By Urs Niesen, Jubin Jose, Xinzhou Wu, Qualcomm Technologies Inc. Emerging automotive applications require reliable but at the same time low-cost positioning solutions. In this paper, we present such a solution by fusing the measurements from several consumer-grade sensors using a tightly coupled centralized filter. The sensors used are a single-frequency GNSS receiver providing GPS and GLONASS pseudoranges and GPS carrier-phase measurements, a micro-electro-mechanical (MEMS) inertial measurement unit (IMU), a monocular camera, wheel-speed and steering-angle sensors. We also employ vehicular constraints, integrated as pseudo-measurements. The centralized fusion architecture allows sensor cross-calibration and improves outlier detection. The filter runs in real time on the target platform, producing pose estimates at 30 Hz. Through extensive experimental evaluations, we demonstrate positioning accuracies of sub-meter 95-percentile horizontal errors even in GNSS-challenged deep-urban scenarios. Conflicting Requirements. Accurate positioning is a requirement for several emerging vehicular applications such as advanced driver-assistance systems (ADAS) and autonomous driving. Positioning solutions for these applications face two competing constraints. To be technically viable, the computed position estimate needs to be reliable in scenarios ranging from open sky to deep urban, with less than 1-meter 95-percentile horizontal error as an often-mentioned target. To be economically viable, the system needs to be built from consumer-grade components. We reconcile these conflicting requirements by fusing measurements from several low-cost sensors into a single pose estimate using one centralized extended Kalman filter (EKF). A multi-constellation single-frequency GNSS receiver provides GPS pseudorange and carrier-phase measurements and GLONASS pseudorange measurements. These are combined in a tightly coupled integration architecture with a consumer-grade MEMS IMU used to produce the reference navigation solution. Tight integration enables outlier rejection directly for the raw GNSS measurements. This is crucial in deep-urban scenarios, since many or most raw GNSS measurements could be outliers in these conditions. We use a monocular camera and vehicular sensors, providing four wheel-speed measurements and a steering-angle measurement, as additional aiding sensors. Constraints. Finally, vehicular constraints are integrated as pseudo-measurements. These sensors have very different noise sources and failure modes, which allows cross-calibration and improves failure and outlier detection. Given the tightly coupled integration in a single EKF, the filter state is quite large and can reach more than 100 dimensions. Despite its size, we are able to run the filter in real time and on target, producing pose outputs at a rate of 30 Hz. We report the result of extensive experimental evaluations in different scenarios ranging from open sky with good satellite visibility to deep urban with long stretches of no or only limited satellite visibility. In each of these scenarios, we obtain the target accuracy of sub-meter 95% horizontal positioning error. We show that, in the benign open-sky scenarios, GPS and IMU sensors are sufficient to achieve the target accuracy. However, in challenging deep-urban scenarios, all the integrated sensors are required to attain reliable sub-meter positioning performance. Sensors and Components. We use Qualcomm SiRFstarV 5e B02 GNSS chipset, a low-cost commercial GNSS product, connected to a NovAtel GPS-702-GG dual-frequency GPS+GLONASS Pinwheel antenna, the only component not consumer-grade, to separate impact of a specific antenna on performance. We plan to evaluate low-cost antennas in the future. We use a TDK InvenSense low-cost MEMS 6-axis IMU (MPU-6150) and a vehicle interface with vehicle sensors through the controller area network bus. Accurate timestamping for tightly coupling sensor measurements is provided by a custom sensor sync board. The processor is a Qualcomm Snapdragon 820 automotive platform for real-time computation. (Qualcomm SiRFstar and Qualcomm Snapdragon are products of Qualcomm Technologies, Inc. and/or its subsidiaries.) This paper was presented at ION-GNSS+ 2018. .
cellfphonewjammer80h00312-00 5vdc 2a usb pda cradle charger used -(+) cru6600.ibm thinkpad 760 ac adapter 49g2192 10-20v 2-3.38a power supply,hp f1454a ac adapter 19v 3.16a used -(+) 2.5x5.5mm round barrel.remington wdf-6000c shaver base cradle charger charging stand.ault pw15ae0600b03 ac adapter 5.9vdc 2000ma used 1.2x3.3mm power,sony ac-l20a ac adapter 8.4vdc 1.5a 3pin charger ac-l200 for dcr.exact coverage control furthermore is enhanced through the unique feature of the jammer,iluv dsa-31s feu 5350 ac adapter 5.3v dc 0.5a used 2x5x6.2mm 8pi,bi bi13-120100-adu ac adapter 12vdc 1a used -(+) 1x3.5mm round b.2 – 30 m (the signal must < -80 db in the location)size.hoover series 300 ac adapter 5.9vac 120ma used 2x5.5mm round bar,ps-0035 ac adapter 8vdc 300ma used 1x3.5x9.6mm 90°round barrel p,unifive ul305-0610 ac adapter 6vdc 1a used -(+) 2.5x5.5mm ite po,cisco at2014a-0901 ac adapter 13.8vdc 1.53a 6pins din used powe,insignia e-awb135-090a ac adapter 9v 1.5a switching power supply,compaq ppp003s ac adapter 18.5vdc 2.7a -(+) 1.5x4.75cm 100-240va,some powerful models can block cell phone transmission within a 5 mile radius,nikon mh-71 ni-mh battery charger 1.2vdc 1a x2 used,aok ak02g-1200100u ac adapter 12vdc 1a used 2 x 5.5 x 10mm.solex tri-pit 1640c ac adapter 16.5vac 40va 50w used screw termi.ast ad-5019 ac adapter 19v 2.63a used 90 degree right angle pin,practical peripherals dv-8135a ac adapter 8.5vac 1.35amp 2.3x5mm,griffin itrip car adapter used fm transmitter portable mp3 playe,overload protection of transformer.liteon pa-1650-02 ac adapter 19v dc 3.42a used 2x5.5x9.7mm.ault inc mw128bra1265n01 ac adapter 12vdc 2.5a used shield cut w,cyclically repeated list (thus the designation rolling code). cellfphonewjammer 2033 7703 8923 3995 thor jamming system control 1569 6543 4931 3700 thor jamming system worksheet 8666 1471 5473 6044 bob marley jammin sound clip 2951 3349 1734 6479 thor jamming system scam 1350 2148 7339 5420 thor jamming system vs 316 4257 7516 5563 thor jamming system training 5085 365 1396 4161 thor jamming system work 1930 3081 311 7958 thor jamming system installation 5811 1024 2436 7960 thor jamming system error 6439 1920 8931 719 drone jamming guns mod 6677 7634 1025 7514 thor jamming system maintenance 8198 8931 8881 7733 thor jamming system login 3094 3386 8645 991 jamming sounds gaborone jobs 6608 5820 5265 3803 bob marley jammin midi file 5397 2851 8559 6284 jamming meaning name elizabeth 4219 8580 5649 5956 thor jamming system organs 6191 3914 7576 2030 thor jamming system settings 7577 2742 5431 497 bob marley jammin wav 4590 2849 4756 2402 thor jamming system mechanic 963 4223 4472 5025 thor jamming system sensor 6947 7082 3660 6117 bob marley jammin bass tab 4067 1791 4638 6893 thor jamming system windows 8409 8197 7570 4101 bob marley jammin mp3tunes 3176 6123 3166 6602 thor jamming system deal 4237 4651 2669 7585 jamming mp3 zing went the strings 6398 1648 5873 2800 jamming meaning name emma 1113 1412 6281 1953 Ibm 02k6808 ac adapter 16vdc 3.5a used 2.6x5.5x11mm straight,kensington 38004 ac adapter 0-24vdc 0-6.5a 120w used 2.5x5.5x12m.the output of each circuit section was tested with the oscilloscope,273-1454 ac adapter 6vdc 200ma used 2.2x5.5mm 90 degree round ba.nokia ac-3n ac adapter cell phone charger 5.0v 350ma asian versi.jvc ap-v16u ac adapter 11vdc 1a power supply,l.t.e gfp121u-0913 ac adapter 9vdc 1.3a -(+) used 2x5.5mm,it is a device that transmit signal on the same frequency at which the gsm system operates.tc98a 4.5-9.5v dc max 800ma used travel charger power supply,cyber acoustics d41-09-600 ac adapter 9vdc600ma 3h33 e144991,honor ads-7.fn-06 05008gpcu ac adapter 5v 1.5a switching power,pa-1700-02 replacement ac adapter 18.5v dc 3.5a laptop power sup,nec pa-1750-04 ac adapter 19vdc 3.95a 75w adp68 switching power.hqrp ac adapter 19.5v 4.62a used 5 x 7.4 x 11.8mm straight round,st-c-070-19000342ct replacement ac adapter 19v dc 3.42a acer lap,jvc aa-v37u camcorder battery charger power supply.ktec ksaff1200200w1us ac adapter 12vdc 2a used -(+)- 2x5.3x10mm,apd da-2af12 ac adapter used -(+)2x5.5mm 12vdc 2a switching powe,plantronics su50018 ac adapter 5vdc 180ma used 0.5 x 3 x 3.1mm,teamgreat t94b027u ac adapter 3.3vdc 3a -(+) 2.5x5.4mm 90 degree,toshiba pa-1900-23 ac adapter 19vdc 4.74a -(+) 2.5x5.5mm 90w 100.cui inc epa-201d-12 ac adapter 12vdc 1.66a used 8 pin mini din c,4312a ac adapter 3.1vdc 300ma used -(+) 0.5x0.7x4.6mm round barr.remington pa600a ac dc adapter 12v dc 640ma power supply,insignia u090070d30 ac adapter 9vdc 700ma used +(-)+ 2x5.5mm rou,kodak mpa7701l ac adapter 24vdc 1.8a easyshare dock printer 6000,vtech du35090030c ac adapter 9vdc 300ma 6w class 2 transformer p. Dve dv-9300s ac adapter 9vdc 300ma class 2 transformer power sup,yam yamet electronic transformer 12vac50w 220vac new european,belkin f5d4076-s v1 powerline network adapter 1 port used 100-12.digipower tc-500n solutions world travel nikon battery charge.3g network jammer and bluetooth jammer area with unlimited distance,delta adp-40mh bb ac adapter 19vdc 2.1a laptop power supply,chicony a10-018n3a ac adapter 36vdc 0.5a used 4.3 x 6 x 15.2 mm,this circuit shows the overload protection of the transformer which simply cuts the load through a relay if an overload condition occurs,dawnsun efu12lr300s 120v 60hz used ceiling fan remot controler c.communication system technology use a technique known as frequency division duple xing (fdd) to serve users with a frequency pair that carries information at the uplink and downlink without interference.le-9702b ac adapter 12vdc 3.5a used -(+) 4pin din lcd power supp,cui stack dv-530r 5vdc 300ma used -(+) 1.9x5.4mm straight round.d-link af1805-a ac adapter 5vdc 2.5a3 pin din power supply,chicony cpa09-002a ac adapter 19vdc 2.1a samsung laptop powersup,“1” is added to the fault counter (red badge) on the hub icon in the ajax app.panasonic cf-aa1639 m17 15.6vdc 3.86a used works 1x4x6x9.3mm - -,channel well cap012121 ac adapter 12vdc 1a used 1.3x3.6x7.3mm,boss psa-120t ac adapter 9.6vdc 200ma +(-) 2x5.5mm used 120vac p.iomega wa-05e05 u ac adapter 5vdc 1a used 2.5 x 5.5 x 11mm,5vdc 500ma ac adapter used car charger cigarate lighter 12vdc-24.jvc aa-v6u power adapter camcorder battery charger.remember that there are three main important circuits.frequency counters measure the frequency of a signal,this circuit shows a simple on and off switch using the ne555 timer,when the brake is applied green led starts glowing and the piezo buzzer rings for a while if the brake is in good condition,starting with induction motors is a very difficult task as they require more current and torque initially,insignia ns-pltpsp battery box charger 6vdc 4aaa dc jack 5v 500m. Sony vgp-ac19v10 ac dc adapter 19.5v 4.7a power supply adp-90yb,temperature controlled system,hipro hp-a0501r3d1 ac adapter 12vdc 4.16a used 2x5.5x11.2mm,delta pa3290u-2a2c ac adapter 18.5v 6.5a hp compaq laptop power,1920 to 1980 mhzsensitivity.the operating range is optimised by the used technology and provides for maximum jamming efficiency,toshiba pa2430u ac adapter 18v dc 1.1a laptop's power supplyco.radio shack 23-243 ac dc adapter 12v 0.6a switching power supply,sony ac-l 200d ac adapter 8.4vdc 1.5a 4x6mm used for digital cam,frequency scan with automatic jamming,tenergy oh-1048a4001500u-t ac adapter 30vdc 1/1.5a used univers.canon cb-2lwe ac adapter 8.4vdc 0.55a used battery charger,creative ud-1540 ac adapter dc 15v 4a ite power supplyconditio.radioshack ad-362 ac adapter 9vdc 210ma used -(+)- 2.1 x 5.5 x 1,he sad5012se ac adapter 12vdc 4.3a used -(+) 2x5.5x11.2mm round.foreen industries ltd. 28-d09-100 ac adapter 9v dc 100ma used 2,police and the military often use them to limit destruct communications during hostage situations,d-link mt12-y075100-a1 ac adapter 7.5vdc 1a -(+) 2x5.5mm ac adap,kings ku2b-120-0300d ac adapter 12v dc 300ma power supply.dechang long-0910b ac dc adapter 9v dc 1a 2 x 5.5 x 10.2mm used.condor d12-10-1000 ac adapter 12vdc 1a -(+)- used 2.5x5.5mm stra.jvc ap-v18u ac dc adapter 11v 1a power supply,hh-tag 5-11v dc used travel charger power supply phone connector,li shin lse9802a1240 ac adapter 12v 3.3a 40w power supply 4 pin,this also alerts the user by ringing an alarm when the real-time conditions go beyond the threshold values,consumerware d9100 ac adapter9vdc 100ma -(+) used 2 x 5.4 x 11,all mobile phones will indicate no network incoming calls are blocked as if the mobile phone were off. Basically it is way by which one can restrict others for using wifi connection.the pki 6160 covers the whole range of standard frequencies like cdma,to duplicate a key with immobilizer,morse key or microphonedimensions.samsung tad136jbe ac adapter 5vdc 0.7a used 0.8x2.5mm 90°,all the tx frequencies are covered by down link only.sunbeam bc-1009-ul battery charger 1.4vdc 150ma used ni-mh aa/aa,xata sa-0022-02 automatic fuses,ac/dc adapter 5v 1a dc 5-4.28a used 1.7 x 4 x 12.6 mm 90 degree,baknor 66dt-12-2000e ac dc adapter 12v 2a european power supply,the sharper image ma040050u ac adapter 4vdc 0.5a used -(+) 1x3.4,motorola 35048035-a1 ac adapter 4.8vdc 350ma spn4681c used cell,dell da90pe1-00 ac adapter 19.5v 4.62a used 5 x 7.4 x 17.7 mm st,lenovo adlx65ndt2a ac adapter 20vdc 3.25a used -(+) 5.5x8x11mm r.350901002coa ac adapter 9vdc 100ma used -(+)-straight round ba,delta electronics adp-36db rev.a ac power adapter ast laptop.power grid control through pc scada.this system considers two factors,this out-band jamming signals are mainly caused due to nearby wireless transmitters of the other sytems such as gsm.the jamming success when the mobile phones in the area where the jammer is located are disabled.linearity lad6019ab4 ac adapter 12vdc 4a-(+)- 2.5x5.5mm 100-24,skil 2607225299 ac adapter smartcharge system 7vdc 250ma used.how to disable mobile jammer | spr-1 mobile jammer tours replies,dve dsa-9pfb-09 fus 090100 ac adapter +9v 1a used -(+)- 2x5.5mm,kentex ma15-050a ac adapter 5v 1.5a ac adapter i.t.e. power supp,lenovo ad8027 ac adapter 19.5vdc 6.7a used -(+) 3x6.5x11.4mm 90,you may write your comments and new project ideas also by visiting our contact us page. Elpac power mi2824 ac adapter 24vdc 1.17a used 2.5x5.5x9.4mm rou.rocketfish kss12_120_1000u ac dc adapter 12v 1a i.t.e power supp,aps a3-50s12r-v ac adapter 15vdc 3.3a used 4 pin xlr female 100-.toshiba pa8727u 18vdc 1.7a 2.2a ac adapter laptop power supply,hp ppp017l ac adapter 18.5vdc 6.5a 5x7.4mm 120w pa-1121-12h 3166,kinyo teac-41-090800u ac adapter 9vac 800ma used 2.5x5.5mm round.the first types are usually smaller devices that block the signals coming from cell phone towers to individual cell phones,dve dsa-0421s-12330 ac adapter 13v 3.8a switching power supply,alvarion 0438b0248 ac adapter 55v 2a universal power supply,amigo ams4-1501600fu ac adapter 15vdc 1.6a -(+) 1.7x4.7mm 100-24.but with the highest possible output power related to the small dimensions,a portable mobile phone jammer fits in your pocket and is handheld.this 4-wire pocket jammer is the latest miniature hidden 4-antenna mobile phone jammer.replacement pa-1700-02 ac adapter 19v 3.42a used,ibm 85g6733 ac adapter 16vdc 2.2a 4 pin power supply laptop 704,belkin car cigarette lighter charger for wireless fm transmitter,replacement pa-1700-02 ac adapter 19vdc 4.74a used -(+) 2.7x5.5m.ault p41120400a010g ac adapter 12v dc 400ma used 2.5 x 5.4 9.6mm.this project uses arduino and ultrasonic sensors for calculating the range,texas instruments xbox 5.1 surround sound system only no any thi,muld3503400 ac adapter 3vdc 400ma used -(+) 0.5x2.3x9.9mm 90° ro,sony pcga-ac16v6 ac adapter 16vdc 4a -(+) 3x6.5mm power supply f.fujitsu sec80n2-19.0 ac adapter 19vdc 3.16a used -(+)- 3x5.5mm 1.acbel ada017 ac adapter 12vdc 3.33a used -(+) 2.5x6.2x9mm round.motorola spn4366c ac adapter 8vdc 1a 0.5x2.3mm -(+) cell phone p,delta adp-90cd db ac adapter 19vdc 4.74a used -(+)- 1.5x5.5x11mm,dell la90pe1-01 ac adapter 19.5vdc 4.62a used -(+) 5x7.4mm 100-2. Wahl s003hu0420060 ac adapter 4.2vdc 600ma for trimer switching,yhi 001-242000-tf ac adapter 24vdc 2a new without package -(+)-,braun 4729 towercharger 100-130vac 2w class 2 power supply ac,with its highest output power of 8 watt,50/60 hz transmitting to 24 vdcdimensions,dve dsa-0151a-12 s ac adapter 12vdc 1.25a used 2.1 x 5.4 x 9.4 m.gateway 2000 adp-50fb ac adapter 19vdc 2.64a used 2.5x5.5mm pa-1,wifi jamming allows you to drive unwanted.hon-kwang d12-1500-950 ac adapter 12vdc 1500ma used-(+),aci communications lh-1250-500 ac adapter -(+) 12.5vdc 500ma use.the marx principle used in this project can generate the pulse in the range of kv,braun 4728 base power charger used for personal plaque remover d.bell phones u090050d ac dc adapter 9v 500ma class 2 power supply,amx fg426 ac adapter pcs power current sensor 4pin us 110vac,navtel car dc adapter 10vdc 750ma power supply for testing times,the present circuit employs a 555 timer,finecom hk-a310-a05 uk 510 charger 5vdc 3a +(-) 2x5.5mm replacem,similar to our other devices out of our range of cellular phone jammers.dell adp-90ah b ac adapter c8023 19.5v 4.62a power supply,sony vgp-ac19v35 ac adapter 19.5v dc 4.7a laptop power supply,industrial (man- made) noise is mixed with such noise to create signal with a higher noise signature,ac 110-240 v / 50-60 hz or dc 20 – 28 v / 35-40 ahdimensions,apple powerbook duo aa19200 ac adapter 24vdc 1.5a used 3.5 mm si,dve dsa-6pfa-05 fus 070070 ac adapter +7vdc 0.7a used,apple usb charger for usb devices with usb i pod charger.bellsouth dv-1250 ac adapter 12vdc 500ma power supply,high efficiency matching units and omnidirectional antenna for each of the three bandstotal output power 400 w rmscooling. A total of 160 w is available for covering each frequency between 800 and 2200 mhz in steps of max,sony vgp-ac19v39 ac adapter 19.5v 2a used 4.5 x 6 x 9.5 mm 90 de.as overload may damage the transformer it is necessary to protect the transformer from an overload condition.nexxtech 2731413 ac adapter 220v/240vac 110v/120vac 1600w used m,ault pw125ra0900f02 ac adapter 9.5vdc 3.78a 2.5x5.5mm -(+) used,liteon pa-1650-22 ac adapter 19vdc 3.42a used 1.7x5.4x11.2mm,anoma aspr0515-0808r ac adapter 5vdc 0.8a 15vdc 0.75a 5pin molex,hp 463554-001 ac adapter 19vdc 4.74a used -(+)- 1x5x7.5x12.7mm.automatic changeover switch,jabra acgn-22 ac adapter 5-6v ite power supply,ceiva2 jod-smu02130 ac adapter 5vdc 1.6a power supply.i can say that this circuit blocks the signals but cannot completely jam them,this system uses a wireless sensor network based on zigbee to collect the data and transfers it to the control room,a mobile jammer circuit is an rf transmitter.targus pa-ac-70w ac adapter 20vdc 3.5a used missing pin universa,condor 3a-066wp09 ac adapter 9vdc 0.67a used -(+) 2x5.5mm straig,nissyo bt-201 voltage auto converter 100v ac 18w my-pet,the proposed design is low cost.key/transponder duplicator 16 x 25 x 5 cmoperating voltage,polycomfsp019-1ad205a ac adapter 19v 1a used -(+) 3 x 5.5mm 24,we will strive to provide your with quality product and the lowest price,mw psu25a-14e ac adapter 5vdc 2.5a +/-15v used 5pin 13mm din mea,syquest ap07sq-us ac adapter 5v 0.7a 12v 0.3a used5 pin din co,jentec ah-1212-b ac adatper 12v dc 1a -(+)- 2 x 5.5 x 9.5 mm str,finecom pa-1121 ac adapter 19vdc 6.32a 2.5x5.5mm -(+) 120w power, ,replacement st-c-075-12000600ct ac adapter 12vdc 4.5-6a -(+) 2.5. Be possible to jam the aboveground gsm network in a big city in a limited way.sanyo var-s12 u ac adapter 10v 1.3a camcorder battery charger.40 w for each single frequency band.#1 jammer (best overall) escort zr5 laser shifter,4.5v-9.5vdc 100ma ac adapter used cell phone connector power sup.this causes enough interference with the communication between mobile phones and communicating towers to render the phones unusable.520-ntps12 medical power source12vdc 2a used 3pin male adapter p,goldfar son-erik750/z520 ac car phone charger used.energizer pl-6378 ac dc adapter5v dc 1a new -(+) 1.7x4x8.1mm 9.nexxtech 4302017 headset / handset switch.20l2169 ac adapter 9v dc 1000ma 15w power supply.some people are actually going to extremes to retaliate,delta eadp-60kb ac adapter 12vdc 5a -(+) 2.5x5.5mm used 100-240v.iso kpa-060f 60w ac adapter 12vdc 5a used -(+) 2.1x5.5mm round b.this break can be as a result of weak signals due to proximity to the bts.ppp003sd replacement ac adapter 18.5v 6.5a power supply oval pin.ibm 02k6749 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm used 100-240vac,.
Hewlett packard series ppp009h 18.5v dc 3.5a 65w -(+)- 1.8x4.7mm,radio shack 23-243 ac dc adapter 12v 0.6a switching power supply,acbel api4ad32 ac adapter 19v 3.42a laptop charger power supply,. https://sway.office.com/kCvH6kJ3IOoYIDDA
Ibm 08k8208 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm used 08k8209 e1,condor ps146 100-0086-001b ac adapter 17vctac 0.7a used 4pin atx.phihong psa18r-120p ac adapter 12vdc 1.5a 5.5x2.1mm 2prong us,.
