Aboelmagd Noureldin

Royal Military College of Canada · Department of Electrical and Computer Engineering

High-precision navigation solutions are a main requirement for autonomous vehicle (AV) applications. Global navigation satellite systems (GNSSs) are the prime source of navigation information for such applications. However, some places such as tunnels, underpasses, inside parking garages, and urban high-rise buildings suffer from GNSS signal degrad...

Autonomous vehicles (AVs) are cars, buses or trucks that can travel with limited or no human intervention. They combine sensors, perception systems, and software to control, navigate, and safely drive the vehicle. AVs promise to improve the efficiency of our transportation system, reduce collisions and traffic congestion and improve mobility for ou...

5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an Inertial Navigation System (INS) for an improved positioning solution. However, the highly dynamic environmen...

Achieving the highest levels of autonomy within autonomous vehicles (AVs) requires a precise and dependable positioning solution that is not influenced by the environment. 5G mmWave signals have been extensively studied in the literature to provide such a positioning solution. Yet, it is evident that 5G alone will not be able to provide uninterrupt...

Radars have been increasingly implemented in modern vehicles. Their presence opens opportunities for developing new positioning and collision avoidance solutions, to cite a few. However, radar scans are noisy and sparse, which challenges the robustness of the developed solutions. In this paper, we propose a novel method to structure radar scans to...

Radars have been increasingly implemented in modern vehicles. Their presence opens opportunities for developing new positioning and collision avoidance solutions, to cite a few. However, radar scans are noisy and sparse, which challenges the robustness of the developed solutions. In this paper, we propose a novel method to structure radar scans to...

Over the past two decades, there has been a growing demand for generating digital surface models (DSMs) in real-time, particularly for aircraft landing in degraded visual environments. Challenging landing environments can hinder a pilot’s ability to accurately navigate, see the ground, and avoid obstacles that may lead to equipment damage or loss o...

Fifth generation (5G) networks are expected to provide high precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight (LOS) communications between the user equipment (UE) and multiple BSs at the same time. Having access to a pleth...

5G mmWave technology can turn multipath into a friend, as multipath components become highly resolvable in the time and angle domains. Multipath signals have not only been used in the literature to position the user equipment (UE) but also to create a map of the surrounding environment. Yet, many multipath-based methods in the literature share a co...

Global positioning systems (GPS) position is determined from the distance measurements to four or more satellites with good geometry. Autonomous vehicles can utilize GPS navigation under open sky areas. However, GPS signal is degraded/denied in urban areas due to satellite signal blockage, multipath, and interference. A suite of multiple types of s...

GNSS navigation requires an unobstructed line-of-sight view of four or more satellites with suitable geometry to compute latitude, longitude, altitude, and time. GNSS signal weakens in degraded environments such as Urban Canyons, Tunnels, Under Passes, and Green Tunnels. Therefore, GNSS alone cannot provide reliable navigation support in challengin...

5G NR mm Wave promises accurate positioning down to the centimeter level. However, mmWave signals endure prismatic propagation, making them prone to signal blockages and non-line of sight (NLoS) communications. To achieve a precise positioning solution, it is rather essential to filter out NLoS gNBs as they yield erroneous pose estimation of IoT ve...

Multi-sensor integration is necessary to provide high-precision navigation solutions for autonomous vehicles. Land-vehicles often rely on global navigation satellite systems (GNSS) to acquire its position. However, there are some environments where GNSS signals are unavailable, such as indoor-parking garages, tunnels, and under bridges. Additional...

The novel signaling and architectural features of 5G promise a major role in providing accurate, precise, and continuous positioning where satellite-based positioning systems may fail. In the case of time-based trilateration, optimal estimators like extended Kalman filter (EKF) can be used to estimate the position with the aid of time-of-arrival (T...

This paper presents the development of improved synergetic current control for the injected current of an inverter in the grid-connected microgrid and the distributed generation system (DGS). This paper introduces new formulas of the macro-variable functions for integral synergetic control (SC) and integral fast terminal SC, which both have an inte...

The authors wish to make the following corrections in the original paper [...]

The penetration of distributed energy resources has drastically increased in the distribution system. Inverters are employed to efficiently process the harvested energy of these energy resources. These inverters are commonly operated in parallel with some loads to form a microgrid. The control of these inverters has become a vital component to oper...

Autonomous and connected vehicles mainly rely on global navigation satellite systems (GNSS) for positioning and navigation, which is a key component for path planning and guidance. It is therefore crucial to ensure the reliability and robustness of the GNSS signals. Jamming has recently become one of the major concerns for GNSS receivers, especiall...

This paper introduces an effective formulation of synergetic control that is based on an integral macro-variable function. This suggested integral synergetic control is integrated with the direct power control scheme to precisely adjust the injected power of the distributed generation units to the main power grid. To prove the advantageous performa...

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 navigati...

GPS is widely used for the navigation of land vehicles. However, the positioning accuracy of GPS deteriorates in urban areas due to signal blockage and multipath effects. GPS can be integrated with a Micro-Electro-Mechanical Systems (MEMS)–based inertial navigation system (INS) using Kalman Filter (KF) to enhance the performance of the integrated n...

The integrated INS/magnetometer measurement is widely used in low-cost navigation systems. The integration has proven more effective in suppressing the divergence of heading than relying solely on a magnetometer because this is susceptible to local magnetic field interference, reducing heading accuracy. Magnetometers sense the local magnetic field...

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 potenti...

Future autonomous vehicles will rely mainly on global navigation satellite system (GNSS) receivers for positioning services. However, GNSS cannot maintain an accurate, continuous and reliable navigation solution in the presence of jamming. The widespread availability of in-car jammers or personal privacy devices (PPDs) made GNSS receivers an attrac...

We all know that GPS or any GNSS for that matter doesn’t work everywhere all the time. For example, in built-up areas, signals can be blocked and reflected by buildings leading to positioning errors or complete outages. That is why it is quite common nowadays to combine a GNSS receiver together with an inertial measurement unit or IMU (often in the...

In this paper, supervised machine learning is utilized as a Sensor fusion between the speed measuring sensors for more precise navigation especially in GNSS challenging Environments

A key operational requirement for Autonomous vehicles (AVs) is to have a highly reliable positioning at the sub-meter lane-level accuracy. However, it is well-known that current satellite-and perception-based positioning systems suffer in achieving this desired accuracy in urban settings and during rough weather conditions. This research explores t...

Submission Deadline Extended to May 15, 2021

Submission Deadline has been extended to May 15, 2021

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 e...

New technologies and services are being developed every day to support the evolution of automated vehicles (AVs). The ultimate goal is to provide safety features and driving automation systems to enable driverless operation resulting in more efficient transportation. A reliable navigation system relies on the information from both positioning and w...

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...

Automated vehicles (AVs) have gained increasing interest over the past few years. A crucial feature of these vehicles is an accurate and robust positioning system. Global navigation satellite system (GNSS) precise point positioning (PPP) can achieve decimeter-level accuracy without the need for local reference stations. Nevertheless, the solution a...

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 geo...

The reliability and robustness of an integrated positioning system are crucial in the fields of robotics and autonomous navigation. Utilizing inertial navigation systems (INS) with Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) is not sufficient as the integrated navigation performance inevitably degrades in urban areas due to...

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 rec...

Traditionally, integrating GPS with other systems like INS has been provided by KF or by Extended KF (EKF), which relies on a linearized error model of both GPS and INS. KF has provided a reliable GPS/INS integration solution for high-end navigational and tactical grade INS, but may not be able to address the complex stochastic and high order error...

Navigating land vehicles and self-driving cars is vital for a safe and accurate journey. Moreover, it's essential for taking the shortest route to save fuel and protect the environment from excessive pollution. mainly, Global Navigation Satellite Systems (GNSS) are the fundamental choice for such an application. however, In urban canyons, the GNSS...

There is a growing demand for high precision positioning and navigation technologies for land vehicles, especially with the fast-emerging autonomous operation. Developing a robust vehicle navigation system that works well in all environments is still a challenging problem for automated level 2 driving. Global Navigation Satellite System (GNSS) rece...

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 usual...

Despite the major significance of signal processing methods used nowadays, GPS receivers still face substantial challenges, such as jamming, which remain a dominant source of ranging error. The presence of GPS jamming influences the acquisition and tracking modules inside the receiver leading to biased measurements or loss of lock of the GPS satell...

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 en...

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 (PN...

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...

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 rejectio...

Current route planning systems report to the driver routes based on expected travel time and distance. However, these systems do not provide individualized routing options. With the current routing systems lacking the provision of individualized routing choices, a routing framework which provides a personalized route option not solely based on time...

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 dev...

Data-driven models for streamflow forecasting have attracted considerable attention, as they are independent of physical system features. The physical features of the river basin are extremely hard to collect, especially for large rivers. Empirical data-driven models, such as stochastic and regression models, have been widely used in the field of s...

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 n...

Next-generation Intelligent Transportation Systems (ITS) of future road traffic monitoring will be required to provide reports on traffic status, road conditions, and driver behaviour. Road surface anomalies contribute to increasing the risk of traffic accidents, reduced driver comfort and increased vehicles' damage. The conventional integrated Glo...

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...

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...

Navigation solutions have become a vital part of our lives, and a precise positioning solution is required everywhere. The global navigation satellite system (GNSS) is the most commonly used technology in navigation and positioning along with the Inertial Navigation System (INS). Generally, the low-cost GNSS receivers provide a reliable positioning...