Where are we going and where have we been? Examining the effects of maps on spatial learning in an indoor guided navigation task.
Abstract not provided.
Stites, Mallory↗
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Magnetic Navigation for GPS-Denied Airborne Applications
Most current flight systems are dependent on GPS for navigation. Recently, however, navigation in GPS-denied environments has become an area of intensive research. Additional navigation sensor data can be obtained from visual observations (stars or terrain), inertial measurement units, radar, measurements of the local magnetic field, or perhaps even gravity. Absolute and relative positioning via magnetic field measurements have been shown to be viable in many applications including ground navigation, low altitude aircraft flight, and spaceflight. There is greater variability in the magnetic field over shorter distances when flying at low altitude and in ground applications, leading to more accurate positioning. However, ground-based magnetic navigation is often heavily influenced by man-made structures, especially in urban environments. This is not the case for airborne magnetic navigation since the influence of buildings, roads, etc. is negligible for typical aircraft altitudes. For absolute magnetic navigation, the positioning accuracy decreases as altitude increases for a given vehicle velocity, but the observed time variability in the field can be reclaimed by traveling faster through the field. Thus, navigation accuracy becomes a balance of speed and altitude since the higher altitude can be counterbalanced by higher velocity. To understand these effects quantitatively, we explored various techniques to aid a simulated inertial measurement unit with magnetic information. Using a technique known as two-dimensional magnetic map matching, we simulated the performance of airborne magnetic navigation at fixed speed while varying the altitude, flight direction, magnetometer data collection time, reference magnetic map bias error, and type of trajectory (over land or over ocean).
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
A Proof for the Unbiased Nature of Range-Doppler Measurements in Coarse-Resolution Dechirp-on-Receive Feedback Synthetic Aperture Radar Navigation
In feedback synthetic aperture radar (SAR) navigation, observables extracted from SAR range-Doppler images correct position and velocity errors accumulated within an associated navigation system. Unlike most other sensors, which produce measurements without input from a navigation system, SARs require a prior estimate of the radar’s position and velocity to adjust the radar’s matched filter during range-Doppler image formation. Consequently, it is possible for position and velocity errors within a navigation system to manifest as additional errors (biases) in the range-Doppler measurement observables. Prior work has not tackled this possibility in the context of feedback SAR navigation with a dechirp-on-receive radar. This paper offers a proof demonstrating that range-Doppler observables extracted from coarse-resolution vertical SAR images formed with a dechirp-on-receive radar may be safely modeled as unbiased measurements of the radar’s true position and velocity despite the presence of moderate navigation errors.
dechirp-on-receive↗
Systems and methods for augmenting a satellite based navigation system with alternative position and timing data
Various technologies pertaining to integrating a positioning or timing solution from an alternative position, navigation, or timing (PNT) system into a satellite-based-navigation system are described herein. The PNT system generates a position/timing (P/T) solution that indicates a current position or current time of the PNT system. The P/T solution is provided as input to a simulation of a satellite constellation of the satellite-based-navigation system, and a constellation signal is generated based on the simulation and the P/T solution. The constellation signal is formatted according to a navigation signal format of the satellite-based-navigation system such that when the constellation signal is provided to a receiver of the satellite-based-navigation system, the receiver computes a P/T solution that indicates the current position or the current time identified by the PNT system.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Energy Sector Position, Navigation, and Time Cybersecurity Profile
The Pacific Northwest National Laboratory has developed this positioning, navigation, and timing (PNT) profile for the Energy Sector at the request of the U.S. Department of Energy. The Department of Energy is the sector-specific agency for the Energy Sector and is responsible for providing guidance in the form of this PNT Profile, per Executive Order 13905, Strengthening National Resilience Through Responsible Use of Positioning, Navigation, and Timing Services (Executive Office of the President 2020) issued February 18, 2020. Executive Order 13905 directed the National Institute of Standards & Technology to develop a PNT Profile that is broadly applicable to all sectors and to serve as a foundation for sector-neutral guidance, NISTIR 8323 Foundational PNT Profile: Applying the Cybersecurity Framework for the Responsible Use of Positioning, Navigation, and Timing (PNT) Services. This document builds on NISTIR 8323 to identify and serve as the required Energy Sector specific guidance. For purposes of this PNT Profile, Energy Sector precise time is 0.5 µs (microseconds) to 1 µs accuracy. Currently, the electricity subsector has systems that use this level of precision time, but the oil and natural gas subsector currently does not. While the electricity subsector uses precision timing, it does not use positioning and/or navigation at this level of accuracy. For this reason, this PNT Profile will focus on only precise time for the electricity subsector.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Use of Legacy Maritime Protocols Increases Exploitability of Virtual Aids to Navigation
With increased reliance on Virtual Aid(s) to Navigation (VAtoN) - also known as electronic Aid(s) to Navigation (eAtoN), or virtual buoys - a cyber event is likely to cause disruption to international maritime shipping. VAtoN has no physical hardware for visual reference and displays only on a vessel’s Electronic Chart Display Information System (ECDIS) and Automatic Radar Plotting Aid (ARPA); therefore, mariners must rely on the accuracy of the information provided. As VAtoN uses the National Maritime Electronics Association (NMEA) 0183 protocol for both Global Navigation Satellite System (GNSS) and Automatic Identification System (AIS), an insecure protocol that has been proven susceptible to spoofing, denial, and manipulation, the likelihood of a cyber-related event increases substantially.
45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
AIS-based characterization of navigation conflicts along the US Atlantic Coast prior to development of wind energy
This study characterizes navigation conflicts in a region with a large traffic volume along the US Atlantic Coast, utilizing Automated Identification System (AIS) data for 2010. The region includes areas proposed for wind energy development. The characterization could be useful in evaluating the effect of offshore wind areas on navigation conflicts. The study processes the AIS data to provide pairwise comparisons of vessel interactions (encounters and near-misses) as they occurred. Using the vessel encounter data, analyses are made using a ‘blind’ vessel assumption to evaluate the potential for both near-misses and collisions. Then statistical analyses are made to estimate the point values and uncertainty for each type of encounter (crossing, head-on, overtaking). Examination of the frequency/number of collisions from actual observations is made. The examination of actual near-misses, potential near-misses, and potential collisions provides comparable results in the number of near-misses and collisions. The potential near-miss analyses include an examination of the timing of responses made by vessels to prevent near-misses. This informed the statistical analysis but may also have utility in the simulation of navigation conflicts.
99 GENERAL AND MISCELLANEOUS↗
Navigating Large Chemical Spaces Using Graph Theory and Integer Programming
Navigating and analyzing large chemical spaces are necessary to accelerate the design and discovery of new molecules and chemical processes. In this work, we introduce a computational framework that integrates graph theory and integer programming to enable the efficient navigation of large chemical spaces. Our framework represents the chemical space as a graph, wherein nodes represent molecules and edges represent the degree of similarity or connectivity based on domain-specific information. Using the graph representation, we identify representative molecules by computing the so-called minimum dominating set (MDS), which in our context is the minimum set of molecules that is connected to all other molecules. We present a suite of solution strategies for the MDS problem including heuristic and rigorous integer programming (IP) approaches. We show that these approaches allow us to capture physicochemical properties and domain-specific logic and constraints, facilitating the identification of molecules with the target properties. We demonstrate the effectiveness of the proposed approach by navigating the chemical space of per- and polyfluoroalkyl substances (PFAS); this comprises approximately 15,000 molecular structures. We compare our framework against traditional dimensionality reduction and clustering methods such as t-SNE and K-means clustering.
Chemical structure↗
Sensitivity of back‐projection algorithm (BPA) synthetic aperture radar (SAR) image formation to initial position, velocity, and attitude navigation errors
Abstract The Back‐Projection Algorithm (BPA) is a time‐domain‐matched filtering technique to form synthetic aperture radar (SAR) images. To produce high‐quality BPA images, precise navigation data for the radar platform must be known. Errors in position, velocity, or attitude result in improperly formed images that are corrupted by shifting and blurring. The contribution of this paper is the development of analytical expressions that characterise the relationship between navigation errors and image formation errors from an inertial navigation point of view, where trajectory estimation errors in position, velocity, and attitude propagate through time and cause compounding errors in the vehicle state vector. These analytical expressions are verified via simulated image formation and real‐data image formation.
Lindstrom, Colton↗
Traveler: Navigating Task Parallel Traces for Performance Analysis
Understanding the behavior of software in execution is a key step in identifying and fixing performance issues. This is especially important in high performance computing contexts where even minor performance tweaks can translate into large savings in terms of computational resource use. To aid performance analysis, developers may collect an execution trace —a chronological log of program activity during execution. As traces represent the full history, developers can discover a wide array of possibly previously unknown performance issues, making them an important artifact for exploratory performance analysis. However, interactive trace visualization is difficult due to issues of data size and complexity of meaning. Traces represent nanosecond-level events across many parallel processes, meaning the collected data is often large and difficult to explore. The rise of asynchronous task parallel programming paradigms complicates the relation between events and their probable cause. Here, to address these challenges, we conduct a continuing design study in collaboration with high performance computing researchers. We develop diverse and hierarchical ways to navigate and represent execution trace data in support of their trace analysis tasks. Through an iterative design process, we developed Traveler , an integrated visualization platform for task parallel traces. Traveler provides multiple linked interfaces to help navigate trace data from multiple contexts. We evaluate the utility of Traveler through feedback from users and a case study, finding that integrating multiple modes of navigation in our design supported performance analysis tasks and led to the discovery of previously unknown behavior in a distributed array library.
97 MATHEMATICS AND COMPUTING↗
ENnUI : Exemplar Navigator Using Inertial Sensors
SAND2025-04794O ENnUI: Exemplar Navigator Using Inertial Sensors helps users understand and compare different navigation algorithms that rely on inertial sensors. This reference library offers a collection of reference mechanization equations and methods for estimating the position and movement of vehicles over time. Rather than aiming for the highest precision or performance, ENnUI focuses on creating a user-friendly framework that allows users to benchmark their own algorithms against a standard set of tools. It is useful for post-processing data and real-time navigation solutions. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.
Walker II, Michael [Sandia National Lab. (SNL-CA),↗
Navigator function for the conformal bootstrap
Current numerical conformal bootstrap techniques carve out islands in theory space by repeatedly checking whether points are allowed or excluded. We propose a new method for searching theory space that replaces the binary information "allowed"/"excluded" with a continuous "navigator" function that is negative in the allowed region and positive in the excluded region. Such a navigator function allows one to efficiently explore high-dimensional parameter spaces and smoothly sail towards any islands they may contain. The specific functions we introduce have several attractive features: they are well-defined in large regions of parameter space, can be computed with standard methods, and evaluation of their gradient is immediate due to an SDP gradient formula that we provide. The latter property allows for the use of efficient quasi-Newton optimization methods, which we illustrate by navigating towards the 3d Ising island.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
On Transforming the Specific Force Vector for an ECEF Inertial Navigation System
An inertial measurement unit accumulates the instantaneous specific force applied to the sensor over a small window of time. Importantly, this accumulation occurs in the sensor’s frame, yet the specific force must be mathematically integrated in a different navigation frame, and these two frames may be rotating with respect to each other. Consequently, a correction is needed to not only account for the frame difference but also for the time variation in the frame difference. Many references provide derivations of this correction [1], but the derivation is often abbreviated, and important assumptions are sometimes left unstated. This memo addresses this gap and provides a clear derivation of the specific force transform with all assumptions specifically stated. This derivation is specific to the Earth-centered, Earth-fixed navigation frame, but, hopefully, the derivation is sufficiently clear that readers can apply it to other navigation frames. Generally, notation follows the same format as described in both [1, 2].
47 OTHER INSTRUMENTATION↗
Terrain-Relative Navigation with Neuro-Inspired Elevation Encoding
Terrain-relative navigation (TRN) encompasses a wide variety of algorithms that perform localization with respect to the terrain below a flying vehicle. In traditional approaches, measurements of the terrain are matched to a map carried onboard. This work presents a terrain-relative navigation filter with a position measurement inspired by neural activity associated with positioning in nature. Here, the filter is shown to produce accurate position measurements that outperform popular optimization and template matching methods given poor prior knowledge of the position. The proposed method is also better-suited to distributed implementation than optimization-based methods.
33 ADVANCED PROPULSION SYSTEMS↗
Tailoring Molecular Space to Navigate Phase Complexity in Cs-Based Quasi-2D Perovskites via Gated-Gaussian-Driven High-Throughput Discovery
Cesium-based quasi-2D halide perovskites (HPs) offer promising functionalities and low-temperature manufacturability, suited to stable tandem photovoltaics. However, the chemical interplays between the molecular spacers and the inorganic building blocks during crystallization cause substantial phase complexities in the resulting matrices. To successfully optimize and implement the quasi-2D HP functionalities, a systematic understanding of spacer chemistry, along with the seamless navigation of the inherently discrete molecular space, is necessary. Herein, by utilizing high-throughput automated experimentation, the phase complexities in the molecular space of quasi-2D HPs are explored, thus identifying the chemical roles of the spacer cations on the synthesis and functionalities of the complex materials. Furthermore, a novel active machine learning algorithm leveraging a two-stage decision-making process, called gated Gaussian process Bayesian optimization is introduced, to navigate the discrete ternary chemical space defined with two distinctive spacer molecules. Through simultaneous optimization of photoluminescence intensity and stability that “tailors” the chemistry in the molecular space, a ternary-compositional quasi-2D HP film realizing excellent optoelectronic functionalities is demonstrated. Finally, this work not only provides a pathway for the rational and bespoke design of complex HP materials but also sets the stage for accelerated materials discovery in other multifunctional systems.
36 MATERIALS SCIENCE↗
Validation of the IRI-2016 model with Indian NavIC data for future navigation applications
The position accuracy of Navigation with Indian Constellation (NavIC) system is affected by several sources of errors. Among them, the Ionospheric Time Delay (ITD) error is the most predominant one which depends upon the total electron content (TEC) present in the ionosphere. The ITD variations are more intense over low latitude regions due to the equatorial anomaly effects. Hence, modelling of ITD error is necessary. The International Reference Ionosphere (IRI)-2016 model is one of the standard global ionospheric models to estimate the Vertical TEC (VTEC). This paper discusses about the VTEC deviations due to the IRI-2016 model over low latitude Hyderabad station, Indian region using NavIC, Global Positioning System and Global Navigation Satellite System signals at corresponding Ionospheric Pierce Point latitude and longitudes for all months and various Kp indices during the low solar activity year 2017. In this work, cross correlation coefficient, the metric norm (L2N), Symmetric Kullbacke Leibler Distance metrics are used to evaluate the performance of IRI-2016 model TEC with NavIC, GPS and GLONASS data. From the results, it is found that TEC predicted by the IRI-2016 model produced smaller estimation errors with NavIC data over Indian region. The obtained results will be helpful for future updates of IRI model.
42 ENGINEERING↗
Simulations and Experimental Verifications of an Algorithm for Radiation Source Mapping and Navigational Path Generation
Accurate and efficient mapping and localization of both ionizing and non-ionizing radiation sources are important across many different fields. As such, a versatile mapping and navigational path generation algorithm, which can be applied to any point source measurements that follow an inverse-square characteristic, was developed using non-linear least squares methods. Forty thousand simulations were performed on the algorithm, which located sources successfully in a 10 m × 10 m × 10 m three-dimensional space with a success rate of over 80% across different noise functions, given a proportional constant of 10 to 1,000. The algorithm was also verified experimentally with small-scale radioactive decontamination of a 70 cm × 70 cm surface and localization of a lost Wi-Fi router in a 70 m × 70 m open field. One hundred twenty-one measurements were taken from each experiment, which were then fed into the algorithm for navigation. For the radioactive 137Cs source, the estimated locations were within 7 cm × 7 cm of the answer in 79.3% of the scenarios, while the Wi-Fi router was located to within 7 m × 7 m in 57.9% of the tests. In general, the method requires much less information and data than a geographically comprehensive survey and thus shows a lot of potential for practical applications, such as lost source retrieval with unmanned aerial vehicles, small-scale decontamination, mapping undocumented Wi-Fi routers or radio towers, and radiation simulation with radio signals. Here, the different failure modes, desirable features, and potential improvements were also identified but remain as future work.
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
Navigation and Meteorological Data from Multiple Sensors on Airborne Platform (NAVMET-AIR) Value-Added Product Report
The Navigation and Meteorological Data from Multiple Sensors on Airborne Platform (NAVMET-AIR) value-added product encompasses the aafnaviwg data set in the ARM Data Center (ADC), known as the IWG file, named for the Inter-Agency Working Group for Airborne Data and Telemetry Systems (IWGADTS). Its purpose is to produce a suite of tools to promote standardization of instrument interface, data format, and data processing. This data set’s contents are navigational and meteorological state variables at 1 Hz. It also contains higher-order data flags created by ARM Aerial Facility (AAF) scientists to aid analysis such as periods when the aircraft is flying level, operating in maneuvers, or flying through cloud. Due to the nature of research flights, the payload of the aircraft consists of many duplicate and overlapping instruments to ensure, in case of instrument failure, there is a backup to record the data. Measurements from multiple instruments are consolidated into a single file. Each variable of this data set is carefully chosen from the onboard instrumentation and quality checked by AAF scientists to create this wholistic and most accurate data set for airborne research. This document is intended to be a hub towards the individual “read me” files produced for each campaign. For reference about what instrument was used for calculations on specific days, the read me files are located in the ARM IOP archive at the addresses listed, or access the IOP (intensive operational period) database at https://www.archive.arm.gov/.
54 ENVIRONMENTAL SCIENCES↗