Abstract: An actuator fault detection device that detects a fault of an actuator driven according to a manipulation variable MV output from a controlling device, including: a position acquiring portion that acquires a value of a motor position MP from a detector that detects a position of an actuator corresponding to a manipulation variable MV; a follow-up difference calculating portion that calculates a follow-up difference DM=MV?MP; and an allowable range determining portion that determines whether or not high speed operation or low speed operation of the actuator departs from an allowable range based on a manipulation variable change rate ?MV, an actuator position change rate ?MP, and the follow-up difference DM.

Abstract: According to some embodiments, two or more subsea motors are run simultaneously from a common topside frequency converter and a single set of three-phase cores within an umbilical cable. The subsea distribution system, which may include a subsea transformer distributes the power to the electrical motors. Current sensor and measuring electronics are used to measure current on one or more of the phases used to drive each motor. Measurement data is transmitted to the surface where an analysis system is used to detect possible load imbalance conditions between the motors.

Abstract: The voltage monitoring module includes an input terminal, a cell balancing input terminal, a switch, and a control circuit. The input terminal is coupled to a high-voltage-side terminal of a battery cell through a filter resistor. The cell balancing input terminal is coupled to the high-voltage-side terminal of the battery cell. The switch is coupled to the input terminal. The control circuit- controls ON/OFF of the switch. A filter resistor is coupled between the switch and a ground. The control circuit turns on the switch, so that a high-voltage-side voltage is compared with a low-voltage-side voltage.

Abstract: An apparatus for measuring impedance for fuel cell diagnosis may include: a current measurement unit configured to measure a current flowing to a load from a fuel cell stack; a voltage measurement unit configured to measure a voltage of the fuel cell stack; and a calculation unit configured to monitor a variation of the current measured through the current measurement unit, perform a frequency analysis operation at each sampling while sampling the current and voltage of the fuel cell stack, and calculate impedance based on the analyzed voltage and current of the fuel cell stack.

Abstract: In a Hall sensor in which a Hall element and elements serving as heat sources out of components of a circuit for driving the Hall element are arranged close to each other on a silicon substrate, two directions of control currents by spinning current for the Hall element are selected in a vector manner based on signals from temperature sensors arranged close to a periphery of the Hall element, thereby enabling the elimination of a magnetic offset caused by heat generation of the heat sources.

Abstract: A magnetic sensor includes: a magnetoresistive effect element having a sensitivity axis in a specific direction in which a fixed magnetic layer, a nonmagnetic material layer, and a free magnetic layer are laminated in this order; an antiferromagnetic layer which generates an exchange coupling bias with the free magnetic layer and which aligns the magnetization direction thereof in a predetermined direction provided on the free magnetic layer; and a ferromagnetic layer which generates an exchange coupling bias with the antiferromagnetic layer and which aligns the magnetization direction thereof in a predetermined direction provided on the antiferromagnetic layer. The magnetization direction on the exchange coupling bias in the free magnetic layer is the same direction as that on the exchange coupling bias in the ferromagnetic layer, and the ferromagnetic layer is able to impart a reflux magnetic field having a component along a sensitivity axis to the free magnetic layer.

Abstract: A nonlinear terahertz (THz) spectroscopy technique uses a sample illuminated by two THz pulses separately. The illumination generates two signals BA and BB, corresponding to the first and second THz pulse, respectively, after interaction with the sample. The interaction includes excitation of at least one ESR transition in the sample. The sample is also illuminated by the two THz pulses together, with an inter-pulse delay ?, generating a third signal BAB. A nonlinear signal BNL is then derived via BNL=BAB?BA?BB. This nonlinear signal BNL can be then processed (e.g., Fourier transform) to study the properties of the sample.

Abstract: An elongate device, such as a catheter, for interventional MRI has one or more passive LC-circuits attached to its distal tip portion for position tracking. The LC-circuits includes an inductor winding and a three-dimensional “trench” capacitor. The LC-circuits are integrated in a piece of silicon. Optical fibers may be included in the device for optical probing of tissue surrounding the distal tip portion.

Abstract: A device for a magnetic resonance imaging system includes a warning signal apparatus configured to emit a warning signal when a limit value is exceeded by a current induced in the device by radiofrequency signals of a magnetic resonance imaging system.

Abstract: A method and system for enhanced NQR or GPR include a metamaterial antenna configured to both transmit and receive a magnetic field focused at a near-field distance separated from the antenna at a corresponding antenna frequency corresponding to a nuclear quadrupole resonance frequency of an atom in a target material.

Abstract: A rapid cycle dynamic nuclear polarization (DNP) NMR apparatus comprises (i) a cooling unit configured to cool a sample in a capillary, (b) a DNP polarization unit configured to polarize the sample in the capillary, (c) a stripline-based NMR detector comprising a stripline for NMR analysis of the sample in the capillary, (d) a transport unit configured to guide the capillary from the DNP polarization unit to the stripline of stripline-based NMR detector; and (e) a heating unit configured to heat the sample in the capillary before analysis of the sample by the stripline-based NMR detector. Fast (1D-3D) NMR measurements with high resolution may be obtained.

Abstract: A method is provided for modified gradient timing in a Magnetic Resonance (MR) imaging system. The method includes generating radio frequency (RF) excitation pulses in a volume of patient anatomy to provide subsequent acquisition of associated RF echo data and generating a sequence of gradient waveforms on a static magnetic field in three directions each orthogonal to each other for slice selection, phase encoding and readout RF data acquisition in the volume of patient anatomy. The method also includes receiving, by a controller, an indication of the sequence of gradient waveforms to be applied to a plurality of gradient coils and modifying, via the controller, the sequence of gradient waveforms to be applied to the plurality of gradient coils based on one or more parameters to produce a sequence of modified gradient waveforms. The method further includes providing the sequence of modified gradient waveforms to the plurality of gradient coils.

Abstract: In a method for optimizing a magnetic resonance sequence of a magnetic resonance apparatus, a magnetic resonance sequence is provided to a computer, the sequence having a number of fixed point time intervals that are to be left unmodified, and a number of modifiable time intervals which may be optimized. The magnetic resonance sequence is automatically analyzed in the computer in order to identify the fixed point time intervals and the modifiable time intervals in the magnetic resonance sequence. At least one gradient pulse, which occurs during at least one modifiable time interval of the number of modifiable time intervals, is optimized by taking the first moment of this at least one gradient pulse into account.

Abstract: An MRI apparatus performs an MRI while moving a patient table and includes a main magnet configured to generate a static magnetic field in a bore; a gradient coil assembly configured to apply a gradient signal to the static magnetic field to generate a magnetic field gradient; an RF coil assembly configured to apply an RF excitation signal and an RF refocusing signal; and a controller configured to control the RF refocusing signal so that a slice to which the RF refocusing signal is to be applied conforms to the slice to which the RF excitation signal has been applied.

Abstract: A medical imaging apparatus includes a detector unit, a patient-receiving area at least partially surrounded by the detector unit, and a motion capture unit. The motion capture unit includes at least one first motion capture sensor for capturing patient monitoring data relating to a motion of the patient, and at least one second motion capture sensor for the capture of further motion data relating to a motion of the first motion capture sensor.

Abstract: In a method and apparatus for motion-corrected magnetic resonance (MR) imaging, MR data are acquired in a diagnostic scan in respective portions, and between each portion of acquired diagnostic data, a navigator scan is implemented wherein navigator data are acquired simultaneously in multiple slices in a navigator sub-volume that is less than the volume of the acquisition volume. A reference scan is acquired before beginning the diagnostic scan, and the navigator data in the sub-volumes are acquired between the acquisition of the portions of the MR data in the diagnostic scan. Between each acquisition portion, a motion-correction algorithm is executed, wherein the navigator data of the sub-volume is compared only to corresponding image data in the reference scan, and, if necessary, a motion-correction instruction is generated that is used for the acquisition of the next diagnostic data portion.

Abstract: In a SEMAC-like magnetic resonance imaging, MR data of multiple readout partitions of a target slice are used in order to reduce image artifacts due to magnetic field inhomogeneities. Slice-selectively excited nuclear spins are refocused via radiation of multiple refocusing pulses. For each refocusing pulse, at least one kz-phase coding gradient is respectively applied along a first direction (to define a readout partition) and at least one ky-phase coding gradient is applied along a second direction to acquire MR data, wherein the first and second directions are orthogonal to one another. The multiple refocusing pulses have at least two different flip angles.

Abstract: A method for detecting a malfunction of a battery control system including a plurality of sensors intended to measure separate physical quantities of the battery, the method including the following steps: a) reading output values of the sensors; and b) determining, by means of a processing unit, whether the read values are consistent with a physical phenomenon conditioning relationships between at least two of the quantities.

Abstract: A method of designing bandwidth-efficient ranging waveforms provides waveforms usable in non-contiguous spectral bands that have low SNR thresholds and are usable at low and moderate SNR's. A set of allowed frequencies in the desired spectral region is divided into bands. A first group of band combinations is selected having a required accuracy at high SNR. Those band combinations in the first group that have the smallest autocorrelation secondary peaks are selected as a second group. Finally, waveforms are selected that occupy band combinations from the second group and have desired factors such as simultaneous or sequential transmission, a desired order of sequential transmission, and/or a desired modulation of the individual bands. Multiple simultaneous transmissions can share a set of bands, and individual transmitters can employ different modulating waveforms with good cross-correlation. In embodiments, waveforms having 4-6 bands provide a SNR threshold only 6-9 dB lower than conventional waveforms.

Abstract: In an object detection apparatus, a first region definition unit defines a first object region including a first detection point representing a relative position of a first object detected by a millimeter-wave radar with respect to a reference point in an XY-plane. An X-axis direction of the XY-plane is a vehicle widthwise direction, and a Y-axis direction of the XY-plane is a vehicle lengthwise direction. A second region definition unit defines a second object region including a second detection point representing a relative position of a second object detected based on a captured image with respect to the reference point. A region size modification unit modifies the size of the first region in the presence of axial misalignment of the radar. A determination unit determines that the first and second objects are the same if there is an overlap of the first and second object regions in the XY-plane.

Abstract: Systems and methods can support a computational signal processing architecture for electromagnetic signature analysis and threat detection. A plurality of sensor antennas can couple a radio frequency signal into a radio receiver. The radio receiver can generate digital samples of the signal. A raw signal analysis engine can identify signal features within the digital samples, generate signal feature vectors from the identified signal features, decode signal content from the signal feature vectors, and transmit the signal feature vectors into a signal feature network. The signal feature vectors may be aggregated from the signal feature network into a signal aggregation and analysis engine. The signal aggregation and analysis engine can refine feature vectors through processing such as identifying wireless attacks according to the signal features within the signal feature vectors. One or more operator interfaces and one or more analysis databases may support these operations.

Abstract: A self-localizing apparatus uses timestampable signals transmitted by transceivers that are a part of a distributed localization system to compute its position relative to the transceivers. Transceivers and self-localizing apparatuses are arranged for highly accurate timestamping using digital and analog reception and transmission electronics as well as one or more highly accurate clocks, compensation units, localization units, position calibration units, scheduling units, or synchronization units. Transceivers and self-localizing apparatuses are further arranged to allow full scalability in the number of self-localizing apparatuses and to allow robust self-localization with latencies and update rates useful for high performance applications such as autonomous mobile robot control.

Abstract: A method, device, system and use for determining a distance, location and/or orientation including the at least relative determination of a position of at least one object using at least two active anchors. A first signal is emitted by a first of the two anchors and is received at the object and by a second of said two anchors. A phase measurement is performed at said second anchor and wherein a distance determination with respect to said first anchor is performed and/or the distance from said first anchor to said second anchor is known. A second, particularly electromagnetic, signal is emitted from said second anchor, and information on phase measurement and distance between said first and second anchors is made available to a computation unit and at least one phase measurement respectively of said first and second signal is performed at said object and made available to said computation unit.

Abstract: Systems, methods, apparatuses and computer-readable storage media for navigating an unmanned aerial vehicle (UAV) using signals of opportunity are disclosed. The UAV may include a receiver for detecting a plurality of signals at two or more receiver elements. The UAV may estimate an angle of arrival (AoA) for at least two signals of the plurality of signals, and may estimate a position of the receiver based, at least in part, on the AoA for each of the at least two signals. Known locations of the transmitters that are transmitting the at least two signals may be used in conjunction with the AoAs to determine the estimate of the position of the receiver. More than two signals may be used to localize the estimated position of the receiver.

Abstract: Power control for a radar system issues power draw commands to each array in the radar system. Each power draw command controls direct current (DC) power draw by the respective radar array on a dwell-by-dwell basis, based on total energy resources (including stored energy) available to the respective array at the start of a dwell period, a power spend rate expected for the respective array during the dwell period, and a rate of “waste” power set to be dispersed to reduce excess power at the respective array during the dwell period. In determining power draw for an array, the power control takes into account a predetermined number of future dwell periods and any transmit and/or receive tasks scheduled for such periods. If necessary to maintain less than a predetermined ripple on total DC power drawn from a source of the DC power by the radar system, the power control adjusts a duration of empty dwell periods within the dwell schedule for one or more of the arrays.

Abstract: In a frequency-modulated continuous-wave radar processing system and method, a linear frequency ramp signal is defined. The linear ramp signal is divided into a plurality of time sections. The sections of the linear ramp signal are rearranged in time such that the plurality of sections define a transmit control signal different than the linear ramp signal. A radar transmission signal is generated having a frequency varying with time according to the transmit control signal, and the radar transmission signal is transmitted into the region of interest. An intermediate frequency (IF) signal is generated using the radar transmission signal and radar receive signals received from the region of interest, a frequency of the IF signal being a difference between the frequency of the radar transmission signal and a frequency of the radar receive signals. The IF signal is low-pass filtered. Radar processing is performed on the low-pass-filtered IF signal.

Abstract: A device comprising: a housing mountable on a back surface of a handheld electronic device; a radar coupled with the housing, the radar comprising: (a) a receiver unit comprising at least one receiving antenna element; (b) a transmitter unit comprising at least one transmitting antenna element; an integrated circuit (IC) module; and an interface unit configured to operatively couple the radar with the handheld electronic device.

Abstract: A radar system for a vehicle includes a transmitter and a receiver. The transmitter transmits an amplified and frequency modulated radio signal. Each transmitter comprises a frequency generator, a code generator, a modulator, a constant-envelope power amplifier, and an antenna. The frequency generator generates the radio signal with a desired center frequency. The code generator generates a sequence of chips at a selected chiprate. A modulation interval between successive chips is a reciprocal of the chiprate. The modulator frequency modulates the radio signal using shaped frequency pulses. The shaped frequency pulses correspond to a first signal, the frequency of which deviates from the desired center frequency during each of the modulation intervals according to a selected pulse shape. The selected pulse shape is determined by the generated sequence of chips. The constant-envelope power amplifier amplifies the frequency modulated radio signal at a desired transmit power level.

Abstract: Reduction in interference between different time of flight (ToF) cameras used for depth measurements and operating in the same application environment is achieved using a spread spectrum technique in which the cyclical operations of a pulsed light source such as a laser or light emitting diode (LED) and gated image sensor are varied in a pseudo-random manner in each camera. In an alternative embodiment, spread spectrum logic is applied in a ToF camera that employs phase modulation techniques.

Abstract: A calibration method includes forming an external optical path, forming an internal optical path, and conducting a phase comparison between the second part of signals of the internal and external optical paths sequentially received by a second receiving device and the first part of signals of the internal and external optical paths sequentially received by a first receiving device. Two-way phase signals are outputted with part of a base reference being eliminated. Phase comparison is conducted again between the two-way signals with part of the base reference being eliminated, and the final phase signal is outputted with the base reference being eliminated. The distance-measuring device includes a transmitting device, first reflective surface, first and second receiving devices, first and second filters, and a phase detector.

Abstract: Some embodiments of the invention relate to a laser tracker for determining the position of a target, comprising a beam source for generating measurement radiation; a base; a beam deflection unit which can pivot with respect to the base ?4° C. about two axes in a motorized manner, for the emission and alignment of the measurement radiation and to capture at least one part of the measurement radiation reflected onto the target; a first position-sensitive surface detector and an evaluation and control unit for determining a point of impact of the reflected measurement on the surface detector for generating an output signal in order to determine the position of said target. Said laser tracker also comprises a calibration device for use with a self calibrating function to determine the calibration parameters thereof with respect to a position and/or direction of the measurement radiation.

Abstract: A method for determining a position of an emitter relative to a plurality of receivers is provided. The method includes emitting first and second signals at the emitter and receiving the first and second signals at each receiver of the plurality of receivers. The method also includes steps for establishing a first detected wave of the second signal as a lost wave or a gained wave for each receiver of the plurality of receivers. Detecting lost and gained waves assists with increasing the accuracy of a calculated location of the emitter relative to the plurality of receivers.

Abstract: Position and orientation tracking systems and methods include a transmitting antenna transmitting a radio frequency (RF) signal. At least one receiving antenna acquires the RF signal. One of the at least one receiving antenna and the transmitting antenna is designated a reference antenna. A processing unit determines a phase difference between the RF signal received by each receiving antenna and the reference antenna. The processing unit computes a position of the transmitting antenna with respect to the at least one receiving antenna in response to the phase difference determined for each receiving antenna.

Abstract: A method is provided for transmitting a plurality of narrowband signals in estimating a Doppler shift of a target object. The method includes simultaneously transmitting at least two narrowband signals from a source and receiving incident signals at a receiver. Multiple narrowband signals can be sent simultaneously and in combination with broadband signals from a source. The incident signals are filtered and processed to determine range and Doppler shift of the target.

Abstract: Embodiments of the invention are directed to a method of determining underground liquid (e.g., water) content. Embodiments of the method may include: receiving a scan of an area at a first polarization, the scan scans including first L band microwave reflections from the area. Embodiments of the invention may include receiving an optical data at a wavelength of 1 millimeter to 10 nanometers. Embodiments of the method may further include filtering electromagnetic noise from the scan using the optical data. Embodiments of the method may further include creating a water roughness map based on typical roughness values of various types of water sources and the filtered scan, identifying a first type of water sources using the water roughness map and the filtered scan and calculating the water content at locations in the area based on the identified first type of water sources.

Abstract: A radar system has different modes of operation. In one mode the radar operates as a single-input, multiple-output (SIMO) radar system utilizing one transmitted signal from one antenna at a time. Codes with known excellent autocorrelation properties are utilized in this mode. At each receiver the response after correlating with various possible transmitted signals is measured in order to estimate the interference that each transmitter will represent at each receiver. The estimated effect of the interference from one transmitter on a receiver that correlates with a different code is used to mitigate the interference. In another mode, the radar operates as a MIMO radar system utilizing all the antennas at a time. Interference cancellation of the non-ideal cross correlation sidelobes when transmitting in the MIMO mode are employed to remove ghost targets due to unwanted sidelobes.

Abstract: Methods and devices are disclosed for assisting a driver of a first vehicle where a second vehicle is detected by a sensor of the first vehicle and a driver of the first vehicle is informed that the second vehicle is at the side of the first vehicle when the second vehicle leaves an area monitored by the sensor, the area monitored by the sensor being an area behind the first vehicle.

Abstract: Provided is a technology which is able to detect an object with high accuracy. A signal processing apparatus 1 includes a generating unit 2 and a detecting unit 3. The generating unit 2 includes a function of generating, as a transmitting signal, a modulation wave whose frequency changes non-repetitively. The detecting unit 3 includes a function of fetching the transmitting signal and a receiving signal which is received by a receiving means that can receive a reflection signal generated when the transmitting signal is reflected by an object. The detecting unit 3 includes a function of detecting at least one of presence of the object, distance to the object, and moving speed of the object, based on correlation between the receiving signal and the transmitting signal.

Abstract: Examples are disclosed herein that relate to depth imaging techniques using ultrasound One example provides an ultrasonic depth sensing system configured to, for an image frame, emit an ultrasonic pulse from each of a plurality of transducers, receive a reflection of each ultrasonic pulse at a microphone array, perform transmit beamforming and also receive beamforming computationally after receiving the reflections, form a depth image, and output the depth image for the image frame.

Abstract: A method and apparatus for generating a depth value corresponding to a subject by using a depth camera includes dividing a predetermined time section into n sub-time sections in order to measure the depth value, acquiring a voltage value corresponding to the amount of light reflected from the subject in each sub-time section, by using at least one photodiode included in the depth camera, quantizing the voltage value to any one level among predetermined levels, on the basis of the acquired n voltage values, and outputting the quantized value.

Abstract: An approach is provided for acquiring both depth and surface normal of an object using a time-of-flight sensor with multiple distributed light sources. The approach involves causing, at least in part, at least one sequential illumination of at least one object by a plurality of distributed light sources associated with a time-of-flight sensor. The approach also involves causing, at least in part, a capturing of reflected light intensity data using the time-of-flight sensor during the at least one sequential illumination. The approach further involves processing and/or facilitating a processing of the reflected light intensity data to determine at least one depth, at least one surface normal, or a combination thereof of the at least one object.

Abstract: A device for measuring a distance of a target by means of a telemeter comprises: a laser pulse emitter; a receiver of the laser echoes backscattered by the target, comprising, a spatial detection device which comprises at least one photodiode set up as integrator and is able to provide a spatial signal, and a temporal detection device which comprises at least one photodiode coupled to a transimpedance circuit and is able to provide a so-called temporal signal, means of processing of the spatial signal and of the temporal signal, comprising a unit for calculating the distance of the target, the temporal signal being in the form of a data frame which is the recording of data detected over a predetermined duration.

Abstract: A method of localizing transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is moving. Further data is received (404), that data being obtained from a second ranging sensor device (204) of the transportable apparatus configured to collect information relating to at least a surface (218) over which the transportable apparatus is moving. The ranging sensor device data is used (406) to estimate linear and rotational velocities of the transportable apparatus and the estimates are used (408) to generate a new 3D point cloud (212) of the environment. The method seeks to match (412) the new 3D point cloud with, or within, existing 3D point cloud (216) in order to localize the transportable apparatus with respect to the existing point cloud.

Abstract: An object detecting apparatus includes an emission unit that emits measurement light to a monitoring area in a travelling direction a vehicle, the monitoring area being widened radially in a vehicle width direction; a photoreceptor unit that receives reflected light of the measurement light from a plurality of directions in the monitoring area; a detection unit that detects a distance to an object in each direction in the monitoring area, based on a time difference from emission of the measurement light to reception of the reflected light; and a determination unit that identifies the object detected by the detection unit. The determination unit determines whether there is a probability of the detected object being a hill, based on a change of the detected distance in the vehicle width direction among the directions in the monitoring area.

Abstract: A method for localizing a terminal includes transmitting the signal by the terminal; receiving the signal by a first and a second satellite; transmitting the signal from each satellite to a receiving station; demodulating the signal received by the first satellite to determine a signal content and the time of arrival of the signal transmitted by the terminal at the receiving station via the first satellite; determining the time of arrival of the signal transmitted by the terminal at the receiving station via the first and second satellite; determining a position for the terminal by triangulation.

Abstract: This invention relates to methods and devices for bias estimation and correction, particularly for time-of-arrival (TOA) based wireless geolocation systems. Multipath and non-line-of-sight (NLOS) biases can cause distance estimation errors in the range of tens-hundreds of meters and is particularly problematic in urban and indoor environments. The behavior of the biases dynamically changes depending on the clutter and/or obstructions between the base station and the mobile device. Aspects of the present invention provide practical real-time bias estimation and correction techniques for TOA-based systems and are based on inferring and estimating the biases from dynamic time differential measurements. The techniques can operate in real-time and involve simple calculations.

Abstract: GBAS includes reference receivers, processing module, and communication device. Processing module checks GNSS satellite measurements to determine proximity of GNSS satellite measurement's IPP to IGPs derived from SBAS geostationary satellites. Processing module determines that GNSS satellite measurement is safe for mitigation using overbounded Vertical Ionosphere Gradient standard deviation sigma-vig (?vig) when IGPs possess acceptable GIVE values. Processing module determines whether number of GNSS satellite measurements determined safe for mitigation using ?vig are able to produce VPL that meets VAL required for precision approach.

Abstract: A communications system includes a GPS receiver that receives GPS position data and GPS correction data, a mobile device having a first transceiver and an adapter coupled to the GPS receiver and having a second transceiver and a voltage regulator. The mobile device accesses RTK correction data over a cellular network using a current GPS position and processes the RTK correction data. The second transceiver of the adapter receives the RTK correction data over a wireless signal sent by the first transceiver of the mobile device. The adapter converts the RTK correction data so that the RTK correction data is receivable by a serial port on the GPS receiver that the adapter is coupled and the voltage regulator derives power from the GPS receiver to power the adapter.

Abstract: Techniques for GNSS positioning using three-dimensional (3D) building models are described. A processor of a mobile device can determine a lower bound of uncertainty for an estimated position of the mobile device. The processor can receive an estimated position from a GNSS receiver of the mobile device. The processor can acquire geographic feature data including 3D building models of buildings and other geographic features that are located near the estimated position and may reflect GNSS signals. The processor can then determine a lower bound of uncertainty of the estimated position, regardless of an estimated uncertainty provided by a GNSS estimator. The lower bound can be higher (e.g., have a greater error margin) than the uncertainty value provided by the GNSS estimator. The processor can then present the estimated position, in association with an error margin corresponding to the lower bound of uncertainty, on a map user interface of the mobile device.

Abstract: A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface, such as an agricultural spray boom over a crop field. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control processor. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed. Further disclosed is a work order management system and method, which can be configured for controlling the operation of multiple vehicles, such as agricultural sprayers each equipped with GNSS-based spray boom height control subsystems. The sprayers can be remotely located from each other on multiple crop fields, and can utilize GNSS-based, field-specific terrain models for controlling their spraying operations.