Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #1

INTEGRATING GPS, INS AND AUGMENTED REALITY FOR SUB-SURFACE VISUALISATION:
G.W. Roberts, A. Evans, A. Dodson, B. Denby, R. Hollands, S. Cooper, IESSG, University of Nottingham, UK

Augmented Reality (AR) is a technology that allows information stored in a computer to be overlaid graphically on views of the real world. A vast amount of such information currently resides in office-based computer systems but is not readily accessible to engineers and managers in the field.

The paper addresses research being undertaken for AR systems that will allow people to "look"' into the ground and "see" underground features. These features could be major geological structures, gas or water pipe-work or zones of contaminated land. This ability to view underground features will revolutionize many elements of fieldwork for a wide range of industries involved with the natural and built environment.

Fundamental to the success of such a system is the ability to position the user with respect to the coordinate frame of the geographical database. Without position and orientation, overlaying the data for visualisation is impossible, if the solution is not accurate enough then registration errors will occur which will affect the usefulness of the system.

The IESSG is directly involved in developing what is known in the field of Augmented Reality as the Tracker Technology. The aim is to develop a modular approach to the solution enabling different grades of achievable accuracy and creating a technology demonstrator by the end of the contract period (August 2002). In terms of the required accuracy spectrum it is envisaged that the highest accuracy of position and orientation will be achieved through using RTK GPS combined with an IMU utilising gyroscopes, accelerometers and magnetometers

The paper describes the research underway at the University of Nottingham into the integration of RTK GPS and an IMU to allow robust and precise real time positioning and orientation. This data is then used in the AR system to superimpose the virtual image onto the real-world view of the user.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #2

REAL TIME PERSONAL POSITIONING AND PHYSIOLOGICAL MONITORING SYSTEM:
G.S. Hoffman, M.M. Miller, AFIT/ENG

An integrated system using a small, lightweight GPS receiver and physiological sensors is developed to monitor the health and performance of a team of outdoor workers, such as forest fighters, operating in hazardous situations. Knowing each team member's physiological status and location is critical in performing dangerous missions in as safe and effective manner as possible. By monitoring each team member's position and physical well being, the person coordinating any dangerous activity will be able to maximize the efficiency of the team from a location and performance standpoint.

This paper presents design and preliminary test results from a real-time, lightweight, non-intrusive and wearable vest capable of monitoring a person's outdoor location and physiological well-being. An array of sensors, including blood volume pulse, skin temperature, skin conductance level, respiration and electrocardiography are transmitted along with GPS position information to a remote base station. Using real-time processing on a laptop computer equipped with data processing software, a person at the base station can analyze the physiological data for signs of performance degradation, which would signal a need for relief help.

Prototypes of the monitoring system have provided promising results. By showing the correlation between a person's performance (work quality) and their physiological data, versus their GPS provided position, it is shown that one can effectively monitor a team member's well being and safety from a remote base station.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #3

THE BRUNEL NAVIGATION SYSTEM FOR BLIND: DETERMINATION OF THE MOST APPROPRIATE POSITION TO MOUNT THE EXTERNAL GPS ANTENNA ON THE USER'S BODY:
V. Garaj, Brunel University, UK

ION Sponsored Student Paper
The paper presents the results of an experiment performed in order to determine and validate the appropriate position to mount the external GPS antenna on the body of the user of Brunel Navigation System for Blind. In the performed trials, antenna was mounted at different positions on the participant's body. GPS signal reception performance parameters were monitored and compared for different mounting positions and the appropriate position was determined accordingly. Though the experiment was conducted as a part of the project of Brunel Navigation System for Blind, experimental findings are of generic character and could be applied to other personal navigation systems as well.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #4

APPLICATION DESIGN OF GPS NAVIGATION FOR A PERSONAL NAVIGATION AND TRACKING USING MOBILE DATA TERMINAL WITH CDMA MODEM:
J.S. Gil, Y.D. Cho, M.P. Hyun, S.J. Park, Elextech, Inc, Korea

This paper deals with the applications of GPS navigation system for tracking the persons such as the blind or the kids and so staff. To do this purpose we made the small necklace type mobile terminal with GPS and CDMA modem. Using this we can track the persons and the animals or others to be tracked. Also we can monitor the current status of that one so that we can save those persons in emergency like the purposes of E911. For the target to be tracked in near real-time with the accuracy of within 50meter we must use a communication system such as TRS network or CDMA network and so staff. Among these we used a CDMA modem and a GPS receiver for this purpose. To increase the reliability of position information via CDMA network, we also need TCP/IP communication protocol so we developed and ported this protocol on our designed system. Additionally we need GIS system to monitor the target so we constructed GIS server room. The average time of arrival is about 7~10secs from terminal to server via TCP/IP and we could confirm the position of the target. Our tracking and monitoring system can be applied to many areas such as AVL system and animal tracking, the security system for the vehicle and all others to be tracked.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #5

ADVANCED FARMING TECHNIQUES USING CENTIMETER-LEVEL GPS:
T. Bell, M. Eglington, G. Gutt, L. Leckie, M. O'Connor, T. Wuerthner, IntegriNautics Corporation

Meter-level differential GPS (DGPS) has been used in agriculture for several years. DGPS has enabled new applications such as yield monitoring, variable rate chemical application, and "light bar" steering guidance. These technologies have proven beneficial to some agricultural users, but the overall benefits have been limited by the accuracy of the GPS sensors.

In the past year, the use of centimeter-level carrier differential GPS (CDGPS) on farms has exploded. Growers and commercial operators worldwide are using CDGPS-based automatic steering systems to perform their most critical operations. For the first time ever, drivers are able to run "listing" or "bedding" operations at night and in heavy fog, under automatic machine control, with no degradations in performance.

This paper describes the system architecture of a CDGPS automatic steering system, and presents quantitative field results using this system. Two end-user case studies are presented to illustrate the benefits of centimeter-level steering accuracy in farm tractors. In addition, the use of CDGPS to provide a new level of services to farmers and custom applicators is discussed is detail.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #6

HANDHELD MAP DISPLAY TOOL FOR DISASTER INFORMATION:
T. Mauney, D. Alford, T. Hale, Spatial Systems

Timely access to resource information is critical to success in disaster management. From the urgency of the initial response phase to the laborious recovery phase and the complex issues of risk mitigation, information about the victims, the resources and the risk factors is largely location specific. Therefore, putting appropriate maps into handheld information appliances can provide disaster aid workers with access to critical information while minimizing confusion in chaotic environments and minimizing the communication overload.

Working with humanitarian aid organizations, we have developed regional maps of remote populations in mountainous areas at high risk from natural hazards including rock slides, flooding and debris flows. By combining conventional cartography, GPS observations and satellite imagery, new datasets have been created with attention to the specific needs of aid workers who are striving to pro-actively reduce risks to the mountain people while preparing infrastructure to support response should a disaster eventually occur.

Dynamic georeferencing of a mobile cartographic display with GPS creates a live 'where am I' point that allows the user of geographic databases to relate the digital map to their real-world location and avoid many common map-reading blunders. Placing the display in a handheld device makes that geographic database a superb tool for locating and recovering objects such as supply caches and other assets for which coordinates are known, but that may not be superficially obvious. It also provides a convenient means to query the database as to their specific attributes while on site.

Human factors in the optimization of the user interface for clarity and convenience in the outdoor handheld environment differ significantly from those driving interface design for laptop and desktop applications. Considerations on those factors, and on software architecture suitable for GPS georeferenced mobile computing will be discussed.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #7

CENTRALISED KALMAN FILTER FOR AUGMENTED GPS PEDESTRIAN NAVIGATION:
V. Gabaglio, Swiss Federal Institute of Technology

ION Sponsored Student Paper
This article presents an algorithm for augmented GPS pedestrian navigation. In this relatively new domain, the combination of GPS with complementary sensors is necessary to provide continuously information about the position. The proposed system contains two accelerometers, one gyroscope and a GPS receiver. The accelerometers bring the information to compute the travelled distance and the gyroscope supply the data to calculate the change of the orientation. The way the sensors raw data are processed and mechanised in the Dead-Reckoning algorithm is explained. An experiment illustrates an effect of the error propagation in the DR algorithm. GPS, when the signals are available, is used firstly to give an absolute position and secondly to adjust the sensors and navigation parameters. This is achieved through a centralised Kalman filter. The kinematic and observation models of the filter are presented. Finally a test and results are presented. With updated about every 2 minutes the proposed combination of sensors is able to keep an accuracy of 15 meters. Suggestions to improve the system are discussed.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Paper #8

PARAMOUNT - PUBLIC SAFETY & COMMERCIAL INFO-MOBILITY APPLICATIONS & SERVICES IN THE MOUNTAINS:
E. Loehnert, E. Wittmann, J. Pielmeier, IfEN Gesellschaft fur Satellitennavigation mbH, Germany

PARAMOUNT is a project that improves user-friendly info-mobility services for over 150 Mio mountaineers in the European Union by combining telecommunications (GSM) and satellite navigation (GNSS) with geographic information systems (GIS).

Integrated on PDA/Smartphone basis, an electronic TourGuide (consisting of PDA, GPRS mobile phone, GPS receiver, digital compass) connected to the PARAMOUNT service center via Internet assists the mountaineer in the position, orientation and navigation task visualized by 3D virtual reality, delivers environmental and additional information and helps in an emergency situation or even prevents it. But not only distressed people will profit, also Search & Rescue (SAR) teams, equipped with PARAMOUNT Pocket-PCs will benefit, since they can precisely find the point of accident, receive information from the SAR control center and coordinate themselves using the communication function.

Three different kinds of services are anticipated for PARAMOUNT. INFOTOUR supports the user in dangerous situations by providing information on the terrain and any useful context specific hints. This information is visualized in different ways on the mobile device even in 3D. SAFETOUR integrates other services like forest fire warnings and weather or avalanche forecast and provides possibilities to track a user and alarm SAR teams if necessary. This service may help to considerably reduce mountainous accidents. DATATOUR allows for an automatic capture of data like hiking trails and enables INFOTOUR for queries on the difficulty of a route etc. It will significantly reduce the over all maintenance costs of the services.

The paper will present design and infrastructure of the PARAMOUNT services and core elements (hardware/software) as well as the anticipated client/server interfacing. Furthermore, results of a feasibility analysis, covering the availability of GNSS (GPS, Galileo etc.), GMTS (GSM, UMTS) and GIS in the Pyrenees and Alps, necessary to provide the services, will be given.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Alternate #1

LOCATION OF CELLULAR USERS FOR EMERGENCY SERVICES - LOCUS:
W. Lechner, S. Baumann, Telematica, Germany; F. Collomb, FDC; P. Pilloni, Telespazio; G. Paris, Motorola; H.P. Dien, G. Fischer, max.mobil.; C. Rodriguez, University of Navarra

This paper will summarise the first results available from the "Location of Cellular Users for Emergency Services - LOCUS" project. LOCUS is a study supported by DG INFOSOC of the European Commission. LOCUS has started in May/June 2000 and will run for 16 month. The objective of this project is to provide the EC with support and expertise regarding the definition of a future Emergency Call Service (ECS) in Europe taking into account all aspects of a future implementation such as: user needs, institutional issues, technical and technological issues, foreseen markets and convergence with other applications. These activities will participate to the policy of the EC regarding the development of the relevant European regulatory framework for Enhanced 112 Emergency services.

The project team consists of:
Telematica (Project Co-ordinator), German based consultancy company in the fields of satellite navigation and transport telematics
France Dveloppement Conseil (FDC), French based consultancy company in the fields of satellite navigation and telecommunication
Telespazio, Italian based provider of space based communication services
Max.mobil., Austrian based provider of terrestrial based communication services
Motorola, manufacturer of telecommunication equipment
University of Navarra, Spain university with expertise in legal aspects of telecommunication.

The study activities are split in 4 main technical workpackages:
WP1000: Overview
WP2000: Definition of ECS
WP3000: Implementation Options
WP4000: Recommendations.

WP1000 will first provide an general overview on existing location technology. Second the current public provided Emergency Call Services (ECS), commercial assistance services and mobile Value Added Services (VAS) - these services are called type 1, 2 and 3 services within the context of the LOCUS study - will be identified and market/legal issues will be discussed. A special focus will be put on E911 developments in the USA and the developments in Canada and Asia.

WP2000 will evaluate the user requirements for type 1-3 services and investigate the institutional requirements like liability, privacy protection and aspects of secure roaming. Afterwards the feasibility of the identified requirements will be checked. The feasibility-checking acts like an interface to WP 3000.

WP3000 will analyse implementation options for type 1-3 services. In a first step different technical and organisational options will be identified, followed by a cost analysis and finally assessments for the institutional/legal/organisational framework. The results for type 1-3 services will be harmonised in a final step to point out commonalties and interdependencies of the different location based services.

WP4000 will firstly provide on request support and expertise to the EC in all domains related to ECS. Secondly it will provide recommendations to support the EC in defining the most relevant regulatory framework for enhanced 112 services together with further relevant initiatives at EU or national level.

Further the LOCUS project team will take care of the secretary of the "Coordination Group on Access to Location Information by Emergency Services" initiated by the European Commission in May 2000 to stimulate the discussion and information-flow in the technical and organisational fields connected to the introduction of location based ECS in Europe.
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Session C1: NEW APPLICATIONS OF SATELLITE NAVIGATION
Alternate #2

THE RiGHt PROJECT PHASE II: RIVER LEVEL MONITORING USING GPS HEIGHTING:
T. Moore, G. Roberts, IESSG, The University of Nottingham, UK; G. Close, Science Systems (Space) Ltd; R. Moore, Centre for Ecology and Hydrology

This paper will introduce Phase II of the RiGHt project "River Level Monitoring using GPS Heighting" which is currently being conducted by a consortium comprising Science System (Space) Ltd, the University of Nottingham and the Centre for Ecology and Hydrology, and is funded by the British National Space Centre (BNSC), under the UK Government's Space Foresight Programme.

The original RiGHt project, which ran for two years, was successful in demonstrating the feasibility of measuring and monitoring river heights using a GPS equipped buoy in a real time environment and using satellite communications technology to transfer the data to a central and remote Geographical Information System.

The initial 'thrust' of RiGHt was seeking innovation in the integration of state-of-the-art technologies such as OTF GPS and low power world-wide satellite communications to solve a real user need. The major innovative 'thrust' of the Phase II work lies in the area of long-range kinematic GPS. If successfully integrated with the results achieved from the integration of the first phase of RiGHt it will greatly enhance the functionality and deployment of RiGHt systems in real emergencies leading to a very elegant and rapid solution to many users' needs.

The paper will address the significant developments to the RiGHt system, and present results from the new series of trials of the complete system.
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