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IEEE/ION PLANS 2008

Session A1: GNSS/INS Integration

1GPS/INS Integration with Fault Detection and Exclusion in Shadowed Environments

B.J. Clark, D.M. Bevly, Auburn University

9Impact of Carrier to Noise Power Density, Platform Dynamics, and IMU Quality on Deeply Integrated Navigation

M. Lashley, Navigation Technology Associates; D.M. Bevly, J.Y. Hung, Auburn University

17Performance of a Deeply Coupled Commercial Grade GPS/INS System from KVH and NovAtel Inc.

S. Kennedy, NovAtel Inc., Canada; J. Rossi, KVH Industries

25An Evaluation of Nonlinear Filtering Algorithms for Integrating GNSS and Inertial Measurements

R. Schubert, N. Mattern, G. Wanielik, Chemnitz University of Technology, Germany

30Application of the Manifold-Constrained Unscented Kalman Filter

B.J. Sipos, Lockheed Martin Systems Integration

44Application of a Sigma-point Kalman Filter for Alignment of MEMS-IMU

Q. Wang, University of New South Wales, Autralia/Beijing Institute of Technology, China; C. Rizos, Y. Li, University of New South Wales, Australia; S. Li, Beijing Institute of Technology, China

53Development of an Italian Low Cost GNSS/INS System Universally Suitable for Mobile Mapping

M. De Agostino, C. Porporato, Politecnico di Torino, Italy

60Efficient Gaussian Mixture Filter for Hybrid Positioning

S. Ali-Löytty, Tampere University of Technology, Finland

Session B1: Timing Algorithms & Applications

67Compact, Low-Power Chip-Scale Atomic Clock

J.F. DeNatale, R.L. Borwick, C. Tsai, P.A. Stupar, Y. Lin, Teledyne Scientific Company; R.A. Newgard, R.W. Berquist, Rockwell Collins, Inc.; M. Zhu, Agilent Laboratories

71Atomic Clock Error Modeling for GNSS Software Platform

M.Y. Shin, C. Park, S.J. Lee, Chungnam National University, South Korea

77Using of Spirent GPS/Galileo HW Simulator for Timing Receiver Calibration

U. Grunert, S. Thoelert, H. Denks, J. Furthner, German Aerospace Centre (DLR), Germany

82Effects of Time Synchronization Errors in GNSS-aided INS

I. Skog, P. Händel, Signal Processing Lab., Royal Institute of Technology, Sweden

89Innovative Strategy for Vehicle Position Certification on the Basis of GNSS Reference Time

A. Tomatis, Politecnico di Torino, Italy; D. Orgiazzi, P. Mulassano, Istituto Superiore Mario Boella, Italy

96Estimation of the Clock TIE State Space Model Using a Thinning Unbiased FIR Filtering Algorithm

Y.S. Shmaliy, O. Ibarra-Manzano, L. Arceo-Miquel, L. Moralez-Mendoza, Guanajuato University, Mexico; O.Y. Shmaliy, Ukrainian Engineering Pedagogical Academy, Ukraine

104A Holdover Algorithm for Applications in GPS-based Clock Synchronization

Y.S. Shmaliy, L. Arceo-Miquel, O. Ibarra-Manzano, L. Moralez-Mendoza, Guanajuato University, Mexico; O.Y. Shmaliy, Ukrainian Engineering Pedagogical Academy, Ukraine; J. Zavala de Paz, J.M. Moreno-Reyes, Guanajuato University, Mexico

Session C1: Pedestrian Personal Navigation, First Responders

112Cascaded Estimation Architecture for Integration of Foot-Mounted Inertial Sensors

B. Krach, P. Robertson, German Aerospace Center (DLR), Germany

120Use of a New Pedometric Dead Reckoning Module in GPS Denied Environments

T. Judd, T. Vu, Honeywell International

129Multi-sensor Personal Navigator Supported by Adaptive Knowledge Based System: Performance Assessment

S. Moafipoor, D.A. Grejner-Brzezinska, C.K. Toth, The Ohio State University

141Indoor PDR Performance Enhancement using Minimal Map Information and Particle Filters

S. Beauregard, University of Bremen, Germany; Widyawan, M. Klepal, Cork Institute of Technology, Ireland

148Differential Barometry in Personal Navigation

J. Parviainen, J. Kantola, J. Collin, Tampere University of Technology, Finland

153Towards Operational Systems for Continuous Navigation of Rescue Teams

M. Angermann, M. Khider, P. Robertson, German Aerospace Center (DLR), Germany

Session D1: GNSS Signal Processing: Acquisition, Tracking & Performance Analysis

159Frequency Domain Block Filtering GNSS Receivers

H. Saarnisaari, E. Karami, Centre for Wireless Communications/University of Oulu, Finland

167Assessment on Low Complexity C/No Estimators Based on a M-PSK Signal Model for GNSS Receivers

E. Falletti, M. Pini, Istituto Superiore Mario Boella, Itlay; L. Lo Presti, D. Margaria, Politecnico di Torino, Italy

173Robust DLL Discrimination Functions Normalization in GNSS Receivers

D. Borio, Politecnico di Torino, Italy; M. Fantino, Istituto Superiore Mario Boella, Italy; L. Lo Presti, Politecnico di Torino, Italy; M. Pini, Istituto Superiore Mario Boella, Italy

181GNSS Receiver Rotation Tracking Loop Design for Spinning Vehicles

J.W. Kim, M.Y. Shin, L. Melin, D-H. Hwang, S.J. Lee, Chungnam National University, South Korea

187Acquisition Systems for GNSS Signals with the Same Code and Bit Rates

L. Lo Presti, Politecnico di Torino, Italy; M. Fantino, P. Mulassano, Istituto Superiore Mario Boella, Italy; X. Zhu, Southeast University, China

196On Co-existence of In-band UWB-OFDM and GPS Signals: Tracking Performance Analysis

D. Garmatyuk, Y.J. Morton, X. Mao, Miami University

203The Adaptive Combined Receiver Tracking Filter Design for High Dynamic Situations

K-H. Kim, G-I. Jee, J-H. Song, S. Sung, Konkuk University, South Korea

Session A2: Inertial Technology

210Issues in Wearable Biomechanical Inertial Sensor Systems

W. Dillard, K. Narayanan, V. Trent, M. Greene, Archangel Systems, Inc.; S. Redkar, Arizona State University

217Eyeball: An Inertial Helmet Mounted Cueing System

J. Brandstaetter, I. Yatsiv, I. Kadosh, M. Lange, N. Maimon, M. Naroditzky, I. Rave, H. Rotstein, Rafael - Advanced Defense Systems Ltd., Israel

225MEMS IMU for AHRS Applications

W. Geiger, J. Bartholomeyczik, U. Breng, W. Gutmann, M. Hafen, E. Handrich, M. Huber, A Jäckle, U. Kempfer, H. Kopmann, J. Kunz, P. Leinfelder, R. Ohmberger, U. Probst, M. Ruf, G. Spahlinger, A. Rasch, J. Straub-Kalthoff, M. Stroda, K. Stumpf, C. Weber, M. Zimmermann, S. Zimmermann, Northrop Grumman, Electronic Systems, LITEF GmbH, Germany

232Gun Hard Inertial Measurement Unit Based on MEMS Capacitive Accelerometer and Rate Senor

S. Habibi, Colibrys Switzerland Ltd., Switzerland; S.J. Coopert, Atlantic Inertial Systems, Ltd., UK; J-M. Stauffer, B. Dutoit, Colibrys Switzerland Ltd., Switzerland

238A Set of High Accuracy Low Cost Metallic Resonator CVG

V.V. Chikovani, I.M. Okon, A.S. Barabashov, P. Tewksbury, Innalabs Holding Inc.

244Precision Navigation for UAVs, Mini-Munitions, and Handhelds Through Application of Low Cost Accurate MEMS IMU/INS Technology

M. Tanenhaus, JayMart Sensors; D. Carhoun, Consultant; A. Holland, Eminent MicroSystems

Session B2: Aircraft Applications

253WAAS Measurement Processing; Current Design and Potential Improvements

K. Shallberg, Grass Roots Enterprises Incorporated; F. Sheng, Raytheon Corporation

263Test Results for the WAAS Signal Quality Monitor

P-H. Hsu, T. Chiu, Y. Golubev, Raytheon Company; R.E. Phelts, Stanford University

271A Position Domain Relative RAIM Method

Y.C. Lee, M.P. McLaughlin, The MITRE Corporation/CAASD

285Mitigation of Anomalous Ionosphere Threat to Enhance Utility of LAAS Differentially Corrected Positioning Service (DCPS)

Y.S. Park, S. Pullen, P. Enge, Stanford University

294Benefit of Tightly Coupled GPS/IRS for RNP Operations in Terrain Challenged Airports

J. McDonald, Honeywell International Aerospace; J. Kendrick, Naverus

304Flight Test Results of Loose Integration of Dual Airborne Laser Scanners (DALS)/INS

A.K. Vadlamani, M. Uijt de Haag, Ohio University

312Reduction of Ionosphere Divergence Error in GPS Code Measurement Smoothing by use of a Non-linear Process

S. Sen, J. Rife, Tufts University

321LANDING: Added Assistance to Pilots on Small Aircraft Provided by EGNOS

J. Oliveira, C. Tiberius, Delft University of Technology ,The Netherlands

Session C2: Indoor/Personal Navigation 1

334Performance Enhancement of GNSS Positioning in Critical Scenarios by Wireless Communications Systems

C. Mensing, S. Sand, German Aerospace Center (DLR), Germany

341Optimal Data Fusion for Pedestrian Navigation Based on UWB and MEMS

V. Renaudin, B. Merminod, Ecole Polytechnique Fédérale de Lausanne, Switzerland; M. Kasser, Ecole Nationale des Sciences Géographiques, France

350WPI Precision Personnel Locator System: Inertial Navigation Supplementation

V. Amendolare, D. Cyganski, R.J. Duckworth, S. Makarov, J. Coyne, H. Daempfling, B. Woodacre, Worcester Polytechnic Institute

358Statistical Characterisation of the Indoor Pseudorange Error using Low Cost Receivers

T. Jost, P. Robertson, German Aerospace Center (DLR), Germany

364Timing Error Suppression Scheme for CDMA Network Based Positioning System

S. Kim, H. Choi, Y. Park, Y. Park, Yeungnam University, South Korea

Session D2: Multipath – Characterization, Mitigation and Exploitation of Multipath

369Performance Analysis of MBOC, AltBOC and BOC Modulations in Terms of Multipath Effects on the Carrier Tracking Loop within GNSS Receivers

M. Fantino, G. Marucco, P. Mulassano, M. Pini, Istituto Superiore Mario Boella, Italy

377GNSS Performance Enhancement in Urban Environment Based on Pseudo-range Error Model

N. Viandier, D.F. Nahimana, J. Marais, INRETS/LEOST, France; E. Duflos, Ecole Centrale de Lille/LAGIS, France

383Utilizing Multipath Reflections in Deeply Integrated GPS/INS Architecture for Navigation in Urban Environments

A. Soloviev, F. van Graas, Ohio University

394Low Complexity Ultra-Wideband Ranging in Indoor Multipath Environments

G. Bellusci, G.J.M. Janssen, J. Yan, C.C.J.M. Tiberius, Delft University of Technology, The Netherlands

402Indoor Geolocation Using RF Multipath With Probabilistic Data Association

D.E. Gustafson, M.S. Bottkol, J.R. Parry, J.M. Elwell, Charles Stark Draper Laboratory; T.Q. Nguyen, Air Force Research Laboratory

413Spectral Analysis and Low-Frequency Multipath Mitigation for Kinematic Applications

E.M. de Souza, J.F.G. Monico, W.G.C. Polezel, A. Pagamisse, São Paulo State University, Brazil

418Complexity Reduced Multipath Mitigation in GNSS with the GRANADA Bit-true Software Receiver

I. Groh, S. Sand, C. Mensing, German Aerospace Center (DLR), Germany

424An MCMC Algorithm for BOC and AltBOC Signaling Acquisition in Multipath Environments

F. Brahim, T. Chonavel, TELECOM-Bretagne, France; O. Rabaste, Laboratory AstroParticle et Cosmologie, France

Session A3: Testing of INS, GNSS & Integrated Systems

433Accurate Positioning Using a Planar Pseudolite Array

M. Pachter, J. Amt, J. Raquet, Air Force Institute of Technology

441Hardware-in-the-loop Testing of the NATO Standardisation Agreement 4572 Interface using High Precision Navigation Equations

R.J. Handley, R.F. Stokes, J. Stevenson, QinetiQ, UK; J.I.R. Owen, DSTL, UK

449Determination of GPS RF Signal Strengths

G.V. Rosenbaum, General Dynamics, AIS

459Radio Interference Effects on Commercial GNSS Receivers Using Measured Data

T. Jost, C. Weber, C. Schandorf, H. Denks, M. Meurer, German Aerospace Centre, Germany

468A Unique Approach to WaveFront Calibration

E. Thompson, 746th Test Squadron; A. Reed, Spirent Communications,UK

Session B3: Agriculture & Robotics

473Evaluation of Automatically Steered Agricultural Vehicles

F. Rovira-Más, Polytechnic University of Valencia, Spain; S. Han, John Deere Intelligent Vehicle Systems; J.F. Reid, John Deere Technology Center

479Carrier-Phase Multipath Calibration in GPS-RTK Machine-Guidance Applications

L. Serrano, Leica-Geosystems AG, Switzerland/ University of New Brunswick, Canada; D. Kim, R.B. Langley, University of New Brunswick, Canada

489A Low-Cost Hybrid SDINS/Multi-Camera Vision System for a Hand-held Tool Positioning

N. Parnian, University of Waterloo, Canada; F. Golnaraghi, Simon Fraser University, Canada

497Bridging GPS Outages in the Agricultural Environment using Virtualite Measurements

A. Cole, J. Wang, C. Rizos, A.G. Dempster, University New South Wales, Australia

Session C3: Vision Lidar Integration 1

505Backing up GPS in Urban Areas using a Scanning Laser

M. Jabbour, P. Bonnifait, Laboratoire Heudiasyc UMR UTC CNRS, France

511Tight Coupling of GPS, Laser Scanner, and Inertial Measurements for Navigation in Urban Environments

A. Soloviev, Ohio University

526Simultaneous Probabilistic Localization and Learning: A New Algorithm for Online Learning

B. Betoni Parodi, A. Szabo, J. Bamberger, Siemens AG, Corporate Technology, Germany; J. Horn, Helmut-Schmidt University/University FAF, Germany

533An Evaluation of the Tight Optical Integration (TOI) Algorithm Sensitivity to Inertial and Camera Errors

S. Bhattacharya, T. Arthur, M. Uijt de Haag, Z. Zhu, Ohio University; K. Scheff, Naval Research Laboratory

541Sensor Fusion for GNSS Denied Navigation

K. Krishnaswamy, S. Susca, R. McCroskey, P. Seiler, J. Lukas, O. Kotaba, V. Bageshwar, S. Ganguli, Honeywell Advanced Technology

552An Algorithm for the Extraction of Static Features from 3D Flash LADAR Datasets: Supporting Navigation in GPS Challenged Environments

J.N. Markiel, D. Grejner-Brzezinska, The Ohio State University; C.K. Toth, Center for Mapping

560Implementation of a Flash-LADAR Aided Inertial Navigator

M. Uijt de Haag, D. Venable, A. Soloviev, Ohio University

Session D3: Precise Positioning

568Geometry Extra-Redundant Almost Fixed Solutions: A High Integrity Approach for Carrier Phase Ambiguity Resolution for High Accuracy Relative Navigation

S. Wu, S.R. Peck, R.M. Fries, Raytheon Company; G.A. McGraw, Rockwell Collins

583A New Approach for Calculating Position Domain Integrity Risk for Cycle Resolution in Carrier Phase Navigation Systems

S. Khanafseh, B. Pervan, Illinois Institute of Technology

592Precise Point Positioning with Multiple Galileo Frequencies

P. Henkel, C.Günther, Technische Universität München, Germany

600Precise Kinematic Positioning Using Single Frequency GPS Receivers and an Integer Ambiguity Constraint

J. Pinchin, Geospatial Research Centre (NZ) Ltd. / University of Canterbury, New Zealand; C. Hide, D. Park, Geospatial Research Centre (NZ) Ltd., New Zealand; X-Q. Chen, University of Canterbury, New Zealand

606The Effect of the Antenna Phase Response on the Ambiguity Resolution

L. Wirola, I. Kontola, J. Syrjärinne, Nokia Inc., Finland

616Performance Analysis of an Alternative Technique for Relative Positioning by GPS

A. El-Mowafy, United Arab Emirates University, United Arab Emirates

Session A4: Indoor/Personal Navigation 2

624Performance Assessment of Indoor Location Technologies

R. Challamel, Thales Alenia Space; P. Tomé, Swiss Federal Institute of Technology of Lausanne, Switzerland; D. Harmer, Thales Research & Technology; S. Beauregard, Technologie-Zentrum Informatik, Germany

633System and Algorithms for Accurate Indoor Tracking using Low-Cost Hardware

M. Hedley, D. Humphrey, P. Ho, CSIRO ICT Centre, Australia

641SLL: Relations to Kohonen SOMs

B. Betoni Parodi, A. Szabo, Siemens AG, Corporate Technology, Germany; H. Lenz, Siemens AG, Automation and Drives, Germany; J. Bamberger, Siemens AG, Corporate Technology, Germany; J. Horn, Helmut-Schmidt-University / University FAF, Germany

646Wi-Fi Based Indoor Localization and Tracking Using Sigma-Point Kalman Filtering Methods

A.S. Paul, E.A. Wan, Oregon Health and Science University

660Feasibility of Gauss-Newton Method for Indoor Positioning

J. Yan, C. Tiberius, G. Bellusci, G. Janssen, Delft University of Technology, The Netherlands

671Robust Regression Applied to Ultrasound Location Systems

J.C. Prieto, A.R. Jimenez, J.I. Guevara, Institute of Industrial Automation, Spain; J.L. Ealo, Institute of Industrial Automation, Spain / Universidad del Valle, Colombia; F.A. Seco, J.O. Roa, A.D. Koutsou, Institute of Industrial Automation, Spain

679Dynamic Estimation of Optimum Path Loss Model in a RSS Positioning System

S. Mazuelas, CEDETEL, Spain; F.A. Lago, University of Valladolid, Spain; D. González, A. Bahillo, J. Blas, CEDETEL, Spain; P. Fernández, R.M. Lorenzo, E.J. Abril, University of Valladolid, Spain

685Accurate Signal Strength Prediction Based Positioning for Indoor WLAN Systems

A. Narzullaev, Y. Park, H. Jung, Yeungnam University, South Korea

Session B4: Space Navigation Sensors, Algorithms

689On the Interference Mitigation Based on ADC Parameters Tuning

S. Savasta, Politecnico di Torino, Italy; B. Motella, Institute Superiore Mario Boella, Italy; F. Dovis, R. Lesca, D. Margaria, Politecnico di Torino, Italy

696Integration of Ultraviolet Sensor and X-ray Detector for Navigation Satellite Orbit Estimation

L. Qiao, J. Liu, G. Zheng, Z. Xiong, Nanjing University of Aeronautics and Astronautics, China

704Noise Analysis for X-ray Navigation Systems

J. Hanson, CrossTrac Engineering; S. Sheikh, ASTER Labs., Inc.; P. Graven, J. Collins, Microcosm

714Online Time Delay Estimation of Pulsar Signals for Relative Navigation using Adaptive Filters

A.A. Emadzadeh, C.G. Lopes, J.L. Speyer, University of California, Los Angeles

720Precise Orbit Determination for COSMIC Satellites Using GPS Data from Two On-board Antennas

D. Kuang, W. Bertiger, S. Desai, B. Haines, B. Iijima, T. Meehan, Jet Propulsion Laboratory, California Institute of Technology

731Operational use of GPS Navigation for Space Shuttle Entry

J.L. Goodman, C.A. Propst, United Space Alliance LLC

Session C4: Vision Lidar Integration 2

744Demonstration of Tight Optical Integration (TOI) Algorithm using Field Data

T. Arthur, Z. Zhu, S. Bhattacharya, K. Johnson, Ohio University; K. Scheff, Naval Research Laboratory

752Performance Analysis and Integrity Aspects of Tight Optical Integration (TOI) with GPS

M. Uijt de Haag, Z. Zhu, T. Arthur, Ohio University

760Terrain-Based Navigation: Trajectory Recovery from LiDAR Data

C.K. Toth, Center for Mapping; D.A. Grejner-Brzezinska, The Ohio State University; Y-J. Lee, Center for Mapping

766A Marginalized Particle Filter Approach to an Integrated INS/TAP System

T. Hektor, H. Karlsson, P-J. Nordlund, Saab Aerosystems, Sweden

771Low Cost, Low Power Structured Light Based Obstacle Detection

D. Ilstrup, G.H. Elkaim, UC Santa Cruz

779Navigation Aiding using On-line Mosaicking

V. Indelman, P. Gurfil, E. Rivlin, Technion - Israel Institute of Technology, Israel; H. Rotstein, Rafael - Advanced Defense Systems, Israel

Session D4: Terrestrial Radionavigation

792Enhanced Loran: Real-time Maritime Trials

S. Basker, P. Williams, M. Bransby, D. Last, General Lighthouse Authorities of the United Kingdom and Ireland, UK; G. Offermans, A. Helwig, Reelektronika, The Netherlands

800Loran Phase Codes, Revisited

P.F. Swaszek, University of Rhode Island; G. Johnson, R. Shalaev, Alion Science and Technology; R. Hartnett, U.S. Coast Guard Academy

810H-field Antenna Considerations for eLoran Aviation Applications

C. Bartone, Ohio University, M.J. Narins, Federal Aviation Administration; W. Pelgrum, EXIAN Navigation Solutions; R. Lilley, Aviation Management Associates; L. Chen, Ohio University

824A Measure of Loran Location-based Information

D. Qiu, S. Lo, P. Enge, Stanford University

832Location Determination in WiBro(Wireless Broadband) System

J-I. Kim, J.G. Lee, C.G. Park, Seoul National University, South Korea; G.I. Gee, Konkuk University, South Korea

838Enhanced GPS: The Tight Integration of Received Cellular Timing Signals and GNSS Receivers for Ubiquitous Positioning

R.W. Rowe, P.J. Duffett-Smith, M.R. Jarvis, N.G. Graube, Cambridge Silicon Radio, UK

Session A5: Receiver & Sensor Hardware

846Reconfigurable and Simultaneous Dual Band Galileo/GPS Front-end Receiver in 0.13μm RFCMOS

A. Pizzarulli, Fondazione Torino Wireless, Italy; G. Montagna, Accent SPA, Italy; M. Pini, ISMB, Italy; S. Salerno; N. Lofu, Accent SPA, Italy; G. Sensalari, Fondazione Torino Wireless, Italy

851Dual-Band RF Receiver Chip-Set for Galileo/GPS Applications

M. Detratti, E. López, E. Pérez, R. Palacio, M. Lobeira, Acorde Technologies S.A., Spain

860Multi System Navigation Receiver

P. Kovář, F. Vejražka, J. Safar, M. Eska, Czech Technical University, Czech Republic

865A Low Complexity DSP Driven Analog Impairment Mitigation Scheme for Low-IF GNSS Receivers

A. Ucar, E. Cetin, I. Kale, University of Westminster, UK

871Effect of Mutual Coupling on the Performance of GPS AJ Antennas

K.A. Griffith, I.J. Gupta, The Ohio State University

878Performance of a Low-cost Field Re-configurable Real-time GPS/INS Integrated System in Urban Navigation

Y. Li, P. Mumford, C. Rizos, University of New South Wales, Australia

886GNSS Augmented with Precise Laser Tracking

M. Sippel, W. Kuntz, L. Reindl, University of Freiburg, Germany

892A New Pre-processing Approach Against Array Uncertainty for GNSS

C-L. Chang, J-C. Juang, National Cheng Kung University, Taiwan

Session B5: Subsea & Surface Marine Navigation Sensors, Algorithms & Systems

898Tactical Underwater Navigation System (TUNS)

R. Hartman, W. Hawkinson, K. Sweeney, Honeywell

912Initial Results from an In-Situ Environmental Monitoring Marine Mammal Tag

G.H. Elkaim, E.B. Decker G. Oliver, University of California, Santa Cruz; B. Wright, Boulder Creek

923Robust and Efficient Terrain Navigation of Underwater Vehicles

I. Nygren, TNAV Systems, Sweden

933Submarine Navigation Applications of Atom Interferometry

H.F. Rice, V. Benischek, Lockheed Martin MS2

940Bose-Einstein Interferometry and its Applications to Precision Undersea Navigation

A. Zatezalo, Scientific Systems Company, Inc.; V. Vuletić, Massachusetts Institute of Technology; P. Baker, AFRL/VSBYE; C. Poling, Lockheed Martin Tactical Systems

951Optimal Sensor Configuration for Passive Position Estimation

J. Neering, C. Fischer, M. Bordier, N. Maízi, Ecole des Mines de Paris, France

961Coarse Alignment for Marine SINS Using the Gravity in the Inertial Frame as a Reference

D. Gu, N. El-Sheimy, T. Hassan, Z. Syed, University of Calgary, Canada

966On the Development of Guidance System Design for Ships Operating in Close Proximity

E. Pedersen, Norwegian University of Science and Technology, Norway; E. Shimizu, Tokyo University of Marine Science and Technology, Japan; T.E. Berg, Norwegian Marine Technology Research Institute, Norway

Session C5: Land Vehicle Navigation – GNSS, INS, Integrated Systems 1

972Integrity in Urban and Road Environments and its use in Liability Critical Applications

J. Cosmen-Schortmann, M. Azaola-Sáenz, M.A. Martínez-Olagüe, M. Toledo-López, GMV, Spain

984Hybrid Extended Particle Filter (HEPF) for Integrated Civilian Navigation Systems

P. Aggarwal, Z. Syed, N. El-Sheimy, University of Calgary, Canada

993Novel Geolocation Technology for Geophysical Sensors for Detection and Discrimination of Unexploded Ordnance

D.A. Grejner-Brzezinska, The Ohio University; C.K. Toth, The Ohio State University / Center for Mapping; H. Sun, X. Wang, The Ohio State University; C. Rizos, University of New South Wales

1008Image Landmark Based Positioning in Road Safety Applications using High Accurate Maps

N. Mattern, R. Schubert, G. Wanielik, Chemnitz University of Technology, Germany

1014An Integrated Reduced Inertial Sensor System - RISS / GPS for Land Vehicle

U. Iqbal, A.F. Okou, Royal Military College of Canada; A. Noureldin, Royal Military College of Canada, /Queen's University, Canada

1022Trajectory Duplication Using Relative Position Information for Automated Ground Vehicle Convoys

W. Travis, D.M. Bevly, Auburn University

1033Low Cost Mobile Mapping Systems: An Italian Experience

M. Piras, A. Cina, A. Lingua, Politecnico di Torino, Italy

1046Modelling and Simulation of a Terrain Aided Inertial Navigation Algorithm for Land Vehicles

T. Sönmez, H.E. Bingöl, Tübitak Sage Navigation Division, Turkey

Session D5: GNSS Modernization

1053Satellite Selection for Multi-Constellation

Z. Miaoyan, Z. Jun, Q. Yong, Beihang University, China

1060Cycle-slips Detection, Determination, and Validation for Triple-Frequency GPS

Z. Dai, S. Knedlik, O. Loffeld, ZESS, University of Siegen, Germany

1067A Theoretical Performance Analysis of the Modernized GPS Signals

U. Engel, FGAN-FKIE, Germany

1079Study of Signal Combining Methodologies for Future GPS Flexible Navigation Payload (Part II)

T. Fan, V.S. Lin, G.H. Wang, P.A. Dafesh, The Aerospace Corporation

1090Recommendations on Digital Distortion Requirement for the Civil GPS Signals

C.J. Hegarty, The MITRE Corporation; A.J. Van Dierendonck, AJ Systems

1100Precise Observation of BOC Modulated Signals in the Presence of Noise and Specular Multipath

R.B. Harris, E.G. Lightsey, The University of Texas at Austin

Session A6: Inertial Sensor Integration, Error Modeling, Calibration

1115A Multi-frequency Filtering Procedure for Inertial Navigation

M. De Agostino, Politecnico di Torino, Italy

1122Modeling and Bounding Low Cost Inertial Sensor Errors

Z. Xing, D. Gebre-Egziabher, University of Minnesota, Twin Cities

1133Comparison of Low-Cost GPS/INS Sensors for Autonomous Vehicle Applications

G.H. Elkaim, M. Lizarraga, University of California, Santa Cruz; L. Pedersen, NASA Ames Research Center

1145MEMS Sensor and Integrated Navigation Technology for Precision Guidance

K. Sheard, I. Scaysbrook, D. Cox, Atlantic Inertial Systems

1152A General Theory for Inertial Navigator Error Modeling

K.G. Blankinship, Boeing Integrated Defense Systems

1167The Soft Iron and Hard Iron Calibration Method using Extended Kalman Filter for Attitude and Heading Reference System

P-F. Guo, Beijing University of Aeronautics & Astronautics, China; H. Qiu, China Aerospace Science & Industry Corp., China; Y. Yang, Nav Technology Co., Ltd., China; Z. Ren, Beijing University of Aeronautics & Astronautics, China

1175Optimal Linear Neuron Learning and Kalman Filter Based Backpropagation Neural Network for DGPS/INS Integration

F.A. Ibrahim, Visteon Corporation

1190Low-cost MEMS Sensor-based Attitude Determination System by Integration of Magnetometers and GPS: A Real-Data Test and Performance Evaluation

D. Li, R. Landry, P. Lavoie, Ecole de Technologie Supérieure (ETS), Université du Québec, Canada

1199INS/Baro Vertical Channel Performance Using Improved Pressure Altitude as a Reference

V. Chueh, T-C. Li, R. Grethel, Northrop Grumman Navigation Systems Division

Session B6: Unmanned Airborne Vehicles: Algorithms & Applications

1203Error Analysis for a Navigational Algorithm based on Optical-Flow and Digital Terrain Map

O. Kupervasser, R. Lerner, E. Rivlin, Technion, Israel Institute of Technology, Israel; H. Rotstein, Rafael - Advanced Defense Systems, Israel

1213Spatially Deconflicted Path Generation for Multiple UAVs in a Bounded Airspace

M.I. Lizarraga, G.H. Elkaim, University of California Santa Cruz

1219Latest Development of the TERPROM(R) Digital Terrain System (DTS)

M. Cowie, N. Wilkinson, R. Powlesland, Atlantic Inertial Systems, England

1230Quaternion Attitude Estimation for Miniature Air Vehicles using a Multiplicative Extended Kalman Filter

J.K. Hall, N.B. Knoebel, T.W. McLain, Brigham Young University

1238Localization and Perching Maneuver Tracking for a Morphing UAV

A. Hurst, A. Wickenheiser, E. Garcia, Cornell University

1246Precision Relative Navigation Solution for Autonomous Operations in Close Proximity

K. Liu, C. Moore, R. Buchler, P. Bruner, A. Fax, Northrop Grumman Navigation Systems Division; J.L. Hinchman, B.T. Nguyen, AFRL/VACC WPAFB; D.E. Nelson, NAVAIR; F. Ventrone, ARINC; B.R. Thorward, L-3 Communications (Titan)

1252Adaptive Path Planning for a VTOL-UAV

O. Meister, N. Frietsch, C. Ascher, G.F. Trommer, University of Karlsruhe, Germany

Session C6: Land Vehicle Navigation – GNSS, INS, Integrated Systems 2

1260Redundant MEMS-IMU Integrated with GPS for Performance Assessment in Sports

A. Waegli, S. Guerrier, J. Skaloud, Ecole Polytechnique Fédérale de Lausanne, Switzerland

1269Relative Position of UGVs in Constrained Environments using Low Cost IMU and GPS Augmented with Ultrasonic Sensors

H.P. Henderson, Jr., D.M. Bevly, Auburn University

1278Teaming of an UGV with a VTOL-UAV in Urban Environments

N. Frietsch, O. Meister, C. Schlaile, G.F. Trommer, University of Karlsruhe, Germany

1286Enhancement of Global Vehicle Localization using Navigable Road Maps and Dead-Reckoning

C. Fouque, P. Bonnifait, Universiteé de Technologie of Compiègne, France; D. Bétaille, LCPC, France -

1292Heading Accuracy Improvement of MEMS IMU/DGPS Integrated Navigation System for Land Vehicle

D. Gu, N. El-Sheimy, University of Calgary, Canada

1297Tightly-Coupled GPS / INS System Design for Autonomous Urban Navigation

I. Miller, B. Schimpf, M. Campbell, Cornell University; J. Leyssens, Septentrio Satellite Navigation, Belgium

Session D6: Weak Signal Processing

1311Implementation Approaches of Adaptive Algorithms for Crosscorrelation Effect Compensation in Weak Signal Conditions

C. Lacatus, D. Akopian, M. Shadaram, University of Texas at San Antonio

1316An ANOVA-Based GPS Multipath Detection Algorithm Using Multi-Channel Software Receiver

M.T. Brenneman, Y.T. Morton, Q. Zhou, Miami University

1324Positioning with Punctured GPS

P.J. Duffett-Smith, Cambridge Silicon Radio, UK; A.R. Pratt, Orbstar Consultants, UK

1332GNSS Signal Acquisition and Tracking Using a Parallel Approach

C-C. Sun, S-S. Jan, National Cheng Kung University, Taiwan

1341Post-Correlation Semi-Coherent Integration for High-Dynamic and Weak GPS Signal Acquisition

C. Yang, Sigtem Technology, Inc.; T. Nguyen, E. Blasch, M. Miller, Air Force Research Laboratory

1350An Assisted High-sensitivity Acquisition Technique for GPS Indoor Positioning

F. Dovis, R. Lesca, D. Margaria, Politecnico di Torino, Italy; G. Boiero, G. Ghinamo, TILAB, Telecom Italia, Italy

1362Acquisition of Weak GNSS Signals Using a New Block Averaging Pre-Processing

M. Sahmoudi, Ecole de Technologie Supérieure, Canada; M.G. Amin, Villanova University; R. Landry, Ecole de Technologie Supérieure, Canada