This paper reviews the state of the art and future trends of indoor Positioning, Localization, and Navigation (PLAN). It covers the requirements, the main players, sensors, and techniques for indoor PLAN. Other than the navigation sensors such as Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), the environmental-perception sensors such as High-Definition map (HD map), Light Detection and Ranging (LiDAR), camera, the fifth generation of mobile network communication technology (5G), and Internet-of-Things (IoT) signals are becoming important aiding sensors for PLAN. The PLAN systems are expected to be more intelligent and robust under the emergence of more advanced sensors, multi-platform/multi-device/multi-sensor information fusion, self-learning systems, and the integration with artificial intelligence, 5G, IoT, and edge/fog computing.

/pdf/indoor-navigation-state-of-the-art-and-future-trends-2ozl1wnwm5.pdf

Indoor navigation: state of the art and future trends

Localization techniques are becoming key to add location context to the Internet-of-Things (IoT) data without human perception and intervention. Meanwhile, the newly emerged low-power wide-area network (LPWAN) and 5G technologies have become strong candidates for mass-market localization applications. However, various error sources have limited localization performance by using such IoT signals. This article reviews the IoT localization system through the following sequence: IoT localization system review, localization data sources, localization algorithms, localization error sources and mitigation, and localization performance evaluation. Compared to the related surveys, this article has a more comprehensive and state-of-the-art review on IoT localization methods, an original review on IoT localization error sources and mitigation, an original review on IoT localization performance evaluation, and a more comprehensive review of IoT localization applications, opportunities, and challenges. Thus, this survey provides comprehensive guidance for peers who are interested in enabling localization ability in the existing IoT systems, using IoT systems for localization, or integrating IoT signals with the existing localization sensors.

Toward Location-Enabled IoT (LE-IoT): IoT Positioning Techniques, Error Sources, and Error Mitigation

More and more satellites are populating the sky nowadays in the Low Earth orbits (LEO). Most of the targeted applications are related to broadband and narrowband communications, Earth observation, synthetic aperture radar, and internet-of-Things (IoT) connectivity. In addition to these targeted applications, there is yet-to-be-harnessed potential for LEO and positioning, navigation, and timing (PNT) systems, or what is nowadays referred to as LEO-PNT. No commercial LEO-PNT solutions currently exist and there is no unified research on LEO-PNT concepts. Our survey aims to fill the gaps in knowledge regarding what a LEO-PNT system entails, its technical design steps and challenges, what physical layer parameters are viable solutions, what tools can be used for a LEO-PNT design (e.g., optimisation steps, hardware and software simulators, etc.), the existing models of wireless channels for satellite-to-ground and ground-to-satellite propagation, and the commercial prospects of a future LEO-PNT system. A comprehensive and multidisciplinary survey is provided by a team of authors with complementary expertise in wireless communications, signal processing, navigation and tracking, physics, machine learning, Earth observation, remote sensing, digital economy, and business models.

/pdf/position-navigation-and-timing-pnt-through-low-earth-orbit-2raww1ht.pdf

Position, Navigation, and Timing (PNT) Through Low Earth Orbit (LEO) Satellites: A Survey on Current Status, Challenges, and Opportunities

In the past few decades, global navigation satellite system (GNSS) technology has been widely used in structural health monitoring (SHM), and the monitoring mode has evolved from long-term deformation monitoring to dynamic monitoring. This paper gives an overview of GNSS-based dynamic monitoring technologies for SHM. The review is classified into three parts, which include GNSS-based dynamic monitoring technologies for SHM, the improvement of GNSS-based dynamic monitoring technologies for SHM, as well as denoising and detrending algorithms. The significance and progress of Real-Time Kinematic (RTK), Precise Point Position (PPP), and direct displacement measurement techniques, as well as single-frequency technology for dynamic monitoring, are summarized, and the comparison of these technologies is given. The improvement of GNSS-based dynamic monitoring technologies for SHM is given from the perspective of multi-GNSS, a high-rate GNSS receiver, and the integration between the GNSS and accelerometer. In addition, the denoising and detrending algorithms for GNSS-based observations for SHM and corresponding applications are summarized. Challenges of low-cost and widely covered GNSS-based technologies for SHM are discussed, and problems are posed for future research.

https://www.mdpi.com/2072-4292/11/9/1001/pdf

A Review of Global Navigation Satellite System (GNSS)-Based Dynamic Monitoring Technologies for Structural Health Monitoring

The Internet of Things (IoT) has started to empower the future of many industrial and mass-market applications. Localization techniques are becoming key to add location context to IoT data without human perception and intervention. Meanwhile, the newly-emerged Low-Power Wide-Area Network (LPWAN) technologies have advantages such as long-range, low power consumption, low cost, massive connections, and the capability for communication in both indoor and outdoor areas. These features make LPWAN signals strong candidates for mass-market localization applications. However, there are various error sources that have limited localization performance by using such IoT signals. This paper reviews the IoT localization system through the following sequence: IoT localization system review -- localization data sources -- localization algorithms -- localization error sources and mitigation -- localization performance evaluation. Compared to the related surveys, this paper has a more comprehensive and state-of-the-art review on IoT localization methods, an original review on IoT localization error sources and mitigation, an original review on IoT localization performance evaluation, and a more comprehensive review of IoT localization applications, opportunities, and challenges. Thus, this survey provides comprehensive guidance for peers who are interested in enabling localization ability in the existing IoT systems, using IoT systems for localization, or integrating IoT signals with the existing localization sensors.

Location-Enabled IoT (LE-IoT): A Survey of Positioning Techniques, Error Sources, and Mitigation

The Low earth orbiter (LEO) based navigation signal transmitters have advantages in fast-changing geometry and low free space signal loss, which can be served as a complementary or extension of current MEO/GEO based GNSS. Broadcasting navigation signals from LEO can significantly reduce the convergence time for the long baseline RTK\precise point positioning (PPP) and improve the signal strength. Hence LEO based navigation is considered as one of the key technology of next-generation positioning, navigation and timing (PNT) systems. This study assessed the pseudorange and carrier phase measurements observed from Luojia-1A satellite with the geometry-free combination method and the zero-baseline method. The assessment results indicate that the pseudorange precision variation subject to elevation angle is caused by both signal strength variation and multipath effect. The pseudorange measurement precision reaches 0.7 m and 0.8 m respectively for the dual frequency pseudorange measurements and the carrier phase precision is 2.8 mm and 2.6 mm respectively. Based on the data collected from Luojia-1A satellite, the challenges of LEO navigation augmentation data processing were addressed. The most distinguishing features of LEO navigation signals are their large signal strength variation, large Doppler variation and large acceleration variation. All these features have adversary effect on LEO signal processing and data processing, which has not been revealed. These challenges still need to be seriously investigated to further improve the performance of the LEO based navigation augmentation system.

The Challenges of LEO Based Navigation Augmentation System – Lessons Learned from Luojia-1A Satellite

ABSTRACT With the development of the Low Earth Orbit (LEO) communication constellations, it has become a hot area of research to provide additional navigation augmentation services. Limited by volume, weight, power consumption, and running time, the in-flight performance of navigation augmentation payload remains to be investigated. In this paper, we analyze the data quality of on-board GNSS observation and evaluate the precision of short-arc dynamic Precise Orbit Determination (POD) performance based on the WangTong-01 (WT01) mission. Furthermore, the downlink navigation measurement data of WT01 satellites are analyzed and compared with the GNSS observations. The results show that the average multipath errors of the WT01 on-board GPS L1, L2 and BeiDou Satellite Navigation System (BDS) B1, B2 code observation are 0.54, 0.74, 0.65, and 0.58 m, respectively. The short-arc dynamic POD three-dimensional (3D) overlapping accuracy is 7.1 cm. The average multipath errors of downlink navigation signal Z1 and Z2 are 0.81 and 0.80 m, respectively, which at the same order of magnitude as GNSS signals. The maximum Carrier-to-Noise Ratio (C/N0) value of WT01 downlink measurement data can reach 60 dB Hz, which is much stronger than GNSS and indicates the navigation signals of LEO satellites can meet the basic requirement of navigation augmentation.

https://www.tandfonline.com/doi/pdf/10.1080/10095020.2021.2010505?needAccess=true

In-flight performance analysis of the navigation augmentation payload on LEO communication satellite: a preliminary study on WT01 mission

ABSTRACT Driven by improvements in satellite internet and Low Earth Orbit (LEO) navigation augmentation, the integration of communication and navigation has become increasingly common, and further improving navigation capabilities based on communication constellations has become a significant challenge. In the context of the existing Orthogonal Frequency Division Multiplexing (OFDM) communication systems, this paper proposes a new ranging signal design method based on an LEO satellite communication constellation. The LEO Satellite Communication Constellation Block-type Pilot (LSCC-BPR) signal is superimposed on the communication signal in a block-type form and occupies some of the subcarriers of the OFDM signal for transmission, thus ensuring the continuity of the ranging pilot signal in the time and frequency domains. Joint estimation in the time and frequency domains is performed to obtain the relevant distance value, and the ranging accuracy and communication resource utilization rate are determined. To characterize the ranging performance, the Root Mean Square Error (RMSE) is selected as an evaluation criterion. Simulations show that when the number of pilots is 2048 and the Signal-to-Noise Ratio (SNR) is 0 dB, the ranging accuracy can reach 0.8 m, and the pilot occupies only 50% of the communication subcarriers, thus improving the utilization of communication resources and meeting the public demand for communication and location services.

https://doi.org/10.1080/10095020.2022.2121229

Design and performance evaluation of a novel ranging signal based on an LEO satellite communication constellation

A low Earth orbiter (LEO)-based navigation signal augmentation system is considered as a complementary of current global navigation satellite systems (GNSS), which can accelerate precise positioning convergence, strengthen the signal power, and improve signal quality. Wuhan University is dedicated to LEO-based navigation signal augmentation research and launched one scientific experimental satellite named Luojia-1A. The satellite is capable of broadcasting dual-frequency band ranging signals over China. The initial performance of the Luojia-1A satellite navigation augmentation system is assessed in this study. The ground tests indicate that the phase noise of the oscillator is sufficiently low to support the intended applications. The field ranging tests achieve 2.6 m and 0.013 m ranging precision for the pseudorange and carrier phase measurements, respectively. The in-orbit test shows that the internal precision of the ephemeris is approximate 0.1 m and the clock stability is 3 × 10−10. The pseudorange and carrier phase measurement noise evaluated from the geometry-free combination is about 3.3 m and 1.8 cm. Overall, the Luojia-1A navigation augmentation system is capable of providing useable LEO navigation augmentation signals with the empirical user equivalent ranging error (UERE) no worse than 3.6 m, which can be integrated with existing GNSS to improve the real-time navigation performance.

Initial Assessment of the LEO Based Navigation Signal Augmentation System from Luojia-1A Satellite.

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The Challenges of LEO Based Navigation Augmentation System – Lessons Learned from Luojia-1A Satellite

In-flight performance analysis of the navigation augmentation payload on LEO communication satellite: a preliminary study on WT01 mission

Design and performance evaluation of a novel ranging signal based on an LEO satellite communication constellation

Initial Assessment of the LEO Based Navigation Signal Augmentation System from Luojia-1A Satellite.