ORIGINAL_ARTICLE
Development of Low Profile Substrate Integrated Waveguide Horn Antenna with Improved Gain
In this paper a new low profile Substrate Integrated Waveguide (SIW) probe-fed H-plane horn antenna structure with improved gain is proposed. The proposed antenna consists of two waveguides including a rectangular and a taper one, in which both, first and third modes of the structure are simultaneously excited leading to a uniform field distribution along the radiating aperture of the antenna and in turn, its directivity is highly improved. Moreover, using the coaxial probe feeding of the structure, spurious radiation due to feeding network is suppressed. The antenna structure is numerically investigated using a software package. A prototype of the structure is made by a thin substrate using TLY031 substrate and it was successfully tested. A very good agreement is obtained between simulated and measured results. The measured results show 10.48 dBi gain which is 4.9 dBi higher than gain of a conventional SIW horn is obtained at 27.8 GHz.
https://eej.aut.ac.ir/article_812_7076e0e44b5dc6164445440e289fab26.pdf
2016-11-21
63
70
10.22060/eej.2016.812
Aperture Antenna
Horn Antenna
Substrate Integrated Waveguide (SIW)
Mohammad
Neshati
neshat@ieee.org
1
Associate Professor, Department of Electrical Engineering, Ferdowsi University of Mashhad
LEAD_AUTHOR
ٍElias
Rahimi
eliasrahimi66@gmail.com
2
M.Sc. Student, Department of Electrical Engineering, Ferdowsi University of Mashhad
AUTHOR
[1] Cheng, Y. J.; Hong, W. and Wu, K.; “Design of a Monopulse Antenna Using a Dual V-Type Linearly Tapered Slot Antenna (DVLSA),” IEEE Trans. Antennas Propag., Vol. 56, No. 9, pp. 2903–2909, 2010.
1
[2] Liu, B.; Hong, W.; Kuai, Z.; Yin, X.; Luo, G.; Chen, J.; Tang, H. and Wu, K.; “Substrate Integrated Waveguide (SIW) Monopoulse Slot Antenna Array,” IEEE Trans. Antennas Propag., Vol. 57, No. 1, pp. 275–279, 2009.
2
[3] Razavi, S. A. and Neshati, M. H.; “Low Profile H-Plane Horn Antenna Base on Half Mode SIW Thechnique,” 20th Iranian Conference on Electrical Engineering, Tehran, Iran, pp. 1351–1354, 2012.
3
[4] Rahimi, E. and Neshati, M. H.; “Low Profile Modified H-Plane SIW Horn Antenna with Improved Directivity,’’ 3rd Conference on Millimeter Wave and Terahertz Technologies, pp. 1-4, 2015.
4
[5] Hao, W.; Da-Gang, F.; Bing, Z. and Wen-Quan, C.; “Dielectric Loaded Substrate Integrated Waveguide (SIW) H-Plane Horn Antennas,” IEEE Trans. Antennas Propag., Vol. 58, No. 3, pp. 640–647, 2010.
5
[6] Ranade, S. R. and Nair, D. U.; “Design of a Substrate Integrated Waveguide H-Plane Horn Antenna on a PTFE Substrate for Utomotive Radar Application,” in Proc. IEEE Appl. Electromagn. Conf. (AEMC), pp. 1–4, 2011.
6
[7] Yousefbeiki, M.; Domenech, A. A.; Mosig, J. R. and Fernandes, C. A.; “Ku-Band Dielectric-Loaded SIW Horn for Vertically-Polarized Multisector Antennas,” in Proc. 6th Eur. Conf. Antennas Propag. (EUCAP), pp. 2367–2371, 2012.
7
[8] Wang, H.; Fang, D.; Zhang, B. and Che, W.; “Dielectric Loaded Substrate Integrated Waveguide (SIW) H-Plane Horn Antennas,” IEEE Trans. Antennas Propag., Vol. 58, No. 3, pp. 640–647, 2010.
8
[9] Esquius, M.; Fuchs, B.; Zucher, J. F. and Mosing, J. R.; “A Printed Transition for Matching Improvement of SIW Horn Antenna,” IEEE Trans. Antenna Propag., Vol. 61, No. 4, pp. 1923–1930, 2014.
9
[10] Francois, J. and Mosing, J.; “Novel Thin and Compact H-Plane SIW Horn Antenna,” IEEE Trans. Antenna Propag., Vol. 61, No. 6, pp. 2911–2919, 2013.
10
[11] Wang, L.; Yin, X.; Y. S. Zhang, Li, S.; Cai, Y.;, Zhao, H. and Zhang, M.; “Phase Corrected Substrate Integrated Waveguide (SIW) H-Plane Horn Antenna with Embedded Metal via Arrays,” IEEE Trans. Antenna Propag., Vol. 62, No. 4, pp. 1854–1861, 2014.
11
[12] Wong, M.; Sebak, A. R. and Denidni, T. A.; “A Broadside Substrate Integrated Horn Antenna,” in IEEE Int. Symp. Antennas Propagat. Society, pp. 1–4, 2008.
12
[13] Ligusa, K.; Li, K.; Sato, K. and Harada, H.; “Gain Enhancement of H-Plane Sectoral Post-Wall Horn Antenna by Connection Tapered Slot for Millimeter- Wave Communication,” IEEE Trans. Antennas Propag., Vol. 60, No. 12, pp. 5548–5556, 2012.
13
[14] Kraus, J. D.; “Antennas,” McGraw-Hill Book Company, 2nd Edition, 1988.
14
[15] Gong, L.; Yuk, K. and Ramer, R.; “Substrate Integrated Waveguide H-Plane Horn Antenna with Improved Front to Back Ratio and Reduced Side Lobe Level,” in IEEE, Antenna and Wireless Propag. Letters [Accpeted].
15
ORIGINAL_ARTICLE
HMAC-Based Authentication Protocol: Attacks and Improvements
As a response to a growing interest in RFID systems such as Internet of Things technology along with satisfying the security of these networks, proposing secure authentication protocols are indispensable part of the system design. Hence, authentication protocols to increase security and privacy in RFID applications have gained much attention in the literature. In this study, security and privacy of the recent well-known HMAC-based RFID mutual authentication protocol, is analyzed. We prove that this protocol is not secure against various attacks and also does not provide untraceability. Also, in order to improve the performance of the mentioned protocol and enhance the security of RFID users, a more effective and secure authentication HMAC-based protocol is presented. Furthermore, security of our protocol is explored against different attacks such as; the replay attack, the tag’s ID exposure, the spoofing attack, DoS attack and traceability attack. It is shown that our proposed protocol is safe against the attacks. Finally, the security of the presented protocol is compared with some well-known related protocols.
https://eej.aut.ac.ir/article_817_56143eea10ba3a59b0c1b2939754743a.pdf
2016-11-21
71
80
10.22060/eej.2016.817
RFID Systems
Authentication Protocols
HMAC
Security Analysis
Behzad
Abdolmaleki
abdolmaleki.behzad@yahoo.com
1
M.Sc. Student, Information Systems and Security Laboratory (ISSL), Sharif University of Technology
AUTHOR
Karim
Baghery
baghery.karim@yahoo.com
2
M.Sc. Student, Information Systems and Security Laboratory (ISSL), Sharif University of Technology
AUTHOR
Mohammad javad
Emadi
mj.emadi@aut.ac.ir
3
Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology
LEAD_AUTHOR
[1] Wang, S. P.; Ma, Q. M.; Zhang, Y. L. and Li, Y. S.; “A HMAC-Based RFID Authentication Protocol,” in 2nd International Symposium on Information Engineering and Electronic Commerce (IEEC), pp. 1–4, 2010.
1
[2] Baghery, K.; Abdolmaleki, B. and Emadi, M. J.; “Game-Based Cryptanalysis of a Ligthwigth CRC-Based Authentication Protocol for EPC Tags,” Amirkabir International Journal of Electrical and Electronics Engineering (AIJ-EEE), Vol. 46, No. 1, pp. 27–36, 2014.
2
[3] Ren, X.; Xu, X. and Li, Y.; “An One-Way Hash Function Based Lightweight Mutual Authentication RFID Protocol,” Journal of Computers, Vol. 8, No. 9, pp. 2405–2412, 2013.
3
[4] Asadpour, M. and Dashti, M. T.; “A Privacy- Friendly RFID Protocol Using Reusable Anonymous Tickets,” in 10th International Conference on Trust, Security and Privacy in Computing and Communications, Changsha, pp. 206–213, 2011.
4
[5] Jung, S. W. and Jung, S.; “HMAC-Based RFID Authentication Protocol with Minimal Retrieval at Server,” in The 5th International Conference on Evolving Internet, pp. 52–55, 2013.
5
[6] Tsudik, G.; YA-TRAP: Yet Another Trivial RFID Authentication Protocol,” in 4th Annual IEEE International Conference on Pervasive Computing and Communications Workshops, 2006.
6
[7] Zhang, X.; Cheng, L. and Zhu, Q.; “Improvement of Filtering Algorithm for RFID Middleware Using KDB-tree Query Index,” Journal of Software, Vol. 6, No. 12, pp. 2521–2527, 2011.
7
[8] Cho, J. S.; Yeo, S. S. and Kim, S. K.; “Securing Against Brute-Force Attack: A Hash-Based RFID Mutual Authentication Protocol Using a Secret Value,” Computer Communication, Vol. 34, No. 3, pp. 391–397, 2011.
8
[9] Cho, J.; Kim, S. C. and Kim, S. K.; “Hash- Based RFID Tag Mutual Authentication Scheme with Retrieval Efficiency,” in 9th IEEE Internation Symposium on Parallel and Distributed Processing with Applications, pp. 324–328, 2011.
9
[10] Van-Deursen, T. and Radomirovic, S.; “Attacks on RFID Protocol,” Cryptology ePrint Archive, 2008.
10
[11] Phan, R.; “Cryptanalysis of a New Ultralightweight RFID Authentication Protocol- SASI,” IEEE Transactionson Dependable and Secure Computing, Vol. 6, No. 4, pp. 316–320, 2009.
11
[12] Lim, C. H. and Kwon, T.; “Strong and Robust RFID Authentication Enabling Perfect Ownership Transfer,” in Proceedings of ICICS’06, LNCS 4307, pp. 1–20, 2006.
12
[13] Piramuthu, S.; “Lightweight Cryptographic Authentication in Passive RFID-Tagged Systems,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 38, No. 3, pp. 360–376, 2008.
13
[14] Peris-Lopez, P.; Hernandez-Castro, J. C.; Estevez-Tapiador, J. M. and Ribagorda, A.; “Vulnerability Analysis of RFID Protocols for Tag Ownership Transfer,” Computer Networks, Vol. 54, pp. 1502–1508, 2010.
14
[15] Kulseng, L.; Yu, Z.; Wei, Y. and Guan, Y.; “Lightweight Mutual Authentication and Ownership Transfer for RFID Systems,” IEEE INFOCOM, pp. 251–255, 2010.
15
[16] Liu, H. and Ning, H.; “Zero-Knowledge Authentication Protocol Based on Alternative Mode in RFID Systems,” IEEE Sensors Journal, Vol. 11, No. 12, pp. 3235–3245, 2011.
16
[17] Lim, J.; Oh, H. and Kim, S.; “A New Hash-Based RFID Mutual Authentication Protocol Providing Enhanced User Privacy Protection,” in Information Security Practice and Experience, Springer Berlin Heidelberg, pp. 278–289, 2008.
17
[18] Lee, Y. C.; Hsieh, Y. C.; You, P. S. and Chen, T. C.; “An Improvement on RFID Authentication Protocol with Privacy Protection,” in 3rd International Conference on Convergence and Hybrid Information Technology, South Korea, Busan, 2008.
18
[19] Wang, S.; Ma, Q. M.; Zhang, Y. L. and Li, Y. S.; “A HMAC-Based RFID Authentication Protocol,” in 2nd International Symposium on Infromation Engineering and Electronic Commerce (IEEC), 2010.
19
ORIGINAL_ARTICLE
Adaptive Fusion of Inertial Navigation System and Tracking Radar Data
Against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive Kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (INS/Radar). This filter involves the concept of residual-based adaptive estimation and adaptive fading Kalman filter and tunes dynamically the filter parameters including the fading factors and the measurement and process noises scaling factors based on the ratio of the actual residual covariance to the theoretical one. In fact, due to the unknown and fast-varying statistical parameters of the radar measurement noises and their nonlinear characteristics, applying a conventional Kalman filter to INS/Radar data fusion yields a low performance navigation and in-flight alignment. The Monte Carlo simulation results of the integrated navigation system on an interceptor missile trajectory indicate the new algorithm has an effective performance in face of nonlinearities and uncertainties of the tracking radar measurements. these results allow to know whether the fine in-flight alignment and high performance navigation can be possible for the long-range air defense missile using the low-cost INS/Radar system without aiding global navigation satellite system signals or not.
https://eej.aut.ac.ir/article_818_6423104d8580b2a86b2199247a842817.pdf
2016-11-21
81
92
10.22060/eej.2016.818
Adaptive Kalman Filter
Inertial Navigation
in-flight alignment
Radar
mahdi
fathi
mahd_fathi@mut.ac.ir
1
Ph.D. Candidate, Department of Aerospace Engineering-Flight Mechanics and Control Group, Malek Ashtar University of Technology
LEAD_AUTHOR
Nematollah
Ghahramani
ghahremani@mut.ac.ir
2
Associate Professor, Department of Electrical Engineering-Control Group, Malek Ashtar University of Technology
AUTHOR
Mohammad Ali
Ashtiani
m_ashtiani@alum.sharif.edu
3
Associate Professor, Department of Aerospace Engineering-Flight Mechanics and Control Group, Malek Ashtar University of Technology
AUTHOR
Ali
Mohammadi
ali_mohammadi@yahoo.com
4
Assistant Professor, Department of Electrical Engineering-Control Group, Malek Ashtar University of Technology
AUTHOR
Mohsen
Fallah
mohsen_fallah@mut.ac.ir
5
Assistant Professor, Department of Electrical Engineering-Communication Group, Malek Ashtar University of Technology
AUTHOR
[1] Titterton, D. H. and Weston, J. L.; “The Alignment of Ship Launched Missile IN Systems,” Inertial Navigation Sensor Development, IEE Colloquium on, London, 1989.
1
[2] Johnson, C.; Ohlmeyer, E. J. and Pepitone, T. R.; “Attitude Dilution of Precision–A New Metric for Observability of in Flight Alignment Errors,” Guidance, Navigation, and Control Conference and Exhibit, Denver, pp. 2000–2427, 2000.
2
[3] Ornedo, R. S.; Farnsworth, K. A. and Sandhoo, G. S.; “GPS and Radar Aided Inertial Navigation System for Missile System Applications,” IEEE Position Location and Navigation Symposium, Palm Spring, CA, 1998.
3
[4] Ohlmeyer, E. J.; Pepitone, T. R. and Hanger, D. B.; “Effect of Trajectory Shaping on Observability of NTW Interceptor In-Flight Alignment Errors,” Dahlgren VA, Naval Surface Warfare Center, 1999.
4
[5] Ohlmeyer, E. J.; Hanger, D. B. and Pepitone, T. R.; “In-Flight Alignment Techniques for Navy Theater Wide Missiles,” Guidance, Navigation and Control Conference, Montreal, 2001.
5
[6] Bezick, S. M.; Pue, A. J. and Patzelt, C. M.; “Inertial Navigation for Guided Missile Systems,” Johns Hopkins APL Technical Digest, Applied Physics Laboratory, Vol. 28, pp. 331–342, 2010.
6
[7] Bar-Itzhack, I. Y. and Porat, B.; “Azimuth Observability Enhancement During Inertial Navigation System In-Flight Alignment,” Journal of Guidance, Control and Dynamics, Vol. 3, No. 4, pp. 337–344, 1980.
7
[8] Porat, B. and Bar-Itzhack, I. Y.; “Effect of Acceleration Switching During INS In-Flight Alignment,” Journal of Guidance, Control and Dynamics, Vol. 4, No. 4, pp. 385–389, 1981.
8
[9] Bar-Itzhack, I. Y.; “Minimal Order Time Sharing Filters for INS In-Flight Alignment,” Journal of Guidance, Control and Dynamics, Vol. 5, No. 4, pp. 396–402, 1982.
9
[10] Anders, J. L.; Johnson, C.; Luckau, A. M.; Moore, T. A. and Ornedo, R. S.; “Successful Flight Test of a GPS and Radar Aided Inertial Navigation System,” Proceedings of the National Technical Meeting of The Institute of Navigation, San Diego, CA, 2002.
10
[11] Anders, J. L.; Buhar, C.; Estrada, V.; Johnson, C. and Ornedo, R. S.; “New Generation GPS and Radar Aided Inertial Navigation System for Ballistic Missile Interceptor,” Procedings of the 60th Annual Meeting of The Institute of Navigation, Dayton OH, 2004.
11
[12] Gul, F.; Fang, J. and Khan, S.; “SINS Augmentation by ANS and Secure Radio Positioning System,” 2nd International Conference on Emerging Technologies (ICET), pp. 278–284, 2006.
12
[13] Li, S. and Peng, Y.; “Radio Beacons/IMU Integrated Navigation for Mars Entry,” Advances in Space Research, Vol. 47, No. 7, pp. 1265–1279, 2011.
13
[14] Barton, D. K.; “Radar Evaluation Handbook,” Artech House, Norwood MA, 1991.
14
[15] Skolnik, M. I.; “Introduction to Radar Systems,” McGraw Hill, New York, 3rd Edition, 2001.
15
[16] Mohamed, A. H. and Schwarz, K. P.; “Adaptive Kalman Filtering for INS/GPS,” J. Geodesy, Vol. 73, No. 4, pp. 193–203. 1999.
16
[17] Barton, D. K.; “Modern Radar System Analysis,” Artech House, Norwood, MA, 1988.
17
[18] Ewell, G. W.; Alexander, N. T. and Tomberlin, E. L.; “Investigation of Target Tracking Errors in Monopulse Radars,” Georgia Institute of Technology, Atlanta, Georgia, 1972.
18
[19] Barton, D. K. and Barton, W. F.; “Modern Radar System Analysis Software and User’s Manual Version 2.0,” Artech House, Norwood MA, 1993.
19
[20] Jwo, D. J.; Chung, F. C. and Weng, T. P.; “Adaptive Kalman Filter for Navigation Sensor Fusion,” Sensor Fusion and its Applications, Shanghai, InTech, pp. 65–91, 2001.
20
[21] Hide, C.; Moore, T. and Smith, M.; “Adaptive Kalman Filtering for Low-Cost INS/GPS,” The Journal of Navigation, Vol. 56, Vol. 1, pp. 143–152, 2003.
21
[22] Xia, Q.; Rao, M.; Ying, Y. and Shen, X.; “Adaptive Fading Kalman Filter with an Application,” Automatica, Vol. 30, No. 8, pp. 1333–1338, 1994.
22
[23] Jwo, D. J. and Weng, T. P.; “An Adaptive Sensor Fusion Method with Applications in Integrated Navigation,” The Journal of Navigation, Vol. 61, No. 4, pp. 705–721, 2008.
23
[24] Simon, D.l “Optimal State Estimation,” John Wiley and Sons, Hoboken, New Jersey, 2006.
24
[25] Titterton, D. H. and Weston, J. L.; “Strapdown Inertial Navigation Technology,” Peter Peregrinus, London, 1997.
25
[26] Britting, K. R.; “Inertial Navigation Systems Analysis,” John Wiley and Sons Inc., USA, 1971.
26
ORIGINAL_ARTICLE
Performance Study of Untrusted Relay Network Utilizing Cooperative Jammer
Abstract—In this paper, the problem of secure transmission in two-hop amplify-and-forward (AF) systems with an untrusted relay is investigated. To prevent the untrusted relay from intercepting the source message and to achieve positive secrecy rate, the destination-based cooperative jamming (DBCJ) technique is used. In this method the destination sends an intended jamming signal to the relay. This jamming signal helps protecting the source message from being captured reliably at the untrusted relay, while the destination cancels itself intended jamming signal. The optimal power allocation (OPA) technique is considered for the presented system. It is observed that the objective function is a quasiconcave function at high signal-to-noise-ratio (SNR) regimes. Based on this OPA technique, we study the ergodic secrecy rate (ESR) and the secrecy outage probability (SOP) of the system when the source and relay are equipped with a single antenna while the destination is equipped with largescale antenna arrays (LSA). Using the achieved closed-form expressions, one can evaluate the performance of the secure system easily and fast and also, they provide significant insight for system design. Finally, simulation results indicate the accuracy of the derived expressions.
https://eej.aut.ac.ir/article_820_cf367bd8c170b61a482221de32e3d43d.pdf
2016-11-21
93
100
10.22060/eej.2016.820
Physical Layer Security
Optimal power allocation
Untrusted Relay
Destination-based cooperative jamming
Ali
kuhestani
alikuhestani@yahoo.com
1
Ph.D. Student, Electrical Engineering Department, Amirkabir University of Technology
AUTHOR
Abbas
Mohammadi
abm125@aut.ac.ir
2
Professor, Electrical Engineering Department, Amirkabir University of Technology
LEAD_AUTHOR
Mohammad Javad
Emadi
mj.emadi@aut.ac.ir
3
Assistant Professor, Electrical Engineering Department, Amirkabir University of Technology
AUTHOR
[1] Laneman, J. N.; Tse, D. N. C. and Wornell, G. W.; “Cooperative Diversity in Wireless Networks: Efficient Protocols and Outage Behavior,” IEEE Trans. Inf. Theory, Vol. 50, No. 12, pp. 3062–3080, 2004.
1
[2] Bloch, M.; Barros, J.; Rodriques, M. R. D. and McLaughlin, S. W.; “Wireless Information-Theoretic Security,” IEEE Trans. Inf. Theory, Vol. 54, No. 6, pp. 2515–2534, 2008.
2
[3] Wyner, A. D.; “The Wire-Tap Channel,” Bell Syst. Tech. J., Vol. 54, No. 8, pp. 1355–1387, 1975.
3
[4] Huang, J.; Mukherjee, A. and Swindlehurst, A. L.; “Secure Communication via an Untrusted Non- Regenerative Relay in Fading Channels,” IEEE Trans. Signal Process., Vol. 61, No. 10, pp. 2536– 2550, 2013.
4
[5] He, X. and Yener, A.; “Two-Hop Secure Communication Using an Untrusted Relay: A Case for Cooperative Jamming,” in Proc. IEEE Globecom, New Orleans, LA, p. 15, 2008.
5
[6] He, X. and Yener, A.; “Two-Hop Secure Communication Using an Untrusted Relay,” EURASIP J. Wireless Commun. Netw., p. 13, 2009.
6
[7] Huang, J.; Mukherjee, A. and Swindlehurst, A. L.; “Outage Performance for Amplify and Forward Channels with an Unauthenticated Relay,” in Proc. IEEE Int. Commun. Conf., pp. 893–897, 2012.
7
[8] Sun, L.; Zhang, T.; Li, Y. and Niu, H.; “Performance Study of Two-Hop Amplify and Forward Systems with Untrustworthy Relay Nodes,” IEEE Trans. Veh. Technol., Vol. 61, No. 8, pp. 3801–3807, 2012.
8
[9] Wang, J.; Elkashlan, M.; Huang, J.; Tran, N. H. and Duong, T. Q.; “Secure Transmission with Optimal Power Allocation in Untrusted Relay Networks,” IEEE Wireless Commun. Lett., Vol. 3, No. 3, pp. 289– 292, 2014.
9
[10] Geraci, G.; Couillet, R.; Yuan, J.; Debbah, M. and Collings, I. B.; “Large System Analysis of Linear Precoding in MISO Broadcast Channels with Confidential Messages,” IEEE J. Sel. Areas Commun., Vol. 31, No. 9, pp. 1660–1671, 2013.
10
[11] Anghel, P. A. and Kaveh, M.; “Exact Symbol Error Probability of a Cooperative Network in a Rayleigh-Fading Environment,” IEEE Trans. Wireless Commun., Vol. 3, No. 5, pp. 1416–1421, 2004.
11
[12] Papoulis, A.; “Probability, Random Variables, and Stochastic Processes,” McGraw-Hill, New York, 1984.
12
[13] Boyd, S. and Vandenberghe. L.; “Convex Optimization,” Cambridge University Press, 2004.
13
[14] Gradshteyn, I. S. and Ryzhik, I. M.; “Table of Integrals, Series and Products,” Academic, New York, 7th Edition, 2007.
14
ORIGINAL_ARTICLE
Performance Enhancement of GPS/INS Integrated Navigation System Using Wavelet Based De-noising method
Accuracy of inertial navigation system (INS) is limited by inertial sensors imperfections. Before using inertial sensors signals in the data fusion algorithm, noise removal method should be performed, in which, wavelet decomposition method is used. In this method the raw data is decomposed into high and low frequency data sets. In this study, wavelet multi-level resolution analysis (WMRA) technique is used as an efficient pre-filter method for inertial measurements to improve the performance of INS. This technique improves navigation accuracy, eliminating high frequency noise of inertial measurements. Optimum values of the level of decomposition are selected to obtain minimum error. Successfully performing the de-noising method improves the sensors’ signal-to-noise ratios and removes short term errors mixed with motion dynamics and finally provides cleaner and more reliable data to the INS. Performance of an error state Kalman filter based GPS/INS integrated navigation system with the loosely coupled structure is studied using real measurement while GPS outages. Results show that the average value of the root mean square of the position errors using the WMRA procedure is reduced about 14% compared to those using the raw inertial measurements.
https://eej.aut.ac.ir/article_824_c7863126db2461da98fa33f8b3c8dd70.pdf
2016-11-21
101
112
10.22060/eej.2016.824
GPS/INS Integrated Navigation
GPS Outages
Wavelet Analysis
Error State Kalman Filter
Level of Decomposition
narjes
davari
n.davari@ec.iut.ac.ir
1
Ph.D. Student, Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, 84156-83111, Iran
LEAD_AUTHOR
Asghar
Gholami
gholami@cc.iut.ac.ir
2
Associate Professor, Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, 84156-83111, Iran
AUTHOR
mohammad
shabani
mohammad.shabani@hotmail.com
3
M.Sc., Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, 84156-83111, Iran
AUTHOR
[1] Grewal, M. S.; Weill, L. R. and Andrews, A. P.; “Global Positioning Systems, Inertial Navigation, and Integration,” John Wiley and Sons, 2001
1
[2] Kalman, R. E.; “A New Approach to Linear Filtering and Prediction Problems,” ASME Trans. Ser. D: J. Basic Eng., Vol. 82, No. 1, pp. 34–45, 1960.
2
[3] Farrell, J. A. and Barth, M.; “The Global Positioning System and Inertial Navigation,” McGraw-Hill Professional, New York, 1999.
3
[4] Maybeck, P. S.; “Stochastic Models, Estimation and control,” Academic Press, New York, Vol. 1, 1979.
4
[5] Skog, I. and Handel, P.; “Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems,” IEEE Transactions on Intelligent Transportation Systems, Vol. 12, No. 4, pp. 1014–1023, 2011.
5
[6] Shabani, M.; Gholami, A. and Davari, N.; “Asynchronous Direct Kalman Filtering Approach for Underwater Integrated Navigation System,” Nonlinear Dyn, Vol. 80, Nos. 1–2, pp. 71–85, 2015.
6
[7] Wendel, J.; Schlaile, C. and Trommer, G. F.; “Direct Kalman Filtering of GPS/INS for Aerospace Applications,” International Symposium on Kinematic System in Geodesy, Geomatics and Navigation, Alberta, Canada, 2001.
7
[8] Qi, H. and Moore, J. B.; “Direct Kalman Filtering Approach for GPS/INS Integration,” IEEE Trans. Aerosp. Electron. Syst., Vol. 38, No. 2, pp. 687–693, 2002.
8
[9] Shabani, M.; Gholami, A.; Davari, N. and Emami, M.; “Implementation and Performance Comparison of Indirect Kalman Filtering Approaches for AUV Integrated Navigation System Using Low Cost IMU,” ICEE, Mashhad, Iran, pp. 1–6, 2013.
9
[10] Chiang, K.; Aboelmagd, N. and El-Sheimy, N.; “Constructive Neural-Networks-Based MEMS/ GPS Integration Schme,” IEEE Trans. Aerospace Electronic Syst., Vol. 44, No. 2, pp. 582–594, 2008.
10
[11] Schwarz, K. P. and Wei, M.; “Modeling INS/GPS for Attitude and Gravity Applications,” Proceedings of the 3rd International Workshop of High Precision Navigation, Stuttgart, Germany, Vol. 95, pp. 200– 218, 1995.
11
[12] Ŝkaloud, J.; “Optimizing Georeferencing of Airborne Survey Systems by INS/GPS,” Ph.D. Thesis, Department of Geomatics Engineering, University of Calgary, Calgary, Alberta, Canada, UCGE Report No. 20126, 1999.
12
[13] El-Rabbany, A. and El-Diasty, M.; “An Efficient Neural-Network Model for De-noising of MEMS-based Inertial Data,” The Journal of Navigation, Vol. 57, pp. 407–415, 2004.
13
[14] Sifuzzaman, M.; Islam, M. R. and Ali, M. Z.; “Application of Wavelet Transform and its Advantages Compared to Fourier Transform,” Journal of Physical Sciences, Vol. 13, pp. 121–134, 2009.
14
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ORIGINAL_ARTICLE
Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly designed and then, this controller is modified for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable driven robot.
https://eej.aut.ac.ir/article_821_28a68580833efe4b201fa4d8293386e8.pdf
2016-11-21
113
126
10.22060/eej.2016.821
Cable Robots
Elasticity
Singular Perturbation
Stability Analysis
M. A.
Khosravi
m.a.khosravi@aut.ac.ir
1
Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology
LEAD_AUTHOR
Hamid D.
Taghirad
taghirad@kntu.ac.ir
2
Professor, Faculty of Electrical Engineering, K. N. Toosi University of Technology
AUTHOR
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18
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