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Despite significant progress in GPS-denied autonomous flight, long-distance traversals (> 100 km) in the absence of GPS remain elusive. This paper demonstrates a method capable of accurately estimating the aircraft state over a 218 km flight with a final position error of 27 m, 0.012% of the distance traveled. Our technique efficiently captures the full state dynamics of the air vehicle with semi-intermittent...
With emphasis on Smart Cities as the future of our world, Vehicular Communication technology rises to the forefront of our focus to enable efficient and intelligent transportation systems. Vehicular communication relies on localization for various applications such as safety and traffic related ones. Current systems rely on Global Positioning Systems (GPS) to obtain vehicle position. Accurate localization...
Localization is a key capability for autonomous vehicles especially in urban scenarios. We propose the use of pole-like landmarks as primary features in these environments, as they are distinct, long-term stable and can be detected reliably with a stereo camera system. Furthermore, the resulting map representation is memory efficient, allowing for easy storage and on-line updates. The localization...
In this paper, a feasibility study is conducted to estimate the pose of a vehicle based on a mono-camera using road direction signs and a public online database. The proposed algorithm uses a mono-camera to detect and segment the road direction sign and matches the detected sign image with the reference image in the database to calculate the relative pose between the road sign and the vehicle. Using...
Driver behaviour has a significant influence on vehicle accidents. Measuring and providing feedback on driver behaviour can provide significant benefits for understanding and improving road safety. In order to detect driver actions and driving characteristics from the broadest population of drivers, mobile phones can be used to collect low cost information and provide easy accessibility, using sensors...
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from highly accurate positioning. Shared position data between dynamic traffic objects via Inter-Vehicle Communication (IVC) are the backbone for deriving vehicle trajectories. These can be used for assessing a situation's criticality in...
This paper proposes a method for fused navigation of an unmanned marine surface vehicle (UMSV). The method also detects the outlier and interference of global positioning system (GPS) simultaneously. The method fuses available sensor measurements through extended Kalman filter (EKF) to find the location and attitude of the vehicle. The method uses error covariance of estimated location for detection...
A smart city is emerging as an application of information and communication technologies to mitigate the problems generated by the urban population growth. One of the smart city solutions is to establish an efficient fleet management relating to the use of a fleet of vehicles (e.g., ambulances and police vehicles). The most basic function in a fleet management system is the real time vehicle tracking...
The Smart cities are a relevant topic nowadays. It attracts most researchers and governmental authorities, due to the vision to adopt technology information and communication in this context, to facilitate access to urban services. Security stills a permanent challenge that affects most smart cities applications. Vehicular Ad Hoc Networks (VANets) is one of those applications, classified in the smart...
Using smartphones in intelligent transportation systems (ITS) is gaining an increasing interest among researchers and developers. Typically, the set of sensors that come with smartphones are utilized to develop tools and services in order to enhance safety and driving experience. GPS, cameras, Bluetooth and inertial sensors are used to detect and analyze drivers' behavior and vehicles' motion. Given...
This paper considers the problem of sensor attack detection for multiple operating mode systems, building upon an existing attack detection method that uses a transient fault model with fixed parameters. For a multiple operating mode system, the existing method would have to use the most conservative model parameters to preserve the soundness in attack detection, thus not being effective in attack...
As demands increase to use unmanned aircraft systems (UAS) for a broad spectrum of commercial applications, regulatory authorities are examining how to safely integrate them without loss of safety or major disruption to existing airspace operations. This work addresses the development of the Safeguard system as an assured safety net technology for UAS. The Safeguard system monitors and enforces conformance...
The work is a preliminary study of autonomous underwater vehicle (AUV) localization using ocean acoustic tomography (OAT) sensor nodes. OAT is a method to measure the current velocity and temperature fields using the time-of-flight of acoustic signals. These acoustic sensor nodes broadcast signals periodically in the area of interest. Each ocean tomography sensor node consists of a surface buoy, an...
The 2015 Gold King Mine spill exposed the Animas River (located in Durango, Colorado) to over 3 million gallons of toxic water with spiked levels of arsenic and lead among other metals. In response to public concern for the quality of the river's water, a water quality monitoring system has been developed and deployed. Multiple organizations, both local and federal, have joined forces to understand...
We implement a collision prevention system, called pSafety, which instantaneously informs pedestrians and drivers of the potential threatening accidents. Unlike other systems, pSafety alerts pedestrians of threatening vehicles coming from not only the line-of-sight, but also non-line-of-sight due to obstructions of the wall corner or other vehicles. pSafety collects GPS information from smartphones...
In the urban transportation system, the unbalanced relationship between taxi demand and the number of running taxis reduces the drivers' income and the levels of passengers' satisfaction. With the help of vehicular global positioning system (GPS) data, the taxi demand distribution of city can be analyzed to provide advice for drivers. A clustering algorithm called Density-Based Spatial Clustering...
Road surface conditions can cause serious traffic accidents, often with tragic consequences. Thus, an efficient system for mapping road anomalies can significantly promote the safety of drivers and pedestrians. This paper proposes a novel road anomaly mapping system that is able to detect a wide variety of conditions with high accuracy. The smartphone's accelerometer and GPS sensors are used for detection...
The application of clinical decision support system can effectively solve the limitation of the clinician's knowledge, can easily help doctors to collect patient's data, diagnose, treat and prevent of disease. Clinical decision support system has not been widely used in clinical practice, there are two reasons. First, at present, most of the hospital's information systems do not have integrated clinical...
This paper proposes an efficient hybrid positioning method for land vehicles in urban area. As widely known, any single satellite positioning system suffers from the lack of satellite visibility in urban area. To improve positioning availability in urban area, the proposed method integrates a GPS/BeiDou receiver, an OBD-II (On-Board Diagnostics-II) device, and a MEMS IMU (Micro Electro Mechanical...
Eco-driving plays a significant role in reducinggreenhouse gas that causes global warming and air pollution. In this work, we introduce a field test of eco-driving systemusing dedicated short range communication (DSRC). Theprimary objective is to reduce the fuel consumption at anintersection. To this end, a vehicle receives the signalinformation and the coordinates of a roadside unit (RSU) viainfrastructure-to-vehicle...
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