Implicações do uso de recptores GPS de navegação sem conhecimento de suas limitações e configurações básicas

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Desenvolvimento de um sistema de aquisição de dados georreferenciados e de telemetria para monitoramento de parâmetros físicos em sistemas de irrigação

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Reconhecimento de padrões via Wavelets: aplicação no monitoramento de estruturas a partir do efeito do multicaminho proveniente de sinais de satélites GPS

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Potencialidade do gps de navegação garmin 12 xl utilizando um sistema de baixo custo

Since 2000 the use of the GPS navigation increases considerably. The reason for that was the deactivation of the selective availability in May 2000. However, these receivers do not register the observables, they just estimate and store them and that prevents the post-processing data. Based in this aspect some softwares were developed and are available for free. They allow recording the GPS observables, pseudorange and carrier phase. These programs are able to read in binary files and record information concerning the GPS observables and to convert binary format to a RINEX format. This study presents the GPS Garmin 12 XL evaluation using free programs. Two experiments were carried out in Presidente Prudente-SP region using the relative static survey. The processing was carried out with intervals of 30, 15, 10 and 5 minutes. The results were compared with the coordinates from a geodetic receiver and show that 98.9 % of the points, the values in relation to the planimetric accuracy were better than 0.50 m. The only baseline which the value was larger or equal to 0.50 m is the point M0001 (baseline lesser than 2 km) referred to the first experiment. In terms of precision the values did not exceeded 0.30 m.

Sistema GPS: uma órbita em evolução - número de satélites e periodicidade

The objective of this project was to monitor the satellites of the Global Positioning System (GPS) from a fixed point on Earth and to verify the rate of recurrence respect to their rotation and displacement. A topographic GPS signal receiver connected to a personal computer was used to recorded, for five days, the displacement of the satellites. This work was based on the fact that many literature references state that satellites complete one orbit around the Earth every 12 hours, then, it is assumed that the satellite would be seen twice in a day from the same fixed point on Earth.Although, this does not occur, as thise time interval correspond to 12 hours sidereal time and not solar time. In addition, this study was carried out in order toconfirm and update the information related to the number of satellites in operation today, found to be 31. In that sense, some references concerning the space segment of this system were defined in details.

Levantamento planimétrico de pequenas propriedades rurais pelo sistema convencional e pelo receptor (gps) de navegação

The present study aimed to compare the planimetric survey data of an area equivalent to a small rural property, through values of longitudes e latitudes obtained by a GPS navigation with a conventional survey data. The value of the area obtained with the navigation receiver showed a small difference when compared with the conventional system. Points located under large vegetal cover had impaired reading of coordinates. The navigation receiver can be used to get measurements inside the property for planning purposes and also for measuring he land perimeter, but not for legal purposes. The Google planimeter result in the same area as the one from the conventional survey data.

Determinação das coordenadas dos vértices limítrofes de imóveis rurais utilizando-se do posicionamento GPS

Aiming to evaluate the methodologies of surveys related with the specifications of Geo-referencing Rural Parcels in Brazil, established by INCRA (National Institute of Colonization and Agrarian Reform), in attendance to the Law 10.267/01, and considering aspects of precision and accuracy, a test area was set up in the Assentamento Florestan Fernandes, in the county of Presidente Bernardes, SP. This area was subdivided in three sub-areas in order to simulate the existence of three contiguous rural parcels. The first stage of work consisted in the implantation and determination of the control points coordinates in their respective areas. These control points were determined by the process of direct transport, using dual frequency (L1/L2) GPS receivers and through the process of traverse with baselines of up to 20 km, using single frequency receivers (L1). The coordinates of the points of the perimeter of the three sub-areas were determined using single frequency GPS receivers, from two survey methods, both using static relative positioning. The first one, so called traverse, each point that delimits the property was occupied successively, starting from the control point and closing at another. In other, denominated double irradiation, each point of the property was irradiated from two control points. These procedures were accomplished with the intention to define and to implement a mistake control strategy, to realize redundancy measurements and to use an adjustment method correctly, to obtain trustworthily values in the patterns demanded in each kind of survey. With the data collected and processed some analyses could be accomplished from the discrepancies between the coordinates obtained by different methodologies. The results show that this test area may be used to validate other methodologies and equipments. The results were satisfactory and attended the specifications of Geo-referencing Rural Parcel.

Posicionamento por ponto preciso com solução de ambiguidades inteiras no contexto de rede GPS

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The Enhanced Single-dish Control System and wide surveys of compact sources

The Italian radio telescopes currently undergo a major upgrade period in response to the growing demand for deep radio observations, such as surveys on large sky areas or observations of vast samples of compact radio sources. The optimised employment of the Italian antennas, at first constructed mainly for VLBI activities and provided with a control system (FS – Field System) not tailored to single-dish observations, required important modifications in particular of the guiding software and data acquisition system. The production of a completely new control system called ESCS (Enhanced Single-dish Control System) for the Medicina dish started in 2007, in synergy with the software development for the forthcoming Sardinia Radio Telescope (SRT). The aim is to produce a system optimised for single-dish observations in continuum, spectrometry and polarimetry. ESCS is also planned to be installed at the Noto site. A substantial part of this thesis work consisted in designing and developing subsystems within ESCS, in order to provide this software with tools to carry out large maps, spanning from the implementation of On-The-Fly fast scans (following both conventional and innovative observing strategies) to the production of single-dish standard output files and the realisation of tools for the quick-look of the acquired data. The test period coincided with the commissioning phase for two devices temporarily installed – while waiting for the SRT to be completed – on the Medicina antenna: a 18-26 GHz 7-feed receiver and the 14-channel analogue backend developed for its use. It is worth stressing that it is the only K-band multi-feed receiver at present available worldwide. The commissioning of the overall hardware/software system constituted a considerable section of the thesis work. Tests were led in order to verify the system stability and its capabilities, down to sensitivity levels which had never been reached in Medicina using the previous observing techniques and hardware devices. The aim was also to assess the scientific potential of the multi-feed receiver for the production of wide maps, exploiting its temporary availability on a mid-sized antenna. Dishes like the 32-m antennas at Medicina and Noto, in fact, offer the best conditions for large-area surveys, especially at high frequencies, as they provide a suited compromise between sufficiently large beam sizes to cover quickly large areas of the sky (typical of small-sized telescopes) and sensitivity (typical of large-sized telescopes). The KNoWS (K-band Northern Wide Survey) project is aimed at the realisation of a full-northern-sky survey at 21 GHz; its pilot observations, performed using the new ESCS tools and a peculiar observing strategy, constituted an ideal test-bed for ESCS itself and for the multi-feed/backend system. The KNoWS group, which I am part of, supported the commissioning activities also providing map-making and source-extraction tools, in order to complete the necessary data reduction pipeline and assess the general system scientific capabilities. The K-band observations, which were carried out in several sessions along the December 2008-March 2010 period, were accompanied by the realisation of a 5 GHz test survey during the summertime, which is not suitable for high-frequency observations. This activity was conceived in order to check the new analogue backend separately from the multi-feed receiver, and to simultaneously produce original scientific data (the 6-cm Medicina Survey, 6MS, a polar cap survey to complete PMN-GB6 and provide an all-sky coverage at 5 GHz).

Advanced signal and receiver design for next generation OFDM systems

This thesis deal with the design of advanced OFDM systems. Both waveform and receiver design have been treated. The main scope of the Thesis is to study, create, and propose, ideas and novel design solutions able to cope with the weaknesses and crucial aspects of modern OFDM systems. Starting from the the transmitter side, the problem represented by low resilience to non-linear distortion has been assessed. A novel technique that considerably reduces the Peak-to-Average Power Ratio (PAPR) yielding a quasi constant signal envelope in the time domain (PAPR close to 1 dB) has been proposed.The proposed technique, named Rotation Invariant Subcarrier Mapping (RISM),is a novel scheme for subcarriers data mapping,where the symbols belonging to the modulation alphabet are not anchored, but maintain some degrees of freedom. In other words, a bit tuple is not mapped on a single point, rather it is mapped onto a geometrical locus, which is totally or partially rotation invariant. The final positions of the transmitted complex symbols are chosen by an iterative optimization process in order to minimize the PAPR of the resulting OFDM symbol. Numerical results confirm that RISM makes OFDM usable even in severe non-linear channels. Another well known problem which has been tackled is the vulnerability to synchronization errors. Indeed in OFDM system an accurate recovery of carrier frequency and symbol timing is crucial for the proper demodulation of the received packets. In general, timing and frequency synchronization is performed in two separate phases called PRE-FFT and POST-FFT synchronization. Regarding the PRE-FFT phase, a novel joint symbol timing and carrier frequency synchronization algorithm has been presented. The proposed algorithm is characterized by a very low hardware complexity, and, at the same time, it guarantees very good performance in in both AWGN and multipath channels. Regarding the POST-FFT phase, a novel approach for both pilot structure and receiver design has been presented. In particular, a novel pilot pattern has been introduced in order to minimize the occurrence of overlaps between two pattern shifted replicas. This allows to replace conventional pilots with nulls in the frequency domain, introducing the so called Silent Pilots. As a result, the optimal receiver turns out to be very robust against severe Rayleigh fading multipath and characterized by low complexity. Performance of this approach has been analytically and numerically evaluated. Comparing the proposed approach with state of the art alternatives, in both AWGN and multipath fading channels, considerable performance improvements have been obtained. The crucial problem of channel estimation has been thoroughly investigated, with particular emphasis on the decimation of the Channel Impulse Response (CIR) through the selection of the Most Significant Samples (MSSs). In this contest our contribution is twofold, from the theoretical side, we derived lower bounds on the estimation mean-square error (MSE) performance for any MSS selection strategy,from the receiver design we proposed novel MSS selection strategies which have been shown to approach these MSE lower bounds, and outperformed the state-of-the-art alternatives. Finally, the possibility of using of Single Carrier Frequency Division Multiple Access (SC-FDMA) in the Broadband Satellite Return Channel has been assessed. Notably, SC-FDMA is able to improve the physical layer spectral efficiency with respect to single carrier systems, which have been used so far in the Return Channel Satellite (RCS) standards. However, it requires a strict synchronization and it is also sensitive to phase noise of local radio frequency oscillators. For this reason, an effective pilot tone arrangement within the SC-FDMA frame, and a novel Joint Multi-User (JMU) estimation method for the SC-FDMA, has been proposed. As shown by numerical results, the proposed scheme manages to satisfy strict synchronization requirements and to guarantee a proper demodulation of the received signal.

Design and implementation of a novel multi-constellation FPGA-based dual frequency GNSS receiver for space applications

The PhD activity described in the document is part of the Microsatellite and Microsystem Laboratory of the II Faculty of Engineering, University of Bologna. The main objective is the design and development of a GNSS receiver for the orbit determination of microsatellites in low earth orbit. The development starts from the electronic design and goes up to the implementation of the navigation algorithms, covering all the aspects that are involved in this type of applications. The use of GPS receivers for orbit determination is a consolidated application used in many space missions, but the development of the new GNSS system within few years, such as the European Galileo, the Chinese COMPASS and the Russian modernized GLONASS, proposes new challenges and offers new opportunities to increase the orbit determination performances. The evaluation of improvements coming from the new systems together with the implementation of a receiver that is compatible with at least one of the new systems, are the main activities of the PhD. The activities can be divided in three section: receiver requirements definition and prototype implementation, design and analysis of the GNSS signal tracking algorithms, and design and analysis of the navigation algorithms. The receiver prototype is based on a Virtex FPGA by Xilinx, and includes a PowerPC processor. The architecture follows the software defined radio paradigm, so most of signal processing is performed in software while only what is strictly necessary is done in hardware. The tracking algorithms are implemented as a combination of Phase Locked Loop and Frequency Locked Loop for the carrier, and Delay Locked Loop with variable bandwidth for the code. The navigation algorithm is based on the extended Kalman filter and includes an accurate LEO orbit model.

Sea level measurement using single GNSS antenna SNR signals

This thesis presents a possible method to calculate sea level variation using geodetic-quality Global Navigate Satellite System (GNSS) receivers. Three antennas are used: two small antennas and a choke ring one, analyzing only Global Positioning System signals. The main goal of the thesis is to test a modified configuration for antenna set up. In particular, measurements obtained tilting one antenna to face the horizon are compared to measurements obtained from antennas looking upward. The location of the experiment is a coastal environment nearby the Onsala Space Observatory in Sweden. Sea level variations are obtained using periodogram analysis of the SNR signal and compared to synthetic gauge generated from two independent tide gauges. The choke ring antenna provides poor result, with an RMS around 6 cm and a correlation coefficients of 0.89. The smaller antennas provide correlation coefficients around 0.93. The antenna pointing upward present an RMS of 4.3 cm and the one pointing the horizon an RMS of 6.7 cm. Notable variation in the statistical parameters is found when modifying the length of the interval analyzed. In particular, doubts are risen on the reliability of certain scattered data. No relation is found between the accuracy of the method and weather conditions. Possible methods to enhance the available data are investigated, and correlation coefficient above 0.97 can be obtained with small antennas when sacrificing data points. Hence, the results provide evidence of the suitability of SNR signal analysis for sea level variation in coastal environment even in the case of adverse weather conditions. In particular, tilted configurations provides comparable result with upward looking geodetic antennas. A SNR signal simulator is also tested to investigate its performance and usability. Various configuration are analyzed in combination with the periodogram procedure used to calculate the height of reflectors. Consistency between the data calculated and those received is found, and the overall accuracy of the height calculation program is found to be around 5 mm for input height below 5 m. The procedure is thus found to be suitable to analyze the data provided by the GNSS antennas at Onsala.

Validation of a single item to assess daytime sleepiness for the Swiss Transplant Cohort Study

Context-Daytime sleepiness in kidney transplant recipients has emerged as a potential predictor of impaired adherence to the immunosuppressive medication regimen. Thus there is a need to assess daytime sleepiness in clinical practice and transplant registries.Objective-To evaluate the validity of a single-item measure of daytime sleepiness integrated in the Swiss Transplant Cohort Study (STCS), using the American Educational Research Association framework.Methods-Using a cross-sectional design, we enrolled a convenience sample of 926 home-dwelling kidney transplant recipients (median age, 59.69 years; 25%-75% quartile [Q25-Q75], 50.27-59.69), 63% men; median time since transplant 9.42 years (Q25-Q75, 4.93-15.85). Daytime sleepiness was assessed by using a single item from the STCS and the 8 items of the validated Epworth Sleepiness Scale. Receiver operating characteristic curve analysis was used to determine the cutoff for the STCS daytime sleepiness item against the Epworth Sleepiness Scale score.Results-Based on the receiver operating characteristic curve analysis, a score greater than 4 on the STCS daytime sleepiness item is recommended to detect daytime sleepiness. Content validity was high as all expert reviews were unanimous. Concurrent validity was moderate (Spearman ϱ, 0.531; P< .001) and convergent validity with depression and poor sleep quality although low, was significant (ϱ, 0.235; P<.001 and ϱ, 0.318, P=.002, respectively). For the group difference validity: kidney transplant recipients with moderate, severe, and extremely severe depressive symptom scores had 3.4, 4.3, and 5.9 times higher odds of having daytime sleepiness, respectively, as compared with recipients without depressive symptoms.Conclusion-The accumulated evidence provided evidence for the validity of the STCS daytime sleepiness item as a simple screening scale for daytime sleepiness.

Single-exposure dual-energy subtraction chest radiography: detection of pulmonary nodules and masses in clinical practice

The purpose of this retrospective study was to evaluate the impact of energy subtraction (ES) chest radiography on the detection of pulmonary nodules and masses in daily routine. Seventy-seven patients and 25 healthy subjects were examined with a single exposure digital radiography system. Five blinded readers evaluated first the non-subtracted PA and lateral chest radiographs alone and then together with the subtracted PA soft tissue images. The size, location and number of lung nodules or masses were registered with the confidence level. CT was used as standard of reference. For the 200 total lesions, a sensitivity of 33.5-52.5% was found at non-subtracted and a sensitivity of 43.5-58.5% at energy-subtracted radiography, corresponding to a significant improvement in four of five readers (p < 0.05). However, in three of five readers the rate of false positives was higher with ES. With ES, sensitivity, but not the area under the alternative free-response receiver operating characteristics (AFROC) curve, showed a good correlation with reader experience (R = 0.90, p = 0.026). In four of five readers, the diagnostic confidence improved with ES (p = 0.0036). We conclude that single-exposure digital ES chest radiography improves detection of most pulmonary nodules and masses, but identification of nodules <1 cm and false-positive findings remain a problem.

Multi-node TOA-DOA cooperative LOS-NLOS localization : enabling high accuracy and reliability

This dissertation investigates high performance cooperative localization in wireless environments based on multi-node time-of-arrival (TOA) and direction-of-arrival (DOA) estimations in line-of-sight (LOS) and non-LOS (NLOS) scenarios. Here, two categories of nodes are assumed: base nodes (BNs) and target nodes (TNs). BNs are equipped with antenna arrays and capable of estimating TOA (range) and DOA (angle). TNs are equipped with Omni-directional antennas and communicate with BNs to allow BNs to localize TNs; thus, the proposed localization is maintained by BNs and TNs cooperation. First, a LOS localization method is proposed, which is based on semi-distributed multi-node TOA-DOA fusion. The proposed technique is applicable to mobile ad-hoc networks (MANETs). We assume LOS is available between BNs and TNs. One BN is selected as the reference BN, and other nodes are localized in the coordinates of the reference BN. Each BN can localize TNs located in its coverage area independently. In addition, a TN might be localized by multiple BNs. High performance localization is attainable via multi-node TOA-DOA fusion. The complexity of the semi-distributed multi-node TOA-DOA fusion is low because the total computational load is distributed across all BNs. To evaluate the localization accuracy of the proposed method, we compare the proposed method with global positioning system (GPS) aided TOA (DOA) fusion, which are applicable to MANETs. The comparison criterion is the localization circular error probability (CEP). The results confirm that the proposed method is suitable for moderate scale MANETs, while GPS-aided TOA fusion is suitable for large scale MANETs. Usually, TOA and DOA of TNs are periodically estimated by BNs. Thus, Kalman filter (KF) is integrated with multi-node TOA-DOA fusion to further improve its performance. The integration of KF and multi-node TOA-DOA fusion is compared with extended-KF (EKF) when it is applied to multiple TOA-DOA estimations made by multiple BNs. The comparison depicts that it is stable (no divergence takes place) and its accuracy is slightly lower than that of the EKF, if the EKF converges. However, the EKF may diverge while the integration of KF and multi-node TOA-DOA fusion does not; thus, the reliability of the proposed method is higher. In addition, the computational complexity of the integration of KF and multi-node TOA-DOA fusion is much lower than that of EKF. In wireless environments, LOS might be obstructed. This degrades the localization reliability. Antenna arrays installed at each BN is incorporated to allow each BN to identify NLOS scenarios independently. Here, a single BN measures the phase difference across two antenna elements using a synchronized bi-receiver system, and maps it into wireless channel’s K-factor. The larger K is, the more likely the channel would be a LOS one. Next, the K-factor is incorporated to identify NLOS scenarios. The performance of this system is characterized in terms of probability of LOS and NLOS identification. The latency of the method is small. Finally, a multi-node NLOS identification and localization method is proposed to improve localization reliability. In this case, multiple BNs engage in the process of NLOS identification, shared reflectors determination and localization, and NLOS TN localization. In NLOS scenarios, when there are three or more shared reflectors, those reflectors are localized via DOA fusion, and then a TN is localized via TOA fusion based on the localization of shared reflectors.