Reliable and continuous urban navigation using multiple GPS antennas and a low cost IMU
Why this work is in the frame
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Bibliographic record
Abstract
L'auteur a accorde une licence non exciusive pennettant a la B&Iioth&que nationale du Canada de reprodire, pr6ter' distribuer ou vendre des copies de cette these sous la fome de microfiche/jilm, de reproduction sur papier ou sur format electronique.L'auteur conserve la propriete du droit d'auteur qui proege cette these.Ni la these ni des extraits substantiels de celle-ci ne doivent 6tre imprimes ou autrement reproduits sans son autorisation.The research presented in this thesis focuses on the feasibility of using multiple antennas to isolate and detect multipath on pseudoranges, and the impact of using multiple antennas along with some statistical reliability measure to detect blunders on pseudorange measurements, such that blunders can be rejected before they c o n ~t e the estimated vehicle positions.The latter part of the thesis addresses the integration of differentid GPS (DGPS) and a low cost IMU for reliable and effective navigation in an laban vehicular environment, which is motivated by the significant accuracy degradation that can exist due to satellite shading and multipath effects.A series of tests were conducted in and around Calgary whereby the shading effccts ranged-h m open sky to signiscant shading to about 30 degrees in elevation.Four NovAtel GPS receivers and antennas along with a low cost IMU were mounted on the roof of the vehicle.The effects of multipath, its temporal and spatial decorrelation properties among closely spaced antennas in various environmental conditions w e r e studied.Statistical test were performed to detect multipath in the form of blunders.Constraints were also applied between antennas to make use of the inter antenna 'geometry.An improvement of 100/0-40% in position accuracy and greater than 50% in reliability was achieved under different conditions A three-axis micro-machined solid-state IMU from Systron Donner was then integrated with the system.The resulting integrated positions are computed and compared with a digital road map of Calgary and accuracy statistics are presented.Subsets of antennas (i.e.one, two and thee antennas) are used with the M U to determine the pedormance as a h c t i o n of the number of GPS receivers utilized.In addition, the ability of the IMU to bridge GPS outages, poor geometry, and significant multipath is also assessed.The overall performance as a fimction of the shading environment (open sky versus urban) is computed and the effectiveness of the IMU to aid GPS is described.The test results show that the position accuracies vary significantly with the number of antennas used, the reliability test and also with inertial aiding.The augmentation of GPS with INS resulted 5.7.3 Section 3 -Dense Foliage ..
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it