2015 a year where european defence will matter even...

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The Aiding of MEMS INS/GPS Integration Using Artificial Intelligence for Land Vehicle Navigation J-H. Wang and Y. Gao Abstract—This paper applies two Artificial Intelligence (AI) techniques, fuzzy logic and expert system, to enhance the Kalman filter-based MEMS INS/GPS integration. For better INS error control, the expert knowledge on vehicle dynamics is utilized to simplify dynamics models and to extend measurement update schemes in the velocity filter. To optimize position fusion, a fuzzy inference system is developed to provide GPS signal degradation information for modification of the innovation-based adaptive measurement covariance in the position filter. The effectiveness of the proposed AI-based enhancement methods is demonstrated through several field tests. Index Terms—GPS, INS, Kalman Filter, Artificial Intelligence I. INTRODUCTION Today, the Global Positioning System (GPS) has been used by most navigation systems to a wide range of applications. GPS however is still subject to severe performance degradation in the presence of signal blockage, diffraction and multipath and its application in signal-degraded environments such as urban areas remains a significant challenge. With operational characteristics complementary to GPS, the self-contained Inertial Navigation System (INS) has been widely adopted to assist GPS-based navigation systems. An INS/GPS integrated navigation system is able to provide improved navigation performance in terms of accuracy, availability, and reliability over GPS-only systems. Kalman filtering methodology has been extensively applied for optimal fusion of data from GPS and INS sensors and the bridging of GPS outages [1][2][3][4]. As the increasing use of low-cost Micro-Electro-Mechanical System (MEMS) inertial sensors to land vehicle applications, however, the traditional Kalman filter methodology was found insufficient due to poor quality of the MEMS inertial measurements [5][6]. In MEMS INS/GPS integration, the Kalman filter processes the low-quality inertial data which have large bias variation, high Manuscript is the original conference paper presented at the IAENG International Workshop on Artificial Intelligence and Applications at the International MultiConference of Engineers and Computer Scientists (IMECS) Conference, Hong Kong, June 2006. J.-H. Wang and Y. Gao are with the Geomatics Engineering Department, University of Calgary, Calgary, Alberta, Canada, T2N 1N4, (e-mail: [email protected] and [email protected]). noise level, and large random error due to flicker noise, random walk and etc. In this case, sensor errors are much difficult to realistically model using stochastic processes and thus the imperfect modeling resulted from mis-modeling, non-modeling and non-white properties of input data is obvious. In addition, when the navigation system operates in GPS challenging environments such as urban canyons, GPS solutions are characterized by large noise and multipath error and GPS accuracy is much difficult to assess properly [7][8]. As a result, inevitably using the inaccurate dynamics and statistical models for both system and measurement states, the Kalman filter has degraded estimation accuracy and even divergence problems. In this paper a modified integration methodology using adaptive Kalman filtering and artificial intelligence (AI) techniques is developed to provide improved integration performance. Two cascaded Kalman filters, velocity and attitude filter and position filter, are employed separately in the loosely coupled closed-loop integration scheme. In the velocity and attitude filter we develop a dynamics knowledge aided inertial navigation algorithm to simplify filter dynamics models and to extend measurement updates. This technique provides continuous error control for INS velocity and attitude even during GPS outages. In the position filter the corrected velocity and attitude are integrated with GPS position using the innovation-based adaptive filtering technique incorporated with vehicle dynamics knowledge and a fuzzy logic rule-based GPS data classification system. Vehicle dynamics knowledge is used to identify the slowly changing GPS position error so that they wouldn’t affect the integration solution. The GPS data classification system is designed to classify GPS signal degradation conditions based on GPS signal and geometry information. Correlated to GPS position performance, the identified signal degradation condition is further applied to weight the innovation-based adaptive measurement noise covariance for better characterizing GPS performance. The designed integration algorithm has been evaluated with field tests using a van driven in downtown Calgary, Canada. The test results show that the low-cost MEMS INS/GPS system applying the proposed AI-enhanced integration algorithm can provide continuous and reliable navigation solutions with about 9 m root-mean-square (RMS) of the across-track error in urban areas. The average maximum across-track position error has been maintained within around 37 m while the GPS-only IAENG International Journal of Computer Science, 33:1, IJCS_33_1_11 ______________________________________________________________________________________ (Advance online publication: 13 February 2007)

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Page 1: 2015 A year where European Defence will matter even moreeeas.europa.eu/archives/docs/csdp/structures-instruments-agencies/eu-military-staff/...Intelligence Directorate – Rear Admiral

w w w . e e a s . e u r o p a . e u / e u m s RS 059/2015

2015 will most certainly be of central importance for European security. Crises, risks and threats come closer to our borders. The most recent and worrying example is the confirmed presence of “Daesh” in Libya. Violence in Eastern Ukraine could not be stopped yet and the potential for seeing it flare up again is real. Syria and Iraq remain areas of violent conflict with direct impact on European security.The border between external and internal security is becoming blurred. Militant jihadism is the most illustrative example for the external-internal security nexus. It is also worryingly points at non-State actors, growing empowerment and the ability to use methods of hybrid warfare. The Western world believed it was possible to conceive a common future with all our neighbours, based on a common and shared understanding of international rules. We were taught that this might not be true, not for all neighbours. This outlook is challenging. It will put a particular emphasis on the efforts the European Union has to undertake in bringing its share to securing freedom and prosperity for our Member State’s populations. The European Union will remain a provider and sponsor for peaceful settlement worldwide, based on norms, rules and standards. It will continue to build its own future, mastering the political and economic challenges ahead and offering examples without teaching lessons. More frequently than so far during the post-Cold War period, The European Union will also speak a language of political firmness, unity and solidarity. Such will be the context of the European Council on Security and Defence 2015. Working towards it and taking on the tasks derived from it will largely command the workload for this year and beyond. A broad and common effort of all European institutions having stakes in foreign relations, security and defence will be needed. HRVP Mogherini’s unwavering effort to make this happen, regularly and fully takes into account the security and defence dimension; hence the military. The challenges the European Union Military Staff has to face in this context mirrors the challenges all military actors in Europe have to face: to deal with growing solicitations whilst steadily adapting to guarantee the most appropriate answers for the future. There is increasing demand for military expertise in its broadest range, expressed by a growing number of services. Being ready to bring the military element to all phases of analysis, planning and execution reflect the spirit of the comprehensive

approach all security actors aspire to.Heartened by the quality and dedication of our officers, I remain confident the Staff will be able to deliver, even under more difficult circumstances. We cannot do it alone, but have to build on Member States’ contributions, the continued performance of our operations and missions, on the cooperation of other services inside and outside the EEAS, on a growing relationship with our delegations, on the help of multinational Headquarters and on an ever closer cooperation with NATO and the UN. In concluding, I would most sincerely thank all our soldiers in missions and operations for their unflagging effort, our partners in the services and beyond, for their understanding and growing openness to the role of the military and the European Union Military Committee, with its chairman, for the unfaltering support we receive in our effort to put the military part of the Common Security and Defence Policy in the place where Europe needs it.

2015 – A year where European Defence will matter even more

Rear AdmiralWaldemar Głuszko (PL) Deputy Director General of the EUMS.

Lieutenant General Wolfgang Wosolsobe (AT)Director General of the EUMS

Lt Gen Wolfgang Wosolsobe Director General EU Military Staff

March 2015

E U M i l i t a r y S t a f f ( E U M S ) P u b l i c R e l a t i o n s /

P u b l i c I n f o r m a t i o n ( P R / P I )

Lt Col John O' LoghlenPR/PI Officer

European Union Military [email protected] and Postal address:

Av. de Cortenbergh 150B-1040 Brussels,

Belgium

All information was correct at time of printing – March 2015

EU Military Staff (EUMS)

Who we are & What we do

'PROVIDING MILITARY EXPERTISE & CAPABILITIES TO THE EU'

We, the EU Military Staff, are the source of military expertise within the European External Action Service (EEAS). We work under the direction of the EU Military Committee (EUMC) of the Member States Chiefs of

Defence, who deliver the military assets and under the direct authority of the High Representative/Vice President, who leads the EEAS and chairs the Foreign Affairs Council and Defence.

The EEAS coordinates the external actions of the EU. As the EU's diplomatic service, it is also responsible for the development and execution of the Common Security and Defence Policy (CSDP). We are proud and committed to be the military component of this team. We are the source of collective (multi-disciplinary) military expertise within the EEAS. As an integral component of the EEAS’s Comprehensive Approach, the

EUMS coordinates the military instrument, with particular focus on operations/missions (both military and those requiring military support) and the creation of military capability.

The Military can be used across the full spectrum of crisis prevention, response and management, ranging from support to Humanitarian Assistance, Civil Protection, Security Sector Reform, stabilisation and

evacuation of citizens, to more complex military operations such as peace keeping and peace enforcement. Enabling activity in support of output's include: early warning (via the Single Intelligence Analysis Capacity

- SIAC), situation assessment, strategic planning, Communications and Information Systems, concept development, training & education, and support of partnerships.

We strengthen the diplomatic leverage of the EU, because together with Member States we ensure that the EU can act militarily. In concert with the EU Military Committee and EEAS partners, we create the

circumstances in which military can conduct their missions and operations together with their civilian partners in the field. If security reasons deny others the ability to operate, the military will stand and act as

necessary, accepting the related risks. This gives us a special responsibility.

S P R I N G / S U M M E R 2015

Page 2: 2015 A year where European Defence will matter even moreeeas.europa.eu/archives/docs/csdp/structures-instruments-agencies/eu-military-staff/...Intelligence Directorate – Rear Admiral

EUTM Somalia – Mission Commander – Brigadier General Antonio MAGGI (IT)

In order to contribute to the building up and strengthing of the Somali National Armed Forces (SNAF) who are accountable to the Somali National Government and consistent with Somali needs and priorities, EUTM Somalia will provide political and strategic level advice to Somali authorities (Ministry of Defence and General Staff), support and advice on Sector Security Development as well as specific mentoring, advice and capacity building in the training domain.

EUMAM RCA – March 2015 – Mission Commander – Brigadier General LAUGEL (FR)

EUMAM (Military Advisory Mission) RCA is part of the EU’s comprehensive approach in the Central Africa Republic. This approach aims to contribute to the African and international efforts to restore stability and support the political transition in the country. The mission is a follow-up to the CSDP military bridging operation in CAR (EUFOR RCA); to contribute to security in the capital Bangui.

EUMAM RCA will advise the CAR military authorities on the management of their current resources, on the preparation of the future systemic reform of the CAR armed forces (FACA) and on the set up of conditions for a proper training programme for their forces. It will provide the EU Delegation in Bangui with military, security and Rule of Law expertise.

EUTM Mali – Mission Commander – Alfonso Garcia-Vaquero (ES)

EUTM Mali will be responsible for providing military advice and training to the Malian Armed Forces, under civilian authority, in order to enable them to restore the country's territorial integrity.

EUNAVFOR ATALANTA – Operational Commander – Major General Martin SMITH (UK)

Protection of vessels of the World Food Programme (WFP) delivering food aid to displaced persons in Somalia; protection of vessels of AMISOM; protection of vulnerable vessels off the Somali coast; and the deterrence, prevention and repression of acts of piracy and armed robbery off the Somali coast.

THE SAHEL REGIONThe EU addresses the multifaceted challenges in the Sahel region through its comprehensive Strategy for Security and Development adopted by the Council in March 2011. EUTM Mali constitutes an important element of this EU Strategy.

Communications & Information Systems – Rear Admiral Santiago BARBER LOPEZ (ES)Develops EUMS policies and guidance for implementation; is responsible for the operation and maintenance of CIS, in support of CSDP activities; contributes to EUMS planning through the provision of CIS planning expertise at the strategic and operational level; provides the CIS element of crisis response planning and assessment for operations and exercise.

Operations Directorate – Brigadier General Daniel GRAMMATICO (FR ) Plans EU-led military crisis management operations, including post-launch strategic crisis response planning, develops strategic advice and crisis response planning, including early military assessment and planning in support of informed decision making; monitors all CSDP operations and generates the capacity to plan and run an autonomous operation.

Logistics Directorate – Brigadier General Dionigi LORIA (IT) Serves as a focal point for all matters in the functional areas of logistics; contributes to EUMS planning through the provision of logistics planning expertise; is responsible for logistic concepts and doctrine, provides the logistics element of crisis response planning and assessment for operations and exercises; and provides administrative support to the EUMS.

Intelligence Directorate – Rear Admiral Georgij ALAFUZOFF (FI)Provides intelligence input to early warning and situation assessments; contributes to the EUMS planning through the provision of intelligence and intelligence planning expertise, and provides the intelligence input to crisis response planning and assessment for operations and exercises.

© E

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Concepts and Capabilities Directorate – Brigadier General Heinz KRIEB (DE)Is responsible for EUMS concepts, doctrine, force planning and capability development, including crisis management exercises; responsible for training, analysis and lessons learned, and for cooperation with the European Defence Agency; vis-à-vis EUMS planning, ensures coherency between the EU military concepts and the crisis management procedures.

ACOS Synchronization – Colonel Jose Luis CALVO-ALBERO (ES)Assists the Chief of Staff in the coordination and synchronization of the EUMS internal processes and information flows; facilitates and canalises support which the EUMS provides to the Chairman of the EUMC, and supports the Chairman in the preparation and management of meetings.

THE BALKANSThe EU continues to play an important role in defining the future path for the Balkans. EUFOR ALTHEA is one element of this strategy.

EUFOR ALTHEA – Operational Commander – General Sir Adrian BRADSHAW (UK)Conducts the EU-led Operation in Bosnia and Herzegovina (BiH), under the po-litical control and strategic direction of the Council and in line with the mandate; support BiH efforts to maintain a Safe and Secure Environment (SASE); in parallel, conducts capacity building of the Armed Forces of BiH (AFBiH) and contributes to the stability of the state. Now 10 years in operation.

HORN OF AFRICA (HoA) The Strategic Framework for the HoA (November 2011) aims to assert a stronger comprehensive EU voice, and project the effectiveness of EU's policy in the region, through strategic representation of its Missions/Operations, Delegations, policies and programmes. EUNAVFOR Atalanta and EUTM Somalia are part of this EU Comprehensive Approach.

ACOS External Relations – Colonel Martin CAUCHI-INGLOTT (MT)Develops policy for, and maintains the military dimension of all EUMS' external relations in close cooperation with EEAS Management Directorates and the Crisis Management Planning Department (CMPD). This involves coordinating military-to-military cooperation with International Organisations, Strategic Partners and Third States. The office is also responsible for all Public Relations and Public Information issues in close collaboration with the EEAS Strategic Communications Division.

EU Military Staff - 'An Integral Element of the EU Comprehensive Approach'

EU Military Staff - 'Supporting EU Foreign Policy'

EUMAM RCACentral African

RepublicSince 2015

EUFOR ALTHEABosnia

HerzegovinaSince 2004

EULEXKosovoSince 2008

EUBAMLibya

Since 2013

EUCAPSAHELNiger

Since 2012

EUSECRD Congo

Since 2005

EUCAPNESTOR

Djibouti,Somalia,

SeychellesTanzaniaYemenSince 2012

EUTMSomaliaSince 2010

EU NAVFORAtalanta

Since 2008

EUPOLAfghanistan

Since 2007

EUMMGeorgia

Since 2008

EUPOL COPPSPalestinianTerritories

Since 2006

EUBAM RAFAHPalestinianTerritories

Since 2005

EUTMMali

Since 2013

EUCAPSAHELMali

Since 2014

EUAMUkraine

Since 2014

Military Operations

Civilian Missions

80,000 people deployed since 2003: soldiers,policemen and rule of law experts.

6 on-going military missions

10 on-going civilian missions

16 completed missions since 2003.

Objectives: keeping the peace, preventing con�ictsstrengthening international security, supporting the rule of law and prevention of piracy.

More than 5,000 people currently deployed.

Overview of the Operations and Missions of the European UnionMarch 2015

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xter

nal

Act

ion

Ser

vice

- E

EAS,

201

3

EUPMBiH

2003-2012

EUOPL PROXIMA

FYROM2004-2005

CONCORDIAFYROM

2003

EUJUST THEMISGeorgia

2004-2005

EUJUST LEXIraq

2005-2013

Support to AMIS II Sudan/Darfur

2005-2006

EUPOLDR Congo2007-2014

EUAVSECSouth Sudan

2012-2014

EUFOR DR Congo DR Congo

2006

AMMMonitoring Mission

Aceh/Indonesia2005-2006

ARTEMISDR Congo

2003

EUFOR TCHADTchad/CAR2008-2009

EUPOL Kinshasa

DR Congo2005-2007

LegendOngoing Completed

EU SSRGuinea Bissau

2008-2010

EUPATFYROM

2006

EUFOR RCACentral African

RepublicSince 2014

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EUNAVFOR on patrol in the Gulf of Aden EUFOR provides humanitarian support during crises