IEEE Features ASPIN Lab Navigation Research in GPS-Denied Environments
The focus of their work, "I Am Not Afraid of the GPS Jammer: Resilient Navigation via Signals of Opportunity in GPS-Denied Environments," presents the first published experimental results evaluating the efficacy of radio simultaneous localization and mapping (radio SLAM) in a real GPS-denied environment.
Kassas said experiments took place at Edwards Air Force Base, Mojave Desert, California, USA. During NAVFEST, the GPS was intentionally blocked by jamming-to-signal (J/S) ratio as high as 90 dB. The article evaluated the timing of two cellular long-term evolution (LTE) transmitters located in the jammed environment, showing timing stability over 95 minutes of GPS jamming. The article also presented navigation results showcasing a ground vehicle traversing a trajectory of about 5 km in 180 seconds in the GPS-jammed environment. The GPS-IMU system drifted from the vehicle’s ground truth trajectory, resulting in a position root mean-squared error (RMSE) of 238 m. In contrast, the radio SLAM approach, with signals from a single cellular LTE transmitter whose position was poorly known (an initial uncertainty on the order of several kilometers), achieved a position RMSE of 32 m.