• Key dates

    Abstract submission opening :
    February 2017

    Abstract submission deadline:
    15 May 2017

    Notification to authors:
    8 June 2017

    Full paper submission deadline:
     31 July 2017

    Provision of peer review evaluation:
    5 September 2017

    Deadline for final paper and presentation  submission:
     24 November 2017
  • Invited guests Sessions

    Visual SLAM: Real-Time Motion and Scene Structure Estimation from Image Sequences
    Javier Civera
    Assoc. Prof., University of Zaragoza, Spain
    Visual SLAM (SLAM standing for Simultaneous Localization and Mapping) refers to the sequential and real-time estimation of the pose of a camera and a global map of the imaged scene. All of it being the main data input the image sequence taken by the moving camera.
    In the last years, visual SLAM has become a key technology in an increasing number of relevant applications, e.g., Augmented/Virtual Reality, Robotics and Navigation. A camera has many practical advantages as a sensor: Low cost, low power and hardware requirements, and small size among others. It can be used in a wide array of conditions (e.g., indoors and outdoors, hand-held, wearable or attached to a vehicle) and offers a very high positioning and reconstruction accuracy. Finally, a camera also offers the possibility to infer high-level properties about a scene. For example, objects present on it, human actions or scene dynamic changes.
    In this presentation I will summarize the main and more recent approaches to visual SLAM. I will highlight in particular their key achievements, the expected specifications of the state-of-the-art algorithms and their research challenges.

    Javier Civera received the Ph.D. degree from the University of Zaragoza, Zaragoza, Spain, in 2009.
    He is currently an Associate Professor at the University of Zaragoza, teaching computer vision, control, and machine learning courses. He has participated in several EU-funded, national and technology transfer projects related to vision and robotics and has been funded for research visits to Imperial College (London, U.K.) and ETH (Zurich, Switzerland). He has coauthored over 30 publications published in top conference proceedings and journals, receiving more than 2400 references (GoogleScholar). His research interests include use of 3-D vision, cloud architectures and learning algorithms to produce robust and real-time vision technologies for robotics, wearables, and AR applications.
    Roles of GNSS in Intelligent Transport Systems
    Nobuaki Kubo
    Assoc. Prof, Tokyo University of Marine Science and Technology, Japan
    Recently, autonomous driving has become a popular subject for study. Global Navigation Satellite System (GNSS) receivers are candidates to be used as sensors in this process. However, it is still unknown whether GNSSs can actually be used for this purpose or not because both the reliability and availability required for autonomous driving are higher than what GNSSs can provide. Moreover, GNSSs cannot be accessed inside tunnels. Currently, Advanced Driving Assistant Systems (ADASs) do not rely on GNSSs. They utilize cameras, radar, and extremely high frequencies to recognize obstacles for applications such as adaptive cruise control, which are quite useful for drivers and are becoming more popular. Recently, GNSSs have been able to achieve accurate navigation to within 0.1 m under relatively open sky conditions using low-cost receivers that can be purchased commercially rather than expensive ones.
    In this paper, we provide an overview of several roles of GNSS in Intelligent Transport Systems (ITSs) and achieve a real navigation accuracy performance of such a system to within 0.1 m using a low-cost receiver under various operating conditions, such as on highways, in urban areas, and in mountainous areas. The roles of GNSS in ITSs discussed in this study are the following:
    1. Determining the precise locations of accidents and providing warnings about high-accident areas.
    2. Providing positions that are more accurate to Big Data.
    3. Providing lane recognition with a highly accurate dynamic map.
    4. Developing an efficient transport system such as electronic road pricing. 

    We introduce the results of a Real Time Kinematic GNSS (RTK-GNSS) that is accurate to within 0.1 m using a low-cost single-frequency receiver. Even in normal urban areas, the multi-GNSS increases the fix rate by 50–70 %, which is a similar performance to that of a dual-frequency RTK Global Positioning System (RTK-GPS). The reliability of the ambiguity resolution is also enhanced. Furthermore, the integration of GNSS with internal measurement unit speed (IMU/Speed) is also introduced. Using this technique, decimeter-level navigation was maintained, even in dense urban areas.
    Dr. Nobuaki Kubo received his doctorate in Engineering from the University of Tokyo in 2005. He resided at Stanford University in 2008 as a visiting scholar. He is now an associate professor at the Tokyo University of Marine Science and Technology (TUMSAT), specializing in GPS/GNSS systems. His current interests are high accuracy automobile navigation using RTK and multipath mitigation techniques.
    GNSS Carrier Phase Positioning: Performance et Limitations
    Gérard Lachapelle
    Professor Emeritus, University of Calgary, Canada
    GNSS carrier phase measurements allow the highest achievable positioning accuracy. It is too often assumed that it automatically yields the proverbial cm-level accuracy.  This is not usually the case however unless measurements are cumulated over a significant period of time, usually in relative static mode, as in the case of geodetic surveying. Kinematic applications are more challenging and 10 cm is more realistic than 1 cm, one order of magnitude lower. Maybe the 1 cm perception still prevails because few users have the capability of verifying accuracy actually achieved.
    Before discussing the many conditions that must be met to achieve accuracy of or better than 10 cm in kinematic mode, major issues to address first are (i) fixed, and what type of “fixed”, versus float carrier phase ambiguities and (ii) single lane, widelane, ionospheric-free float and ionospheric-free fixed solution. Other parameters include relative versus single mode of operation, receiver phase lock loop and antenna quality, receiver dynamics, tracking continuity, satellite geometry, atmospheric conditions, etc. These are reviewed in the presentation. The advantages of multiple constellations, which provide a geometry rich environment, and multiple frequencies, which can deal better with some atmospheric effects, are then discussed. Examples are used to illustrate the above conditions and modes of operations.

    Professor Emeritus Gérard Lachapelle held a Canada Research Chair in wireless location for 14 years in the Department of Geomatics Engineering, the University of Calgary, Canada, untill his formal retirement in 2015. He had been a professor since 1988 and Department Head from 1995 to 2003. He also held an iCORE Chair from 2001 to 2011. Upon arriving in Calgary in 1980, he worked in industry for eight years where he was part of a team that started GPS research, development and applications in Canada.  Since joining the University of Calgary, he and his colleagues in the Position, Location And Navigation (PLAN) Group have developed numerous novel algorithms, processes, software and patents related to Global Navigation Satellite Systems (GNSS) and positioning that have been licensed worldwide. He and his research team now focus on signal processing in weak signal environments and on natural and electronic interference mitigation. In the process, he has trained over 140 MSc and PhD students that are now contributing to the GNSS industry in many parts of the world. He holds degrees for Laval University, the University of Oxford, the University of Helsinki and the Technical University at Graz. Professor Lachapelle has received scores of awards for his work, including the (U.S.) Institute of Navigation Johannes Kepler Award in 1997 and fellowship in the Royal Society of Canada, the Institute of Navigation, the Canadian Academy of Engineering and the Royal Institute of Navigation.  Additional information is available on the PLAN Group website at http://plan.geomatics.ucalgary.ca/professors/lachap/
    High-Integrity Local-Area Differential GNSS for UAV Navigation and Guidance
    Jiyun Lee
    Assoc. Professor, Korea Advanced Institute of Science and Technology, South Korea
    As civilian use of unmanned aerial vehicles (UAVs) increases, safe operation of UAVs while preventing collisions with either humans or ground structures has become a significant concern. High accuracy and reliability of navigation solutions should be achieved to perform autonomous UAV missions especially Beyond Visual Line-Of-Sight (BVLOS) or in low-altitude airspace safely. This motivates the development of a cost-effective local-area UAV network that utilizes a Local-Area Differential Global Navigation Satellite System (LAD-GNSS) navigation solution. The LAD-GNSS meets the required level of integrity requirements (comparable to those of GBAS Category I – III operations) by monitoring navigation faults at both the reference station and UAV and by broadcasting integrity information to the UAV. By utilizing the integrity information which defines navigation system error models, the UAVs can compute their conservative position error bounds (i.e., protection levels (PL)) and consequently safe separation distances in real time. A concept of UAV operation is to support “in network” UAVs using LAD-GNSS with a minimum operating altitude of either 50 ft plus obstacle height (within 5 km of the ground facility) or 150 ft plus obstacle height (within 20 km of the ground facility).
    The LAD-GNSS architecture for local-area UAV network proposed in previous work includes several methods of simplifying the current GBAS integrity monitoring algorithms and hardware configurations to lower cost and complexity of the system while maintaining an acceptable level of safety. The performance and integrity of LAD-GNSS can also improve by designing additional modules using airborne monitors or an airborne-to-ground datalink. Position Domain Monitoring at a remote site helps detect atmospheric and satellite ephemeris errors that are not easy to observe at the primary site. The addition of a simplified form on solution-separation RAIM, modeled on "Advanced RAIM" or ARAIM, will also be considered to reduce the ephemeris failure threat. The use of a two-way datalink to relay UAV information back to the ground station provides a significant advantage over the conventional GBAS and makes the real-time allocation possible. Since the LAD-GNSS ground station can be notified about the satellite geometry which the UAV utilizes for its positioning, it is possible to compute the PLs for all fault scenarios and optimally allocate the integrity and continuity budgets in order to make the PLs to be identical for all fault scenarios. The integrity status of each UAV, including its current PLs, is maintained by the ground facility and is used to guide each vehicle while maintaining safe separation from nearby obstacles and other UAVs. A prototype of both ground and airborne modules was developed and tested to evaluate the performance of the proposed architecture.

    Dr Jiyun Lee received a B.S. degree in astronomy and atmospheric science from Yonsei University in Seoul, Republic of Korea, an M.S. degree in aerospace engineering sciences from the University of Colorado at Boulder, Boulder, CO, USA, and a Ph.D. degree in aeronautics and astronautics from Stanford University, Stanford, CA, USA, in 2005. She is an Associate Professor in the Department of Aerospace Engineering at Korea Advanced Institute of Science and Technology in Daejeon, Republic of Korea. As part of her professional experience, she worked as a Consulting Professor with Stanford University, a Principal Systems Engineer with Tetra Tech AMT, and a Senior GPS Systems Engineer with SiRF Technology, Inc. She has published over 80 research papers in the field of GNSS applications, multi-sensor navigation, safety-critical systems, atmospheric science and remote sensing. She was awarded the FAA Recognition Award in 2013
    Assured Navigation of UAS in Challenging Environments
    Maarten Uijt de Haag
    Cheng Professor, Ohio University, USA
    In recent years, the number of potential commercial applications for small Unmanned Aircraft Systems (sUAS) a.k.a. drones has significantly increased. Example applications include environmental monitoring, surveillance, mapping, agriculture, aerial photography, search and rescue, law enforcement, to name a few. It is expected that many commercial UAS will operate at lower altitudes in sometimes challenging environments in terms of obstacles that must be avoided (e.g. buildings, forests, and people) and available navigation capabilities. An example of the latter is the use of UAS for environmental monitoring, mapping and search and rescue applications in urban, indoor, or forest environments where a typical GPS-based position capability is unreliable resulting in unpredictable and unsafe behavior of the UAS. This talk will address the main challenges of operating sUAS in these environments and solutions to continue providing assured navigation estimates

    Dr. Maarten Uijt de Haag is the Cheng Professor of Electrical Engineering and Computer Science at Ohio University and a Principal Investigator (PI) with the Ohio University Avionics Engineering Center.  He obtained his M.S.E.E. degree from Delft University of Technology in The Netherlands in 1994 and a Ph.D. in Electrical Engineering from Ohio University in Athens, Ohio in 1999. Maarten Uijt de Haag has been involved with navigation-related research since 1992. More recently, his research activities have focused on sensor integration methods using lasers, vision, GNSS and inertial for manned and unmanned aerial vehicles, terrain referenced navigation, synthetic vision systems, aerial vehicle surveillance and collision avoidance systems, and aircraft information management for improved attitude, energy state, and flight mode awareness. Maarten Uijt de Haag is a member of the ION, a senior member of the IEEE and an associate Fellow of the AIAA. Maarten Uijt de Haag was awarded the 2008 Institute of Navigation Colonel Thomas L. Thurlow Award for his contributions to laser-based navigation and integrity monitors for synthetic vision systems
    Satellite Navigation and Ionosphere Monitoring: Turning A Threat Into Signals-of-Opportunity
    Jade Morton
    Professor, University of Colorado at Boulder, USA
    Satellite-based navigation has impacted nearly every aspect of our modern society. Yet, this powerful technology relies on extremely low power, vulnerable signals traveling across a vast space to reach billions of receivers on the Earth surface. Among the many complex elements interfere with the signals along their propagation path, the ionosphere plasma in our upper atmosphere imposes the biggest threat to the operation and accuracy of the satellite navigation applications. Understanding the ionospheric effects on navigation signals is the pre-requisite for developing robust navigation technologies that can mitigate the threat impact.  Moreover, the ionospheric effects enable satellite navigation signals to function as signals-of-opportunity for low cost, distributed, passive sensing of our space environments. This presentation will first discuss our efforts in developing a worldwide network of software-defined sensors to capture and characterize the effects of the space environment on satellite navigation signals. Based on findings obtained through these sensor networks, we designed and developed novel algorithms that have demonstrated the capability to mitigate these effects. Some of these algorithms will be highlighted in this presentation. Finally, I will present case studies demonstrating the potential powerful applications of the satellite navigation sensor network for ionosphere monitoring.

    Dr. Jade Morton is an electrical engineering Professor at University of Colorado at Boulder. She received a PhD in electrical engineering from Penn State and was a post-doctoral research fellow at the University of Michigan. Prior to joining CSU, she was a professor at Miami University, where she led the creation of its Electrical and Computer Engineering Department.  Her research interests lie at the intersection of satellite navigation technologies and remote sensing of the Earth’s ionosphere, atmosphere, and surface.  Her research and educational activities have focused on developing advanced navigation and remote-sensing techniques, studying the atmosphere using navigation satellite signals and other instruments, as well as developing new applications using satellite navigation technologies.  She has served the satellite navigation and space science community in numerous capacities.  She is a fellow of IEEE, a fellow of the Institute of Navigation (ION), the technical editor of Navigation Systems for IEEE Transactions on Aerospace and Electronic Systems, a recipient of ION Thurlow and Burka award, and the current ION Executive VP.
    ARAIM Fault Detection and Exclusion
    Boris Pervan
    Professor, Illinois Institute of Technology (IIT), USA
    Global navigation satellite system (GNSS) measurements are vulnerable to satellite and constellation faults, which can be major integrity threats for aviation users.  With the modernization of GPS, the full deployment of GLONASS, and the emergence of Galileo and Beidou, greatly increased measurement redundancy is becoming available, which, in turn, has led to a resurgent interest in receiver autonomous integrity monitoring (RAIM).  The core principle of RAIM is to exploit redundant measurements to provide a self-contained fault detection function at the user receiver.  In particular, due to its potential to achieve worldwide coverage with a reduced ground infrastructure (relative to existing GNSS augmentation systems), dual-frequency, multi-constellation advanced RAIM (ARAIM) has attracted considerable attention in the European Union and the United States.
    However, two conflicting outcomes arise from the addition of new redundant ranging signals in multi-constellation GNSS. On the one hand, ARAIM integrity monitoring performance improves because of the increased measurement redundancy. On the other hand, the increased number of measurements also increases the total prior probability using faulted satellites, leading to more fault detections.  This can cause more mission interruptions, thereby increasing the continuity risk.
    An ARAIM fault exclusion function, if implemented, would autonomously identify and remove the presumed cause of the detection, thereby preserving continuity of service.  However, the gain in continuity always comes at the cost of increased integrity risk, because it is possible that the wrong satellite will excluded.  Therefore, implementation of an exclusion function in ARAIM introduces a tradeoff between integrity and continuity.  Whether the exclusion function is even needed or not depends on the operation. 
    In this work, we will investigate this tradeoff between integrity and continuity in the context of two operational scenarios: horizontal ARAIM (H-ARAIM), which aims at providing horizontal navigation integrity for aircraft en-route, terminal, initial approach, non-precision approach (NPA) and departure operations, and vertical ARAIM (V-ARAIM) which is intended for aircraft approach.

    Dr. Boris Pervan is a Professor of Mechanical and Aerospace Engineering at the Illinois Institute of Technology (       IIT       ), where he conducts research on high integrity navigation systems.  Prior to joining the faculty at IIT, he was a spacecraft mission analyst at Hughes Aircraft Company (now Boeing) and a postdoctoral research associate at Stanford University. Prof. Pervan received his B.S. from the           University           of         Notre         Dame, M.S. from the California Institute of Technology, and Ph.D. from Stanford University. He has received the IIT Sigma Xi Excellence in University Research Award (twice), IIT University Excellence in Teaching Award, IEEE Aerospace and Electronic Systems Society M. Barry Carlton Award, RTCA William E. Jackson Award, Guggenheim Fellowship (Caltech), and the Albert J. Zahm Prize in Aeronautics (Notre Dame). He is a Fellow of the Institute of Navigation (ION) and Editor-in-Chief of the ION journal NAVIGATION.    
    15 years of experience of GNSS approaches procedures implementation at worldwide level, where are we now, and what are the challenges from now on to 2030?
    Benoit Roturier
    Program Manager Satellite Navigation, DGAC/DSNA, France
    The ICAO standards for satellite navigation SBAS and GBAS were published in 2001, while ABAS was already in operation. After more than 15 years of operational introduction of satellite navigation based navigation systems of in different areas of the world, what is the global status of penetration of the different GNSS technologies in the context of Performance Based Navigation and All Weather Operations?
    The talk will discuss the main lessons learned as well as up-coming major evolutions, opportunities and challenges trough dual-frequency/multi-constellation evolution of ABAS, SBAS and GBAS during the next decade
    Dr. Benoît Roturier graduated as a CNS systems engineer from Ecole Nationale de l’Aviation Civile (ENAC), Toulouse in 1985 and obtained a PhD  in 1995. He also qualified as an Instrument Flight Rules pilot in 1993. He is now acting as the program manager for satellite navigation systems implementation within Direction des Services de Navigation Aérienne (DSNA). He is also involved in international standardization activities as the chairperson of the International Civil Aviation Organization (ICAO) Navigation Systems Panel (NSP), and French representative of the Performance Based Navigation Study Group (PBNSG)
    Resilient Positioning, Navigation, and Timing
    Jade Morton
    Karen Van Dyke
    Director, PNT & Spectrum Management, U.S. Department of Transportation
    Positioning, Navigation, and Timing (PNT) and radiofrequency spectrum management services are essential to critical infrastructure applications, including transportation for applications such as the Next Generation Air Transportation System (NextGen), Positive Train Control, and Intelligent Transportation Systems (ITS).
    U.S. Space-Based PNT Policy states that the U.S. must continue to improve and maintain the Global Positioning System (GPS), augmentation systems, and back-up capabilities to meet growing national, homeland, and economic security requirements, as well as those from the civil, commercial, and scientific communities.  NSPD-39 recognizes that GPS has grown into a global utility whose multi-use services are integral to U.S. national security, economic growth, transportation safety, and homeland security, and are an essential element of the worldwide economic infrastructure. 
    There are increasing occurrences of unintentional and intentional interference to GPS, including the potential for spoofing of the signal. It is important to increase awareness of vulnerabilities of GPS, evaluate the impact, and to research complementary sources of PNT to increase resiliency and make intentional jamming and spoofing less desirable. Also, best practices should be adhered to for implementation and installation of GPS receivers in critical infrastructure applications.
    With an increased focus on autonomous vehicles for all modes of transportation in the future, there is a need to conduct research on multi-sensor navigation technologies to ensure reliable operation of vehicles without a human in the loop. This research should be aligned with National PNT Architecture recommendations to overcome capability gaps predominantly resulting from the limitations of space-based PNT.
    There also is increasing demand for wireless broadband service in the radiofrequency band adjacent to GPS.  As the civil lead for GPS, the U.S. Department of Transportation has been conducting the GPS Adjacent Band Compatibility Assessment to understand the power levels that can be tolerated in the radiofrequency bands adjacent to GPS.
    This paper will address resilient PNT from the standpoint of both protecting GPS and GNSS from interference, as well as increasing resiliency by implementation of best practices and utilization of other PNT technologies.

    Karen Van Dyke serves as the Director for Positioning, Navigation, and Timing (PNT) and Spectrum Management in the U.S. Department of Transportation Office of the Assistant Secretary for Research and Technology (OST-R).  Karen has been involved in navigation-related programs at the Volpe National Transportation Systems Center for over 20 years and currently is responsible for overseeing the navigation program and development of policy positions on PNT and radiofrequency spectrum management in coordination within the Office of the Secretary of Transportation.
    Karen received her BS and MS degrees in Electrical Engineering from the University of Massachusetts at Lowell.  She served as the President of the Institute of Navigation (ION) and is a recipient of the Award for Meritorious Achievement (Silver Medal) from the Secretary of Transportation and is a Fellow of the ION. Karen was a collaborator on the book, Understanding GPS: Principles and Applications (first and second editions).

    Galileo System and Signal Evolution
    Stefan Wallner
    Engineer, ESA/ESTEC, The Netherlands
    With the initial service declaration end of 2016, Galileo has achieved an important milestone towards its Full Operational Capability (FOC) and is providing already today services at a very good level of performance. However, considering the very long deployment cycles in space programmes, the European Space Agency (ESA) started paving the way for the 2nd Generation of Galileo (G2G) already several years ago in close coordination with the European Commission (EC) and the European GNSS Agency (GSA).
    When defining the 2nd Generation of Galileo it is important to consider the expected evolution of the future user needs and associated technological solutions, including even more than already today hybridisation, multi-sensor solutions, integration with ground-based Position Velocity and Timing (PVT) enabling sources, but also all other GNSS, currently being under modernization, deployment together with their evolution in the coming years. It is recognised that the fidelity of evolving user needs is in contrast with a time to market of about 15-20 years from Phase 0 to the declaration of FOC as observed today for many GNSS when deploying new signals or services. Therefore one of the important objectives for G2G is to shorten the time to market for the provision of new services or new signals significantly through embarking on flexibility at all segments. Related Research and Development activities have been initiated by the Agency and will be addressed.
    Next to increased flexibility for fast deployment of new signals and services, there is of course also the necessity to maintain the services as established by Galileo 1st Generation (G1G), but also to enhance them on some aspects, including significant improvements in the ranging accuracy and the support of Galileo to Safety-of-Life applications, including multiconstellation SBAS and Advanced Receiver Autonomous Integrity Monitoring (ARAIM). The formalisation of a Galileo timing service as a self-standing service is envisaged, as well as specifying a formal contribution of Galileo towards an interoperable GNSS Space Service Volume, allowing for PVT capabilities for space users enabled by Galileo together with all other interoperable GNSS at least up to geostationary altitude.
    Given the fact that the navigation signal is the fundamental link between the GNSS system and its user community, particular attention is also paid to the evolution of the Galileo signals. This includes the evolution of the G1G navigation signals while respecting backward compatibility constraints at user level. Based on user feedback, concepts are presented regarding the introduction of new signal components for improved robustness, timeliness and performance. The introduction of enhanced authentication capabilities to improve the robustness against spoofing attacks is a particular area paid attention to when evolving the Galileo navigation signals.
    The presentation will provide an update on the current status of the G2G system definition, with particular focus on the expected user needs leading to the evolution of Galileo services together with the introduction of new service capabilities. Enabling technology and concepts, in particular related to the Signal in Space will be presented and discussed.
    Stefan Wallner is Galileo 2nd Generation Space-to-Ground Interface Engineer in the Navigation Directorate at ESA/ESTEC. He is involved in the Galileo Program since 2003 when he joined the University of the Federal Armed Forces, Munich, and supported the Definition of the Galileo signal structure and their international Radio Frequency Compatibility (RFC) coordination through the Galileo Signal Task Force and the Galileo Compatibility, Signals and Interoperability Working Group. Since 2010 he is involved in the preparation of the 2nd Generation of Galileo covering important evolution directions like Signal and System Robustness, the evolution of the Galileo User Signals including Signal Authentication and Novel Integrity Solutions, for which he was co-chairing the EU/US WG-C Subgroup on ARAIM. Stefan is co-chairing the Working Group on Enhancement of GNSS Performance, New Services and Capabilities in the frame of the United Nations International Committee on GNSS (ICG). Stefan holds a patent application on Spreading Codes for Navigation Systems.
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