associates/sameh/index.php and http://www.cfm.ohio-state.edu/research/research.html

WG 4.1.1 News
July 2004:
The WG 4.1.1 is currently working on analyzing and enhancing the navigation accuracy of INS, MEMS, INS/GPS and MEMS/GPS using different techniques, such as: wavelet denoising, wavelet multi-resolution analysis, neural networks, autoregressive models, inertial parametric error models, cascade denoising algorithms, adaptive pre-filtering, neuro-fuzzy systems and Allan Variance analysis. Moreover, the WG members at University of Calgary made a field test for their own MEMS IMU (a sensor triad composed of MEMS gyros and accelerometers). The preliminary results seem to be satisfying since the average position error after 30 sec GPS outages is 20-30m. There will be a strong representation of the WG members in the next ION GPS conference (Long Beach, September 2004) and also in the ION NTM (San Diego, January 2005).

Sensor Integration and Mobile Mapping research group at OSU (Prof. Dorota Brzezinska, Dr. Charles Toth, Yudan Yi , Eva Paska, Nora Csanyi and Shahram Moafipoor) conducts research on high-performance integrated sensor systems, including GPS/IMU integration, stochastic error modeling for the MEMS IMU sensors, improved gravity compensation for inertial navigation, integration of IMU sensors with other aiding sensors, such as pseudolites, and their performance analysis, and tight integration of navigation and imaging components for high-accuracy navigation and mapping.  In particular, in the past three months we have been working on assembling a multi-sensor mobile platform that includes multiple IMU systems of various grades, such as navigation grade 0.003°/h LN100, Litton Systems and H764G, Honeywell, tactical grade H1700-AG11 rated at 1°/hr and H1700-AG17 rated at between 3 and 5 °/hr, and a consumer grade Crossbow MEMS IMU400CC-100 rated at 1°/s. The primary objective of this experiment is to test the accuracy, noise level and error modeling of the lower grade IMUs, based on the reference high-end sensors. The better understanding of the characteristics of the lower-grade IMUs is essential to determine their applicability in a wide range of mapping applications. Number of static and some kinemtaic tests were performed so far, and we are currently focusing on detailed data analysis.

Another to topic of interest is the extended gravity compensation in the strapdown algorithm. Based on our AIMS system software, we have expanded the gravity compensation module by adding 2 min by 2 min NGA Deflection of the Vertical (DOV) model. As a result, the accuracy of the attitude determination improved at the level comparable to the compensated DOVs; some improvement was also achieved in horizontal coordinates. This work is sponsored by National Geospatial-Intelligence Agency (NGA). The next step is to study the effect of gravity compensation in terms of its contribution to the feature extraction and target positioning accuracy. It is assumed that remote targets are identified in directly oriented (GPS/INS) imagery, and thus, the effects of sensor accuracy and sensor calibration quality on the overall target coordinate accuracy must be considered. Digital camera models and LiDAR systems will be taken into account as means of target image acquisition and visualization. A significant aspect of this study will be the assessment of the gravity compensation effects in airborne and land-based positioning/targeting. The focus will be on the high-end GPS/INS systems, supporting high-performance airborne targeting/intelligence gathering with conventional electro-optical sensors. Simulating several different system combinations under different mission conditions and in various physical environments will be used to quantify and validate the results and to generate Quality Control/Quality Assurance (QC/QA) metrics that will reflect the optimal target coordinate accuracy for each situation and sensor combination used.

Recently, NGA awarded another project to our group. The focus of our research work under this new grant will be on land-based outdoor/indoor navigation. The primary objective of the proposed research is to develop a prototype of a seamless and dependable personal navigator to support navigation and tracking of ground military and rescue personnel. Recent developments in sensor technology are reaching the point when such systems may soon become feasible for implementation and consequently for operational deployment. This research aims at forming the theoretical foundations for such systems by developing the algorithmic concept of a basic GPS-based, Micro-elector-mechanical inertial measurement unit (MEMS IMU)-augmented personal navigator system with an open-ended architecture, which would be able to incorporate additional navigation and imaging sensor data, extending the system’s operations to indoor environments. The performance of the current MEMS IMUs is not yet at the desired level to support a personal navigator at the required performance specifications (3-5 m CEP (circular error probable)). However, assuming that the current trend in performance improvement continues, it is realistic to expect that within the time frame of the project, the prototype can be tested with one of the upcoming high-accuracy MEMS IMUs (an ongoing research in this area is sponsored by DARPA). Clearly, before such MEMS IMUs become available, use of simulations in the early stage of our research is indispensable, while the timely start of this effort can assure the shortest time before introducing personal navigators into mainstream military and rescue operations.

The study on the gravity compensation for precision INS navigation is being continued by Dr. Jay Kwon and Prof. Christopher Jekeli at the OSU. They finished the initial analysis on the traditional gravity compensation methods by investigating the effect of the direct and stochastic gravity modeling on the navigation solution with various noise levels and intervals on gravity data. Real gravity data from two different regions are used for the analysis, and direct representation and 2/3-D stochastic modeling of the gravity field were compared in terms of the accuracy in the navigation solution.  Now, they are investigating the accuracy of the upward continuation problems.  In addition, the effort on the development of a filter combining the gravity from external source is being continued.

April 2004:
The following papers were presented at the ION NTM 2004 in San Diego, California:
Nassar, S., K. P. Schwarz and N. El-Sheimy. 2004. INS and INS/GPS Accuracy Improvement Using Autoregressive (AR) Modeling of INS Sensor Errors. Proceedings of The Institute of Navigation (ION) National Technical Meeting (NTM 2004), San Diego, California, USA, January 26-28, 2004.

Abdelhamid, W., A. Osman, A. Noureldin and N. El-Sheimy. 2004. Improving the Performance of MEMS-based Inertial Sensors by Removing Short-Term Errors Utilizing Wavelet Multi-Resolution Analysis. Proceedings of The Institute of Navigation (ION) National Technical Meeting (NTM 2004), San Diego, California, USA, January 26-28, 2004.

The following paper will be presented at the upcoming MMT 2004, March 29-31, 2004 in Kunming, China:
Chiang, K. W. and N. El-Sheimy. 2004. The Performance Analysis of Neural Network Based INS/GPS Integration Method for Land Vehicle Navigation. Proceedings of The 4th International Symposium on Mobile Mapping Technology (MMT' 2004), Kunming, China, March 29-31, 2001.

 

WG4.1.2 Indoor and Pedestrian Navigation

Chair: Guenther Retscher (Austria)
Co-Chair: Bertrand Merminod (Switzerland)

Terms of Reference: To promote research and development in the area of indoor and pedestrian navigation using multi-sensor integrated systems, based on medium to low-accuracy small-sized inertial systems, including micro-electro-mechanical systems (MEMS), and other positioning sensors, such as wheel sensors, ultrasonic and magnetic sensors, integrated with imaging sensors. To report progress on positioning methods based on cellular networks and their combination with GPS.

WG4.1.2 members:

Kai Borre (Denmark)
Shyam Chakraborty (Finland)
Wu Chen (Hong Kong)
Jussi Collin (Finland)
Dirk Dörschlag (Germany)
Georg Gartner (Austria)
Allison Kealy (Australia)
Changdon Kee (Korea)
Thomas H. Kolbe (Germany)
Oleg A. Mezentsev (Canada)
Esmond Chi-min Mok (Hong Kong)
Joseph Newmann (Austria)
Silvia Nittel (USA)
Chan Gook Park (Korea)
Dieter Pfoser (Greece)
Ilir F. Progri (USA)
Tumasch Reichenbacher (Germany)
Gerhard Reitmayr (Austria)
Kai-Florian Richter (Germany)
Kåre Synnes (Sweden)
Agnès Voisard (Germany)
Martin Wagner (Germany)
Gregory Francis Welch (USA)
Stephan Winter (Australia)

The primary focus of WG4.1.2 is currently on the development of pedestrian navigation and guidance systems and location based services. This topic is addressed in the new research project, NAVIO: Pedestrian Navigation Systems in Combined Indoor/Outdoor Environments (http://info.tuwien.ac.at/ingeo/research/resproj5.htm), conducted by the Research Group II: Multi-Sensor Systems, Navigation and Machine Guidance of the Department of Applied and Engineering Geodesy, Vienna University of Technology.

In this project, a specific pedestrian navigation service we will selected, as an application case: visitors arriving at the close-by stops of the public transportation will be automatically guided to the departments and personnel at the Vienna University of Technology. This application case allows deriving the requirements on positioning, route planning, and communication for pedestrians. This project results will contribute to the methodical foundations and the basic knowledge in terms of:

  • integration of location sensors and seamless transition of positioning between indoor and outdoor areas,
  • ontology of pedestrian navigation: route selection criteria, appropriate route optimization strategies, and route structures, and
  • models for context-dependent communication modes of route information;

and thus, in general, it will enable future service developers to facilitate more enhanced services using the state-of-the-art technologies, and will enable an easy access to spatial information for the citizens.

For more information on the current activities of WG4.1.2 click here:
http://info.tuwien.ac.at/ingeo/research/resindex.htm

WG 4.1.2 News
July 2006:
US Patent 7,079,025, July 18, 2006, W.R. Michalson and I.F. Progri
Reconfigurable geolocation system
A portable reconfigurable geolocation system is provided. The system includes a portable user node and one or more portable pseudolite nodes in communication one another and with the user node. Each of the user nodes and pseudolite nodes includes a transmitter that generates a signal on one or more carrier frequencies. Each signal is modulated with digital signals necessary to establish distances between the nodes and to convey data between the nodes. Each node also includes a receiver for receiving and demodulating the signals transmitted between the nodes, and a processor for receiving the demodulated signals, extracting data values and derived values from the demodulated signals and determining a three-dimensional position of each node in the system.
Inventors:
Michalson; William R. (Charlton, MA); Progri; Ilir F. (Worcester, MA)
Assignee: Worcester Polytechnic Institute (Worcester, MA)
Appl. No.: 10/459,724
Filed: June 11, 2003

Hemish K. Parikh, R. James Duckworth and William R. Michalson, MC-UWB Precise Positioning System - Field Tests and Effects of Multipath, GNSS 2005.

R. James Duckworth, Hemish K. Parikh and William R. Michalson, Radio Design and Performance Analysis of Multi Carrier-Ultrawideband (MC-UWB) Positioning System, NTM 2005.

Hemish K. Parikh, William R. Michalson and R. James Duckworth, Performance Evaluation of the RF Receiver for Precise Positioning System, GNSS 2004.

Y. Y. Chung, M. Dedeaux, J. Miyamoto, S. Galicia, J. Lim, I. F. Progri, and R. Cockrum, The simulation and implementation of the acquisition of a 1-D C-CDMA indoor geolocation system, Proc. ION-NTM 2006, Monterey, CA
.

D. Abdel-Masih, P. Cam, M. Hernandez, A. Bawany, R. Madrid, I. F. Progri, and R. Cockrum, A C-CDMA transmitter design, Proc. ION-NTM 2006, Monterey, CA.

July 2004:
The IAG WG 4.1.2 on Indoor and Pedestrian Navigation has currently 25 members from 12 different countries. The chairs and a few members of the WG met at the 4th International Symposium on Mobile Mapping Technologies in Kunming, China in the end of March 2004. At this conference, some papers of the WG members were presented (see the Symposium program at http://www.geoict.net/mmt2003/index.htm). Several WG members will meet again and present their research work at the next ION GNSS conference, which will be held in Long Beach, CA, USA in September 2004. A meeting of all WG members should take place at a joint symposium organized by IAG Sub-Commission SC 4.1, 4.2 and 4.4 in 2006 in Austria.

April 2004:
Dr. Guentehr Retscher was invited by the European Commission to present the research conducted by his research group and the WG 4.1.1 on pedestrian navigation at the workshop on Location-based Technologies, Services and Applications on March 8, 2004 in Brussels. The workshop papers can be found at 
http://www.cordis.lu/ist/directorate_d/cnt/pubar/wshop/wshop_040308.htm

For future updates on the WG 4.1.2 activities see the upcoming website:
(
http://info.tuwien.ac.at/ingeo/sc4/wg412.htm).

 

WG4.1.3 Advances in MEMS Technology and Applications

 

Chair: Mikel Miller (USA)
Co-Chair: Jan Skaloud (Switzerland)

 

Terms of Reference: To promote research into the development and integration of micro-electro-mechanical systems (MEMS) based inertial measurement units (IMU) that have practical applications to engineering and mapping. To promote research and development into precise, low-cost, low-power, small-sized, and high reliability IMU's for integration with other position, navigation, attitude, and time systems.

 

WG4.1.3 members:

 

Etienne Favey (Switzerland), URL: http://www.u-blox.com/
Silvio Gnepf (Switzerland),
URL: http://www.vectronix.ch/
Quentin Ladetto (Switzerland),
URL: http://www.geomatic.ch/

 

WG 4.1.3 currently targets the development of methods for providing smaller and more accurate kinematic survey systems, the optimal selection of sensors for specific applications, and the creation of new applications. The fast technical evolution in sensors creates an exciting and challenging environment for applied research in this field. The dream applications of yesterday are coming true today. The ultimate goal of WG4.1.3 is to set-up systems for detecting motion of different platforms in real-time or post-mission with an accuracy performance matching the application need. The trade-off is in the system performance versus its complexity and size, power consumption and the acquisition cost.

 

For more information on the current activities of WG4.1.2 click here:
http://topo.epfl.ch/recherche/ and

http://topo.epfl.ch/personnes/jsk/research/research.htm

 

For additional details see publications for more news of WG4.1.2 activities, see http://topo.epfl.ch

 

WG 4.1.3 News
July 2004:
Laboratory of Geodetic Engineering (TOPO) at EPFL (Swiss Federal Institute of Technology) and Leica-Vectronix initiated a collaboration on exploring the new techniques for precise azimuth determination.

 

International collaboration Between Laboratory of Geodetic Engineering (TOPO) at EPFL and KMS (Danish National Survey Agency) is focused on prototyping and pilot testing of a hand-held GPS/INS/CCD/LIDAR system for precise and automated 3D mapping from a helicopter.

 

Laboratory of Geodetic Engineering (TOPO) participates at Speed Skiing World-Cup circuit to optimize the placement of photoelectrical timing cells. This optimization leads to breaking the 200 km/h speed barrier for the first time on home-land territory. The research behind this success involves precise trajectory determination by RTK-GPS methods, trajectory filtering and smoothing and GSM/GPRS communication.

 

Events: Laboratory of Geodetic Engineering (TOPO/EPFL), Swiss Institute of Navigation and Swiss Association of Sensors Technology jointly organized the "Navigation Research Day" held in Lausanne on March 23, 2004.

 

 


This web site is maintained by Dorota Brzezinska
Copyright © 2004