Search Results (14)

With the continuous progress and development of technology, the Internet of Everything (IoE) is gradually becoming a research hotspot. More companies and research institutes are focusing on the connectivity and transmission between multiple devices in asymmetric networks, such as V2X, Industrial Internet of Things (IIoT), environmental monitoring, disaster management, agriculture, and so on. The number of devices and business volume of these applications have rapidly increased in recent years, which will lead to a large load of terminals and affect the transmission efficiency of IoE data transmission. To deal with this issue, it has been proposed to perform data transmission via multipath cooperative transmission with multihop transmission. This approach aims to improve transmission latency, energy consumption, reliability, and throughput. This paper designs a channel-sensing-based cooperative transmission mechanism (CSCTM) with hybrid automatic repeat request (HARQ) for user equipment (UE) aggregation mechanism in future asymmetric IoE scenarios, which ensures that IoE devices data can be transmitted quickly and reliably, and supports real-time data processing and analysis. The main contents of this proposed method include strategies of cooperative transmission and redundancy version (RV) determination, a joint combination of decoding process at the receiving side, and a design of transmission priority through ascending offset sort (AOS) algorithm based on channel sensing. In addition, multihop technology is designed for the multipath cooperative transmission strategy, which enables cooperative nodes (CN) to help UE to transmit data. As a result, it can be obtained that CSCTM provides significant advancements in latency and energy consumption for the whole system. It demonstrates improvements in enhanced coverage, improved reliability, and minimized latency. Full article

The expansion of megaconstellation networks (MCNs) represents a promising solution for achieving global Internet coverage. To meet the growing demand for satellite services, multipath routing allows the simultaneous establishment of multiple transmission paths, enabling the transmission of flows in parallel. Nevertheless, the mobility of satellites and time-varying link states presents a challenge for the discovery of optimal paths and traffic scheduling in multipath routing. Given the inflexibility of traditional static deep reinforcement learning (DRL)-based routing algorithms in dealing with time-varying constellation topologies, DRL-based multipath routing (DMR) enabled by a graph neural network (GNN) is proposed as a means of enhancing the transmission performance of MCNs. DMR decouples the stochastic optimization problem of multipath routing under traffic and bandwidth constraints into two subproblems: multipath routing discovery and multipath traffic scheduling. Firstly, the minimum hop count-based multipath route discovery algorithm (MHMRD) is proposed for the computation of multiple available paths between all source and destination nodes. Secondly, the GNN-based multipath traffic scheduling scheme (GMTS) is proposed as a means of dynamically scheduling the traffic on each available path for each data stream, based on the state information of ISLs and traffic demand. Simulation results demonstrate that the proposed scheme can be scaled to constellations with different configurations without the necessity for repeated training and enhance the throughput, completion ratio, and delay by 42.64%, 17.39%, and 3.66% in comparison with the shortest path first algorithm (SPF), respectively. Full article

This article deals with the analysis of the accuracy of the geodetic real-time GNSS measurement procedure used in railway operating conditions in the Czech Republic. The purpose was to determine to what extent the operating conditions affect the accuracy of the measurement result and whether an accuracy of standard deviation σ_x,y = 5 mm in the horizontal plane could be achieved. The use of geodetic GNSS equipment with an IMU unit was also tested. The accuracy obtained in operational conditions is compared with the accuracy obtained on a calibration base using the same measurement procedure. The consistency between the accuracy of the primary system (satellite-based) and the secondary system (terrestrially measured by the traverse method) is also discussed. The analysis includes the issue of residual inhomogeneities of the uniform transformation key when converted to the Czech national coordinate system S-JTSK. It is shown that a homogeneous accuracy in coordinate standard deviation better than σ_x,y = 5 mm can be achieved. The results indicate that the accuracy under operational conditions is two–three times worse than the accuracy achieved by the same procedure under ideal conditions on a calibration base. This is due to the non-ideal observing conditions, i.e., horizon occlusion by overlays, surrounding vegetation and multipath effects. It has been shown that the effect of multipath can be reduced by repeating short observations 3–4 h apart. Older GNSS instruments using an IMU unit in combination with an electronic compass (eCompass) are at risk of a systematic bias of up to several tens of millimeters, which can be detected by rotating the antenna by 180°. The current uniform transformation key used in the Czech Republic for the conversion of GNSS coordinates into the national system has residual geometric inhomogeneities (p = 0.90 to 10 mm/km, sporadically up to 20 mm/km), which metrologically deteriorate the results of the calculation of the terrestrially measured secondary system inserted into the GNSS measured primary system. Achieving homogeneous accuracy in coordinate standard deviation in a horizontal plane better than σ_x,y = 5 mm has been demonstrated in non-ideal railway operating conditions with increased risk of multipath. The innovative aspect of the approach used is that it simplifies and thus increases the efficiency of the measurement with respect to the availability of GPS, GLONASS, Galileo and BeiDou satellites, as well as reducing the effect of multipath on the noise by repeating the measurement procedure. Full article

Mitigating multipath interference is one of the biggest challenges in radio positioning. The Supercorrelation™ technology developed via Focal Point Positioning (FPP) suppresses multipath interference by performing long coherent integration while undergoing complex motion in order to isolate the Line-Of-Sight (LOS) signals from the unwanted multipath interference. This article presents the current status of a Supercorrelating Global Navigation Satellite System (GNSS) Software-Defined Radio (SDR) and a systematic testing framework. The SDR receiver is capable of real-time processing and facilitates independent testing and demonstrations. The testing framework uses synthetic signals with a Spirent Radio-Frequency Constellation Simulator (RFCS) with Sim3D to create controlled and repeatable scenarios. The initial results demonstrate the benefits of Supercorrelator Technology (S-GNSS) for navigation resilience. Full article

This paper proposes a high-speed continuous wavelet transform (CWT) processor to analyze vital signals extracted from a frequency-modulated continuous wave (FMCW) radar sensor. The proposed CWT processor consists of a fast Fourier transform (FFT) module, complex multiplier module, and inverse FFT (IFFT) module. For high-throughput processing, the FFT and IFFT modules are designed with the pipeline FFT architecture of radix-2 single-path delay feedback (R2SDF) and mixed-radix multipath delay commutator (MRMDC) architecture, respectively. In addition, the IFFT module and the complex multiplier module perform a four-channel operation to reduce the processing time from repeated operations. Simultaneously, the MRMDC IFFT module minimizes the circuit area by reducing the number of non-trivial multipliers by using a mixed-radix algorithm. In addition, the proposed CWT processor can support variable lengths of 8, 16, 32, 64, 128, 256, 512, and 1024 to analyze various vital signals. The proposed CWT processor was implemented in a field-programmable gate array (FPGA) device and verified through the measurement of heartbeat and respiration from an FMCW radar sensor. Experimental results showed that the proposed CWT processor can reduce the processing time by 48.4-fold and 40.7-fold compared to MATLAB software with Intel i7 CPU. Moreover, it can be confirmed that the proposed CWT processor can reduce the processing time by 73.3% compared to previous FPGA-based implementations. Full article

Global Navigation Satellite Systems (GNSS) are crucial elements used in forest inventories. Forest metrics modeling efficacy depends on the accuracy of determining sample plot locations by GNSS. As of 2021, the GNSS consists of 120 active satellites, ostensibly improving position acquisition in forest conditions. The main idea of this article was to evaluate GIS-class and geodetic class GNSS receivers on 33 control points located in the forest. The main assumptions were operating on four GNSS systems (GPS, GLONASS, Galileo, and BeiDou), keeping a continuous online connection to the network of reference stations, maintaining occupation time-limited to 60 epochs, and repeating all the measurements three times. Rapid static positioning was tested, as it compares the true performance of the four GNSS systems receivers. Statistical differences between the receivers were confirmed. The GIS-class receiver achieved an accuracy of 1.38 m and a precision of 1.29 m, while the geodetic class receiver reached 0.74 m and 0.91 m respectively. Even though the research was conducted under the same data capture conditions, the large variability of positioning results were found to be caused by cycle slips and the multipath effect. Full article

The multipath effect on carrier-phase observations is related to the observational environment of the station, and cannot be eliminated or attenuated by the differential method. In the actual dam environment of deformation monitoring, multipath is very complicated. It is the main error source of BDS-2 for high precision data processing. In this paper, a new method called the multi-point hemispherical grid model (MHGM) is studied and evaluated. This method uses the hemispheric grid model to attenuate the influence of multipath errors. The effectiveness and improvement of the new method with respect to the popular sidereal filter (SF) method were assessed and verified by the actual dam monitoring data with only the BDS-2. The MHGM and SF approach calculates the multipath corrections from multi-days historical data, and then corrects the multipath error from the observations on the day of interest. Compared with the SF method, the MHGM can also effectively provide a graphical display of multipath error interference around the stations, which matches the surrounding observation environment. The results show that the double-differenced (DD) residuals of the MHGM for GEO/IGSO and MEO satellites are slightly better than those of SF, but the RMS of MHGM for GEO/IGSO+MEO DD residuals is improved by about 17.0%. The performance of the MHGM method for different satellite constellations is consistent and not affected by the different orbital repeat times, which could solve the “zero mean” assumption problem of the SF method. Meanwhile, the RMS of static with a 2 h interval and kinematic positioning errors of the MHGM method in the horizontal and vertical direction can be up to 1.7, 3.6 and 2.4, 8.1 mm, respectively. The MHGM model could avoid the multipath reference problem caused by different orbital repetition periods, making it more suitable for the combined multipath modeling of BDS-2 and BDS-3. Full article

The BeiDou Navigation Satellite System (BDS) features a heterogeneous constellation so that it is difficult to mitigate the multipath in the coordinate-domain. Therefore, mitigating the multipath in the observation-domain becomes more important. Sidereal filtering is commonly used for multipath mitigation, which needs to calculate the orbit repeat time of each satellite. However, that poses a computational challenge and damages the integrity at the end of the multipath model. Therefore, this paper proposes a single-difference model based on the multipath hemispherical map (SD-MHM) to mitigate the BDS-2/BDS-3 multipath in a short baseline. The proposed method is converted from double-difference residuals to single-difference residuals, which is not restricted by the pivot satellite transformation. Moreover, it takes the elevation and the azimuth angles of the satellite as the independent variables of the multipath model. The SD-MHM overcomes the unequal observation time of some satellites and does not require specific hardware. The experimental results show that the SD-MHM reduces the root mean square of the positioning errors by 56.4%, 63.9%, and 67.4% in the east, north, and vertical directions; moreover, it contributes to an increase in the baseline accuracy from 1.97 to 0.84 mm. The proposed SD-MHM has significant advantages in multipath mitigation compared with the advanced sidereal filtering method. Besides, the SD-MHM also features an excellent multipath correction capability for observation data with a period of more than seven days. Therefore, the SD-MHM provides a universal strategy for BDS multipath mitigation. Full article

The Azure Kinect is the successor of Kinect v1 and Kinect v2. In this paper we perform brief data analysis and comparison of all Kinect versions with focus on precision (repeatability) and various aspects of noise of these three sensors. Then we thoroughly evaluate the new Azure Kinect; namely its warm-up time, precision (and sources of its variability), accuracy (thoroughly, using a robotic arm), reflectivity (using 18 different materials), and the multipath and flying pixel phenomenon. Furthermore, we validate its performance in both indoor and outdoor environments, including direct and indirect sun conditions. We conclude with a discussion on its improvements in the context of the evolution of the Kinect sensor. It was shown that it is crucial to choose well designed experiments to measure accuracy, since the RGB and depth camera are not aligned. Our measurements confirm the officially stated values, namely standard deviation ≤17 mm, and distance error <11 mm in up to 3.5 m distance from the sensor in all four supported modes. The device, however, has to be warmed up for at least 40–50 min to give stable results. Due to the time-of-flight technology, the Azure Kinect cannot be reliably used in direct sunlight. Therefore, it is convenient mostly for indoor applications. Full article

The technical feasibility of a heavy haul freight using WDPS (Wireless Distributed Power System) was verified for the first time in Korea. That consisted of a master locomotive, 50 freights and a slave locomotive. The master and slave locomotives were equipped with WDPS to distribute traction and braking control command data. MIMO-OFDM, which is strong in multi-path, was applied to the WDPS, and a repeater was installed on the 25th freight to secure coverage even with signal attenuation according to the terrain (curve, gradient) of the driving section. The test was carried out at an average speed of 100 km/h in the approximately 21 km from Jillye station to Busansinhang station in Korea. As a result of the test, it was confirmed that the traction function, braking function, pantograph control function, MCB function, and safety circuit function of the heavy haul freight using WDPS were perfectly controlled. Additionally, the air braking time was reduced by about 50% compared to the centralized control as the braking was controlled by two locomotives at the same time. For the first time, the operational feasibility of heavy haul freight using WDPS based on MIMO-OFDM in the 2.4 GHz/5 GHz band with a relatively short propagation distance was verified. Full article

The characteristic of the satellite repeat shift time can reflect the status of the satellite operation, and is also one of the key factors of the sidereal filtering multipath correction. Although some methods have been developed to calculate the repeat shift time, few efforts have been made to analyze and compare the performance of this feature for the GPS (Global Positioning System), BDS (BeiDou System), and Galileo in depth. Hence, three methods used for calculating the repeat shift time are presented, and used to compare and analyze the three global systems in depth, named the broadcast ephemeris method (BEM), correlation coefficient method (CCM), and aspect repeat time method (ARTM). The experiment results show that the repeat shift time of each satellite is different. Also, the difference between the maximum and minimum varies from different systems. The maximum difference is about 25 s for the BDS IGSO (Inclined Geosynchronous Orbit) and the minimum is merely 10 s for the GPS system. Furthermore, for the same satellite, the shift time calculated by the three methods is almost identical, and the maximum difference is only about 7 s between the CCM and the ARTM method for the BDS MEO (Medium Earth Orbit) satellite. Although the repeat shift time is different daily for the same satellite and the same method, the changes are very small. Moreover, in terms of the STD (Standard Deviation) of the BS (between satellites) and MS (mean shift for the same satellite), the GPS system is the best, the performance of the BDS system is medium, and the Galileo performs slightly worse than the GPS and BDS. Full article

Multipath error is a main error source in Global Navigation Satellite System (GNSS) data processing, which cannot be removed by a differential technique because of the strong relationship with the environment around the station. The multipath effect of the code observables is more complex than that of the carrier-phase observables, especially for BeiDou Navigation Satellite System (BDS) geostationary orbit (GEO) satellites. In this contribution, we deeply analyzed the characteristic and effect on the precise data processing of GEO satellite multipath errors based on a large number of permanent GNSS stations. A linear combination of code and carrier-phase observables was used to analyze the characteristics of repeatability for BDS GEO’s multipath. Then, a correction method was proposed to eliminate the multipath error of the GEO code observables, based on wavelet transform. The experiment data were collected at 83 globally distributed stations, from multi-GNSS experiments and national BDS augmentation systems, from days 32 to 66 in 2017. The results show that the systematic multipath variation component of the GEO code observables can be obtained with wavelet transform, which can significantly contribute to correcting the multipath error of GEO satellites. The average root mean square error (RMSE) of the multipath series is decreased by approximately 19.5%, 20.2%, and 7.5% for B1, B2, and B3, respectively. In addition, some experiments, including ionospheric delay extraction and satellite clock estimation, were conducted in simulated real-time mode in order to validate the effect of the correction methods. For the ionospheric delay estimation, the average RMSE of the slant ionospheric delay is reduced by approximately 15.5%. Moreover, the multipath correction can contribute greatly to shortening the convergence time of the satellite clock estimation of the BDS GEO satellites. Full article

Advanced sidereal filtering (ASF) is an observation-domain sidereal filtering that adopts the repeat time of each individual satellite separately rather than the mean repeat time, adopted by the modified sidereal filtering (MSF). To evaluate the performance of ASF, we apply the method to filter the multipath for a short baseline based on a dual-antenna Global Navigation Satellite System (GNSS) receiver. The errors from satellite and receiver clocks, satellite orbit, troposphere, ionosphere, and antenna phase center variations are greatly eliminated by single difference between the two antennas because they are connected to the same receiver clock. The performances of ASF are compared with MSF to evaluate the gain for multipath mitigation. Comparisons indicate that ASF slightly outperforms MSF when the repeat time values of all satellites incorporated in data processing are within the normal range (86,145–86,165 s), but the difference of variance reduction rate between ASF and MSF is statistically significant. When the data of a satellite with repeat time outside the normal range are included, the performances of MSF become much worse, but ASF is almost not affected. This advantage of ASF over MSF is important because the proportion of the days on which at least one satellite’s repeat time exceeds the normal range reaches 71.19% based on the statistics on the data of 2014 and 2015. After applying ASF multipath corrections on the test days, the averages of standard deviations of north, east, and up component are reduced from 3.8 to 2.1 mm, 3.2 to 1.7 mm, and 7.6 to 4.3 mm, respectively. Comparison between applying ASF with the single-day model and with the seven-day model indicates that the former is generally more effective in multipath reduction. Full article

Sidereal filtering is an effective method for mitigating multipath error in static GPS positioning. Using accurate estimates of multipath repeat time (MRT) in sidereal filtering can further improve the performance of the filter. There are three commonly used methods for estimating the MRT: Orbit Repeat Time Method (ORTM), Aspect Repeat Time Adjustment (ARTA), and Residual Correlation Method (RCM). This study utilizes advanced sidereal filtering (ASF) adopting the MRT estimates derived by the three methods to mitigate the multipath in observation domain, then evaluates the three methods in term of multipath reduction in both coordinate and observation domain. Normally, the differences between the MRT estimates from the three methods are less than 1.2 s on average. The three methods are basically identical in multipath reduction, with RCM being slightly better than the other two methods, whereas for a satellite affected by orbit maneuver (satellite number 13 in this study), the MRT estimated by the three methods differ by up to tens of seconds, and the RCM- and ARTA-derived MRT estimates are better than ORTM-derived ones for ASF multipath reduction. The RCM shows a slight advantage in multipath mitigation, while ORTM is the one of lowest computation and ARTA is the optimal one for real-time ASF. Thus, the best MRT estimation method for practical applications depends on which criterion overweighs the others. Full article