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The usage of optical distance-sensors is common in robotics research. These are usually based on photoresistors, photo-transistors or photo-diodes. This paper presents a novel design for a passive sensor configured as a 18 photo-resistors array. The device is designed to locate a light source in R3. In order to simplify the wiring task, we connect all photo-resistors to each other as the edges of...
This paper presents a star tracking algorithm to determine the orientation of aircrafts, spacecrafts and automobiles. Such tracking is especially challenging since it requires robustness and should work continuously and autonomously. A wider view of this problem is utilizing the algorithm on automobiles and aircrafts and predict the device's orientation throughout time from the computed position....
This work presents a generic method for improving the velocity estimation of GNSS devices. The suggested algorithm is based on the famous Kalman Filter which utilizes both GNSS and IMU measurements. The suggested sensor-fusion method contains a built-in classifier for identifying measurements with low confidence. The algorithm was implemented and tested using both simulation and real-world data. The...
As GNSS receivers become common in our daily lives and our reliance on them grows stronger, GNSS attacks also are becoming more common and sophisticated than ever. These attacks can range from accidental interruption to intentional denial of service to advanced spoofing equipment designed to deceive the GNSS receiver and make it think it is located elsewhere. Without proper protection, these real-life...
GNSS Jammers are devices that generate RF noise in the carrier frequency of the GNSS (e.g.,1.57Ghz for L1 GPS). Jamming behavior can be characterized by a sharp degradation in the SNR of the GNSS satellites. In this paper we suggest a Bayesian particle filter approach for jamming detection and localization using crowd-sourcing of Smart-Phones GNSS data. The presented algorithm computes in real-time...
Receiver modules in Global Navigation Satellite Systems (GNSS) are capable of providing positioning and velocity estimations that are sufficiently accurate for the purpose of road navigation. However, even in optimal open-sky conditions, GNSS-based positioning carries an average error of 2–4 m. This imposes an effective limitation on GNSS-based vehicle lane detection, a desired functionality for various...
Commercial GNSS devices tend to perform poorly in urban canyon environments. The buildings' density and height in such environments block the signals from many of the satellites. In this work, we present a novel yet simple approach for tackling this accuracy problem. The novelty of the suggested method lies in analyzing insufficient LOS to satellites and improving the estimated location using few...
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