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Concept: Global navigation satellite system


Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes. In such DR systems, the primary error is often due to accumulated heading drifts. By tightly integrating global navigation satellite system (GNSS) Doppler measurements with DR, such accumulated heading errors can usually be accurately compensated. Under weak signal conditions, high sensitivity GNSS (HSGNSS) receivers with block processing techniques are often used, however, the Doppler quality of such receivers is relatively poor due to multipath, fading and signal attenuation. This often limits the benefits of integrating HSGNSS Doppler with DR. This paper investigates the benefits of using Doppler measurements from a novel direct vector HSGNSS receiver with pedestrian dead-reckoning (PDR) for indoor navigation. An indoor signal and multipath model is introduced which explains how conventional HSGNSS Doppler measurements are affected by indoor multipath. Velocity and Doppler estimated by using direct vector receivers are introduced and discussed. Real experimental data is processed and analyzed to assess the veracity of proposed method. It is shown when integrating HSGNSS Doppler with PDR algorithm, the proposed direct vector method are more helpful than conventional block processing method for the indoor environments considered herein.

Concepts: Algorithm, Navigation, Global Positioning System, Dead reckoning, Satellite navigation system, Global navigation satellite system, Satellite navigation systems, Fading


The Chinese BeiDou system (BDS), having different types of satellites, is an important addition to the ever growing system of Global Navigation Satellite Systems (GNSS). It consists of Geostationary Earth Orbit (GEO) satellites, Inclined Geosynchronous Satellite Orbit (IGSO) satellites and Medium Earth Orbit (MEO) satellites. This paper investigates the receiver-dependent bias between these satellite types, for which we coined the name “inter-satellite-type bias” (ISTB), and its impact on mixed receiver attitude determination. Assuming different receiver types may have different delays/biases for different satellite types, we model the differential ISTBs among three BeiDou satellite types and investigate their existence and their impact on mixed receiver attitude determination. Our analyses using the real data sets from Curtin’s GNSS array consisting of different types of BeiDou enabled receivers and series of zero-baseline experiments with BeiDou-enabled receivers reveal the existence of non-zero ISTBs between different BeiDou satellite types. We then analyse the impact of these biases on BeiDou-only attitude determination using the constrained (C-)LAMBDA method, which exploits the knowledge of baseline length. Results demonstrate that these biases could seriously affect the integer ambiguity resolution for attitude determination using mixed receiver types and that a priori correction of these biases will dramatically improve the success rate.

Concepts: Communications satellite, Global navigation satellite system, Satellite, Satellite navigation systems, Low Earth orbit, Geostationary orbit, Geosynchronous orbit, Earth orbits


Spoofing is becoming a serious threat to various Global Navigation Satellite System (GNSS) applications, especially for those that require high reliability and security such as power grid synchronization and applications related to first responders and aviation safety. Most current works on anti-spoofing focus on spoofing detection from the individual receiver side, which identifies spoofing when it is under an attack. This paper proposes a novel spoofing network monitoring (SNM) mechanism aiming to reveal the presence of spoofing within an area. Consisting of several receivers and one central processing component, it keeps detecting spoofing even when the network is not attacked. The mechanism is based on the different time difference of arrival (TDOA) properties between spoofing and authentic signals. Normally, TDOAs of spoofing signals from a common spoofer are identical while those of authentic signals from diverse directions are dispersed. The TDOA is measured as the differential pseudorange to carrier frequency ratio (DPF). In a spoofing case, the DPFs include those of both authentic and spoofing signals, among which the DPFs of authentic are dispersed while those of spoofing are almost overlapped. An algorithm is proposed to search for the DPFs that are within a pre-defined small range, and an alarm will be raised if several DPFs are found within such range. The proposed SNM methodology is validated by simulations and a partial field trial. Results show 99.99% detection and 0.01% false alarm probabilities are achieved. The SNM has the potential to be adopted in various applications such as (1) alerting dedicated users when spoofing is occurring, which could significantly shorten the receiver side spoofing cost; (2) in combination with GNSS performance monitoring systems, such as the Continuous Operating Reference System (CORS) and GNSS Availability, Accuracy, Reliability anD Integrity Assessment for Timing and Navigation (GAARDIAN) System, to provide more reliable monitoring services.

Concepts: Detection theory, Reliability, Navigation, Global Positioning System, Satellite navigation system, Global navigation satellite system, Satellite navigation systems, Differential GPS


Although the cheetah is recognised as the fastest land animal, little is known about other aspects of its notable athleticism, particularly when hunting in the wild. Here we describe and use a new tracking collar of our own design, containing a combination of Global Positioning System (GPS) and inertial measurement units, to capture the locomotor dynamics and outcome of 367 predominantly hunting runs of five wild cheetahs in Botswana. A remarkable top speed of 25.9 m s(-1) (58 m.p.h. or 93 km h(-1)) was recorded, but most cheetah hunts involved only moderate speeds. We recorded some of the highest measured values for lateral and forward acceleration, deceleration and body-mass-specific power for any terrestrial mammal. To our knowledge, this is the first detailed locomotor information on the hunting dynamics of a large cursorial predator in its natural habitat.

Concepts: Kinematics, Units of measurement, Hunting, Global Positioning System, Cheetah, Dimensional analysis, Global navigation satellite system, Speed of light


Numerous flying and swimming animals constantly need to control their heading (that is, their direction of orientation) in a flow to reach their distant destination. However, animal orientation in a flow has yet to be satisfactorily explained because it is difficult to directly measure animal heading and flow. We constructed a new animal movement model based on the asymmetric distribution of the GPS (Global Positioning System) track vector along its mean vector, which might be caused by wind flow. This statistical model enabled us to simultaneously estimate animal heading (navigational decision-making) and ocean wind information over the range traversed by free-ranging birds. We applied this method to the tracking data of homing seabirds. The wind flow estimated by the model was consistent with the spatiotemporally coarse wind information provided by an atmospheric simulation model. The estimated heading information revealed that homing seabirds could head in a direction different from that leading to the colony to offset wind effects and to enable them to eventually move in the direction they intended to take, even though they are over the open sea where visual cues are unavailable. Our results highlight the utility of combining large data sets of animal movements with the “inverse problem approach,” enabling unobservable causal factors to be estimated from the observed output data. This approach potentially initiates a new era of analyzing animal decision-making in the field.

Concepts: Statistics, Mathematics, Bird, Navigation, Ocean, Global Positioning System, Global navigation satellite system, GPS


Cosmological observations indicate that dark matter makes up 85% of all matter in the universe yet its microscopic composition remains a mystery. Dark matter could arise from ultralight quantum fields that form macroscopic objects. Here we use the global positioning system as a ~ 50,000 km aperture dark matter detector to search for such objects in the form of domain walls. Global positioning system navigation relies on precision timing signals furnished by atomic clocks. As the Earth moves through the galactic dark matter halo, interactions with domain walls could cause a sequence of atomic clock perturbations that propagate through the satellite constellation at galactic velocities ~ 300 km s(-1). Mining 16 years of archival data, we find no evidence for domain walls at our current sensitivity level. This improves the limits on certain quadratic scalar couplings of domain wall dark matter to standard model particles by several orders of magnitude.

Concepts: Particle physics, Global Positioning System, Universe, Standard Model, Dark matter, Global navigation satellite system, Atomic clock


Use of Global positioning system (GPS) technology in team sport permits measurement of player position, velocity, and movement patterns. GPS provides scope for better understanding of the specific and positional physiological demands of team sport and can be used to design training programs that adequately prepare athletes for competition with the aim of optimizing on-field performance.

Concepts: Global Positioning System, Global navigation satellite system, GPS, Positioning system


The purpose of this study was to examine the match activity profile of U9 and U10 elite soccer players and to establish if there were any differences between players who were subsequently retained or released by their clubs. Such information should prove valuable in the design of training programs for these very young players and in the talent identification and development process. A Global Positioning System was used to analyze 2-4 inter-academy 6-a-side matches of English Premier League Academy players (U9: N = 22 and U10: N = 12) who trained three times a week (4.5 h) . Speed zones were created based on 5 and 10 m sprint times and an independent sample t-test was employed for a statistical analysis.Both squads covered ∼4000 m in total or ∼4700 m·h during a match (NS between squads), with the U10s tending to cover a greater distance at moderate (p = 0.10) and high speeds (p = 0.08) than the U9s. Retained group covered a greater distance than released group (retained vs. released: 4478 ± 513 m vs. 4091 ± 462 m, p < 0.05) during a match and covered a greater distance during low speed running in absolute (1226 ± 259 m vs. 1005 ± 221 m, p < 0.05) and relative (1325 ± 235 m[BULLET OPERATOR]h vs. 1132 ± 210 m[BULLET OPERATOR]h, p < 0.05) terms.Thus, U9 and U10 players cover over 4000 m in match play and those players who are retained by academies cover a greater distance in total and at low speeds (2.1-3.1 m·s). This information may support the preparation of squad training programs and the talent identification and development process.

Concepts: Student's t-test, Premier League, Global Positioning System, Roman numerals, Global navigation satellite system, Positioning system, 1001, Nautical mile


We quantified the acceleration and high-velocity running of elite Australian soccer players. We hypothesised that high-intensity activity would be underestimated when excluding acceleration during match analysis given its high metabolic demand and occurrence at low velocities. Player movements were observed from 29 players (forwards and central and wide defenders and midfielders) during domestic Australian competition using 5-Hz global positioning system. Effort occurrence were determined for high-velocity running, sprinting and maximal accelerations. The commencement and final velocity of maximal accelerations were also identified. Players undertook an 8~fold greater number of maximal accelerations than sprints per game (65±21 vs. 8±5). Of maximal accelerations ~98% commenced from a starting velocity lower than what would be considered high-velocity running while ~85% did not cross the high-velocity running threshold. The number of efforts performed in all categories were position dependent (P<0.001). Wide defenders performed more maximal accelerations (P<0.006) and central defenders and midfielders performed less sprints compared to all other positions (P<0.02). Maximal accelerations are frequently undertaken during a match often occurring at low velocities. Excluding maximal accelerations in match analysis research may underestimate the amount of high-intensity movements undertaken. Additionally positional differences in high-intensity movements should be accounted for when developing specific conditioning drills.

Concepts: General relativity, Acceleration, Velocity, Kinematics, Global Positioning System, Motion, Global navigation satellite system, Specific force


This study examined whether motor-related participation could be assessed by global positioning systems in individuals with cerebral palsy. Global positioning systems monitoring devices were given to 2 adolescent girls (14-year-old with diplegic cerebral palsy and her 15-year-old healthy sister). Outcome measures were traveling distances, time spent outdoors, and Children’s Assessment of Participation and Enjoyment questionnaires. Global positioning systems documented that the girl with cerebral palsy did not visit nearby friends, spent less time outdoors and traveled shorter distances than her sister (P = .02). Participation questionnaire corroborated that the girl with cerebral palsy performed most activities at home alone. Lower outdoor activity of the girl with cerebral palsy measured by a global positioning system was 29% to 53% of that of her sibling similar to participation questionnaires (44%). Global positioning devices objectively documented low outdoor activity in an adolescent with cerebral palsy compared to her sibling reflecting participation reported by validated questionnaires. Global positioning systems can potentially quantify certain aspects of participation.

Concepts: Navigation, Cerebral palsy, Global Positioning System, Global navigation satellite system, GPS, Positioning system