Smart Blind Stick Using IoT

This paper describes radio interference analysis between Global Positioning System (GPS) and Industrial Scientific Medical (ISM) equipment. Due to increase of the usage of ISM equipment, the potential possibility of interference from ISM equipment to GPS system which used for safety life has been increasing. For the interference analysis between ISM equipment and GPS system, the scenario that GPS receiver operates in close to ISM equipment was set up. Then, protection distance between GPS receiver and ISM equipment was calculated in order to protect GPS system. The analysis result will be helpful for providing stable operation of GPS system.

: It is well known that the most accurate positioning information obtainable from the GPS system, in the traditional application where the receivers are located on or very near to the surface of the earth, i.e., beneath the ionosphere, is achieved through use of the two-frequency method so that the ionospheric component of the ranging error can be removed. However, in an application where a GPS receiver is itself located on a spacecraft orbiting above some of the electron content in the ionosphere and protonosphere, the question as to whether a two-frequency system is necessary may have a different answer. In this preliminary study, the parameters of the latter question are explained and the range of errors which might be experienced by a single- frequency system are estimated.

In our daily life, we need to get the accurate location information by GPS(Global Positioning System) receiver, GPS system is based on pseudo-range measurement, and there is four unknown parameter, but the navigation observation equation is nonlinear. The nonlinear equation can be solved by least squares iterative algorithm, the algorithm is based on linearization by Taylor model. The paper gives an overview of nonlinear least squares method, and presents GPS satellite pseudo-range observation equations by true GPS receiver, the simulation results show that weighted least squares iterative algorithm is simple, fast, and accurate, the localization error can meet the demands of positioning accuracy.

Accurate, reliable, and robust global positioning system (GPS) localization is desirable for many navigation applications. Unfortunately, it is challenging for a single GPS receiver to always provide accurate positioning solutions. In urban environments, intermittent signal availability leads to degraded GPS signal tracking and position estimation of the single GPS receiver. In addition, equipment malfunction of the single GPS receiver results in inaccurate navigation solutions. This paper presents a deeply coupled multireceiver vector tracking (MRVT) architecture that improves the reliability and robustness of GPS signal tracking and position estimation. MRVT jointly tracks GPS signals received by multiple GPS receivers, mitigating GPS signal tracking disruptions, improving the reliability of GPS localization in periods of intermittent signal availability. In addition, the MRVT receiver is more robust to equipment malfunctions than the single GPS receiver. We implemented an MRVT receiver using commercial radio frequency front ends and our PyGNSS software. We experimentally validated the reliability of our MRVT receiver in periods of intermittent GPS availability experienced in downtown San Francisco. Our MRVT receiver exhibited consistent GPS signal tracking and position estimation as compared to vector tracking. In addition, we experimentally validated the robustness of our MRVT receiver to the failure of a single GPS receiver.

The global positioning system (GPS) can be utilised to detect ground deformations of the surface of a volcano. Ground deformation monitoring is considered one of the most effective tools for investigating the behaviour of active volcanoes. The decreasing cost of GPS hardware, together with the increased reliability of the technology, facilitates such demanding applications. GPS ground deformation measurements can be continuous, automatic, conducted in all weather conditions, and provide three-dimensional positioning results. Higher computing power also means that the complex mathematics required to process GPS baselines can be easily handled in near real time. During the past few years a methodology has been developed for processing data collected by GPS networks consisting of a mixed set of single-frequency and dual-frequency receivers. The strategy is to deploy a few permanent, ‘fiducial’ GPS stations with dual-frequency, geodetic-grade receivers surrounding an ‘inner’ network of low-cost, single-frequency GPS receivers. Such a configuration offers considerable flexibility and cost savings for geodynamic applications such as volcano deformation monitoring, which require a dense spatial coverage of GPS stations, and where it is not possible to establish permanent GPS networks using only expensive dual-frequency instrumentation. This configuration has recently been tested at the Mt. Papandayan volcano in West Java, Indonesia. The two-stage network design consists of an inner network of four single-frequency Canadian Marconi (CM) GPS receivers surrounded by three dual-frequency Leica CRS1000 GPS receivers. The inner network logged and transmitted GPS data from the ‘slave’ stations located on the volcano, to a base station. The combined processing of the CM and Leica receiver data was performed off-line so as to investigate the performance of such a mixed-mode system. The basis of the processing methodology is to separate the dual-frequency, ‘fiducial’ station data processing from the baseline processing involving the single-frequency receivers on the volcano. The data processing for the former was carried out using a modified version of the Bernese software, to generate a file of ‘corrections’ (analogous to Wide Area DGPS correction models for the distance dependent biases – primarily due to atmospheric refraction). These ‘corrections’ were then applied to the double-differenced phase observations from the inner receivers to improve the baseline accuracies. A description of the field testing (and its challenges) during February–March 2000, together with a discussion of some of the results are presented.

To ensure reliable land vehicle positioning, the Global Positioning System (GPS) is one of the best techniques commonly used in present-day positioning systems. However, GPS signals are not available if line of sight with the satellites is lost. In this respect, the addition of the Dead Reckoning (DR) method to complement the GPS unit would enhance the reliability of land vehicle positioning system. For implementing the DR method, the magnetic sensor and accelerometer are used for obtaining heading and velocity or distance information. Calibration of two sensors’ dynamic model and DR algorithm are also introduced in this paper. The test result utilizing the GPS and DR methods is analyzed in this paper. It utilizes positioning information from GPS receiver when GPS signal is available, otherwise DR is started to compensate GPS outage with the GPS output as the original point. The results showed that the error in east and north produced by the DR algorithm for a short time interval can be limited within an acceptable range.

While GPS (Global Positioning System) navigation and GPS based autonomous car driving techniques are mature, the security of GPS signal has not been a primary system concern. In fact, it has been shown that an ordinary GPS can be easily spoofed by a low-cost, open-source based software defined radio (SDR) system such as bladeRF and HackRF [3, 4] which can cause serious complications to the navigation system of the car especially for self-driving cars which are driven based on the information from sensors, cameras, and GPS. In this work, we design a new GPS authentication system called lightweight authentication GPS (AuthGPS) to authenticate GPS signal against GPS spoofing and LTE base station broadcast message spoofing. In the past, there have been many successful attempts on GPS spoofing which resulted in shifting the destination of the car to the spoofer's desired location. In a case where the car is connected to the Internet via LTE network, the navigation system can find out if the GPS is spoofed by acquiring the correct GPS satellite information from LTE base stations' location information. However, a skillful attacker can spoof the LTE base station signals [7] as well using another SDR which will produce spoofed LTE base station information. Hence giving wrong information about GPSinformation according to the will of the attacker. Currently, there are defense methods against the GPS spoofing [6]. One of them is signal-processing-based methods. By monitoring unusual or unreasonable signal changes at GPS receivers, GPS spoofing attack can be detected. Received Power Monitoring (RPM) looks at all the received amplitude and automatic gain control (AGC) setpoint [1]. The receiver will sense drastic power jump if a spoofing attack occurs. However, an overly powerful spoofing attack with noise is not detectable in the case of this mechanism. Another way to detect spoofing is the symmetric-key encryption mechanism of GPS signals. According to previous research [2], encrypted precision code for anti-spoofing referred to as P(Y) code, might not be able to be spoofed. A spoofing attack can be detected by calculating cross-correlation between spoofed coarse/acquisition code, referred to as C/A code, and P(Y) code. Unfortunately, this P(Y) code is only for military purpose while the C/A code can be publicly accessible. This method requires knowledge of specific key which is not revealed to the public to decrypt P(Y) code. Monitoring the direction of arrival of the signals can be one of the methods [6]. A GPS receiver measures the direction-of-arrival vector with more than 3 antennas. Even though this signal-geometrybased system with multiple antennas makes GPS robust, an attacker can spoof signals from multiple directions, which is more difficult to detect the spoofing. The idea here is to develop a system that can discriminate the spoofed signal without complex computation or heavy message exchange. An important component of AuthGPS is a verification of valid GPS satellite information via LTE base stations' location information. We propose 6-digit one-time password-based authentication system in this paper.

This paper presents a model to predict the GDOP value (Geometric Dilution of Precision) and the probability of its occurrence at a point in space and time using airborne LiDAR (Light Detection and Ranging) data and the ultra-rapid product (URP) available from the International GPS Service. LiDAR data help to classify the terrain around a GPS (Global Positioning System) receiver into categories such as ground, opaque objects, translucent objects and transparent regions as per their response to the transmission of GPS signal. Through field experiments it is established that URP can be used satisfactorily to determine GDOP. Further experiments have shown that the translucent objects (mainly trees here) lower the GDOP quality as they obstruct the GPS signal. LiDAR data density on trees is used as a measure of the translucency of trees to the GPS signal. Through GPS observations taken in field a relationship has been established between LiDAR data density on trees and the probability that a satellite which is behind the tree is visible at the GPS receiver. A model is presented which, for all possible combinations of visible satellites, computes the GDOP value along with the probability of occurrence of this GDOP. A few results are presented to show the performance of the model developed and its possible application in location based queries.

This paper gives a structure of the software Global Positioning System (GPS) receiver and details the use of matched filter in the acquisition unit. With this new architecture, the GPS receiver is able to acquire 3 satellites simultaneously without any increase in hardware, and save the mean acquisition time to about 1/3. To further reduce the area and power consumption, several strategies have been employed in the design of matched filter. The final chip of the software GPS receiver is fully tested and already tapped out. The implementation result will be back in September 2005

The integration of global positioning system (GPS) technology in earth observation activities has become a fact of technological life. Not only is georeferencing of remotely sensed imagery greatly facilitated, but ground reference data delineation for classification and accuracy assessment purposes has been precision-enhanced to previously unheard-of levels. However, the acquisition of GPS locational information is sensitive to both instrument specifications and procedural variations. The goal of this study was to compare the efficiency and accuracy of two mapping-grade GPS systems under different data acquisition scenarios. The Trimble Basic Plus and ProXL receivers were tested with their respective base stations in conjunction with a range of receiver data collection time intervals. For each set of operational parameters, precision of the acquired position is represented by the standard deviation, while the root mean square error (RMS) depicts its accuracy. We conclude that, even with the data collection session reduced to one minute, the Trimble ProXL is truly a sub- meter GPS system. In the case of the Trimble Basic Plus, a session of three minutes is recommended to obtain or even slightly exceed an accuracy of 2.5 meters. The easting, northing, and altitude precision ratio obtained during the tests in Indiana, central USA, is of a magnitude of 1.0:1.5:3.0 in both cases. The effect of distance between base station and portable receives and of environmental factors (specifically in the forestry sector) is the subject of continuing research.

Position determination using satellite navigation system has grown significantly. It provides geospatial with global coverage called GNSS (Global Navigation System Satellite). GNSS satellites consists of GLONASS, GPS (Global positioning system) and Galileo.GPS is the most commonly used system and it is known to its capability to determine 3D position on the surface of the earth. In order to determine the position, a GPS receiver must be able to receive signals from at least four GPS satellites. However, the determination of position in condensed areas such as tunnels, area surrounded by high rise buildings, highly forested and in other closely-knit areas is not achieved because satellite signals cannot reach the receiver in the above-mentioned areas and also others where the signals are reflected before being received by a GPS receiver. In this paper, we present the algorithm to fuse GPS and the inertial measurement unit (IMU) to enable positioning in the above-mentioned Condensed Areas. The standard deviations of the two measurements show that GPS-IMU is better than GPS alone, the standard deviation when satellite outages occurred is - 4.57475 for GPS-IMU measurements and 0.218675 for GPS observations. We presented the results in graphics and it shows that GPS measurements are easily disturbed by external influence such as multipath but GPS-IMU graphic is continuous and robust. The advantages and disadvantages of GPS and INS are complementary and make them work together to enable the accurate measurements in the areas mentioned above. Integration of INS and GNSS can be classified into three types, loosely coupled Kalman filter, tightly coupled Kalman filters and ultratight coupled Kalman filter. In this research we used loosely coupled Kalman filter and tightly coupled Kalman filters to combine GPS and INS in one system.

Interpretation of any sound level data requires knowledge about the distance from the source to the measurement location. Measurements are often performed at distances of 1 to 3 m from the noise sources. For this type of measurement, it is not difficult to accurately determine short distances from any device. Outdoor noise measurements of sources such as large industrial facilities may require sound measurements at distances of hundreds to thousands of meters. These distances may be quite difficult to determine using traditional length measurement tools, such as a tape measure or wheeled ruler. This paper discusses the use of a low cost Global Positioning System (GPS) receiver during the acoustical survey of a very loud and large source, a portable rock crushing machine. A comparison of the measured and computed excess attenuation terms was made. Estimates of the measurement uncertainty associated with different GPS technology were used to determine which GPS systems should be used over what range of distances.

In order to assist visually disabled persons, a research that significantly aids certain individuals in pacing more confidently has been suggested. The research proposes a smart walking glove that alerts visually disabled people about hazards and pits, and therefore the machine can assist them in walking with less injuries. It defines a more sophisticated navigational device for visually disabled people. It consists of a simple stroll fitted with sensors that provide environmental data. Global Positioning System (GPS) technology is combined with a microcontroller for those who wish to assist their loved ones in keeping track of them. Ultrasonic sensors, GPS receivers, vibrators, Peripheral Interface Controller (PIC) rulers, and batteries are all included in this statute. The traditional purpose of the system is to grant a convenience. The traditional purpose of the device is to provide a simple and effective tool for the inadvisable to solve their difficulties in everyday life. Technology and human lifestyles can no longer be isolated, and this has become a global issue. Is science, however, capable of assisting visually disabled people? The impediment between ben and ben is generally scored by blind people. For the Illogical people, mobility and action in accordance with pace and protection are described as men who are at ease in their surroundings unless they are counted among others. Cane or information dogs are commonly used to support the blind with their travel. However, there are some problems with the navigation support. Because the individual and as a result, use, the ferule grant small preview. The ferule offers a small preview due to the human, and as a result, the consumer must be more vigilant in compliance with the speed than if the cell died slowly. Because of the knowledge dogs, educating and coordinating the dogs with illogical people is a challenging undertaking, but the end result is negligible.

The increase in motorcycle sales means that almost all people in the community can own a motorcycle, but if the development is not balanced with a security system, the theft rate becomes very high. Because in general, motorcycles use conventional locks that are easily damaged by thieves using a T lock. In this study, a motorcycle security system was created that combines Internet of Things technology with Bluetooth technology and is equipped with GPS (Global Positioning System).The microcontroller used is NodeMCU, the application of IoT and Bluetooth media and GPS is used for communication between the device and the Android Smartphone application. For its output using a relay module, the relay functions to turn on/off the contacts and motorcycle horn by giving commands through the application as a data sender. The GPS module will provide data on the coordinates of the motorcycle's location which is displayed on the GPS application of the tool.After testing the entire system, both applications and a series of components have different responses. IoT media has a response that depends on the internet connection used. the response of turning on the contact is 0.89 seconds and the horn is 0.89 seconds, turning off the contact is 0.84 seconds and the horn is 1.05 seconds. The bluetooth media response is turning on the contact which is 0.94 and the horn is 0.42 seconds, turning off the contact is 0.69 seconds and the horn is 1.10 seconds. In the GPS system, the difference in distance between the GPS device and the GPS smartphone is 2.67 meters.

This paper presents an adaptive learning method for data fusion in autonomous\ndriving vehicles. The localization is based on the integration of Inertial\nMeasurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning\nSystem (GPS) units in an adaptive Kalman filter (KF). The observability\nanalysis reveals that $i$) integration of a single GPS with IMU does not\nconstitute an observable system; $ii$) integration of two GPS units with IMU\nresults in a locally observable system provided that the line connecting two\nGPS antennas is not parallel with the vector of the measured acceleration,\ni.e., the sum of inertial and gravitational accelerations. The latter case\nmakes it possible to compensate for the error in the estimated orientation due\nto gyro drift and its bias without needing additional instruments for absolute\norientation measurements, e.g., a magnetic compass. Moreover, in order to cope\nwith the fact that GPS systems sometimes lose their signal and receive\ninaccurate position data, the self-tuning filter estimates the covariance\nmatrix associated with the GPS measurement noise. This allows the KF to\nincorporate GPS measurements in the data fusion process heavily only when the\ninformation received by GPS becomes reliably available.\n