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Quantifying Localization Safety for State-of-the-Art Mobile Robot Estimation Algorithms
Title
Quantifying Localization Safety for State-of-the-Art Mobile Robot Estimation Algorithms
Creator
Abdul Hafez, Osama Mutie Fahad
Date
2023
Description
In mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for...
Show moreIn mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for mission or life-critical applications, like Autonomous Vehicles (AVs), because they only reflect nominal sensor noise without considering sensor measurement faults. Sensor faults are unknown deterministic errors that cannot be modeled using a zero mean Gaussian distribution. Ignoring sensor faults, in such applications, might result in large localization errors, which in turn deceives other reliant systems, like the controller, leading to catastrophic consequences, such as traffic accidents for AVs. Thus, other techniques need to be used to conservatively quantify pose safety.This thesis builds upon previous research in aviation safety, or what is referred to as \textit{integrity monitoring}, to quantify localization safety for mobile robots that use state-of-the-art state estimators (as localizers).Specifically, this thesis utilizes the localization \textit{integrity risk} metric, as a measure of localization safety, which is defined as the probability of the robot's pose estimate error to lie outside pre-determined acceptable limits while an alarm is not triggered. Unlike open-sky aviation applications, where Global Navigation Satellite Systems (GNSS) signals are available, mobile robots operate in GNSS-denied, or in the best case GNSS-degraded, environments, which demands utilizing more complex set of sensors to guarantee an acceptable level of localization safety. This thesis provides a conservative measure of localization safety by rigorously upper-bounding the integrity risk while accounting for both nominal lidar noise and unmodeled lidar measurement faults.The contributions of this thesis include the design and analysis of practical integrity monitoring and failure detection procedures for mobile robots utilizing map-based particle filtering, a recursive integrity monitoring method for mobile robots utilizing map-based fixed lag smoothing for both solution-separation and chi-squared as failure detectors, the synthesis of an integrity monitoring procedure for mobile robots utilizing Extended Kalman Filter-based Simultaneous Localization And Mapping (EKF-based SLAM), and a Model Predictive Control (MPC) framework that is capable of planning mobile robot's trajectory to follow a predefined robot path while maintaining a predefined minimum level of mobile robot localization safety. The proposed methodologies are validated using both simulation and experimental results conducted in real-world urban university campus environments.
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Development of data assimilation for analysis of ion drifts during geomagnetic storms
Title
Development of data assimilation for analysis of ion drifts during geomagnetic storms
Creator
Hu, Jiahui
Date
2024
Description
The primary objective of this dissertation is to gain insight into geomagnetic storm effects at mid-latitudes induced by solar activity....
Show moreThe primary objective of this dissertation is to gain insight into geomagnetic storm effects at mid-latitudes induced by solar activity. Geomagnetic storms affect our everyday lives because they give rise to transient signal loss, data transmission errors, negatively impacting users of satellite navigation systems. The Nighttime Localized Ionospheric Enhancement (NILE) is a localized plasma enhancement that because it is not well understood, drives the design of satellite-based augmentationsystems. To better secure operation of technological infrastructure, it is essential to build a comprehensive understanding of the atmospheric drivers, especially during solar active periods. Instrument measurements and climate models serve as valuable tools in obtaining information regarding the occurrence of space weather events; nonetheless, both sources exhibit quantitative and qualitative limitations. Data assimilation, an evolving technique, integrates measurements and model information to optimize the state estimations. This dissertation presents developments in a data assimilation algorithm known as Estimating Model Parameters from Ionospheric Reverse Engineering (EMPIRE), and its applications in investigating the atmospheric behaviors under varying solar conditions. EMPIRE is a data assimilation algorithm specifically designed for upper atmospheric driver estimation of neutral wind and ion drifts at user-defined spatial and temporal scales. The EMPIRE application in this work aims to contribute to a more comprehensive understanding of the effects of the NILE. EMPIRE utilizes the Kalman filter to optimize state calculations primarily based on electron density rates, provided by other data assimilation algorithms. Earlier runs of the algorithm used pre-defined values for the background state covariance cross time. To address model limitations under changing geomagnetic conditions, the algorithm is enhanced by concurrently updating the background state covariance during assimilation processes. Additionally, representation error is incor- porated as a component of the observation error, and error analysis is performed through a synthetic-data study. Previously, EMPIRE fused Fabry-Perot Interferometer (FPI) neutral wind measurements, demonstrating increased agreement with validation neutral wind data. In this work, this approach is extended to augment Coherent Scatter Radar (CSR) ion drift measurements from Super Dual Auroral Radar Network (SuperDARN), providing additional insights into EMPIRE’s estimated field-perpendicular ion motion. For an in-depth exploration of storm-related NILE, both EMPIRE and another data assimilation method, the Whole Atmosphere Community Climate Model with thermosphere and ionosphere eXtension coupled with Data Assimilation Research Testbed (WACCM-X + DART), is implemented for a storm event to test the proposed NILE driving mechanism. Furthermore, this dissertation introduces a Kalman smoother technique into the EMPIRE to enhance its ability to assess past storm events, and to explore the potential for algorithm improvements.
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