Indoor Navigation

We would like to invite you to join this exciting new project as a chapter contributor. Since this is a textbook, a great deal of this chapter entails a survey on the topic under the paradigm of cyber-physical systems, what can be done onboard and remotely, the distributed nature of the system and some exercises on futurology (anticipating trends can shed some light on upcoming designs). IET will bring great visibility to your work. You are welcome to suggest another topic/chapter title if you feel it would be more suitable. Each chapter should be around 20-25 pages each and can be submitted as a Word or Latex File. The IET will send you additional information (formatting, permission form, etc.) with the contributor's agreement once you have agreed to contribute to the book. Visit http:// www.theiet.org/resources/author-hub/books/index.cfm to get all information you need as a contributor to an IET research-level book. Each book is expected to have a total number of 500 printed pages (based on approximately 550 words per page with a 20% allowance for figures and tables). We have included a tentative schedule and list of topics below. If this is something you would consider, please send me the title of your chapter, a short description/abstract of the chapter content, and your full contact details. We will expect original content and new results for this book. You can, of course, reuse published material but the percentage of material reuse for the chapter should be less than 40%. The IET will run a piracy software on the full manuscript to control that you are including original material and will reject chapters who contain a large amount of already-published material so please do take this into consideration.

A real-time, Indoor navigation systems utilize ultra-wide band (UWB), radio-frequency identification (RFID) and received signal strength (RSS) techniques that encompass WiFi, FM, mobile communications, and other similar technologies. These systems typically require surplus infrastructure for their implementation, which results in significantly increased costs and complexity. Therefore, as a solution to reduce the level of cost and complexity, an inertial measurement unit (IMU) and quick response (QR) codes are utilized in this paper to facilitate navigation with the assistance of a smartphone. The QR code helps to compensate for errors caused by the pedestrian dead reckoning (PDR) algorithm, thereby providing more accurate localization. The proposed algorithm having IMU in conjunction with QR code shows an accuracy of 0.64 m which is higher than existing indoor navigation techniques.

Official storage site: https://scholarbank.nus.edu.sg/handle/10635/47243
Also available on ResearchGate (click on links)

FOREWORD: This thesis presents finding from perspective-taking tasks (see Figs. 2 and 3) that were NOT published in Zhong & Kozhevnikov (2016).

ABSTRACT (Revised):
The current study proposed the existence of two subtypes of survey knowledge/representations: (i) “allocentric-survey” versus (ii) “egocentric-survey”. On one hand, the allocentric-survey representation was proposed as a third person representation abstracted/inferred from knowledge of landmarks, routes, and spatial relations between them. On the other hand, the egocentric-survey representation was proposed as a survey representation formed incrementally through an engagement of egocentric spatial updating, which involves the automatic and continuous updating of transient self-to-object relations as one navigates in space.

Findings from study 1 suggested that egocentric survey representations were qualitatively different from allocentric survey representations as the former preserved information not only about spatial locations, but also about orientation. Two groups of sketchmap drawers exhibited comparable accuracy in representing the spatial layout of the learned route. However, sketchers of egocentric-survey maps were significantly faster on orientation and navigational pointing judgments than sketchers of allocentric-survey maps.

In Study 2, a Navigational Strategy Questionnaire (NSQ) was designed. It included a novel scale assessing a preference for spatial updating navigational strategy and two traditional scales assessing survey based and procedural navigational strategies. Critically, the spatial updating scale exhibited predictive validity in relation to large scale navigational performance and related spatial updating strategy use to the formation of egocentric survey representations.

There are many applications for outdoor navigation but still less application for indoor navigation are available. In complex unknown indoor environments such as public buildings, railway stations, airports, hospitals, is difficult and time consuming to find the destination. In this paper, we design a mixed reality based indoor navigation system to assist people to navigate in an unknown indoor environment. We use mixed reality head mounted display HoloLens for this prototype. HoloLens scan the environment, find user position in the environment and show the shortest path to the target area. User can select their destination by the graphical user interface display in the HoloLens and also via voice command. Then our system shows the visual augmented path to the user. We use A* pathfinding algorithm for finding the shortest path from the user to the destination.

The advent of Bluetooth Low Energy (BLE) enabled
Beacons is poised to revolutionize the indoor contextual aware
services to the users. Due to the lower energy consumption and
higher throughput, BLE could therefore be an integral pillar
of an Internet of Things (IoT) Location Based Service (LBS).
Tracking a user with high accuracy is known as Micro-Location.
This is a requirement of many IoT user-centric applications
for indoor environments. Although several technologies have
been used for tracking purposes, the accuracy has always been
a serious issue. At the same time, each vendor would install
different technologies. In this work, we propose to use the cutting edge and commercially available Apple’s iBeacon protocol and iBeacon BLE sensors for micro-location. We propose to leverage a control theoretic approach, namely particle filtering, in order to increase the tracking accuracy in an indoor environment. We performed extensive experiments and our results show that the proposed beacon based micro-location system can be used to locate a user in an indoor environment with an error as low as 0.27 meters.

Due to the threat of the COVID-19 pandemic, opportunities for service robots in the Philippines are increasingly bright. More service robots worldwide are currently operational to contribute to a very simple, fast, and thorough disinfection in local facilities. This paper's paradigm presents the design and development of a service robot focused on disinfecting indoor spaces. The authors successfully developed and assessed a base prototype of an omnidirectional germicidal indoor carrier assistant robot with a line following function. First, an initial model was designed to visualize the general idea of the study; base plate simulation was done to ensure that the base plate can handle external loads brought by the frame, enclosure box, and the liquid disinfectant container. Then, the researchers built a base prototype to assess the prototype's navigation performance on various track patterns and a demanding path in the closed-loop test. In designing a course for the robot to n...

Due to the threat of the COVID-19 pandemic, opportunities for service robots in the Philippines are increasingly bright. More service robots worldwide are currently operational to contribute to a very simple, fast, and thorough disinfection in local facilities. This paper's paradigm presents the design and development of a service robot focused on disinfecting indoor spaces. The authors successfully developed and assessed a base prototype of an omnidirectional germicidal indoor carrier assistant robot with a line following function. First, an initial model was designed to visualize the general idea of the study; base plate simulation was done to ensure that the base plate can handle external loads brought by the frame, enclosure box, and the liquid disinfectant container. Then, the researchers built a base prototype to assess the prototype's navigation performance on various track patterns and a demanding path in the closed-loop test. In designing a course for the robot to navigate, a less complicated pre-planned course must be considered to ensure a smooth and precise line tracking of the robot. The derived concepts and analysis from the prototype led the authors to several base design recommendations.

With the invent of GPS and associated technologies outdoor navigation is clearly possible with extraordinary accuracy now a day. but we're nevertheless in need of an green, dependable and cheaper technology for indoor navigation. current device use RFID, Bluetooth, magnetic discipline, and so on. which are available for indoor navigation and area tracking. It has very high upkeep cost, low navigation range and it's performance is susceptible to climate adjustments.

IET indexes its books and journal in SCOPUS and IEEE Xplore.
Computer Vision (CV) and Sensors play a decisive role in the operation of Unmanned Aerial Vehicle (UAV), but there exists a void when it comes to analysing the extent of their impact on the entire UAV system. In general, the fact that a UAV is a Cyber-Physical System (CPS) is not taken into account. In this proposal, we propose to expand on earlier books covering the use of CV and sensing in UAVs. Among other things, an entirely autonomous UAV can help to (i) obtain information about the environment, (ii) work for an extended period of time without human interference, (iii) move either all or part of itself all over its operating location devoid of human help and (iv) stay away from dangerous situations for people and their possessions. A Vision System (VS) entails the way CV data will be utilized, the appropriate architecture for total avionics integration, the control interfaces, and the UAV operation. Since the VS core is its sensors and cameras, multi-sensor fusion, navigation, hazard detection, and ground correlation in real time are important operational aspects that can benefit from CV knowledge and technology. This book will aim to collect and shed some light on the existing information on CV software and hardware for UAVs as well as pinpoint aspects that need additional thinking. It will list standards and a set of prerequisites (or lack of them thereof) when it comes to CV deployment in UAVs. The issue of data fusion takes a centre place when the book explores ways to deal with sensor data and images as well as their integration and display. The best practices to fuse image and sensor information to enhance UAV performance by means of CV can greatly improve all aspects of the corresponding CPS. The CPS viewpoint can improve the way UAVs interact with the Internet of Things (IoT), use cloud computing, meet communications requirements, implement hardware/software paradigms necessary to handle video streaming, incorporate satellite data, and combine CV with Virtual/Augmented Realities.

VOLUME 1-CONTROL AND PERFORMANCE: This tome explores how sensors and computer vision technologies are used in unmanned aerial vehicles for the navigation, control, stability, reliability, guidance, fault detection, self-maintenance, strategic replanning and reconfiguration of the entire system. It helps analyse the manner UAVs interact with the Internet of Things (IoT), use cloud computing, meet communications requirements, implement hardware/software paradigms necessary to handle still imagery, video streaming, incorporate satellite data, and combine computer vision with virtual/augmented realities (VR/AR).NB: This is planned to be the companion volume of Estrela, Hemanth, Saotome (Eds) / Imaging and Sensing for Unmanned Aerial Vehicles: Volume 2-Deployment and Applications

A location and tracking system becomes very important to our future world of pervasive computing, where information is all around us. Location is one of the most needed information for emerging and future applications. Since the public use of GPS satellite is allowed, several state-of-the-art devices become part of our life, e.g. a car navigator and a mobile phone with a built-in GPS receiver. However, location information for indoor environments is still very limited. Several techniques are proposed to get location information in buildings such as using a radio signal triangulation, a radio signal (beacon) emitter, or signal fingerprinting. Using Radio Frequency Identification (RFID) tags is a new way of giving location information to users. Due to its passive communication circuit, RFID tags can be embedded almost anywhere without an energy source. The tag stores location information and gives it to any reader that is within a proximity range which can be up to 10-15 meters for UHF RFID systems. We propose an RFID-based system for navigation in a building for blind people or visually impaired. The system relies on the location information on the tag, a user's destination, and a routing server where the shortest route from the user's current location to the destination. The navigation device communicates with the routing server using GPRS networks. We build a prototype based on our design and show some results. We found that there are some delay problems in the devices which are the communication delay due to the cold start cycle of a GPRS modem and the voice delay due to the file transfer delay from MMC module.

Recent Network Intrusion Detection Systems
(NIDSs) utilize Perl Compatible Regular Expression
to describe malicious patterns existing in the content
payload of packets more and more efficiently. Several techniques are introduced to optimize the performance or complete the system for full support all
of PCRE features in hardware platform, but some
issues have just been solved partially.
Constraint Repetition is among important characteristics of PCRE but its effective hardware-based
implementation solutions are still limited. This paper
describes an Enhanced Constraint rEpetition Block
(ECEB) for regular expression matching engine in
FPGA.
To support more PCRE features, we improve our
implementation to handle flag ’m’ modifier. We also
implement the block memory (BRAM) based character matching which saves a lot of LUTs and effectively improves overall system’s throughput compared to related techniques. A software tool-chain for
auto-generating PCRE matching system is also introduced. We do experiments on low-cost XC2VP50 Xilinx Virtex II Pro chip with the rule set of SNORT,
an open source NIDS, to evaluate our implementation. The results verify that our architecture can
achieve throughput up to 1Gbps and save up to 90%
hardware resources compared with the conventional
architecture

Apart from being extremely dependent on GNSS (GPS, GLONASS, GALLILEO, etc.) technologies for outdoor positioning, an indoor positioning technology can vary mainly due to dynamic environment. Indoor positioning systems in past year are becoming more and more popular because it’s easier to deploy than ever, due to the growing use of the smartphones. This small devices are equipped with sensors which can sense move, inclination, speed, signal strength … Despite of that, the domination of single indoor technology has not yet being achieved, thus the paper will present each technology, principles and approaches, it will be pointed out some system combinations and it will present some available products as examples. Finally, some pros and cons during research are noted as well as prediction in terms of domination of certain systems.

Nowadays, there are a lot of multi-storey, complex and huge buildings in the cities especially in metropolises. These buildings are almost like a small city with their tens of floors, hundreds of corridors and rooms and passages. Sometimes people lost their way in these huge buildings. Due to the size and complexity of these buildings, people need guidance to find their way to the destination in these buildings. In this study, a mobile application has been developed to visualize a pedestrian's indoor location as 3D in his/her smartphone. This mobile application has the characteristics of a prototype for indoor navigation systems. While the pedestrian is walking on his/her way, the smartphone will guide the pedestrian with the photos of indoor environment on the route, arrow marks and text information. As a future plan, an RFID (Radio-Frequency Identification) technology can be integrated to the system to detect the location of the pedestrian during his/her tour in the building. By this way, the system will navigate the users more accurately as a real-time navigation system.

Nowadays there are a lot of high rise, complex and huge buildings in the cities especially in metropolises. These building are almost like a small city with their tens of floors, hundreds of corridors and rooms and passages. Sometimes people lost their way in these huge buildings. Due to size and complexity of these buildings, people need guidance to find their way to the destination in these buildings. In this study, a mobile application is developed to visualize pedestrian's indoor position as 3D in their smart phone. This mobile application has the characteristics of a prototype for indoor navigation system. While the pedestrian is walking on his/her way on the route, smart phone will guide the pedestrian by displaying the photos of indoor environment on the route. As a future plan, an RFID (Radio-Frequency Identification) device will be integrated to the system. The pedestrian will carry the RFID device during his/her tour in the building. The RFID device will send the position data to the server directly in every three seconds periodically. On the other side, the pedestrian will just select the destination point in the mobile application on smart phone and sent the destination point to the server. The shortest path from the pedestrian position to the destination point is found out by the script on the server. This script also sends the environment photo of the first node on the acquired shortest path to the client as an indoor navigation module.

Various solutions have been suggested for indoor navigation systems in which most methods require the support of external physical hardware infrastructure which increases the complexity and cost of setup of supporting hardware requirements, which will always be an issue with such systems. In this paper, we present the design of a smartphone based indoor navigation system. The proposed method is supported by a web based architecture, for easily creating indoor maps and providing an indoor location's information for navigation and positioning. The system has been implemented and the results indicate that the approach is useful for navigation in indoor environments.

This article presents the development of an Audio-Tactile aid in order
to facilitate and enhance the spatial knowledge as well as the independent
and safe movement of individuals with blindness in the University of Macedonia
indoors. Moreover the developed aid provides information that helps blind
individuals to obtain a cognitive image of the university indoors, plan routes
they wish to track and easily identify specific locations and services. The implementation
procedure of the Audio-Tactile navigation system included the
following steps: 1) development of digital maps that include specific spatial information
for people with blindness, 2) production of tactile maps 3) research
on the readability of the tactile maps by blind individuals and development of
revised tactile maps, 4) development of Audio-Tactile maps and their connection
with touchpad devices, and 5) a study to derive the most appropriate locations
where 10 touchpads will be installed in the university indoors.

Existing indoor navigation systems face with many different technical and usability problems. In this paper we present a Near Field Communication (NFC) based indoor navigation system called NFC Internal in order to eliminate the current indoor navigation problems. NFC Internal enables an easy data transfer for indoor navigation systems just by touching tags spread over a building or a complex. The proposed system has several benefits and has potential to increase the usability of these systems. We discuss the ...

IET indexes its books and journal in SCOPUS and IEEE Xplore.
Computer Vision (CV) and Sensors play a decisive role in the operation of Unmanned Aerial Vehicle (UAV), but there exists a void when it comes to analysing the extent of their impact on the entire UAV system. In general, the fact that a UAV is a Cyber-Physical System (CPS) is not taken into account. In this proposal, we propose to expand on earlier books covering the use of CV and sensing in UAVs. Among other things, an entirely autonomous UAV can help to (i) obtain information about the environment, (ii) work for an extended period of time without human interference, (iii) move either all or part of itself all over its operating location devoid of human help and (iv) stay away from dangerous situations for people and their possessions. A Vision System (VS) entails the way CV data will be utilized, the appropriate architecture for total avionics integration, the control interfaces, and the UAV operation. Since the VS core is its sensors and cameras, multi-sensor fusion, navigation, hazard detection, and ground correlation in real time are important operational aspects that can benefit from CV knowledge and technology. This book will aim to collect and shed some light on the existing information on CV software and hardware for UAVs as well as pinpoint aspects that need additional thinking. It will list standards and a set of prerequisites (or lack of them thereof) when it comes to CV deployment in UAVs. The issue of data fusion takes a centre place when the book explores ways to deal with sensor data and images as well as their integration and display. The best practices to fuse image and sensor information to enhance UAV performance by means of CV can greatly improve all aspects of the corresponding CPS. The CPS viewpoint can improve the way UAVs interact with the Internet of Things (IoT), use cloud computing, meet communications requirements, implement hardware/software paradigms necessary to handle video streaming, incorporate satellite data, and combine CV with Virtual/Augmented Realities.

VOLUME 2-DEPLOYMENT AND APPLICATIONS: This tome introduces procedures, standards, and prerequisites for the deployment of Computer Vision (CV) in UAVs from their application point of view. It discusses existing/desirable open source software tools, image banks, benchmarks, Quality of Experience (QoE), Quality of Service (QoS) and how CV can benefit from a Robot Operating System (ROS) in surveillance, remote sensing, inspection, maintenance and repair among other usages, while offering an assessment of current bottlenecks and trends. It will pave the road towards better studies on the necessity and viability of implementing collaborative environments for visualization, knowledge management and teleoperation of UAVs. This is planned to be the companion volume of Estrela, Hemanth, Saotome (Eds) / Imaging and Sensing for Unmanned Aerial Vehicles: Volume 1-Control and Performance.

Editor(s):
Dr. Vania V. Estrela, https://www.linkedin.com/in/vania-v-estrela-96b9bb29/
Universidade Federal Fluminense (UFF), RJ, Brazil
vania.estrela.phd@ieee.org

Dr. Jude Hemanth,https://www.karunya.edu/ece/drjude.html
Karunya University, Coimbatore, India
jude_hemanth@rediffmail.com

Dr. Osamu Saotome, https://www.linkedin.com/in/osamu-saotome-83935818
Instituto Tecnológico de Aeronáutica, CTA-ITA-IEEA, São José dos Campos, SP, Brazil
osaotome@gmail.com

CONTENTS:
1. Image Acquisition and Restoration in UAVs
2. Image Fusion in UAVs
3. Super-Resolution Imaging in UAVs
4. 2D/3D/4D Imaging in UAVs
5. Multi-view Image and ToF Sensor Fusion in UAVs
6. Range Imaging in UAVs
7. Multispectral and Hyperspectral Imaging in UAVs
8. Imaging Standards and UAVs
9. Virtual/Augmented Reality in UAVs
10. Collaborative Environments in UAVs
11. Archiving, Storage, and Compression in UAVs
12. Analysis, Indexing, Retrieval in UAVs
13. Multicast/Broadcast/Streaming in UAVs
14. Modelling, Simulation and UAVs
15.  Image-Oriented Estimation and Identification in UAVs
16. Open Source Software in UAVs
17. Image Banks and Benchmarks in UAVs
18. Quality of Experience (QoE) and Quality of Service (QoS) in UAVs
19. Robot Operating System (ROS) in UAVs
20. Cloud Computing in UAVs

Specification and Schedule

July 1st, 2017: Call for Chapter Abstracts
September 1, 2017: One-Page Chapter Abstract (up to 1000 words) Submission Deadline. Free style.
          A proposal must outline one of topics fromthe list above (mention its number, for instance 1. and reference PBCE120B).
November 30, 2017: Last Day for Notification of Acceptance
Jan 30, 2018: Full Chapter Submissions
March 30 2018: Review Chapter Submissions and send comments to authors
May 31, 2018: Receive revised Chapter Submissions
June 30, 2018: Notification of Final Acceptance
July 31, 2018: Gather all material, figure files and copyrights permission forms
Aug 30, 2018: Book editors to finalize introduction and conclusion chapters
Sept 15th, 2018, Delivery of full manuscript to the IET
Scheduled publication: Feb/March 2019

Readership: Graduate students and Researchers in the fields of Electrical and Computer Engineering, Computer Science, Mechanical Engineering, Civil Engineering, Humanitarian Engineering, Control Systems, Geoscience and Remote Sensing, Instrumentation and Measurement, Intelligent Transportation Systems, Oceanic Engineering, Safety Engineering, Reliability, Robotics and Automation, Signal Processing, Technology and Engineering Management, Environmental Engineering, Public Health Management, Non-Invasive Testing/Monitoring and Vehicular Technology.

Additional Information: Dr. Vania V. Estrela,    vania.estrela.phd@ieee.org
                                          Dr. Jude Hemanth,      jude_hemanth@rediffmail.com

Visually impaired people need assistance to
navigate safely, especially in indoor environment. This
research developed an obstacle avoidance system for
visually impaired using Kinect’s depth camera as the main
vision device. A new approach called auto-adaptive
thresholding is proposed to detect and to calculate the
distance of obstacle from the user. The proposed method
divides equally a depth image into three areas. It finds the
most optimal threshold value automatically (auto) and
vary among each of those areas (adaptive). Based on that
threshold value, the distance of the closest obstacle for
each area is determined by average function. To respond
the existence of the obstacle, the system gives sound and
voice feedback to the user through an earphone. The
experimental result shows that execution time and error of
the system in calculating the distance of the obstacle are
12.24 ms and 130.796 mm respectively. Evaluation with
blind-folded persons indicates that the system could
successfully guide them to avoid obstacles in real-time
condition.

As outdoor positioning systems have relatively well established and matured, indoor positioning and navigation systems still have great potential to grow. The researches on indoor positioning
system have gained the ever increasing momentum and importance, as the needs toward indoor positioning and navigation are flourishing.
With the prominence of smartphone, this paper introduces a portable indoor directory system that can be easily installed and operated on the typical smartphone; hence the system could benefit greater number of users. The proposed system is aimed to provide a new ways of providing indoor floor directory, which offers capabilities to retrieve customizable and real time information, to navigate interactively, and
to enable location-awareness computing. Additionally, the proposed system is designated to cater for the needs of visually challenged persons by incorporating screen reader and improved accessibility.
The whole system consists of three modules, namely mobile phone module, Kiosks module, and Website and Database module. The mobile phone module is the main frontend module which installed on users’ mobile devices, whereas the Kiosks and website are to provide supports and maintenances to the main module. Users can download maps and application from the Kiosks or website. On the other hand, administrator uses the website to manage the database

ABSTRACT
The objective of the paper is to validate a prototype of an integrated, software-linked, satellite/inertial navigation system in Polish landborne and waterborne environment. The paper is divided into two distinctive parts. In its introductory part the paper briefly delineates the specific realisation of the DGPS/(Low-Cost IMU MotionPak) design describing the hardware and Kalman filter based software components with special emphasis on vehicular and waterborne real-time positioning.
In its second part the paper demonstrates an actual performance of the prototype mounted on a dedicated land vehicle and a research ship and boat moving in a variety of environments in Poland. The section first characterises the geographical distribution and the physical properties of the landborne and waterborne DGPS/IMU test-beds and presents the methodology and some results of the experiments addressing the issue of the accuracy and integrity of the navigation solution in function of the areas. The paper concludes presenting a rationale for a number of landborne vehicle and waterborne satellite/inertial navigation applications in Poland .
INTRODUCTION
The paper describes certain experimental work on the Differential Global Positioning System (DGPS) integrated with the Low-Cost Inertial Measurement Unit (IMU) MotionPak This system has been completed within the framework of the European Union Joint Research Project. The main scientific partners of the Project have been the Institute of Flight Guidance and Control of the Technical University Carolo-Wilhelmina in Braunschweig, Germany (TUBS.IFF) and the Polish Academy of Sciences, Space Research Centre (PLAS.SRC) in Warsaw and at Borowiec near Poznań Astrogeodynamic Observatory.
The aim of the initial conceptual work done during the Project has been to construct the most up-to-date integrated DGPS/(Low-Cost IMU) system. The goal of the experimental work done both during and after the Project, was to use the DGPS/IMU as a tool to investigate the so-called Required Navigation Performance Parameters (RNPPs) in various radio-environments during landborne, waterborne and airborne navigation. While the DGPS component provided the integrated system with the desired high accuracy, the IMU component helped the navigation solution to maintain high values of some RNPPs.
The paper has been concerned with the accuracy and integrity of the real-time DGPS/IMU landborne and waterborne positioning in Poland.

ABSTRACT The objective of Part Two of this paper is to validate a prototype of an integrated navigation system linking Differential Global Positioning System DGPS and Inertial Measurement Unit IMU, described in more detail in Part One of the sequence. Part Two demonstrates an actual performance of the prototype mounted on a dedicated land vehicle. The paper at first characterises the landborne test-beds. Then it presents the methodology and list some results from the vehicular DGPS/IMU navigation experiments. In the final part the paper addresses the issue of the accuracy and integrity of the navigation solution. It gives the accuracy-wise summary in function of the land-test areas and an institutional summary in terms of the prototype DGPS/IMU system efficiency appraisal. The paper concludes presenting a rationale for a number of vehicle satellite/inertial navigation applications in Poland.
INTRODUCTION Part Two of this paper describes some results of the theoretical and experimental work on the Differential Global Positioning System DGPS integrated with the Inertial Measurement Unit IMU which has been completed by the author in Poland since 1996 . Part of the work has been done within the framework of the European Union Polish-German Joint Research Project (JRP) entitled : "Modernisation and accuracy improvement of the avionic and maritime navigation in Poland" and co-ordinated by the Institute of Flight Guidance and Control of the Technical University, Braunschweig, German y (TUBS.IFF) .Project's main scientific partner has been the Space Research Centre, Polish Academy of Sciences, Warsaw, Poland (PLAS.SRC) . In due course the Project's original aims expressed in its title have been extended in order to address also the need for improvement of the landborne navigation in Poland. The integrated satellite/inertial system, conceived during the Project's duration has been the main research tool. The system has comprised the DGPS and the Low-Cost IMU hardware and the dedicated Kalman filter based integration software. The van based experiments enabled testing of all important issues connected not only with the landborne but also with both waterborne and airborne environments. While the introductory experiments conducted in Germany answered mainly technical questions concerning the system, more advanced experiments conducted in Poland were supposed to be tailored well to specific applications and to have a more institutional background. The experimental data allowed to draw conclusions about three major physical effects that is: signal shadowing and attenuation, signal multipath, and signal jamming or saturation. The accuracy and integrity results allowed to evaluate the prototype DGPS/(Low-Cost IMU) performance and to address the issue of the system application in the landbome navigation in Poland. Notice: below, whenever the abbreviation D or IMU is placed between brackets [ ] it conveys the option of the particular mode of navigation; D signifies Differential GPS mode, IMU is understood below as a Low-Cost-IMU MOTIONPAK.