IEEE - Aerospace and Electronic Systems - October 2023 - 33

Nguyen and Kassas
Table 3.
Reduction in Average Position Uncertainty Due to Optimizing the FIM IðxÞ instead of Iðx0Þ
K
6
7
8
9
10
111213
14
Uncertainty reduction [m2] 0.2630 0.2593 0.2643 0.2568 0.2862 0.2183 0.2781 0.2178 0.2475
Table 3 tabulates the reduction in position uncertainty
(averaged over all MC realizations for each K value)
upon including the timing error states in the FIM. It can
be noted that the reduction in position uncertainty is small
(on the order of submeter), which justifies the considered
simplification.
EXPERIMENTAL RESULTS
This section demonstrates the efficacy of the proposed
algorithms to select a " manageable " subset of terrestrial
SOPs to navigate an aircraft in a real-world environment.
HARDWARE AND SOFTWARE SETUP
The SNIFFER flight campaign took place on a Beechcraft
C12 Huron (called Ms. Mabel), a fixed-wing U.S. Air
Force aircraft, flown by members of the USAF Test Pilot
School (TPS) over two different regions as follows. i) A
rural region located in Edwards, California, USA. ii) A
semiurban region located in Palmdale, California, USA.
The C-12 aircraft was equipped with a quad-channel
universal software radio peripheral (USRP)-2955, three
consumer-grade 800/1900 MHz Laird cellular antennas,
GPS antenna, a solid-state drive for data storage, PCIe
cable, and a laptop computer running ASPIN Laboratory's
software-defined radio (SDR), called MATRIX: Multichannel
Adaptive TRansceiver Information eXtractor, for
real-time monitoring of the cellular signals [27]. The
MATRIX SDR produced the navigation observables:
Doppler frequency, carrier phase, and pseudorange, along
with the corresponding carrier-to-noise ratio (C=N0). The
experimental hardware setup is shown in Figure 6.
TRANSMITTER SELECTION AND NAVIGATION FILTER
The OGS and OSS selection strategies were performed in
each of the two regions. To demonstrate the efficacy of
the selected transmitters for aircraft navigation, the pseudorange
measurements from the selected transmitters are
fused with altimeter measurements via an extended Kalman
filter (EKF), as described in [27]. The navigation
solution was computed over a flight segment during which
the selection strategies remained valid.
The EKF's initial state vector was set as
x^ð0Þ¼½^rrð0ÞT; ^_rrð0ÞT;c d^t1ð0Þ;c _^dt1ð0Þ; ... ;c ^dtKð0Þ;
c _^dtKð0ÞT with a corresponding initial estimation error
Figure 6.
Hardware setup equipped to the C-12 aircraft.
OCTOBER 2023
IEEE A&E SYSTEMS MAGAZINE
33

IEEE - Aerospace and Electronic Systems - October 2023

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