Browse Topic: Global positioning systems (GPS)

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GPS-BASED MOBILITY POWER ANALYSIS OF MILITARY VEHICLES2024-01-331111/15/2024
ABSTRACT Determining the required power for the tractive elements of off-road vehicles has always been a critical aspect of the design process for military vehicles. In recent years, military vehicles have been equipped with hybrid, diesel-electric drives to improve stealth capabilities. The electric motors that power the wheel or tracks require an accurate estimation of the power and duty cycle for a vehicle during certain operating conditions. To meet this demand, a GPS-based mobility power model was developed to predict the duty cycle and energy requirements of off-road vehicles. The dynamic vehicle parameters needed to estimate the forces developed during locomotion are determined from the GPS data, and these forces include the following: the gravitational, acceleration, motion resistance, aerodynamic drag, and drawbar forces. Initial application of the mobility power concept began when three U.S. military’s Stryker vehicles were equipped with GPS receivers while conducting a proofing mission at the Pohakuloa Training Area (PTA) in Hawaii on a soil with a known rating cone index (RCI). An analysis was conducted on the GPS data which allowed for the variation in the Stryker’s mobility power to be estimated as the vehicle traversed the terrain. The subsequent power duty cycle and required energy for the vehicle was determined along with predicted specific energy consumption and production values. Initial validation of the mobility power model began by tracking a hybrid 2006 Toyota Highlander during acceleration tests and on-road maneuvers. The model had an R2 and average absolute percent error of 0.91 and 12.9% respectively during the acceleration tests. The predicted and measured mobility power duty cycles were similar during the on-road maneuvers while an R2 and average absolute error of 0.44 and 7.1 kW was attained.
Ayers, Paul, Bozdech, George
Studies on Simulation and Real Time Implementation of LQG Controller for Autonomous Navigation2021-01-01084/6/2021
The advancement in embedded systems and positional accuracy with base station GPS modules created opportunity to develop high performance autonomous ground vehicles. However, the development of vehicle model and making accurate state estimations play vital role in reducing the cross track error. The present research focus on developing Linear Quadratic Gaussian (LQG) with Kalman estimator for autonomous ground vehicle to track various routes, that are made with the series of waypoints. The model developed in the LQG controller is a kinematic bicycle model, which mimics 1/5th scale truck. Further, the cubic spline fit has been used to connect the waypoints and generate the continuous desired/target path. The testing and implementation has been done at APS labs, MTU on the mentioned vehicle to study the performance of controller. Python has been used for simulations, controller coding and interfacing the sensors with controller. From the results, it has been confirmed that, the vehicle is able to track the given path within the cross track error of ±0.2m.
Dudekula, Ahammad Basha, Naber, Jeffrey
3D Printing of Plastics with Electrical CircuitsTBMG-359732/1/2020
Engineers have embedded high-performance electrical circuits inside 3D-printed plastics, which could lead to smaller and versatile drones and better-performing small satellites, biomedical implants, and smart structures.
WiFi-Based Technique Measures Speed and Distance of Indoor MovementTBMG-3561012/1/2019
A technique was developed that uses a combination of WiFi signals and accelerometer technology to track devices in near-real-time. The WiFi-assisted Inertial Odometry (WIO) technique uses WiFi as a velocity sensor to accurately track how far something has moved — similar to sonar but using radio waves instead of sound waves.
ISP-Vehicle Location Referencing StandardJ1746_201910 (Current)10/3/2019
This SAE Standard is intended to be used for the communication of spatial data references between central sites and mobile vehicles on roads. References can be communicated from central site to vehicles, or from vehicles to central sites. The document may also be used where appropriate by other ITS applications requiring location references between data sets.
Motor Vehicle Council
Defeating Commercial Drone Threats with Open-Source SDRTBMG-3535310/1/2019
It’s nearly impossible to look at technology news without seeing an article about drones. Whether detailing how Amazon wants to use drones to deliver packages or revealing amazing aerial video of drones following Olympic snow-boarders, commercial drones are ubiquitous. Drone emergence has benefited many applications including sports broadcasting and wildlife preservation wilderness surveys. Offering powerful, intelligent software, drones are becoming less expensive and easier to use, with substantial operating range.
Technique Locates Robots and Humans in GPS-Challenged EnvironmentsTBMG-3527810/1/2019
An algorithm enables localization of humans and robots in areas where GPS is unavailable. The Army needs to be able to localize agents operating in physically complex, unknown, and infrastructure-poor environments. This capability is critical to help find dismounted soldiers and for humans and robotic agents to team together effectively.
Land Combat MissileTBMG-348608/1/2019
MBDA Incorporated Arlington, VA 703-387-7139
Location Referencing Message Specification (LRMS)J2266_201906 (Current)6/11/2019
The Location Referencing Message Specification (LRMS) standardizes location referencing for ITS applications that require the communication of spatial data references between databases. ITS databases may reside in central sites, vehicles, or devices on or off roads or other transportation links. The LRMS is applicable to both homogeneous (same database) and mixed database environments that may be implemented on wireless or landline networks. While developed for ITS applications, the LRMS may be used for non-ITS applications as well within the field of geographic information processing.
V2X Core Technical Committee
The North Dakota Citation Research Aircraft Measurement Platform2019-01-19906/10/2019
The North Dakota Citation Research Aircraft is a Cessna Citation II twin-engine fan-jet aircraft modified to be an atmospheric research platform that has been used on many field projects since the 1970s. The typical sampling speed of the modified Citation II is 160 knots indicated air speed (IAS), with sampling at altitudes up to 12.1 km (40,000 ft). The Citation Research Aircraft was operated by the University of North Dakota (UND) for many years but is now operated by Weather Modification International (WMI) of Fargo, North Dakota. WMI and UND together provide a unique test facility that is capable of deploying a wide range of instrumentation. WMI has the experience to install the custom instrumentation required for a specific field project and the expertise to conduct the most demanding aircraft sampling, including thunderstorm in-situ measurements. UND provides scientific know-how on obtaining measurements at the required accuracy and experience to ensure instruments are performing well. Robust, open-source software tested for over 15 years provides the ability to quickly process data to enable analysis to begin shortly after completion of an aircraft flight. Visualization software allows observations to be efficiently quality-assured, which enables timely creation of a final data set that can be analyzed to meet each project’s scientific objectives. Past and ongoing projects include working with large and small companies to test airborne instruments and conduct natural icing studies. Specialized data processing methods have been implemented to obtain the liquid and total water content measurements at high accuracy. With continuing reduction in the size and power requirements of instrumentation, the future will allow the North Dakota Citation Research Aircraft to make an increasing number of observations which utilize more sophisticated processing software.
Delene, David, Hibert, Kurt, Poellot, Michael, Brackin, Neil
Advanced Technology, Lightweight, Multifunctional Micro-avionics for Manned and Unmanned Rotorcraft Enhance Operational Capability of Future Vertical Lift PlatformsF-0075-2019-145495/13/2019
Emerging microelectronic technologies are expanding functionalities for future decades of vertical lift platforms, enabling both manned and unmanned rotorcraft to fully and safely participate in the NextGen National Airspace System. Specifically, for rotorcraft, benefits from expanded multi-functionality and reduced weight and space requirements, for both mandatory and desired optional avionics, are entering advanced development and flight-testing stages prior to being available to all users. One has only to think about the incredible, multifunctional capabilities of a smartphone to imagine what is possible in avionics with today's advanced technology. This presentation discusses achievements that only a few years ago were beyond imagination – miniaturized avionics that fully employ tiny but powerful digital processors and software defined multi-functional systems on a single chip are rapidly obsoleting the "black boxes" of the past. For both manned and unmanned rotorcraft systems, the benefits must be validated; and when proven valid, are immense in terms of lighter weight, tiny form factors, and lower costs. This presentation also addresses validation of ADS-B2, which depends on verification of GPS signals with technological approaches that counter potential malicious spoofing, jamming and interference.
Contarino, RaNae, Healing, Richard, Contarino, V.
Localization and Mapping of Unknown Locations with Unmanned Ground VehiclesTBMG-343405/1/2019
The main goals of this research are to enhance a commercial off-the-shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field- testing.
Robust Validation Platform of Autonomous Capability for Commercial Vehicles2019-01-06864/2/2019
Global deployment of autonomous capability for commercial vehicles is a big challenge. In order to improve the robustness of autonomous approach under different traffic scenarios, environments, road conditions, and driver behaviors, a combined approach of virtual simulation, vehicle-in-the-loop (VIL) testing, proving ground testing, and final field testing have been established for algorithms validation. During the validation platform setup, different platforms for different functionalities have been studied, including open source virtual testing environment (CARLA, AirSim), and commercial one (IPG). We also cooperate with MCity to do proving ground validation. In virtual testing, the functionality of sensors (camera, radar, Lidar, GPS, IMU) and vehicle dynamic models can be applied in the virtual environment. In VIL testing, real world and virtual test will be connected for different validation purposes. The proving ground testing will be performed in real environment with rich scenarios and high safety. Several challenges have been overcome during implementation, including data transmission, computing time, sensor system consistency, vehicle dynamic model consistency and etc. In this paper, a robust autonomous driving validation platform, including perception, planning and control algorithm, will be introduced in different virtual and physical validation approaches. Several test case studies for algorithm testing will be discussed. And conclusions will be made on the established validation platforms and next steps for the development and improvement of commercial vehicle’s autonomous capability.
Sun, Yong, Li, Hanxiang, Peng, Weilun
Reconstructing Vehicle Dynamics from On-Board Event Data2019-01-06324/2/2019
Modern vehicles record dynamic data from a number of on-board sensors for events that could precede a crash. These data can be used to reconstruct the behavior of a vehicle, although the accuracy of these reconstructions has not yet been quantified. Here, we evaluated various methods of reconstructing the vehicle kinematics of a 2017 and a 2018 Toyota Corolla based on Vehicle Control History (VCH) data from overlapping events generated by the pre-collision system (PCS), sudden braking (SB) and anti-lock brake (ABS) activation. The vehicles were driven towards a stationary target at 32-64 km/h (20-40 mph) and then after the pre-collision alarm sounded the vehicle was steered sharply right or left and braked rapidly to rest. VCH data for PCS event were recorded at 2 Hz and for the sudden braking and ABS activation events at 6.7 Hz. The steering wheel angle and the vehicle’s longitudinal acceleration, lateral acceleration, and angular rate data were extracted and used to predict the vehicle position and heading over the duration of the VCH data record preceding the vehicle coming to rest. These predictions were generated by directly integrating the VCH data and by using the VCH data as inputs to PC-Crash simulations. The predicted positions and headings were then compared to the actual position and heading data measured using differential GPS synchronized to the VCH data record. The results of these analyses provide insights into the best methods for reconstructing vehicle kinematics from VCH data and estimates of the errors associated with different reconstruction techniques.
Tsuge, Brandon, Yang, Mike, Flynn, Thomas, Xing, Peter, Lawrence, Jonathan, Heinrichs, Bradley, Siegmund, Gunter
Not drive-by-wire-drive-by-CAN19AUTP04_134/1/2019
Test-system specialist AB Dynamics has developed new drive-by-wire technology that enables test vehicles-including autonomous vehicles (AVs)-to be driven entirely via a CAN or ethernet connection, without the need for a human driver or bulky physical robotic actuators. Positioned as a cost- and hardware-saving alternative, the Flex-0 system complements existing driving-robot systems and is already in use by Volvo for a range of advanced test applications. According to Andrew Pick, business director at Track Test Systems, widespread use of electronic vehicles systems permitted AB Dynamics an opportunity to control the vehicle directly through its CAN network, using a path-following approach but eliminating much of the test hardware that is normally required.
Birch, Stuart
Quantum Radio Aids Communications and MappingTBMG-341644/1/2019
GPS signals do not penetrate very deeply or at all in water, soil, or building walls, and therefore can’t be used by submarines or in underground activities such as surveying mines. GPS also may not work well indoors or even outdoors among city skyscrapers. For soldiers, radio signals may be blocked in environments cluttered by rubble or many interfering electromagnetic devices during military or disaster recovery missions.
Walking Robot Moves Without GPSTBMG-338702/27/2019
Ants are able to use polarized light and ultraviolet radiation to locate themselves in space. AntBot mimics this ability to explore its environment randomly and go home automatically, without GPS or mapping.
Using Sound Waves to Produce Optical IsolatorsTBMG-3340512/1/2018
There are challenges involved when using magnetically responsive materials to achieve the one-way flow of light in a photonic chip, including the ability to place compact magnets on a chip. In addition, the necessary materials are not yet available in photonics foundries, creating the need for a better approach that uses only conventional materials and avoids magnetic fields.
Transmitted Enhanced Loran (eLoran) Signal Standard for 9th Pulse ModulationSAE9990/2 (Current)9/17/2018
This eLoran transmitted signal standard provides technical descriptions of the data channel using ninth pulse modulation techniques. The eLoran transmitted signal standard, to which this data channel technique applies, is part of the SAE9990 family of standards covering data channels, receiver specifications, and recommended practices for eLoran.
PNT Position, Navigation, and Timing
Transmitted Enhanced Loran (eLoran) Signal Standard for Tri-State Pulse Position ModulationSAE9990/1 (Current)9/17/2018
This eLoran transmitted signal standard provides technical descriptions of a data channel based on the tri-state pulse position modulation technique. The eLoran transmitted signal standard, to which this data channel technique applies, is part of the SAE9990 family of standards covering data channels, receiver specifications, and recommended practices for eLoran.
PNT Position, Navigation, and Timing
Transmitted Enhanced Loran (eLoran) Signal StandardSAE9990 (Current)9/13/2018
This transmitted eLoran signal standard provides technical descriptions of the waveform, specifications, and explanations. The data channel, receiver specification, and recommended practices are described in the SAE9990 family of standards.
PNT Position, Navigation, and Timing
0D Modeling of Real-Driving NOx Emissions for a Diesel Passenger Vehicle2018-01-17619/10/2018
NOx emissions from diesel passenger vehicles affect the atmospheric environment. It is difficult to evaluate the NOx emissions influenced by environmental conditions such as humidity and temperature, traffic conditions, driving patterns, etc. In the authors’ previous study, real-driving experiments were performed on city and highway routes using a diesel passenger car with only an exhaust gas recirculation system. A statistical prediction model of NOx emissions was considered for simple estimations in the real world using instantaneous vehicle data measured by the portable emissions measurement system and global positioning system. The prediction model consisted of explanatory variables, such as velocity, acceleration, road gradient, and position of transmission gear. Using the explanatory variables, NOx emissions on the city and highway routes was well predicted using a diesel vehicle without NOx reduction devices. However, the prediction model had some limitations owing to the effects of NOx reduction devices. In this study, among various NOx reduction systems, a diesel vehicle with NOx storage catalyst (NSC) was chosen to predict the NOx emissions under a catalytic system. To improve the accuracy of the NOx emissions under the NSC, a catalyst model was added to the prediction model and used to predict the catalyst properties. By adding the catalyst model, the accuracy of NOx emissions of the prediction model was improved compared to the previous prediction model with individual explanatory variables. The NOx emissions were well predicted compared to the measured data.
Kim, Sangmyeong, Kuboyama, Tatsuya, Moriyoshi, Yasuo, Suzuki, Hisakazu
Evaluation of the Powertrain Condition Based on the Car Acceleration and Coasting Data2018-01-17719/10/2018
Diagnosis of the car is a necessary means for early detection of developing malfunctions. A technique for diagnosing on a short road based on the acceleration in the second and third gears and coasting from 50 or 40 to 20 km/h is proposed. The results should be compared with the reference values calculated, taking into consideration the speed rolling resistance dependence, described by the square trinomial, the speed air resistance dependence with the variable exponent, the losses of the transmission idling mode and the progressive total resistances decrease at speeds below 25 km/h. The general speed dependence of the total resistance is described by a sixth-degree polynomial but not the second-degree one, as many researchers believe. The experimental check was performed on a subcompact sedan with 1.6 atmo engine. Weight of 1370 kg. First class road with an average rise of 0.0182, asphalt in good condition. There was no wind. Measuring and recording equipment: GPS receiver Magellan Triton 300, digital cameras Canon, an anemometer. The processing of video recordings was carried out in the Virtual Dub and MS Excel programs. The evaluation based on the acceleration and coasting times showed the engine technical condition better than the nominal one. According to the records of the II, III and IV gear’s torque curves were restored. The curves are far from the nominal steady-state curve, but are close to the chassis dynamometer curve. The reached torque value exceeds the maximum passport one by 5-10 Nm. So, the on-road diagnostics with simple equipment provides true information, suitable both for the vehicle condition assessing and for research.
Rabinovich, Ernest, Gritsuk, Igor V., Zuiev, Vladimir, Zenkin E.Y., Evgeny, Golovan, Andrii, Zybtsev, Yuriy, Volkov, Vladimir, Gerlici, Juraj, Kravchenko, Kateryna, Volska, Olena, Rudnichenko, Nickolay
Optical Seeker for Munitions SystemsTBMG-327378/1/2018
BAE Systems Nashua, NH 603-885-4321
Location Awareness Algorithm for Internet of Things DevicesTBMG-325198/1/2018
Positioning of wireless devices is centralized, depending on “anchors” with known locations such as cell towers or GPS satellites to communicate directly with each device. As the number of devices increases, anchors must be installed at higher density. Centralized positioning can become unwieldy as the number of items to track grows significantly.
Integrated Ultra-Wideband Tracking and Carbon Dioxide Sensing SystemTBMG-297107/1/2018
Recent findings indicate that frequent, short-term crew exposure to elevated CO2 levels, combined with other physiological impacts of microgravity, may lead to a number of detrimental effects, including loss of vision. To evaluate the risks associated with transient elevated CO2 levels and design effective countermeasures, doctors must have access to frequent CO2 measurements in the immediate vicinity of individual crewmembers along with simultaneous measurements of their location in the space environment. To achieve this goal, a small, low-power wearable system that integrates an accurate CO2 sensor with an ultra-wideband (UWB) radio capable of real-time location estimation and data communication is proposed. This system would be worn by crewmembers or mounted on a free-flyer, and would automatically gather and transmit sampled sensor data tagged with real-time, high-resolution location information.
GNSS LANDING SYSTEM SENSOR UNIT (GLSSU) WITH VHF DATA BROADCAST (VDB) RECEIVERARINC743C (Current)6/22/2018
This document sets forth the characteristics of the Global Navigation Satellite System (GNSS) Landing System Sensor Unit (GLSSU) with a built-in VHF Data Broadcast (VDB) receiver. The intent of this document is to provide general and specific design guidance for the development of GLSSU for airline use. It describes the desired operational capability of the GLSSU and the standards necessary to ensure interchangeability.
Airlines Electronic Engineering Committee
GNSS LANDING SYSTEM SENSOR UNIT (GLSSU)ARINC743B-1 (Current)6/22/2018
This document sets forth the characteristics of the GNSS Landing System Sensor Unit (GLSSU) intended for installation in commercial aircraft. The intent of this document is to provide general and specific design guidance for the development of GLSSU for airline use. It describes the desired operational capability of the GLSSU and the standards necessary to ensure interchangeability.
Airlines Electronic Engineering Committee
GNSS SENSORARINC743A-6 (Current)6/22/2018
This document sets forth the characteristics of the integrated Global Positioning System (GPS)/Global Orbiting Navigation Satellite System (GLONASS) sensor unit (GNSSU) portion of a GNSS system intended for installation in commercial aircraft. The intent of this document is to provide general and specific design guidance for the development of GNSS sensors for airline use. It describes the desired operational capability of the GNSS system and the standards necessary to ensure interchangeability.
Airlines Electronic Engineering Committee
Affordable Vehicle Avionics (AVA)TBMG-290386/1/2018
NASA Ames Research Center has developed a novel, low-cost, self-contained guidance system for small payload operators. Small satellites are becoming ever more capable of performing valuable missions for both government and commercial customers; however, currently these satellites can only be launched affordably as secondary payloads, which makes it difficult for the small satellite mission to launch when needed, to the desired orbit, and with acceptable risk.
Tech Briefs: May 201818AERP055/1/2018
New Technologies Tackle UAV Challenges Robotic Applique Kits Leverage Existing Assets Educating UGVs Implementing AI Advancements in Thermal Image Training Data Sets Protecting Critical Data on Unmanned Underwater Platforms Advancements Made to the Wingman Software-in-the-Loop (SIL) Simulation: How to Operate the SIL New features include the creation of virtual environments that match real-world gunnery test courses. Soldier-Robot Team Communication: An Investigation of Exogenous Orienting Visual Display Cues and Robot Reporting Preferences The effective use of robots to conduct dangerous missions depends on accurate man-machine communications. Soft Robotic Fish Swims Alongside Real Ones in Coral Reefs GPS Enabled Semi-Autonomous Robot Combining GPS signals with acoustic and encoder data gives a robot the ability to determine its location and orientation within a reference frame. Development of a Vision-Based Situational Awareness Capability for Unmanned Surface Vessels Computer vision-based technique gives USVs enhanced autonomous navigation capabilities.
GPS Enabled Semi-Autonomous RobotTBMG-289045/1/2018
The primary objective of this research is to integrate GPS and local sensory data to allow a robot to operate semi-autonomously outside of a laboratory environment. The Pioneer 3-AT, a robust platform capable of operating in the outdoors, is utilized in this project. The P3-AT has acoustic sensors that can calculate distances to obstacles and encoders that calculate how much each wheel has turned. In a laboratory environment, sensory and encoder information can be used to triangulate position or measure distance and direction traveled from a known starting point. Operating outdoors limits the effectiveness of both systems as the obstacles are not known and wheels can often slip and slide on different surfaces. This necessitates external data to determine the location of the robot. GPS was chosen to provide that data. GPS, acoustic, and encoder data were integrated within MATLAB and provided control signals to the robot.
Camera Based Automated Lane Keeping Application Complemented by GPS Localization Based Path Following2018-01-06084/3/2018
Advances in sensor solutions in the automotive sector make it possible to develop better ADAS and autonomous driving functions. One of the main tasks of highway chauffeur and highway pilot automated driving systems is to keep the vehicle between the lane lines while driving on a pre-defined route. This task can be achieved by using camera and/or GPS to localize the vehicle between the lane lines. However, both sensors have shortcomings in certain scenarios. While the camera does not work when there are no lane lines to be detected, an RTK GPS can localize the vehicle accurately. On the other hand, GPS requires at least 3 satellite connections to be able to localize the vehicle and more satellite connections and real-time over-the-air corrections for lane-level positioning accuracy. If GPS localization fails or is not accurate enough, lane line information from the camera can be used as a backup. In this paper, a vision based lane keeping system is aided by a GPS based path following application to overcome the shortcomings of the GPS and camera sensors when used alone in highway driving path following applications. The developed system has a parameter space based robust steering controller which can handle lateral motion control of the vehicle based on path tracking error detected using the GPS or camera sensor. The designed control system works for both low speed and high-speed driving scenarios and is robust to changes in vehicle mass. The results are demonstrated using the validated model of our 2017 Ford Fusion Hybrid research automated driving vehicle in our hardware-in-the-loop simulator. Experimental verification is also planned.
Cantas, Mustafa Ridvan, Guvenc, Levent
Analysis of Berla iVe Acquisitions of Vehicle Speed Data from Ford Sync Systems2018-01-14424/3/2018
Many modern automobiles’ infotainment/navigation systems store vehicle telematics and user-supplied infotainment data. This data is useful in a wide variety of analyses but is not available through traditional OEM tools. The necessity to access the infotainment module data for forensic analysis can be satisfied by utilizing the Berla iVe system. Similar to CDR/EDR technology, Berla iVe is a hardware and software tool that is used to acquire and analyze stored automotive data. However, CDR/EDR systems are generally developed in partnership with manufacturers or OEM suppliers. Berla iVe is a privately developed forensic system analogous to traditional forensic tools used to interrogate computer hard drives and smartphones. The technology is privately developed and tested. The data is then parsed using recognized forensics practices. This research was focused on assessing the accuracy of speed data recorded in certain modules and the resulting translations reported by the Berla iVe system. While a number of manufacturers’ vehicles store a variety of infotainment data, this project was limited to Ford Sync Generation 2 (SG2) and Generation 3 (SG3) systems. A series of controlled tests were conducted under a variety of operational conditions to create GPS-based and wheel speed-based (SG3 only) vehicle speed data. The Berla iVe-obtained speed data was compared to reference instrumentation without any smoothing or matching of recording latencies. Within each data set, the maximum error was 9 kph (the largest errors were associated with rapid speed change maneuvers), the average error was less than 1 kph, the correlation coefficient was 0.98 kph or higher, and the root mean square error (RMSE) was generally 2 kph or less. As such, the Berla iVe-obtained GPS- and wheel-based speed data are sufficiently accurate for a number of applications, including traffic accident reconstruction.
Vandiver, Wesley, Anderson, Robert
Handheld Tracking and Communications DeviceTBMG-287044/1/2018
Leaders of teams such as first responders must maintain situational awareness to effectively react, coordinate, and respond to circumstances that can often become hazardous. Effective communications and positional information of assets, including personnel, are critical to decision-makers in coordinating such activities.
MULTI-MODE RECEIVER (MMR) - DIGITALARINC755-5 (Current)1/25/2018
ARINC Characteristic 755 defines a multi-mode receiver capable of providing flight path deviation guidance (corrections) to the aircraft during the approach and landing phase. The data source may be from an Instrument Landing System (ILS), a Microwave Landing System (MLS) or an GNSS Landing System (GLS). Supplement 5 adds annunciations defined in RTCA/DO-253D – MOPS for GPS LAAS Airborne Equipment. GNSS Data and GLS Config Validity ARINC 429 Labels are also updated. The range for Selected Glide Path Angle is corrected.
Airlines Electronic Engineering Committee
Zero-Power Radio ReceiverTBMG-2798112/1/2017
There are several different types of wireless radio frequency identification (RFID) tags that are truly zero-power radios. Currently, most unpowered wireless RFID tags only have a range of a few meters. There are longrange, low-powered tags that draw energy either from a battery or some other form of localized power. A passive, or zero-power, radio receiver uses no direct electrical power, but makes sole use of the power available from a transmitter via the radio spectrum.
Calibration and Synchronization of Micro-Air-Vehicle AutopilotsTBMG-271867/1/2017
Conventional calibration of an inertial measurement unit (IMU) through open-loop data collection includes typical flight simulator systems that provide processed stimuli to emulate real-life flight conditions. Other solutions involve testing inertial measurement devices on a multi-axis rate table using a processor internal to the inertial measurement devices, and transferring the signals directly to the processors for determining and storing the calibration coefficients of the inertial measurement devices internally so that they are self-calibrating. Unfortunately, conventional solutions typically involve evaluating control algorithms in a computer simulation before experimentation in the aircraft occurs. This can result in unstable flight during the first few cycles that could lead to failure of the aircraft.
Data-Driven Classification of Ch-146 Manoeuvres Using Mems-Imu Sensor SystemF-0073-2017-120785/9/2017
ABSTRACT This paper describes the use of a low-cost standalone MEMS-IMU (micro-electromechanical system - inertial measurement unit) sensor system developed by the National Research Council Canada (NRC) for manoeuvre recognition in helicopters. The system records accelerations, angular rotation rates, magnetic flux, altitude, location and velocity through its IMU and GPS. The MEMS-IMU system was flown on the Bell 412 CH-146 Griffon helicopter in a series of scripted flights consisting of 60 manoeuvres and regimes from the helicopter's usage spectrum. A flight log recorded by passengers with detailed start and stop times and identification of the manoeuvres during flight was key information in the development of manoeuvre recognition models. Statistical tests to analyze the data diversity between each flight showed significant variability of the parameters from flight to flight. Because of this variability and because there was significant imbalance in the distribution of data for the individual manoeuvres, a pooled stratified sampling scheme was used to construct a representative training set for developing data-driven models. Different subsets of the MEMSIMU measurements were explored to exclude GPS and/or magnetometer readings. Even with the different subsets, the classifier results using stratified sampling show that very high overall classification accuracy can be obtained using the measurements from the standalone MEMS-IMU sensor system.
Cheung, Catherine, Rubio, Alejandro, Valdés, Julio
GPS Satellite Geometry Analysis Tool (GPSGEM)TBMG-268805/1/2017
The purpose of the GPS Satellite Geometry Analysis Tool (GPSGEM) is to evaluate GPS satellite geometry for a given Earth-fixed location or for a provided trajectory. The tool will generate a listing of all satellites in view, the best satellite combination defined by the most optimum Geometric Dilution of Precision (GDOP), the GDOP profile expected if all satellites are available, and the worst-case GDOP profile when one or two satellites are removed from the available constellation. The tool will provide the navigation controller with insight into the expected performance of the GPS constellation, and allow an assessment of the implications to onboard navigation performance for the ascent, orbit, abort, and entry phases of flight.
A High-Resolution Surface Image Capture and Mapping System for Public Roads2017-01-00823/28/2017
This paper presents a system designed to develop a high-resolution map of public roads by capturing high-resolution surface images. Unlike conventional system, the proposed system applies a field programmable gate array (FPGA) to synchronize camera, Inertial Measurement Unit (IMU), and Global Positioning System (GPS) by using FPGA’s high clock frequency and flexibility to multiple devices. The proposed system, which can be mounted on a regular vehicle, contains a Complementary Metal–Oxide–Semiconductor (CMOS) camera which can achieve 0.006 ms shutter speed and 150 fps frame rate. This camera’s high shutter speed and high frame rate can help capturing images with overlapping region at fast driving speed so that no area is missing from road surface image capturing. The images collected by the proposed system contain clear patterns without motion blur, and feature points on images and feature matching can be found by using existing algorithm like Scale-invariant feature transform (SIFT) between any two consecutive images. Camera’s vertical facing towards road surface enables using affine transformation to reduce computational time of registration by calculating only six instead of eight parameters using homography matrix. IMU and GPS data are synchronized and recorded together with image capturing, and is applied to reduce accumulated error for long-distance mapping by providing location information of vehicle for image registration process. A clear map stitched by millimeter-resolution images is obtained at up to 100 km/h and is registered and uploaded to cloud. The road surface mapping can be used in road survey or road maintenance and can visualize public road surface condition. In this paper, the effectiveness of this system and mapping method is illustrated qualitatively and quantitatively through experimental evaluation.
Hu, Yazhe, Furukawa, Tomonari
The Research of the Adaptive Front Lighting System Based on GIS and GPS2017-01-00413/28/2017
Automotive Front Lighting System(AFS) can receive the steering signal and the vehicular speed signal to adjust the position of headlamps automatically. AFS will provide drivers more information of front road to protect drivers safe when driving at night. AFS works when there is a steering signal input. However, drivers often need the front road's information before they turn the steering wheel when vehicles are going to go through a sharp corner, AFS will not work in such a situation. This paper studied how to optimize the working time of AFS based on GIS (Geographic Information System) and GPS(Geographic Information System) to solve the problem. This paper analyzed the process of the vehicle is about to go through a corner. Low beams and high beams were discussed respectively. Taking into account the characteristics of GIS, GPS and driving conditions, this paper researched that when the vehicle derived on the single lane or double lane, the feasibility of the steering side headlight adjusted the position of the front light, and calculated the rotation angle and rotating angular velocity for the headlight, then determined the effective working range of the system. Then, the lighting areas of the system are showed by the simulation. The results showed that the pre-AFS can make the steering side headlight adjust the position of the lights most effectively before the vehicle go through the corner with the turning radius between 10-40 meters for low beams, and over 40 meters for high beams, it can provide more effective driving visual areas for drivers when they driving at night to reduce the incidence of accidents.
Xiong, Shengguang, Tan, Gangfeng, Guo, Xuexun, Xiao, Longjie
Characterization of Janus V3 After Market Vehicle Camera with Global Positioning and 3-Axis Accelerometer2017-01-14203/28/2017
This study presents a method to characterize the accuracy and precision of video-acceleration-position (VAP) devices, and presents results from testing of one such vehicle camera (“dashcam”) with global positioning system (GPS) used by taxi companies nationwide. Tests were performed in which vehicle kinematic data were recorded in a variety of real world conditions simultaneously by the VAP device, accelerometers, and a proven GPS-based speed sensing and data acquisition system. Data from the VAP device was compared to data collected by the reference instruments to assess timing, precision, and accuracy of reported parameters. Still images from the VAP video recording were compared with three dimensional laser scan data in order to analyze field of view. Several case studies are discussed, and some guidelines and cautions are provided for use of VAP data in accident reconstruction applications.
White, Kirsten, Merala, Raymond
Longitudinal Vehicle Dynamics Modeling and Parameter Estimation for Plug-in Hybrid Electric Vehicle2017-01-15743/28/2017
System identification is an important aspect in model-based control design which is proven to be a cost-effective and time saving approach to improve the performance of hybrid electric vehicles (HEVs). This study focuses on modeling and parameter estimation of the longitudinal vehicle dynamics for Toyota Prius Plug-in Hybrid (PHEV) with power-split architecture. This model is needed to develop and evaluate various controllers, such as energy management system, adaptive cruise control, traction and driveline oscillation control. Particular emphasis is given to the driveline oscillations caused due to low damping present in PHEVs by incorporating flexibility in the half shaft and time lag in the tire model. Accurate and reliable vehicle dynamics parameters that control the vehicle motion are estimated by acquiring experimental data from longitudinal maneuvers of the PHEV equipped with a vehicle measurement system (VMS), global positioning system (GPS) and inertial measurement unit (IMU). The simulated model with estimated parameters is analyzed for longitudinal dynamics by comparing with experimental data from on-road testing.
Buggaveeti, Sindhura, Batra, Mohit, McPhee, John, Azad, Nasser
Utilizing Public Vehicle Travel Survey Data Sets for Vehicle Driving Pattern and Fuel Economy Studies2017-01-02323/28/2017
Realistic vehicle fuel economy studies require real-world vehicle driving behavior data along with various factors affecting the fuel consumption. Such studies require data with various vehicles usages for prolonged periods of time. A project dedicated to collecting such data is an enormous and costly undertaking. Alternatively, we propose to utilize two publicly available vehicle travel survey data sets. One is Puget Sound Travel Survey collected using GPS devices in 484 vehicles between 2004 and 2006. Over 750,000 trips were recorded with a 10-second time resolution. The data were obtained to study travel behavior changes in response to time-and-location-variable road tolling. The other is Atlanta Regional Commission Travel Survey conducted for a comprehensive study of the demographic and travel behavior characteristics of residents within the study area. The data was collected every second using GPS devices in vehicles during a two-month period (March-May and July-September 2011) with a maximum of seven days recording. A total of 1,653 vehicles participated with about 40,000 trips. The relatively high time resolution makes the data set useful for second-by-second analysis. These data sets are complementary in terms of time resolution and a range of traffic and environmental conditions. We have analyzed the data. Our findings, including a variety of characteristics of the data sets (e.g., speed and distance distributions of the trips), are presented. We conclude that the two complementary data sources can be combined to form a new and representative data set suitable for studying real-world vehicle driving pattern and fuel economy research.
Khemri, Nizar, Ying, Hao, Supina, Joseph, Syed, Fazal
Autopilot, Flight Director, and Autothrust SystemsARP5366 (Current)1/4/2017
This document recommends criteria for the design and installation of Autopilot, Flight Director and Autothrust Systems. These three systems are highly interrelated and will be referred to generically as an Integrated Flight Guidance System (IFGS).
S-7 Flight Deck Handling Qualities Stds for Trans Aircraft
Development of a GPS-Enabled Compact Data Logger to Evaluate Small Engine Usage in Actual Applications2016-32-003211/8/2016
In the process of developing small general purpose engines, it is necessary to obtain accurate engine usage information. Commercially available measurement systems created for this purpose have unfavorable characteristics, including limited flexibility and large physical size. A compact data logging device was developed to overcome these limitations, and it was used on several lawn mowers. A microcontroller controls the data logger and acquires data. The data logger also includes a vacuum pressure sensor, tachometer input, thermocouple inputs, and a GPS (Global Positioning System) receiver. The GPS receiver is used to provide machine position and velocity data, which is synchronized with the other measurements. The housing is compact (54 mm x 124 mm x 100 mm), so it can be mounted on most small engine-powered products. Setup of the data logger requires no significant engine or machine modifications, which reduces the time required to instrument a product for testing. Since the data logger is simple and compact, it was possible to deploy several loggers concurrently in different geographic regions. The acquired data was used to quantify the engine loading, engine start cycles, accessory clutch cycles, and movement of the machine. These results are being used to precisely define the usage and durability requirements for small engines. In the future, work will be done to expand the data logger’s capability.
Bejcek, Andrew
Modeling on GPS with Software-Centered Observation Errors2016-01-19039/14/2016
Intelligent vehicles have gained increasing popularity in recent years as traffic safety and efficiency have become the major challenges faced by automotive industry. Vehicle positioning system, such as GPS, plays more and more important role on intelligent or autonomous driving. Intelligent vehicle technologies have been developed and tested mainly based on intensive field experiment under various driving scenarios. However, the large variation, uncertainty and complexity of the driving environment, including buildings, traffic and weather conditions have posed great challenges on test repeatability and system robustness. This paper proposes a GPS model considering software-centered observation errors. The focus of the research is on its error to reflect the real signals from GPS measurement. A three-dimensional position of the twenty-four GPS satellites is first calculated according to the ephemerides, and the visible satellites are selected based on the position with respect to the satellites. Then the distance between them is calculated as the ideal signal, which is further contaminated with Gaussian white noise to simulate the pseudo range that stems from various noise sources from hardware and environmental factors. Simulation has been conducted and the results are correlated well with real signals measured by an on-board GPS receiver.
Wang, Tao, Deng, Weiwen, Zhang, Sumin, Wang, DaZhi, Liu, Junyong
Electromagnetic Monitoring and Control of a Plurality of NanosatellitesTBMG-253239/1/2016
NASA has developed an innovative combination of a Magnetometer, low-powered ElectroMagnets, and Res onant Inductive Coupling (MEMRIC) to create and control relative positioning of nanosatellites within a cluster. This is a game-changing approach to enable distributed nanosatellite (nanosat) clusters. The focus is on low-cost propulsion, navigation, and power sharing. Each of these functions can share the same basic technology. With the combination of a magnetometer, low-power electromagnets, and resonant inductive coupling, several nanosats can be clustered without the need of propellant- based propulsion systems, or GPS for relative positioning. By separating distinct subsystems into their own nanosat and producing them as generic, off-the-shelf components, the mission-design process is simplified, enabling the selection of the number of subsystem components that is most beneficial to the mission. The cost savings in the design cycle will pay for the extra off-the-shelf power unit.
Perception for Safe Autonomous Helicopter Flight and LandingF-0072-2016-115715/17/2016
Rotorcraft operating in unprepared locations must be capable of safe flight in the presence of unmapped obstacles and absence of GPS, and must be able to quickly and reliably assess a potential landing zone's suitability for landing. This paper presents technologies that address these needs and the result of their application to an actual unmanned helicopter prototype.
Singh, Sanjiv, Kaess, Michael, Cover, Hugh, Stambler, Adam, Grocholsky, Benjamin, Spiker, Spencer, Mishler, Jeff, Hamner, Bradley, Strabala, Kyle, Sherwin, Gary, Bergerman, Marcel, Hemann, Garrett
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