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Electronics
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Recent Advances in Autonomous Navigation
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Recent Advances in Autonomous Navigation

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: 15 May 2024 | Viewed by 2675

Special Issue Editors

Dr. Dongyan Wei

E-Mail Website
Guest Editor
Aerospace Information Research Institute, Chinese Academy of Science, Beijing 100094, China
Interests: navigation
Dr. Xinchun Ji

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Guest Editor
Aerospace Information Research Institute, Chinese Academy of Science, Beijing 100094, China
Interests: vehicle geomagnetic navigation; multi-sensor integrated navigation
Dr. Wenchao Zhang

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Guest Editor
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China
Interests: multi-information fusion method; integrated navigation algorithm; pedestrian autonomous positioning algorithm based on MEMS sensors; pedestrian indoor positioning method based on inertial sensors
Dr. Kai Shen

E-Mail Website
Guest Editor
School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China
Interests: inertial navigation and intelligent navigation; Kalman filter and multisensor information fusion; system analysis based on the degree of observability; controllability and identifiability
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Fuqiang Gu

E-Mail Website
Guest Editor
College of Computer Science, Chongqing University, Chongqing 400044, China
Interests: positioning and navigation; activity recognition
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Autonomous navigation is a core technology for automated and intelligent operations of various types of motion carriers (spacecraft, aircraft, ships, vehicles, pedestrian, robot, etc.). It refers to a navigation method in which a moving carrier only uses the measurement equipment it carries to determine its position, attitude and speed relative to a certain coordinate system in real time without relying on external support. Generally speaking, all navigation methods that do not require external support equipment and can measure themselves or actively obtain external information are forms of autonomous navigation. In recent years, various advanced autonomous navigation methods have been developed, effectively supporting the intelligence and autonomy of various motion carriers and meeting the needs of various navigation application scenarios.

This Special Issue, “Recent Advances in Autonomous Navigation”, invites original research and comprehensive reviews about autonomous navigation, which includes, but is not limited to, the following:

  1. Inertial navigation;
  2. Vision and lidar navigation;
  3. Astronomical navigation;
  4. Geophysical field navigation (magnetic field, gravity field, etc.);
  5. Bionic navigation;
  6. Collaborative navigation;
  7. Integrated navigation;
  8. Deep-learning-based navigation;
  9. Brain-inspired navigation;
  10. Intelligent navigation algorithm;
  11. Muti-information fusion method;
  12. SLAM.

Dr. Dongyan Wei
Dr. Xinchun Ji
Dr. Wenchao Zhang
Dr. Kai Shen
Prof. Dr. Fuqiang Gu
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Electronics is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • autonomous navigation
  • motion carriers
  • active measurement
  • active perception
  • intelligent and autonomous
  • SLAM

Published Papers (4 papers)

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Research

21 pages, 8146 KiB  
Article
A Map-Aided Fast Initialization Method for the Magnetic Positioning of Vehicles
by Yi Lu, Dongyan Wei, Wen Li, Xinchun Ji and Hong Yuan
Electronics 2024, 13(7), 1315; https://doi.org/10.3390/electronics13071315 - 31 Mar 2024
Viewed by 512
Abstract
Magnetic positioning is a promising technique for vehicles in global navigation satellite system (GNSS)-denied scenarios. In general, a fixed-length magnetic sequence is required to provide an initial positioning result, which means that users need to wait a relatively long distance. To minimize this [...] Read more.
Magnetic positioning is a promising technique for vehicles in global navigation satellite system (GNSS)-denied scenarios. In general, a fixed-length magnetic sequence is required to provide an initial positioning result, which means that users need to wait a relatively long distance. To minimize this initialization distance, a map-aided fast initialization method, including magnetic database construction and magnetic positioning, is proposed in this paper. For magnetic database construction, a multisource fused database is established using a precise and effective strategy in which the positions of reference points (RPs) and the diverse information of paths are obtained from the map and the magnetic field is calculated using data collected during driving. For magnetic positioning, we innovatively propose a coarse–fine combination method that improves the positioning accuracy within a short distance. In the coarse map matching stage, by detecting the vehicle’s motion and utilizing the topological relationships between paths, the search range is precisely narrowed. In the fine magnetic localization stage, an improved mean absolute difference (MAD) metric and a derivative metric are combined to form a joint matching criterion to determine the positioning result. The experimental results illustrate the importance of each module in the proposed method, which improves the precision of the database up to 80% and significantly shortens the initialization distance up to 50%. Full article
(This article belongs to the Special Issue Recent Advances in Autonomous Navigation)
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17 pages, 5361 KiB  
Article
A Real-Time Spoofing Detection Method Using Three Low-Cost Antennas in Satellite Navigation
by Jiajia Chen, Xueying Wang, Zhibo Fang, Cheng Jiang, Ming Gao and Ying Xu
Electronics 2024, 13(6), 1134; https://doi.org/10.3390/electronics13061134 - 20 Mar 2024
Viewed by 502
Abstract
The vulnerability of civil receivers of the Global Satellite Navigation System (GNSS) to spoofing jamming has raised significant concerns in recent times. Traditional multi-antenna spoofing detection methods are limited in application scenarios and come with high hardware costs. To address this issue, this [...] Read more.
The vulnerability of civil receivers of the Global Satellite Navigation System (GNSS) to spoofing jamming has raised significant concerns in recent times. Traditional multi-antenna spoofing detection methods are limited in application scenarios and come with high hardware costs. To address this issue, this paper proposes a novel GNSS spoofing detection method utilizing three low-cost collinear antennas. By leveraging the collinearity information of the antennas, this method effectively constrains the observation equation, leading to improved estimation accuracy of the pointing vector. Furthermore, by employing a binary statistical detection model based on the sum of squares (SSE) between the observed value and the estimated value of the pointing vector, real-time spoofing signal detection is enabled. Simulation results confirm the efficacy of the proposed statistical model, with the error of the skewness coefficient not exceeding 0.026. Experimental results further demonstrate that the collinear antenna-based method reduces the standard deviation of the angle deviation of the pointing vector by over 55.62% in the presence of spoofing signals. Moreover, the experiments indicate that with a 1 m baseline, this method achieves 100% spoofing detection. Full article
(This article belongs to the Special Issue Recent Advances in Autonomous Navigation)
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20 pages, 6110 KiB  
Article
Low-Earth-Orbit Satellites and Robust Theory-Augmented GPS/Inertial-Navigation-System Tight Integration for Vehicle-Borne Positioning
by Shixuan Zhang, Rui Tu, Zhouzheng Gao, Pengfei Zhang, Siyao Wang and Xiaochun Lu
Electronics 2024, 13(3), 508; https://doi.org/10.3390/electronics13030508 - 25 Jan 2024
Viewed by 617
Abstract
Positioning by means of the Global Positioning System (GPS) is a traditional and widely used method. However, its performance is affected by the user environment, such as multi-path effects and poor anti-interference abilities. Therefore, an Inertial Navigation System (INS) has been integrated with [...] Read more.
Positioning by means of the Global Positioning System (GPS) is a traditional and widely used method. However, its performance is affected by the user environment, such as multi-path effects and poor anti-interference abilities. Therefore, an Inertial Navigation System (INS) has been integrated with GPS to overcome the disadvantages of GPS positioning. INSs do not rely on any external system information and has strong autonomy and independence from the external environment. However, the performance of GPS/INS is visibly degraded in low-observability GPS environments (tall buildings, viaducts, underground tunnels, woods, etc.). Fortunately, with the emergence of Low-Earth-Orbit (LEO) satellites in recent years, the constellation configuration can be extended with the advantages of lower orbits, greater speeds, and richer geometric structures. LEO improves the geometric structure between users and satellites and provides many more observations. Meanwhile, a robust theory approach is applied that can restrain or remove the impact of low-accuracy observations. In this study, we applied LEO data and a robust theory approach to enhance the GPS/INS tight integration. To verify the effectiveness of this method, a set of vehicles and simulated LEO data were analyzed. The results show that robust Kalman filtering (RKF) provides a visible enhancement in the positioning accuracy of GPS/INS integration. This effectively restrains the mutation error and has a smoothing effect on the positioning results. In addition, the addition of LEO data significantly improves the positioning accuracy of a sole GPS and GPS/INS integration. The GPS/LEO/INS integration has the highest positioning accuracy, with Root-Mean-Square Errors (RMSEs) of the north, east, and vertical positions of 2.38 m, 1.94 m, and 2.49 m, respectively, which corresponds to an improvement of 30.21%, 47.43%, and 34.13% compared to sole GPS-based positioning and 8.60%, 17.24%, and 12.14% when compared to the GPS/INS mode. Simultaneously, the simulation results show that LEO and INSs can improve the positioning performance of GPS under GPS-blocked conditions. Full article
(This article belongs to the Special Issue Recent Advances in Autonomous Navigation)
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13 pages, 2704 KiB  
Article
Research on Guide Star Distribution of Sub-Arcsecond Attitude Determination for Microsatellites Reusing Scientific Cameras
by Qin Lin, Peng Qiu, Sibo Zhang and Chao Wang
Electronics 2024, 13(1), 228; https://doi.org/10.3390/electronics13010228 - 04 Jan 2024
Viewed by 521
Abstract
Onboard scientific cameras are reused in attitude determination to meet the sub-arcsecond attitude determination accuracy requirements of microsatellites. This approach does not require an additional payload for microsatellites. It involves reusing high-quality optical lenses from the scientific camera and utilizing the peripheral high-quality [...] Read more.
Onboard scientific cameras are reused in attitude determination to meet the sub-arcsecond attitude determination accuracy requirements of microsatellites. This approach does not require an additional payload for microsatellites. It involves reusing high-quality optical lenses from the scientific camera and utilizing the peripheral high-quality imaging areas of its square-shaped detector. Separate detectors are placed within these areas as attitude determination detectors to obtain star patterns for closed-loop attitude determination, thereby achieving high-precision attitude determination for microsatellites. The star patterns obtained using this method may pose specific issues due to the relative positions of stars. Through an analysis of the theoretical model that examines the relationship between attitude determination accuracy and the main influencing factors, it is indicated that guide star distribution is one of the main, complex factors determining attitude determination accuracy. A further simulation analysis was conducted on the specific impact of two guide star distribution characteristics—namely, the coverage of guide stars in the attitude determination areas and the proportion of the average field of view occupied by the guide star triangles to the total field of view of the attitude determination areas—on attitude determination accuracy. This study concludes that when the measurement error of the guide stars is bigger than the attitude determination accuracy requirement for its area configuration, four attitude determination areas should be configured. Four attitude determination areas should be prioritized when the measurement error is equal to or smaller than the attitude determination accuracy requirement, followed by the option to configure three attitude determination areas or two symmetric attitude determination areas. When selecting guide stars for star pattern recognition, the guide stars should cover the attitude determination areas as much as possible, and guide stars with a higher proportion of the average field of view occupied by the guide star triangles to the total field of view should be chosen. Finally, experimental validation was conducted using star patterns from dense star fields and sparse star fields. The research results provide an important reference for the optimization of attitude determination area configuration, navigation star catalog construction, and star pattern recognition algorithm research for microsatellites equipped with scientific cameras. Full article
(This article belongs to the Special Issue Recent Advances in Autonomous Navigation)
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