Sharif Digital Repository

In this research we explain a new method for detection of infraction behavior of drivers in highways. There are different approaches to find and register such abnormal and illegal behaviors, such as a camera-based monitoring system and Radar-based infraction detectors. But none of them can recognize and register the weave through traffic or spiral motions of vehicles, because the radar-based systems do not have adequate latitudinal–resolution while their longitudinal-accuracy is moderate. Moreover, the locations of radars are fixed and, the drivers adapt the velocity of their vehicles based on the position of the known radars. Consequently, these systems are inherently not suitable for our... 

In mobile ad hoc networks, having an efficient routing protocol to deal with dynamics in network topology, based on the user behavior learning, has a significant role in generating more accurate results. It is valuable to use a realistic mobility model in such networks so that the results from the simulation will reflect the actual reaction of mobile nodes in the real world. Using a realistic mobility model helps simulation to have more accurate results in comparison with other kinds of mobility models especially in a Vehicular Ad hoc Network (VANET). Before exchanging information between moving vehicles, the destination node should be located. However, the existing location service... 

A Mobile Ad hoc NETwork (MANET) is a set of wireless mobile nodes that form a self configured network. MANETs do not have infrastructure and are not currently deployed on large scales. So research in this area is simulation based. Mobility model in a mobile ad hoc network explains the movement pattern of mobile users and is designed to describe the change of their location, velocity and acceleration over time. One of the challenges in this field is the definition of a common mobility model that provides an accurate and realistic movement description of mobile nodes. In this thesis we want to study the mobility pattern of vehicles on Kish Island and compare it with different kinds of... 

In this thesis, a method is presented for improving the observability of the heading angle in a UAV when using the Visual-Inertial navigation algorithm MSCKF by adding a magnetometer sensor. The proposed algorithm serves as a complementary extension to the primary algorithm, and efforts have been made to seamlessly integrate the magnetometer sensor into the primary algorithm to allow for easy modifications to the sensor's characteristics and to observe the resulting output in system simulations. Improving the observability of the heading angle will lead to an enhancement in the overall system state estimation. To achieve this, a new update stage is added to the existing algorithm.... 

By using of raw measurements of GPS receivers including carrier phase and Doppler frequency we can estimate attitude parameters of a platform on which the receivers are installed in a proper orientation. In this research attitude parameters are estimated based on quaternions. To this end a discrete Kalman filter was designed to predict the attitude parameters by using of carrier phase double difference measurements and then update the predicted parameters by using of Doppler frequency double difference measurements. Doppler frequency measurements were used to estimate the quaternion rates which are used in update step of Kalman filter algorithm. A robust algorithm for carrier phase ambiguity... 

In this writing, Satellite Constellation and Satellite System Design, with a focus on satellite design, for local positioning in Iran, have been considered, in line with the subject of the thesis. The design process have been conducted consistent with the system literature and all the system elements for a satellite Constellation, have been presented as much as possible. In some cases, application of experimental equations in space handbooks do not have significant statistical credit and this fact has been mentioned in those handbooks. For each mission, it is necessary to provide special methods and corresponding requirements. At the end of the satellite design it is found that the design... 

The number of GPS satellites, which are spent their life and work, have been increasingly on the rise. Hence with knowledge of debris numbers, we can get an estimate of collisions risk probability and functional interference of active satellites in the future time. In this study, by using three methods, least-squares, RBF and ANFIS and statistical data the growth pattern of retired satellite numbers has been expected in the future. Numbers estimated by curve fitting methods in 2014 have been compared to the number of satellites disabled and growth estimation error has been analyzed by two models. Solar activity, the sun's radiation incidence angle on the satellite solar panel and the Earth's... 

Location observations from Global Positioning System (GPS) loggers are an important source of data for travel behavior researchers. Using GPS, requires a receiver, a digital map and a software that matches the user logged positions to the map. Identifying the location of the GPS data points on a coded map of the transportation network is not a trivial process. There is always an error in calculating the coordinates obtained from the GPS satellites, and also the available maps are not accurate enough. As a result, map-matching always carries some errors. Thus, different algorithms to do this mapping more precisely are presented. The output of the map-matching process is the identification of... 

Our surrounding environment has valuable information about our life. We live in technological societies where we are leaving digital footprints in, continuously. Growing development and popularity of mobile phones, has turned them into the most important global sensors. Mobile phone tracking via GPS points is one of the data types which can be collected from these sensors and used for traffic monitoring, intelligence traffic control and travel time estimation.
In order to use these devices, we need to collect data, detect transportation mode and estimate travel time. By evaluation of previous works, we can feel the need to a comprehensive approach for detecting transportation mode of... 

Origin-destination (OD) matrix is one of the most important sources of information used in planning and management of transportation networks. Estimation of a precise OD matrix is a fundamental component for enabling the administrative authorities to optimize the use of their transportation network. Traditionally, urban planners use direct approaches including household questionnaires to estimate OD matrices. These methods are time-consuming and costly. Strategies that are more recent like Bluetooth, Wi-Fi, and RFID scanners and detectors include deficient precision and the additional cost of accessories. Exploiting GPS technology in spite of its high locating accuracy, due to user... 

Navigation is the science of determining the velocity and attitude of a moving object in every given moment. There have been many methods for navigation. Nowadays with the advancement of technology, advanced navigation systems have been developed. Although each of these navigation systems have their pros and cons, in order to improve the overall performance of the system and to solve their problems, these systems are integrated.The goal of this project is to present an integrated cascade method to decrease error and also decrease dependence on GPS. In this project, INS, DVL & GPS are integrated with the cascade method.To achieve this, INS-GPS and INS-DVL integration are first performed. The... 

Over the past years, several approaches have been used for navigation. Along with the advancement of technology, complicated navigation systems such as inertial navigation system and global positioning system have been employed. These navigation systems have their own strengths and weaknesses. To improve overall system performance they are integrated together as one system.
Presented research aims at developing the integrated navigation system through particle filters. In this study, after a brief overview of the data integration techniques, several techniques which are more common and have better performance than others are examined. This contribution concentrates on filtering methods... 

This thesis deals with the construction of software tools necessary to calculate the position and orientation of the robot. The aim of this project is to use accelerometer, gyroscope, magnetometer and GPS sensors; Determine the position and orientation of the robot where the mobile phone is located. The proposed sensors are used to measure acceleration, angular velocity and magnetic field in 3 axes, respectively. GPS is also a system for calculating the position using signals received from satellites. To do this, an Android application has been designed and written in Java. The sensor information is collected by the software designed in the mobile phone and after proper coding is sent to a... 

In this thesis, we investigate a passive forward scattering radar system based on satellite signal. In this thesis we have used the GPS satellite signal as a non-cooperative transmitter.In order to analyze the passive forward scattering radar system as a subset of the bistatic radars, first the features and equations of the bistatic radar will be presented, and then we will discuss the important advantages and disadvantages of the passive forward scattering radar.In order to investigate the features of passive forward scattering radar based on satellite signal, an appropriate geometry will be presented with the characteristics of this radar and parameters such as time delay between direct... 

With the advent of new global navigation satellite systems and the technical progress of GPS, some valuable advantages can be achieved by using a combination of data from different constellations. There are some inter system biases between two separate constellation. One has to consider these biases in order to earn better accuracy in a multi constellation receiver. One of the main sources of the error in the position estimation is the random delay of the signal in the ionosphere layer. Recently GPS has released its dual frequency feature on civilian users. Using this feature, receiver will be able to estimate ionospheric delay due to its frequency dependence. The non-line-of-sight path of... 

Nowdays, Navigation sattelite systems are playing critial role in human life. In many equipments such as cell phone, transmitters , transportation systems ,etc. Accurate and reliable navigation is needed.
GPS was the first navigation sattelite system but today rival nations have delevoped or are developing parallel systems. These systems are Glonass operated by Russisa, Galileo by Europe and Beidou By china. GPS can not suffice human needs alone so the proposed solution is to exploit all above mentioned altenative systems. In this case, we can achieve higher accuracy, lower navigation time and more reliable navigation.
In this thesis the receiver is designed to receive all above... 

Global Positioning System (GPS) is one of the most widely-used systems nowadays. GPS receivers are frequently integrated along with other communication systems in hand-held devices like cellular phones, tablets and etc. Therefore, implementing receivers with low power consumption (for longer battery lives) and high sensitivity (in order to detect the weak GPS signal) has attracted the attention of many researchers. With the purpose of designing such a low-power and sensitive receiver, we have studied the recently proposed low-power schemes. We have proposed a new architecture for the QLMV Cell; the circuit in which main blocks associated with RF front-end are stacked on top of each other in...