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Prof. Aboelmagd Noureldin
Professor, Department of Electrical and Computer Engineering, Royal Miliatry College of Canada

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Research Keywords & Expertise

0 LiDAR
0 Navigation
0 Perception
0 Radar
0 position estimation

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Navigation
INS
GNSS
Jamming
LiDAR
Radar
position estimation
GNSS Positioning

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Journal article
Published: 26 July 2021 in Future Internet
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Global navigation satellite systems (GNSS) are widely used for the navigation of land vehicles. However, the positioning accuracy of GNSS, such as the global positioning system (GPS), deteriorates in urban areas due to signal blockage and multipath effects. GNSS can be integrated with a micro-electro-mechanical system (MEMS)–based inertial navigation system (INS), such as a reduced inertial sensor system (RISS) using a Kalman filter (KF) to enhance the performance of the integrated navigation solution in GNSS challenging environments. The linearized KF cannot model the low-cost and small-size sensors due to relatively high noise levels and compound error characteristics. This paper reviews two approaches to employing parallel cascade identification (PCI), a non-linear system identification technique, augmented with KF to enhance the navigational solution. First, PCI models azimuth errors for a loosely coupled 2D RISS integrated system with GNSS to obtain a navigation solution. The experimental results demonstrated that PCI improved the integrated 2D RISS/GNSS performance by modeling linear, non-linear, and other residual azimuth errors. For the second scenario, PCI is utilized for modeling residual pseudorange correlated errors of a KF-based tightly coupled RISS/GNSS navigation solution. Experimental results have shown that PCI enhances the performance of the tightly coupled KF by modeling the non-linear pseudorange errors to provide an enhanced and more reliable solution. For the first algorithm, the results demonstrated that PCI can enhance the performance by 77% as compared to the KF solution during the GNSS outages. For the second algorithm, the performance improvement for the proposed PCI technique during the availability of three satellites was 39% compared to the KF solution.

ACS Style

Umar Iqbal; Ashraf Abosekeen; Jacques Georgy; Areejah Umar; Aboelmagd Noureldin; Michael Korenberg. Implementation of Parallel Cascade Identification at Various Phases for Integrated Navigation System. Future Internet 2021, 13, 191 .

AMA Style

Umar Iqbal, Ashraf Abosekeen, Jacques Georgy, Areejah Umar, Aboelmagd Noureldin, Michael Korenberg. Implementation of Parallel Cascade Identification at Various Phases for Integrated Navigation System. Future Internet. 2021; 13 (8):191.

Chicago/Turabian Style

Umar Iqbal; Ashraf Abosekeen; Jacques Georgy; Areejah Umar; Aboelmagd Noureldin; Michael Korenberg. 2021. "Implementation of Parallel Cascade Identification at Various Phases for Integrated Navigation System." Future Internet 13, no. 8: 191.

Journal article
Published: 26 May 2021 in Sensors
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Recently, there has been growing demand for GPS-based reliable positioning, with the broadening of a range of new applications that mainly rely on GPS. GPS receivers have, recently, been attractive targets for jamming. GPS signals are received below the noise floor. Thus, they are vulnerable to interference and jamming. A jamming signal can potentially decrease the SNR, which results in disruption of GPS-based services. This paper aims to propose a reliable and accurate, swept anti-jamming technique based on high-resolution spectral analysis, utilizing the FOS method to provide an accurate spectral estimation of the GPS swept jamming signal. resulting in suppressing the jamming signal efficiently at the signal processing stages in the GPS receiver. Experiments in this research are conducted using the SpirentTM GSS6700 simulation system to create a fully controlled environment to test and validate the developed method’s performance. The results demonstrated the proposed method’s capabilities to detect, estimate, and adequately suppress the GPS swept jamming signals. After the proposed anti-jamming module was employed, the software receiver was able to provide a continuous positioning solution during the presence of jamming within a 10 m positioning accuracy.

ACS Style

Mohamed Tamazin; Michael Korenberg; Haidy Elghamrawy; Aboelmagd Noureldin. GPS Swept Anti-Jamming Technique Based on Fast Orthogonal Search (FOS). Sensors 2021, 21, 3706 .

AMA Style

Mohamed Tamazin, Michael Korenberg, Haidy Elghamrawy, Aboelmagd Noureldin. GPS Swept Anti-Jamming Technique Based on Fast Orthogonal Search (FOS). Sensors. 2021; 21 (11):3706.

Chicago/Turabian Style

Mohamed Tamazin; Michael Korenberg; Haidy Elghamrawy; Aboelmagd Noureldin. 2021. "GPS Swept Anti-Jamming Technique Based on Fast Orthogonal Search (FOS)." Sensors 21, no. 11: 3706.

Journal article
Published: 11 December 2020 in IEEE Transactions on Intelligent Transportation Systems
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The last decade has witnessed a growing demand for precise positioning in many applications, including autonomous car navigation. The safety features in autonomous driving and Advanced Driver Assistance Systems (ADAS) require lane-level positioning accuracy. Such accuracy can be obtained from the Global Navigation Satellite Systems (GNSS) through either differential techniques or Precise Point Positioning (PPP). PPP is currently favored over differential GNSS because it provides a global solution without the need for local reference stations. Nevertheless, employing PPP for land vehicles would be challenging due to frequent signal degradation and blockage. Integrating PPP with an Inertial Navigation System (INS) can solve the solution continuity problem; however, the INS solution drifts over time, resulting in losing the desired accuracy. Implementing a reliable PPP/INS system that can preserve the required accuracy is not trivial, especially with financial and computational cost constraints. This article proposes the integration of PPP with the Reduced Inertial Sensor System (RISS) for lane-level car navigation. The high-precision needed in lane-level positioning can be achieved by integrating PPP with high-end INS. Since high-end INS are expensive, this work proposes the use of RISS instead of the traditional INS. RISS uses only one gyroscope and two accelerometers, which can save more than half the high-end INS cost. The proposed PPP/RISS system was tested through three road tests that included highway driving under several overpasses. The system was able to maintain horizontal position errors of less than 50 cm.

ACS Style

Mohamed Elsheikh; Aboelmagd Noureldin; Michael Korenberg. Integration of GNSS Precise Point Positioning and Reduced Inertial Sensor System for Lane-Level Car Navigation. IEEE Transactions on Intelligent Transportation Systems 2020, PP, 1 -16.

AMA Style

Mohamed Elsheikh, Aboelmagd Noureldin, Michael Korenberg. Integration of GNSS Precise Point Positioning and Reduced Inertial Sensor System for Lane-Level Car Navigation. IEEE Transactions on Intelligent Transportation Systems. 2020; PP (99):1-16.

Chicago/Turabian Style

Mohamed Elsheikh; Aboelmagd Noureldin; Michael Korenberg. 2020. "Integration of GNSS Precise Point Positioning and Reduced Inertial Sensor System for Lane-Level Car Navigation." IEEE Transactions on Intelligent Transportation Systems PP, no. 99: 1-16.

Journal article
Published: 23 November 2020 in Journal of Sensor and Actuator Networks
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Mobile network traffic is increasing in an unprecedented manner, resulting in growing demand from network operators to deploy more base stations able to serve more devices while maintaining a satisfactory level of service quality. Base stations are considered the leading energy consumer in network infrastructure; consequently, increasing the number of base stations will increase power consumption. By predicting the traffic load on base stations, network optimization techniques can be applied to decrease energy consumption. This research explores different machine learning and statistical methods capable of predicting traffic load on base stations. These methods are examined on a public dataset that provides records of traffic loads of several base stations over the span of one week. Because of the limited number of records in the dataset for each base station, different base stations are grouped while building the prediction model. Due to the different behavior of the base stations, forecasting the traffic load of multiple base stations together becomes challenging. The proposed solution involves clustering the base stations according to their behavior and forecasting the load on the base stations in each cluster individually. Clustering the time series data according to their behavior mitigates the dissimilar behavior problem of the time series when they are trained together. Our findings demonstrate that predictions based on deep recurrent neural networks perform better than other forecasting techniques.

ACS Style

Basma Mahdy; Hazem Abbas; Hossam S. Hassanein; Aboelmagd Noureldin; Hatem Abou-Zeid. A Clustering-Driven Approach to Predict the Traffic Load of Mobile Networks for the Analysis of Base Stations Deployment. Journal of Sensor and Actuator Networks 2020, 9, 53 .

AMA Style

Basma Mahdy, Hazem Abbas, Hossam S. Hassanein, Aboelmagd Noureldin, Hatem Abou-Zeid. A Clustering-Driven Approach to Predict the Traffic Load of Mobile Networks for the Analysis of Base Stations Deployment. Journal of Sensor and Actuator Networks. 2020; 9 (4):53.

Chicago/Turabian Style

Basma Mahdy; Hazem Abbas; Hossam S. Hassanein; Aboelmagd Noureldin; Hatem Abou-Zeid. 2020. "A Clustering-Driven Approach to Predict the Traffic Load of Mobile Networks for the Analysis of Base Stations Deployment." Journal of Sensor and Actuator Networks 9, no. 4: 53.

Journal article
Published: 01 October 2020 in Signals
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There is a growing demand for robust and accurate positioning information for various applications, including the self-driving car industry. Such applications rely mainly on the Global Navigation Satellite System (GNSS), including the Global Positioning System (GPS). However, GPS positioning accuracy relies on several factors, such as satellite geometry, receiver architecture, and navigation environment, to name a few. In urban canyons in which there is a significant probability of signal blockage of one or more satellites and/or interference, the positioning accuracy of scalar-based GPS receivers drastically deteriorates. On the other hand, vector-based GPS receivers exhibit some immunity to momentary outages and interference. Therefore, it is becoming necessary to consider vector-based GPS receivers for several applications, especially safety-critical applications, including next-generation navigation technologies for autonomous vehicles. This paper investigates a vector-based receiver’s performance and compares it to its scalar counterpart in signal degraded conditions. The realistic simulation experiments in this paper are conducted on GPS L1 C/A signals generated using the SpirentTM simulation system to create a fully controlled environment to examine and validate the performance. The results show that the vector tracking system outperforms the scalar tracking in terms of position and velocity estimation accuracy in signal-degraded environments.

ACS Style

Haidy Y. F. Elghamrawy; Mohamed Tamazin; Aboelmagd Noureldin. Investigating the Benefits of Vector-Based GNSS Receivers for Autonomous Vehicles under Challenging Navigation Environments. Signals 2020, 1, 121 -137.

AMA Style

Haidy Y. F. Elghamrawy, Mohamed Tamazin, Aboelmagd Noureldin. Investigating the Benefits of Vector-Based GNSS Receivers for Autonomous Vehicles under Challenging Navigation Environments. Signals. 2020; 1 (2):121-137.

Chicago/Turabian Style

Haidy Y. F. Elghamrawy; Mohamed Tamazin; Aboelmagd Noureldin. 2020. "Investigating the Benefits of Vector-Based GNSS Receivers for Autonomous Vehicles under Challenging Navigation Environments." Signals 1, no. 2: 121-137.

Journal article
Published: 25 September 2020 in IEEE Transactions on Instrumentation and Measurement
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Visualization and measurement for civil structure have been a constant field of research. Typically, 3D measurement systems are static instruments that offer low degrees of flexible motion and require a significant amount of time for successful 3D measurement. In this paper, a machine vision system is developed to facilitate 3D measurements and reconstruction process. The proposed method depends on multi-mobile robots to achieve a portable 3D measurement and reconstruction system. It consists of a 3D reconstruction and measurement pipeline, which deploys multiple vision sensors mounted on teleoperated mobile to acquire 3D scan and 2D image data. It can operate in both indoor and outdoor environments as for each structure a sequence of images and LiDAR scans are processed. The outcomes of the proposed method are a 3D visualization for the structure along with its dimensional and volumetric measurements. The performance of the proposed system is evaluated using indoor and outdoor experiments to validate its application for measuring real structures. The results obtained showed the robustness and mobility of the proposed method.

ACS Style

Moemen Y. Moemen; Haidy Elghamrawy; Sidney N. Givigi; Aboelmaged M. Noureldin. 3-D Reconstruction and Measurement System Based on Multimobile Robot Machine Vision. IEEE Transactions on Instrumentation and Measurement 2020, 70, 1 -9.

AMA Style

Moemen Y. Moemen, Haidy Elghamrawy, Sidney N. Givigi, Aboelmaged M. Noureldin. 3-D Reconstruction and Measurement System Based on Multimobile Robot Machine Vision. IEEE Transactions on Instrumentation and Measurement. 2020; 70 (99):1-9.

Chicago/Turabian Style

Moemen Y. Moemen; Haidy Elghamrawy; Sidney N. Givigi; Aboelmaged M. Noureldin. 2020. "3-D Reconstruction and Measurement System Based on Multimobile Robot Machine Vision." IEEE Transactions on Instrumentation and Measurement 70, no. 99: 1-9.

Review
Published: 07 September 2020 in Micromachines
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It is of great importance for pipeline systems to be is efficient, cost-effective and safe during the transportation of the liquids and gases. However, underground pipelines often experience leaks due to corrosion, human destruction or theft, long-term Earth movement, natural disasters and so on. Leakage or explosion of the operating pipeline usually cause great economical loss, environmental pollution or even a threat to citizens, especially when these accidents occur in human-concentrated urban areas. Therefore, the surveying of the routed pipeline is of vital importance for the Pipeline Integrated Management (PIM). In this paper, a comprehensive review of the Micro-Inertial Measurement Unit (MIMU)-based intelligent Pipeline Inspection Gauge (PIG) multi-sensor fusion technologies for the transport of liquids and gases purposed for small-diameter pipeline (D<30cm) surveying is demonstrated. Firstly, four types of typical small-diameter intelligent PIGs and their corresponding pipeline-defects inspection technologies and defects-positioning technologies are investigated according to the various pipeline defects inspection and localization principles. Secondly, the multi-sensor fused pipeline surveying technologies are classified into two main categories, the non-inertial-based and the MIMU-based intelligent PIG surveying technology. Moreover, five schematic diagrams of the MIMU fused intelligent PIG fusion technology is also surveyed and analyzed with details. Thirdly, the potential research directions and challenges of the popular intelligent PIG surveying techniques by multi-sensor fusion system are further presented with details. Finally, the review is comprehensively concluded and demonstrated.

ACS Style

Lianwu Guan; Xiaodan Cong; Qing Zhang; Fanming Liu; Yanbin Gao; Wendou An; Aboelmagd Noureldin. A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying. Micromachines 2020, 11, 840 .

AMA Style

Lianwu Guan, Xiaodan Cong, Qing Zhang, Fanming Liu, Yanbin Gao, Wendou An, Aboelmagd Noureldin. A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying. Micromachines. 2020; 11 (9):840.

Chicago/Turabian Style

Lianwu Guan; Xiaodan Cong; Qing Zhang; Fanming Liu; Yanbin Gao; Wendou An; Aboelmagd Noureldin. 2020. "A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying." Micromachines 11, no. 9: 840.

Journal article
Published: 19 July 2020 in Remote Sensing
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The autonomous vehicles (AV) industry has a growing demand for reliable, continuous, and accurate positioning information to ensure safe traffic and for other various applications. Global navigation satellite system (GNSS) receivers have been widely used for this purpose. However, GNSS positioning accuracy deteriorates drastically in challenging environments such as urban environments and downtown cores. Therefore, inertial sensors are widely deployed inside the land vehicle for various purposes, including the integration with GNSS receivers to provide positioning information that can bridge potential GNSS failures. However, in dense urban areas and downtown cores where GNSS receivers may incur prolonged outages, the integrated positioning solution may become prone to severe drift resulting in substantial position errors. Therefore, it is becoming necessary to include other sensors and systems that can be available in future land vehicles to be integrated with both the GNSS receivers and inertial sensors to enhance the positioning performance in such challenging environments. This work aims to design and examine the performance of a multi-sensor integrated positioning system that fuses the GNSS receiver data with not only inertial sensors but also with the three-dimensional point cloud of onboard light detection and ranging (LiDAR) system. In this paper, a comprehensive LiDAR processing and odometry method is developed to provide a continuous and reliable positioning solution, even in challenging GNSS environments. A multi-sensor Extended Kalman filtering (EKF)-based fusion is developed to integrate the LiDAR positioning information with both GNSS and inertial sensors and utilize the LiDAR updates to limit the drift in the positioning solution, even in challenging or ultimately denied GNSS environment. The performance of the LiDAR/RISS/GNSS positioning solution is examined using several road test trajectories in both Kingston and Toronto downtown areas involving different vehicle dynamics and driving scenarios. The LiDAR/RISS/GNSS provided a notable performance improvement over the 3D-RISS standalone by 64%. Also, the total distance traveled was 2 km, and the deviation of the MSS was 2% compared to the 3D-RISS, which was a 6% deviation over the traveled distance.

ACS Style

Ahmed Aboutaleb; Amr El-Wakeel; Haidy Elghamrawy; Aboelmagd Noureldin. LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments. Remote Sensing 2020, 12, 2323 .

AMA Style

Ahmed Aboutaleb, Amr El-Wakeel, Haidy Elghamrawy, Aboelmagd Noureldin. LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments. Remote Sensing. 2020; 12 (14):2323.

Chicago/Turabian Style

Ahmed Aboutaleb; Amr El-Wakeel; Haidy Elghamrawy; Aboelmagd Noureldin. 2020. "LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments." Remote Sensing 12, no. 14: 2323.

Journal article
Published: 20 June 2020 in Applied Sciences
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The received global navigation satellite system (GNSS) signal has a very low power due to traveling a very long distance and to the nature of the signal’s propagation medium. Thus, GNSS signals are easily susceptible to signal interference. Signal interference can cause severe degradation or interruption in GNSS position, navigation, and timing (PNT) services which could be very critical, especially in safety-critical applications. The objective of this paper is to evaluate the impact of the presence of jamming signals on a high-end GNSS receiver and investigate the benefits of using a multi-constellation system under such circumstances. Several jamming signals are considered in this research, including narrowband and wideband signals that are located on GPS L1 or GLONASS L1 frequency bands. Quasi-real dynamic trajectories are generated using the Spirent™ GSS6700 GNSS signal simulator combined with an interference signal generator through a Spirent™ GSS8366 unit. The performance evaluation was carried out using several evaluation metrics, including signal power degradation, navigation solution availability, dilution of precision (DOP), and positioning accuracy. The multi-constellation system presented better performance over the global positioning system (GPS)-only constellation in most cases. Moreover, jamming the GPS band caused more critical effects than jamming the GLONASS band.

ACS Style

Haidy Elghamrawy; Malek Karaim; Mohamed Tamazin; Aboelmaged Noureldin. Experimental Evaluation of the Impact of Different Types of Jamming Signals on Commercial GNSS Receivers. Applied Sciences 2020, 10, 4240 .

AMA Style

Haidy Elghamrawy, Malek Karaim, Mohamed Tamazin, Aboelmaged Noureldin. Experimental Evaluation of the Impact of Different Types of Jamming Signals on Commercial GNSS Receivers. Applied Sciences. 2020; 10 (12):4240.

Chicago/Turabian Style

Haidy Elghamrawy; Malek Karaim; Mohamed Tamazin; Aboelmaged Noureldin. 2020. "Experimental Evaluation of the Impact of Different Types of Jamming Signals on Commercial GNSS Receivers." Applied Sciences 10, no. 12: 4240.

Journal article
Published: 23 May 2020 in Applied Sciences
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The Global Positioning System (GPS) provides an accurate navigation solution in the open sky. However, in some environments such as urban areas or in the presence of signal jamming, GPS signals cannot be easily tracked since they could be harshly attenuated or entirely blocked. This often requires the GPS receiver to go into a signal re-acquisition phase for the corresponding satellite. To avoid the intensive computations necessary for the signal re-lock in a GPS receiver, a robust signal-tracking mechanism that can hold and/or rapidly re-lock on the signals and keep track of their dynamics becomes a necessity. This paper augments a vector-based GPS signal tracking system with a Reduced Inertial Sensor System (RISS) to produce a new ultra-tight GPS/INS integrated system that enhances receivers’ tracking robustness and sensitivity in challenging navigation environments. The introduced system is simple, efficient, reliable, yet inexpensive. To challenge the proposed method with real jamming conditions, real experiment work was conducted inside the Anechoic Chamber room at the Royal Military College of Canada (RMC). The Spirent GSS6700 signal simulator was used to generate GPS signals, and an INS Simulator is used for simulating the inertial measurement unit (IMU) to generate the corresponding trajectory raw data. The NEAT jammer, by NovAtel, was used to generate real jamming signals. Results show a good performance of the proposed method under real signal jamming conditions.

ACS Style

Malek Karaim; Mohamed Tamazin; Aboelmagd Noureldin. An Efficient Ultra-Tight GPS/RISS Integrated System for Challenging Navigation Environments. Applied Sciences 2020, 10, 3613 .

AMA Style

Malek Karaim, Mohamed Tamazin, Aboelmagd Noureldin. An Efficient Ultra-Tight GPS/RISS Integrated System for Challenging Navigation Environments. Applied Sciences. 2020; 10 (10):3613.

Chicago/Turabian Style

Malek Karaim; Mohamed Tamazin; Aboelmagd Noureldin. 2020. "An Efficient Ultra-Tight GPS/RISS Integrated System for Challenging Navigation Environments." Applied Sciences 10, no. 10: 3613.

Journal article
Published: 21 April 2020 in IEEE Transactions on Aerospace and Electronic Systems
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This research introduces a new twodimensional direction of arrival (DOA) elevation and azimuth angles estimation technique for global positioning system (GPS) jamming signals in challenging environments based on the fast orthogonal search (FOS) method. FOS-DOA estimation is accommodated to process array structure optimized for interference rejection. Performance of FOS-DOA is compared to the predominant multiple signal classification (MUSIC) DOA estimation method. Results showed significant improvement in jamming detection of the multiple sources of interference with slight variations in their amplitude at jamming to signal ratio (JSR) 15dB and 45dB. The improvement introduced by the proposed DOA estimation technique is mainly in the accuracy of detecting the number of jammers and their direction of arrival.

ACS Style

Abdalla Osman; Mohamed M. E. Moussa; Mohamed Tamazin; Michael J. Korenberg; Aboelmagd Noureldin. DOA Elevation and Azimuth Angles Estimation of GPS Jamming Signals Using Fast Orthogonal Search. IEEE Transactions on Aerospace and Electronic Systems 2020, 56, 3812 -3821.

AMA Style

Abdalla Osman, Mohamed M. E. Moussa, Mohamed Tamazin, Michael J. Korenberg, Aboelmagd Noureldin. DOA Elevation and Azimuth Angles Estimation of GPS Jamming Signals Using Fast Orthogonal Search. IEEE Transactions on Aerospace and Electronic Systems. 2020; 56 (5):3812-3821.

Chicago/Turabian Style

Abdalla Osman; Mohamed M. E. Moussa; Mohamed Tamazin; Michael J. Korenberg; Aboelmagd Noureldin. 2020. "DOA Elevation and Azimuth Angles Estimation of GPS Jamming Signals Using Fast Orthogonal Search." IEEE Transactions on Aerospace and Electronic Systems 56, no. 5: 3812-3821.

Journal article
Published: 18 March 2020 in IEEE Transactions on Intelligent Transportation Systems
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Global Navigation Satellite Systems (GNSS) is utilized to provide route guidance information to land and autonomous vehicles. The GNSS-based positioning and navigation (POS/NAV) usually suffer from satellite signal blockage, interference, and multipath in urban areas. Autonomous land vehicles are equipped with cameras, radars, and laser ranging devices. The availability of these systems provides an attractive opportunity to increase the POS/NAV system accuracy. This research focuses on the development of an integrated multi-sensor POS/NAV system capable of offering seamless positioning for autonomous land vehicles. A new multi-sensor POS/NAV module integrating both adaptive cruise control frequency modulated continuous wave (ACC-FMCW) radar (RAD), and magnetometer measurements with the reduced inertial sensor system (RISS) was designed to update the navigation system during GNSS outages. Augmenting RAD/RISS system with the magnetometer measurements produces a robust solution. The designed system is further improved by utilizing fast orthogonal search (FOS) to provide nonlinear error modeling of the residual errors associated with the RAD/RISS positioning solution in order to reduce the error growth overextended and frequent GNSS outages.The proposed systems were evaluated on several real road test trajectories involving different types of land vehicles experiencing different motion dynamics. GNSS outages of up to 10 minutes were intentionally introduced to examine the performance. The results show that the proposed methods have resulted in a significant performance improvement in the positioning accuracy that can reach more than 80% if compared to the present techniques that rely only on integrating the inertial sensor technology with GNSS.

ACS Style

Ashraf Abosekeen; Umar Iqbal; Aboelmagd Noureldin; Michael J. Korenberg. A Novel Multi-Level Integrated Navigation System for Challenging GNSS Environments. IEEE Transactions on Intelligent Transportation Systems 2020, 22, 4838 -4852.

AMA Style

Ashraf Abosekeen, Umar Iqbal, Aboelmagd Noureldin, Michael J. Korenberg. A Novel Multi-Level Integrated Navigation System for Challenging GNSS Environments. IEEE Transactions on Intelligent Transportation Systems. 2020; 22 (8):4838-4852.

Chicago/Turabian Style

Ashraf Abosekeen; Umar Iqbal; Aboelmagd Noureldin; Michael J. Korenberg. 2020. "A Novel Multi-Level Integrated Navigation System for Challenging GNSS Environments." IEEE Transactions on Intelligent Transportation Systems 22, no. 8: 4838-4852.

Journal article
Published: 14 December 2019 in Sensors
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GPS jamming is a considerable threat to applications that rely on GPS position, velocity, and time. Jamming detection is the first step in the mitigation process. The direction of arrival (DOA) estimation of jamming signals is affected by resolution. In the presence of multiple jamming sources whose spatial separation is very narrow, an incorrect number of jammers can be detected. Consequently, mitigation will be affected. The ultimate objective of this research is to enhance GPS receivers’ anti-jamming abilities. This research proposes an enhancement to the anti-jamming detection ability of GPS receivers that are equipped with a uniform linear array (ULA) and uniform circular array (UCA). The proposed array processing method utilizes fast orthogonal search (FOS) to target the accurate detection of the DOA of both single and multiple in-band CW jammers. Its performance is compared to the classical method and MUSIC. GPS signals obtained from a Spirent GSS6700 simulator and CW jamming signals were used. The proposed method produces a threefold advantage, higher accuracy DOA estimates, amplitudes, and a correct number of jammers. Therefore, the anti-jamming process can be significantly improved by limiting the erroneous spatial attenuation of GPS signals arriving from an angle close to the jammer.

ACS Style

Mohamed Moussa; Abdalla Osman; Mohamed Tamazin; Michael J. Korenberg; Aboelmagd Noureldin. Direction of Arrival Estimation of GPS Narrowband Jammers Using High-Resolution Techniques. Sensors 2019, 19, 5532 .

AMA Style

Mohamed Moussa, Abdalla Osman, Mohamed Tamazin, Michael J. Korenberg, Aboelmagd Noureldin. Direction of Arrival Estimation of GPS Narrowband Jammers Using High-Resolution Techniques. Sensors. 2019; 19 (24):5532.

Chicago/Turabian Style

Mohamed Moussa; Abdalla Osman; Mohamed Tamazin; Michael J. Korenberg; Aboelmagd Noureldin. 2019. "Direction of Arrival Estimation of GPS Narrowband Jammers Using High-Resolution Techniques." Sensors 19, no. 24: 5532.

Journal article
Published: 10 December 2019 in IEEE Sensors Journal
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ACS Style

Amr S. El-Wakeel; Abdalla Osman; Nizar Zorba; Hossam S. Hassanein; Aboelmagd Noureldin. Robust Positioning for Road Information Services in Challenging Environments. IEEE Sensors Journal 2019, 20, 3182 -3195.

AMA Style

Amr S. El-Wakeel, Abdalla Osman, Nizar Zorba, Hossam S. Hassanein, Aboelmagd Noureldin. Robust Positioning for Road Information Services in Challenging Environments. IEEE Sensors Journal. 2019; 20 (6):3182-3195.

Chicago/Turabian Style

Amr S. El-Wakeel; Abdalla Osman; Nizar Zorba; Hossam S. Hassanein; Aboelmagd Noureldin. 2019. "Robust Positioning for Road Information Services in Challenging Environments." IEEE Sensors Journal 20, no. 6: 3182-3195.

Journal article
Published: 03 December 2019 in Optik
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Recently, a complete inertial measurement unit (CIMU) with three-axis Fiber optic gyroscopes (FOG) has replaced the three-axis magnetometers in Measurement While Drilling system (MWDs) to survey the drilling trajectory. However, installing three FOGs into MWDs meets lots of challenges. Firstly, because of the limited space in the downhole, CIMU is too big to accommodate all kinds of well. Secondly, the capacity of the power battery supporting the MWD is limited while CIMU has a high-power consumption. Finally, because of the high cost of FOGs, CIMU increases the drilling tool expense. Thus, on the basis of implementing the survey drilling trajectory function, it is critical to reduce the number of FOGs. Targeting a low-power, low-cost and high-accuracy navigation solution for MWD, this paper proposed a three-dimension (3D) navigation solution using a reduced inertial sensor system (RISS) for MWD. The RISS consists of only one single-axis FOG and three-axis accelerometers. In order to improve the measurement accuracy, the drilling piper length information obtained from a recursive algorithm named as Average Angle Method (AAM) was fused to RISS using the Kalman filter method. To validate the availability and utility of this surveying method, three experiments simulating different drilling process were performed using three-axis rate table under laboratory conditions. The experiment results show that the proposed solution could provide accurate directional and orientation information of the wellbore trajectory while drilling.

ACS Style

Lu Wang; Yu Wang; Yaqi Deng; Aboelmagd Noureldin; Pingfei Li. Drilling trajectory survey technology based on 3D RISS with a single fiber optic gyroscope. Optik 2019, 203, 163971 .

AMA Style

Lu Wang, Yu Wang, Yaqi Deng, Aboelmagd Noureldin, Pingfei Li. Drilling trajectory survey technology based on 3D RISS with a single fiber optic gyroscope. Optik. 2019; 203 ():163971.

Chicago/Turabian Style

Lu Wang; Yu Wang; Yaqi Deng; Aboelmagd Noureldin; Pingfei Li. 2019. "Drilling trajectory survey technology based on 3D RISS with a single fiber optic gyroscope." Optik 203, no. : 163971.

Journal article
Published: 09 November 2019 in Sensors
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The last decade has witnessed a growing demand for precise positioning in many applications including car navigation. Navigating automated land vehicles requires at least sub-meter level positioning accuracy with the lowest possible cost. The Global Navigation Satellite System (GNSS) Single-Frequency Precise Point Positioning (SF-PPP) is capable of achieving sub-meter level accuracy in benign GNSS conditions using low-cost GNSS receivers. However, SF-PPP alone cannot be employed for land vehicles due to frequent signal degradation and blockage. In this paper, real-time SF-PPP is integrated with a low-cost consumer-grade Inertial Navigation System (INS) to provide a continuous and precise navigation solution. The PPP accuracy and the applied estimation algorithm contributed to reducing the effects of INS errors. The system was evaluated through two road tests which included open-sky, suburban, momentary outages, and complete GNSS outage conditions. The results showed that the developed PPP/INS system maintained horizontal sub-meter Root Mean Square (RMS) accuracy in open-sky and suburban environments. Moreover, the PPP/INS system could provide a continuous real-time positioning solution within the lane the vehicle is moving in. This lane-level accuracy was preserved even when passing under bridges and overpasses on the road. The developed PPP/INS system is expected to benefit low-cost precise land vehicle navigation applications including level 2 of vehicle automation which comprises services such as lane departure warning and lane-keeping assistance.

ACS Style

Mohamed Elsheikh; Walid Abdelfatah; Aboelmagd Nourledin; Umar Iqbal; Michael Korenberg. Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles. Sensors 2019, 19, 4896 .

AMA Style

Mohamed Elsheikh, Walid Abdelfatah, Aboelmagd Nourledin, Umar Iqbal, Michael Korenberg. Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles. Sensors. 2019; 19 (22):4896.

Chicago/Turabian Style

Mohamed Elsheikh; Walid Abdelfatah; Aboelmagd Nourledin; Umar Iqbal; Michael Korenberg. 2019. "Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles." Sensors 19, no. 22: 4896.

Conference paper
Published: 11 October 2019 in Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
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ACS Style

Marwan A. Rashed; Ashraf Abosekeen; Hany Ragab; Aboelmagd Noureldin; Michael J. Korenberg. Leveraging FMCW-Radar for Autonomous Positioning Systems: Methodology and Application in Downtown Toronto. Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) 2019, 2659 -2669.

AMA Style

Marwan A. Rashed, Ashraf Abosekeen, Hany Ragab, Aboelmagd Noureldin, Michael J. Korenberg. Leveraging FMCW-Radar for Autonomous Positioning Systems: Methodology and Application in Downtown Toronto. Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019). 2019; ():2659-2669.

Chicago/Turabian Style

Marwan A. Rashed; Ashraf Abosekeen; Hany Ragab; Aboelmagd Noureldin; Michael J. Korenberg. 2019. "Leveraging FMCW-Radar for Autonomous Positioning Systems: Methodology and Application in Downtown Toronto." Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) , no. : 2659-2669.

Conference paper
Published: 11 October 2019 in Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
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ACS Style

Xu Xu; Moemen Yasser; Hany Ragab; Yanbin Gao; Aboelmagd Noureldin; Kunpeng He. Visual Structure from Motion for UAV Indoor Localization. Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) 2019, 416 -425.

AMA Style

Xu Xu, Moemen Yasser, Hany Ragab, Yanbin Gao, Aboelmagd Noureldin, Kunpeng He. Visual Structure from Motion for UAV Indoor Localization. Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019). 2019; ():416-425.

Chicago/Turabian Style

Xu Xu; Moemen Yasser; Hany Ragab; Yanbin Gao; Aboelmagd Noureldin; Kunpeng He. 2019. "Visual Structure from Motion for UAV Indoor Localization." Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) , no. : 416-425.

Research article
Published: 01 October 2019 in IET Radar, Sonar & Navigation
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Autonomous and land vehicles’ navigation in urban canyons requires aiding from other systems to the Global Navigation Satellite System (GNSS). This kind of environment is characterised by containing high rise buildings and long tunnels which interfere with the GPS satellite's signals causing its partial or total blockage. Therefore, the utilisation of another positioning source with high fidelity solution is essential during long outage periods. The Adaptive Cruise Control (ACC) system is a critical unit in the Advanced Drive Assistant System. The ACC measures the relative speed and distance between the on-board vehicle and the vehicle in front. In this study, the ACC radar and an azimuth gyroscope are utilised to produce a self-contained positioning system. The position solution of this system is utilised to update the Inertial Navigation System during the GNSS outage periods. The proposed system was tested over real road trajectories which were conducted in an urban canyon to validate the efficiency of the system.

ACS Style

Ashraf Abosekeen; Tashfeen B. Karamat; Aboelmagd Noureldin; Michael J. Korenberg. Adaptive cruise control radar‐based positioning in GNSS challenging environment. IET Radar, Sonar & Navigation 2019, 13, 1666 -1677.

AMA Style

Ashraf Abosekeen, Tashfeen B. Karamat, Aboelmagd Noureldin, Michael J. Korenberg. Adaptive cruise control radar‐based positioning in GNSS challenging environment. IET Radar, Sonar & Navigation. 2019; 13 (10):1666-1677.

Chicago/Turabian Style

Ashraf Abosekeen; Tashfeen B. Karamat; Aboelmagd Noureldin; Michael J. Korenberg. 2019. "Adaptive cruise control radar‐based positioning in GNSS challenging environment." IET Radar, Sonar & Navigation 13, no. 10: 1666-1677.

Conference paper
Published: 01 September 2019 in 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall)
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Future smart cities are profoundly looking forward to providing services that assure daily competent functionality. Efficient traffic management and related vehicular services are crucial aspects when considering the city’s decent operation. The significant presence of the vehicular and smartphone sensing and computing capabilities within and amongst the vehicles open the door towards robust vehicular and road services. The retrofitted present and future vehicles will be able to provide accurate real-time information about the road conditions and hazards, driver behaviour, and traffic. Adequate geo-referencing is remarkably demanded in order to preserve robustness while providing vehicular services. Present and widely spread global positioning systems (GPS) receivers are providing low- resolution position update at 1 Hz, which is not sufficient at high speeds. Also, alternative high data rate geo-referencing technologies may face self-contained or environmental-based performance limitations. In this paper, we propose an adaptive resolution integrated geo-referencing framework that augments GPS and inertial sensors to provide accurate localization and positioning for road information services. Also, we examine the effectiveness of the proposed system in geo- referencing for selected real-life road services.

ACS Style

Amr El-Wakeel; Aboelmagd Noureldin; Nizar Zorba; Hossam S. Hassanein. A Framework for Adaptive Resolution Geo-Referencing in Intelligent Vehicular Services. 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall) 2019, 1 -5.

AMA Style

Amr El-Wakeel, Aboelmagd Noureldin, Nizar Zorba, Hossam S. Hassanein. A Framework for Adaptive Resolution Geo-Referencing in Intelligent Vehicular Services. 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall). 2019; ():1-5.

Chicago/Turabian Style

Amr El-Wakeel; Aboelmagd Noureldin; Nizar Zorba; Hossam S. Hassanein. 2019. "A Framework for Adaptive Resolution Geo-Referencing in Intelligent Vehicular Services." 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall) , no. : 1-5.