IEEE - Aerospace and Electronic Systems - October 2023 - 34

Efficient Transmitter Selection Strategies for Improved Information Gathering
Figure 7.
Rural region transmitter selection results with OGS and OSS strategies during the aircraft's flight. (Map data: Google Earth.)
covariance
Pð0Þ¼ diag½102 I33; 10 I33; 108; 10;
.. . ; 108; 10. The clock error states of each SOP was initialized
using the pseudorange measurements from the initial
two time epochs. Specifically, the clock bias was
initialized as c^dtið0Þ¼ zsi
ð0Þkrrð0Þ rsi
the clock drift was initialized as
ð1Þ zsi
ð0Þkrrð1Þ rsi
¼ 1
T ½zsi
k2 þkrrð0Þ rsi
The aircraft's dynamics was assumed to evolve
according to the simple, yet effective, velocity random
walk model [47], with power spectra of the continuoustime
acceleration noise in the East (E), North (N), and Up
(U) directions set as ~qE ¼ ~qN ¼ 5 m2/s3 and ~qU ¼ 103
m2/s3, respectively.
The receiver's clock covariance Qclk;r
was set to correspond
to a low-quality temperature-compensated crystal
oscillator (TCXO) with h0;r ¼ 2:0 1019
2:0 1020
s1. The SOPs' clock covariance Qclk;si
¼ 8:0 1020
s and h2;si
¼
s and h2;r ¼
was
set to correspond to a typical-quality oven-controlled crystal
oscillator with h0;si
Table 4.
Experiment 1: Navigation Solution Performance in the Rural Region
Selection Type
Pos. RMSE
[m]
105 MC Runs
OGS
OSS
34
[4.53, 71.55]
6.28
7.13
Vel. RMSE
[m/s]
[0.98, 7.61]
1.44
1.39
4:0 1023
s1. The time-varying measurement covariance
R was proportional to the inverse of C=N0 and the
sampling time was T ¼ 0:01 s.
k2 and
c _^dtið0Þ
k2.
FLIGHT REGION 1: RURAL
The rural region was comprised ofM ¼ 57 terrestrial cellular
SOPs, where the aircraft was tasked with selecting the
most " informative " K ¼ 15 SOPs to use for navigation.
Figure 7 shows: i) selected SOPs from OGS (red pins),
ii) selected SOPs from OSS (yellow pins), iii) selected
SOPs from both OSS and OGS strategies (orange pins),
and iv) and nonselected SOPs (white pins). Table 6 compares
the snapshot performance (A-, D-, and E-optimality
and HDOP metrics) of the OGS versus OSS selection.
Upon selecting the SOPs, the aircraft navigated along
the green trajectory in Figure 7 for 1.48 km. It should be
noted the optimal solution (i.e., global minimizer) for
Max pos. error
[m]
[10.50, 125.06]
10.50
10.50
IEEE A&E SYSTEMS MAGAZINE
Max vel. error
[m/s]
[5.90, 11.46]
6.38
6.38
Run time
[ms]
-
19.30
16.50
OCTOBER 2023

IEEE - Aerospace and Electronic Systems - October 2023

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