ML estimator and hybrid beamformer for multipath and interference mitigation in GNSS receivers

This paper addresses the estimation of the code-phase(pseudorange) and the carrier-phase of the direct signal received from a direct-sequence spread-spectrum satellite transmitter. Thesignal is received by an antenna array in a scenario with interferenceand multipath propagation. These two effects are generallythe limiting error sources in most high-precision positioning applications.A new estimator of the code- and carrier-phases is derivedby using a simplified signal model and the maximum likelihood(ML) principle. The simplified model consists essentially ofgathering all signals, except for the direct one, in a component withunknown spatial correlation. The estimator exploits the knowledgeof the direction-of-arrival of the direct signal and is much simplerthan other estimators derived under more detailed signal models.Moreover, we present an iterative algorithm, that is adequate for apractical implementation and explores an interesting link betweenthe ML estimator and a hybrid beamformer. The mean squarederror and bias of the new estimator are computed for a numberof scenarios and compared with those of other methods. The presentedestimator and the hybrid beamforming outperform the existingtechniques of comparable complexity and attains, in manysituations, the Cramér–Rao lower bound of the problem at hand.

Maximum likelihood estimation of position in GNSS

In this letter, we obtain the Maximum LikelihoodEstimator of position in the framework of Global NavigationSatellite Systems. This theoretical result is the basis of a completelydifferent approach to the positioning problem, in contrastto the conventional two-steps position estimation, consistingof estimating the synchronization parameters of the in-viewsatellites and then performing a position estimation with thatinformation. To the authors’ knowledge, this is a novel approachwhich copes with signal fading and it mitigates multipath andjamming interferences. Besides, the concept of Position–basedSynchronization is introduced, which states that synchronizationparameters can be recovered from a user position estimation. Weprovide computer simulation results showing the robustness ofthe proposed approach in fading multipath channels. The RootMean Square Error performance of the proposed algorithm iscompared to those achieved with state-of-the-art synchronizationtechniques. A Sequential Monte–Carlo based method is used todeal with the multivariate optimization problem resulting fromthe ML solution in an iterative way.

Estudi comparatiu dels filtres de Kalman i IMM per a navegació

Els sistemes híbrids de navegació integren mesures de posició i velocitat provinents de satèl·lits (GPS) i d’unitats de mesura inercials (IMU).Les dades d’aquests sensors s’han de fusionar i suavitzar, i per a aquest propòsit existeixen diversos algorismes de filtratge, que tracten les dades conjuntament o per separat. En aquest treball s’han codificat en Matlab els algorismes dels filtres de Kalman i IMM, i s’han comparat les seves prestacions en diverses trajectòries d’un vehicle. S’han avaluat quantitativament els errors dels dos filtres, i s’han sintonitzat els seus paràmetres per a minimitzar aquests errors. Amb una correcta sintonia dels filtres, s’ha comprovat que el filtre IMM és superior al filtre de Kalman, tant per maniobres brusques com per maniobres suaus, malgrat que la complexitat i el temps de càlcul requerit són majors.

A design for an advanced architecture of satellite ground segments

This project proposes a preliminary architectural design for a control and data processing center, also known as 'ground segment', for Earth observation satellites.

Confirmation of persistent radio jets in the microquasar LS 5039

We present here new observations conducted with the EVN and MERLIN of the persistent microquasar LS 5039 discovered by Paredes et al. (2000) with the VLBA. The new observations confirm the presence of an asymmetric two-sided jet reaching up to 1000 AU on the longest jet arm. The results suggest a bending of the jets with increasing distance from the core and/or precession. The origin and location of the high-energy gamma-ray emission associated with the system is discussed and an estimate of the magnetic field at the base of the jet given. Our results suggest a well collimated radio jet. We also comment on new observing strategies to be used with satellites and forthcoming detectors, since this persistent source appears to be a rather good laboratory to explore the accretion/ejection processes taking place near compact objects.

Konttipaikannuksen toteutus konttitrukkiin

Diplomityössä perehdytään konttipaikannustekniikkaan, historiaan ja useisiin tekniikoihin joilla järjestelmiä voidaan toteuttaa. Huomiota on kiinnitetty erityisesti GPS paikannukseen ja satelliittien hyödyntämiseen merkintälaskussa. Lisäksi huomiota on kiinnitetty eri anturi tyyppeihin joita tullaan tarvitsemaan. Käytännön sovelluksena työssä on toteutettu konttipaikannus järjestelmä konttitrukkiin. Työssä on tarkasteltu eri teknisiä mahdollisuuksia ja niiden yhdistämistä niin, että saadaan toimiva sovellus.

The 2010 May Flaring Episode of Cygnus X-3 in Radio, X-rays, and γ-rays

In 2009, Cygnus X-3 (Cyg X-3) became the first microquasar to be detected in the GeV γ-ray regime, via the satellites Fermi and AGILE. The addition of this new band to the observational toolbox holds promise for building a more detailed understanding of the relativistic jets of this and other systems. We present a rich data set of radio, hard and soft X-ray, and γ-ray observations of Cyg X-3 made during a flaring episode in 2010 May. We detect a ~3 day softening and recovery of the X-ray emission, followed almost immediately by a ~1 Jy radio flare at 15 GHz, followed by a 4.3σ γ-ray flare (E > 100 MeV) ~1.5 days later. The radio sampling is sparse, but we use archival data to argue that it is unlikely the γ-ray flare was followed by any significant unobserved radio flares. In this case, the sequencing of the observed events is difficult to explain in a model in which the γ-ray emission is due to inverse Compton scattering of the companion star's radiation field. Our observations suggest that other mechanisms may also be responsible for γ-ray emission from Cyg X-3.

Interferometría SAR en las islas Shetlend del Sur: modelo numérico de elevaciones de la Isla Decepción

La interferometría con imágenes de radar de apertura sintética (SAR: Synthetic Aperture Radar) desde satélite es una técnica que permite obtener información altimétrica del relieve terrestre, siendo especialmente útil en áreas remotas. Este trabajo muestra una aplicación de esta técnica en las islas Shetland del Sur (Antártida). Para ello se han utilizado imágenes SAR obtenidas por los satélites ERS (European Remote Sensing) de la Agencia Espacial Europea (ESA: European Space Agency) y un proceso interferométrico desarrollado entre el Departament de Geodinàmica i Geofísica de la Universitat de Barcelona y el Institut Cartogràfic de Catalunya.

Forest Transition in Madagascar's Highlands: Initial Evidence and Implications

Madagascar is renowned for the loss of the forested habitat of lemurs and other species endemic to the island. Less well known is that in the highlands, a region often described as an environmental "basket-case" of fire-degraded, eroded grasslands, woody cover has been increasing for decades. Using information derived from publically available high- and medium-resolution satellites, this study characterizes tree cover dynamics in the highlands of Madagascar over the past two decades. Our results reveal heterogeneous patterns of increased tree cover on smallholder farms and village lands, spurred by a mix of endogenous and exogenous forces. The new trees play important roles in rural livelihoods, providing renewable supplies of firewood, charcoal, timber and other products and services, as well as defensible claims to land tenure in the context of a decline in the use of hillside commons for grazing. This study documents this nascent forest transition through Land Change Science techniques, and provides a prologue to political ecological analysis by setting these changes in their social and environmental context and interrogating the costs and benefits of the shift in rural livelihood strategies.

Novos materiais à base de nanofibras de carbono como suporte de catalisador na decomposição da hidrazina

Today satellites propulsion is based on the use of monopropellant and/or bipropellant chemical systems. The maneuvering of satellite is based on the hydrazine decomposition micropropulsors catalyzed by metallic iridium supported on g-alumina. This reaction is a surface reaction and is strongly exothermic and implies that the operation of the micropropulsor is controlled by the mass and heat diffusions. For this reason and for the fact that the propulsor operation is frequently in pulsed regime, the catalyst should support high pressure and temperature variations within a short time period. The performance and the durability of the commercial catalyst are jeopardized by the low thermal conductivity of the alumina. The low thermal conductivity of the alumina support restricts the heat diffusion and leads to the formation of hot spots on the catalyst surface causing the metal sintering and/or fractures of the support, resulting in loss of the activity and catalyst destruction. This work presents the synthesis and characterization of new carbon composite support for the active element iridium, in substitution of the commercial catalysts alumina based support. These supports are constituted of carbon nanofibers (30 to 40 nm diameter) supported on a macroscopic carbon felt. These materials present high thermal conductivity and mechanical resistance, as well as the easiness to be shaped with different macroscopic shapes. The mechanical stability and the performance of the iridium supported on the carbon composite support, evaluated in a laboratory scale test in hydrazine decomposition reaction, are superior compared to the commercial catalyst.

V-band observations of V4641 Sagittarii

In this note we report high time resolution V Johnson photometry of the microquasar V4641 Sgr (SAX J1819.3-2525 - XTE J1819-254). This source was discovered as an X-ray transient by BeppoSAX and RossiXTE satellites (In't Zand et al. 1999; Markwardt et al. 1999). On 1999 September, a very fast transient optical and X-ray outburst was observed, reaching up to ...

Analysis of Satellite Data for Forest Segmentation

In this work we study the classification of forest types using mathematics based image analysis on satellite data. We are interested in improving classification of forest segments when a combination of information from two or more different satellites is used. The experimental part is based on real satellite data originating from Canada. This thesis gives summary of the mathematics basics of the image analysis and supervised learning , methods that are used in the classification algorithm. Three data sets and four feature sets were investigated in this thesis. The considered feature sets were 1) histograms (quantiles) 2) variance 3) skewness and 4) kurtosis. Good overall performances were achieved when a combination of ASTERBAND and RADARSAT2 data sets was used.

Multi-Eruption Solar Energetic Particle Events Observed by SOHO/ERNE

In the last two decades of studying the Solar Energetic Particle (SEP) phenomenon, intensive emphasis has been put on how and when and where these SEPs are injected into interplanetary space. It is well known that SEPs are related to solar flares and CMEs. However, the role of each in the acceleration of SEPs has been under debate since the major role was taken from flares ascribed to CMEs step by step after the skylab mission, which started the era of CME spaceborn observations. Since then, the shock wave generated by powerful CMEs in between 2-5 solar radii is considered the major accelerator. The current paradigm interprets the prolonged proton intensity-time profile in gradual SEP events as a direct effect of accelerated SEPs by shock wave propagating in the interplanetary medium. Thus the powerful CME is thought of as a starter for the acceleration and its shock wave as a continuing accelerator to result in such an intensity-time profile. Generally it is believed that a single powerful CME which might or might not be associated with a flare is always the reason behind such gradual events.

In this work we use the Energetic and Relativistic Nucleus and Electrons ERNE instrument on board Solar and Heliospheric Observatory SOHO to present an empirical study to show the possibility of multiple accelerations in SEP events. In the beginning we found 18 double-peaked SEP events by examining 88 SEP events. The peaks in the intensity-time profile were separated by 3-24 hours. We divided the SEP events according to possible multiple acceleration into four groups and in one of these groups we find evidence for multiple acceleration in velocity dispersion and change in the abundance ratio associated at transition to the second peak. Then we explored the intensity-time profiles of all SEP events during solar cycle 23 and found that most of the SEP events are associated with multiple eruptions at the Sun and we call those events as Multi-Eruption Solar Energetic Particles (MESEP) events. We use the data available by Large Angle and Spectrometric Coronograph LASCO on board SOHO to determine the CME associated with such events and YOHKOH and GOES satellites data to determine the flare associated with such events. We found four types of MESEP according to the appearance of the peaks in the intensity-time profile in large variation of energy levels. We found that it is not possible to determine whether the peaks are related to an eruption at the Sun or not, only by examining the anisotropy flux, He/p ratio and velocity dispersion. Then we chose a rare event in which there is evidence of SEP acceleration from behind previous CME. This work resulted in a conclusion which is inconsistent with the current SEP paradigm. Then we discovered through examining another MESEP event, that energetic particles accelerated by a second CME can penetrate a previous CME-driven decelerating shock. Finally, we report the previous two MESEP events with new two events and find a common basis for second CME SEPs penetrating previous decelerating shocks. This phenomenon is reported for the first time and expected to have significant impact on modification of the current paradigm of the solar energetic particle events.

Automated, adaptive methods for forest inventory

Forest inventories are used to estimate forest characteristics and the condition of forest for many different applications: operational tree logging for forest industry, forest health state estimation, carbon balance estimation, land-cover and land use analysis in order to avoid forest degradation etc. Recent inventory methods are strongly based on remote sensing data combined with field sample measurements, which are used to define estimates covering the whole area of interest. Remote sensing data from satellites, aerial photographs or aerial laser scannings are used, depending on the scale of inventory. To be applicable in operational use, forest inventory methods need to be easily adjusted to local conditions of the study area at hand. All the data handling and parameter tuning should be objective and automated as much as possible. The methods also need to be robust when applied to different forest types. Since there generally are no extensive direct physical models connecting the remote sensing data from different sources to the forest parameters that are estimated, mathematical estimation models are of "black-box" type, connecting the independent auxiliary data to dependent response data with linear or nonlinear arbitrary models. To avoid redundant complexity and over-fitting of the model, which is based on up to hundreds of possibly collinear variables extracted from the auxiliary data, variable selection is needed. To connect the auxiliary data to the inventory parameters that are estimated, field work must be performed. In larger study areas with dense forests, field work is expensive, and should therefore be minimized. To get cost-efficient inventories, field work could partly be replaced with information from formerly measured sites, databases. The work in this thesis is devoted to the development of automated, adaptive computation methods for aerial forest inventory. The mathematical model parameter definition steps are automated, and the cost-efficiency is improved by setting up a procedure that utilizes databases in the estimation of new area characteristics.

Numerics of Spacecraft Dynamics

Whenever a spacecraft is launched it is essential that the algorithms in the on-board software systems and at ground control are efficient and reliable over extended periods of time. Geometric numerical integrators, and in particular variational integrators, have both these characteristics. In "Numerics of Spacecraft Dynamics" new numerical integrators are presented and analysed in depth. These algorithms have been designed specifically for the dynamics of spacecraft and artificial satellites in Earth orbits. Full analytical solutions to a class of integrable deformations of the two-body problem in classical mechanics are derived, and a systematic method to compute variational integrators to arbitrary order with a computer algebra system is introduced.