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Systems Engineering Department, Brunel University, Uxhridge, Middlesex, U.K., UB8 3PH
Phone: +44 1895 274 000, ext. 2925, Fax: +44 1895 812 556
Email:f,.anjo.cecelja@brunel.ac. irk
Abstract
111 this paper we present develapmei~tof the GPS based navigation uid,/ur blind. That aid utilizes inverse DGPS
positioning module which, along wit11other hen& for the blind user, enables implementati~mo/mure cutnplu
navigation algorithms. In particular, we have implemented DGPS algorithm angmented by altiiude data available from digital map. This solution improved the availabilin/ ofpositioning by more that 23% and its accuracy
by more than IS%. AI1 the results were e.rperinientally verified.
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INTRODUCTION
A navigation system for blind and visually impaired pedestrians is being developed in the Electronic
System and Information Technology Research Group,
at Brunel University [ I ] with the main aim to increase
their mobility. The main positioning module utilizes a
Differential Global Positioning System (DGPS),
which is the Global Positioning System (GPS) operated in a differential mode, in order to provide more
acceptable positioning accuracy for the blind user
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a_C*II)
cm_+
&
-d,
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y_n
Mobile Unit
n a y station
Fig. 1.
Along with better positioning accuracy and availability, such a configuration entails additional bcnefits
to the users. Placing the entire responsibility of operating and maintaining the system with a sighted opcrator
in the navigation ccntre minimizes the level of mental
demand imposed on the user during navigation proces.
Additionally, availability of the remote sighted guide
reduces the travel related stress experienced by the
visually impaired pedestrians in the same way as the
real sighted guide, still allowing for considerably
higher level ofjoumey independence.
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3
The GPS receiver in the mobile unit uses pseudorange measurements PRM to each satellite, corrected
by ionosphere and troposphere corrections ATM calculated by using standard single frequency models [6].
This data is then sent to the base station where pseudorange measurements are correctcd using DGPS
pseudorange correction PRC for each satellite as:
PRD, = P R M , PRC,
(1)
where PRDj is the corrected pseudorange measure-
PRD,
=I S ,
(2)
-~m;psI+cfnmy
Ap=l 1$ 1I=/
iJ
(5)
LA TM.4 - PRC.4
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AU,,~;,,~.~;,,~
= H-'Ap
(4)
where Auocs,,s-~;i.ris a vector between the DGPS and
GPS position solution, H is a cosine direction matrix
and
ATM, - PRC,
A T M , -PRC,
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A " , m . m =(H")-"'AP
(6)
However, if only three pseudorange measurements to different satellites are available, then the system of equations (2) is under-determined, and only
solution to two dimensional positioning is available. If
range measurement from additional sensor or source is
available that is exactly in the vertical direction relative to the earth surface, this is then equivalent to having a satellite at the centre of the Earth [SI hence still
enabling 3-D positioning. This range measurement is
RESULTS
'
'
2-D GPS
2-D DGPS
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CEP - a circles radius centered at the true position and containing 50% of the points .in the
horizontal scattered plot;
R95 - a circles radius centered at the true position and containing 95% of the points in the
horizontal scattered plot.
For the reason of comparison, all the experiments
were carried out with the system operating in both
GPS and DGPS mode.
Fig. 2 shows typical experimental results plotted
on the corresponding Ordinance Survey Land-Line.
The reference path obtained from surveying points
coincides with the true walking path on the map
within 0.5 m.
Table 1 summarizes results of the assessment of
the accuracy when both 2-D and 3-D positioning were
available. It becomes apparent that 2-D positioning
always gives better accuracy in both GPS and DGPS
modes for at least 15% This is primarily due to the
fact that the 2-D algorithm has higher number of options in selecting the best positioning solution (see
equation (6)).
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Fig. 3.
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Service availability
CONCLUSION
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3-D GPS
2-D GPS
3-D DGPS
2-D DGPS
5.1
3.2
12.7
9.7
[I] V. Garaj. R. Jirawimut, P. Ptasinski. F. Cccelja. W. Balachandran: The System far Remote Sighted Guidance of Visually
Impaired Pedestrians, acccptcd for publication in The British Journal o f v i s u a l Impairment. publication expected in M a y 2003.
[2] Ptasinski, P. Cecelja F. Balachanfran W, A n Asscssmenl of
DCPS Performance in Personal Navigation and Location Systems.
i n I O N GPS 2000.2000. Salt Lake City, Utah, USA.
131 Ptasinski, P., et al., Btsnel Inverse DGPS Pmilioninbr S.v~rrni.
NAVIGATION, Journal of the Institute of Navigation, USA (accepted).
[4] R. Jirawimut, P. Ptasinski, M. A. Shah. V. Gamj. F. Cecelja.
W. Balaehandran: A Method for Dead Reckoning Parameter Corrcclion in Pedestrian Navigation System, IEEE Trans. on Instrumcntation and Measurement. voI I, January 2003
[SI P.Ptasinski, F. Cecelja, W.Balachandnn, Altitude Aiding for
GPS Systems using Elevation Map Datasets, The Journal o f Navigation - The Royal Institute o f Navigation, England, Vol. 55. pp. 452462 A u y s t 2 0 0 2
161 U.S. Department o f Defense, Tcchnical charactcristics of the
NAVSTAR GPS (public release version), June 1991
[7] Kaplan. E. D. ed., Understanding GPS, principles and applications, Artech House, 1996
[SI Parkinson B W,Spilker J J, Global Positioning System Theory
and Application, vol. 2 American Instirule o f Aeronautics and Artranautics, 1996