Gérard Lachapelle

Bio: Gérard Lachapelle is an academic researcher from University of Calgary. The author has contributed to research in topics: Global Positioning System & GNSS applications. The author has an hindex of 49, co-authored 540 publications receiving 11163 citations. Previous affiliations of Gérard Lachapelle include Department of National Defence & University of Oxford.

GPS Vulnerability to Spoofing Threats and a Review of Antispoofing Techniques

Abstract: Article deposited according to Hindawi Publishing Corporation policy for the International Journal of Navigation and Observation: http://www.hindawi.com/journals/ijno/guidelines/, August 22, 2012.

Wireless location system

Abstract: The position of a Wireless Transceiver (WT) is estimated using the Time Of Arrival (TOA) at several Monitoring Sites (MS) of the signal transmitted by the WT. Several sites are used to solve for the coordinates of the WT using hyperbolic trilateration. A time reference is used to synchronize the Monitoring Sites (MS). Super-Resolution (SR) techniques are applied to increase the resolution of the TOA estimate obtained via correlation of the received signal at each MS. SR techniques can improve the TOA resolution substantially.

Complete Triaxis Magnetometer Calibration in the Magnetic Domain

Abstract: Article deposited according to Hindawi Publishing Corporation policy in SHERPA/RoMEO, June 14, 2011.

Foot mounted inertial system for pedestrian navigation

Abstract: This paper discusses algorithmic concepts, design and testing of a system based on a low-cost MEMS-based inertial measurement unit (IMU) and high-sensitivity global positioning system (HSGPS) receivers for seamless personal navigation in a GPS signal degraded environment. The system developed here is mounted on a pedestrian shoe/foot and uses measurements based on the dynamics experienced by the inertial sensors on the user's foot. The IMU measurements are processed through a conventional inertial navigation system (INS) algorithm and are then integrated with HSGPS receiver measurements and dynamics derived constraint measurements using a tightly coupled integration strategy. The ability of INS to bridge the navigation solution is evaluated through field tests conducted indoors and in severely signal degraded forest environments. The specific focus is on evaluating system performance under challenging GPS conditions.

Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users

Abstract: Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new generation of smartphones. Thanks to their reduced size, reduced power consumption, MEMS sensors can be embedded in above mobile devices for increasing their functionalities. However, MEMS cannot allow accurate autonomous location without external updates, e.g., from GPS signals, since their signals are degraded by various errors. When these sensors are fixed on the user's foot, the stance phases of the foot can easily be determined and periodic Zero velocity UPdaTes (ZUPTs) are performed to bound the position error. When the sensor is in the hand, the situation becomes much more complex. First of all, the hand motion can be decoupled from the general motion of the user. Second, the characteristics of the inertial signals can differ depending on the carrying modes. Therefore, algorithms for characterizing the gait cycle of a pedestrian using a handheld device have been developed. A classifier able to detect motion modes typical for mobile phone users has been designed and implemented. According to the detected motion mode, adaptive step detection algorithms are applied. Success of the step detection process is found to be higher than 97% in all motion modes.

I and i

Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

Soil Sampling and Methods of Analysis

Abstract: SOIL SAMPLING AND HANDLING, G.T. Patterson and M.R. Carter Soil Sampling Designs, D. Pennock, T. Yates, and J. Braidek Sampling Forest Soils, N. Belanger and K.C.J. Van Rees Measuring Change in Soil Organic Carbon Storage, B.H. Ellert, H.H. Janzen, A.J. VandenBygaart, and E. Bremer Soil Sample Handling and Storage, S.C. Sheppard and J.A. Addison Quality Control in Soil Chemical Analysis, C. Swyngedouw and R. Lessard DIAGNOSTIC METHODS for SOIL and ENVIRONMENTAL MANAGEMENT, J.J. Schoenau and I.P. O'Halloran Nitrate and Exchangeable Ammonium Nitrogen, D.G. Maynard, Y.P. Kalra, and J.A. Crumbaugh Mehlich 3 Extractable Elements, N. Ziadi and T. Sen Tran Sodium Bicarbonate Extractable Phosphorus, J.J. Schoenau and I. P. O'Halloran Boron, Molybdenum and Selenium, G. M. Hettiarachchi and U. C. Gupta Trace Element Assessment, W.H. Hendershot, H. Lalande, D. Reyes, and D. MacDonald Readily Soluble Aluminum and Manganese in Acid Soils, Y.K. Soon, N. Belanger, and W.H. Hendershot Lime Requirement, N. Ziadi and T. Sen Tran Ion Supply Rates Using Ion Exchange Resins, P. Qian, J.J. Schoenau, and N. Ziadi Environmental Soil Phosphorus Indices, A.N. Sharpley, P.J.A. Kleinman and J.L. Weld Electrical Conductivity and Soluble Ions, J.J. Miller and D. Curtin SOIL CHEMICAL ANALYSES, Y.K. Soon and W.H. Hendershot Soil Reaction and Exchangeable Acidity, W.H. Hendershot, H. Laland,e and M. Duquette Collection and Characterization of Soil Solutions, J.D. MacDonald, N. Belanger, S. Sauve, F. Courchesne, and W.H. Hendershot Ion Exchange and Exchangeable Cations, W.H. Hendershot, H. Lalande, and M. Duquette Non-Exchangeable Ammonium, Y.K. Soon and B.C. Liang Carbonates, T.B. Goh and A.R. Mermut Total and Organic Carbon, J.O. Skjemstad and J.A. Baldock Total Nitrogen, P.M. Rutherford, W.B. McGill, C.T. Figueiredo, and J.M. Arocena Chemical Characterization of Soil Sulphur, C.G. Kowalenko and M. Grimmett Total and Organic Phosphorus, I.P. O'Halloran and B.J. Cade-Menum Characterization of Available P by Sequential Extraction, H. Tiessen and J.O. Moir Extractable Al, Fe, Mn, and Si, F. Courchesne and M.C. Turmel Determining Nutrient Availability in Forest Soils, N. Belanger, David Pare, and W.H. Hendershot Chemical Properties of Organic Soils, A. Karam SOIL BIOLOGICAL ANALYSES, E. Topp and C.A. Fox Cultural Methods for Soil and Root Associated Microorganisms, J.J. Germida and J.R. de Freitas Arbuscular Mycorrhiza, Y. Dalpe and C. Hamel Root Nodule Bacteria and Symbiotic Nitrogen Fixation, D. Prevost and H. Antoun Microarthropods, J.P Winter and V.M. Behan-Pelletier Nematodes, T.A. Forge and J. Kimpinski Earthworms, M.J. Clapperton, G.H. Baker and C.A. Fox Enchytraeids, S.M. Adl Protozoa, S.M. Adl, D. Acosta-Mercado, and D.H. Lynn Denitrification Techniques for Soils, C.F. Drury, D.D. Myrold, E.G. Beauchamp, and W.D.Reynolds Nitrification Techniques in Soil Systems, C.F. Drury, S.C. Hart, and X.M. Yang Substrate-Induced Respiration and Selective Inhibition as Measures of Microbial Biomass in Soils, V.L. Bailey, J.L. Smith, and H. Bolton Jr. Assessment of Soil Biological Activity, R.P.Beyaert and C.A. Fox Soil ATP, R.P. Voroney, G. Wen, and R.P. Beyaert Lipid-Based Community Analysis, K.E. Dunfield Bacterial Community Analyses by Denaturing Gradient Gel Electrophoresis (DGGE), E. Topp, Y.-C. Tien, and A. Hartmann Indicators of Soil Food Web Properties, T.A. Forge and M. Tenuta SOIL ORGANIC MATTER ANALYSES, E.G. Gregorich and M.H. Beare Carbon Mineralization, D.W. Hopkins Mineralizable Nitrogen, Denis Curtin and C.A. Campbell Physically Uncomplexed Organic Matter, E.G. Gregorich and M.H. Beare Extraction and Characterization of Dissolved Organic Matter, M.H. Chantigny, D.A. Angers, K. Kaiser, and K. Kalbitz Soil Microbial Biomass C, N, P and S, R.P. Voroney, P.C. Brookes, and R.P. Beyaert Carbohydrates, M.H. Chantigny and D.A. Angers Organic Forms of Nitrogen, D.C. Olk Soil Humus Fractions, D.W. Anderson and J.J Schoenau Soil Organic Matter Analysis by Solid-State 13C Nuclear Magnetic Resonance Spectroscopy, M. J. Simpson and C. M. Preston Stable Isotopes in Soil and Environmental Research, B.H. Ellert and L. Rock SOIL PHYSICAL ANALYSES, D.A. Angers and F.J. Larney Particle Size Distribution, D. Kroetsch and C. Wang Soil Shrinkage, C.D. Grant Soil Density and Porosity, X. Hao, B.C. Ball, J.L.B. Culley, M.R. Carter, and G.W. Parkin Soil Consistency: Upper and Lower Plastic Limits, R.A. McBride Compaction and Compressibility, P. Defossez, T. Keller and G. Richard Field Soil Strength, G.C. Topp and D.R. Lapen Air Permeability, C.D. Grant and P.H. Groenevelt Aggregate Stability to Water, D.A. Angers, M.S. Bullock, and G.R. Mehuys Dry Aggregate Size Distribution, F.J. Larney Soil Air, R.E. Farrell and J.A. Elliott Soil-Surface Gas Emissions, P. Rochette and N. Bertrand Bulk Density Measurement in Forest Soils, D.G. Maynard and M.P. Curran Physical Properties of Organic Soils and Growing Media: Particle Size and Degree of Decomposition, L.E. Parent and J. Caron Physical Properties of Organic Soils and Growing Media: Water and Air Storage and Flow Dynamics, J. Caron, D.E. Elrick, J.C. Michel, and R. Naasz SOIL WATER ANALYSES, W.D. Reynolds and G.C. Topp Soil Water Analyses: Principles and Parameters, W.D. Reynolds and G.C. Topp Soil Water Content, G.C. Topp, G.W. Parkin, and Ty P.A Ferre Soil Water Potential, N.J. Livingston and G.C. Topp Soil Water Desorption and Imbibition: Tension and Pressure Techniques, W.D. Reynolds and G.C. Topp Soil Water Desorption and Imbibition: Long Column, W.D. Reynolds and G.C. Topp Soil Water Desorption and Imbibition: Psychrometry, W.D. Reynolds and G.C. Topp Saturated Hydraulic Properties: Laboratory Methods, W.D. Reynolds Saturated Hydraulic Properties: Well Permeameter, W.D. Reynolds Saturated Hydraulic Properties: Ring Infiltrometer, W.D. Reynolds Saturated Hydraulic Properties: Auger-Hole, G.C. Topp Saturated Hydraulic Properties: Piezometer, G.C. Topp Unsaturated Hydraulic Properties: Laboratory Tension Infiltrometer, F.J. Cook Unsaturated Hydraulic Properties: Laboratory Evaporation, O.O. B. Wendroth and N. Wypler Unsaturated Hydraulic Properties: Field Tension Infiltrometer, W.D. Reynolds Unsaturated Hydraulic Properties: Instantaneous Profile, W.D. Reynolds Estimation of Soil Hydraulic Properties, F.J. Cook and H.P. Cresswell Analysis of Soil Variability, B.C. Si, R.G. Kachanoski, and W.D. Reynolds APPENDIX Site Description, G.T. Patterson and J.A. Brierley General Safe Laboratory Operation Procedures, P. St-Georges INDEX

Computer vision : a modern approach = 计算机视觉 : 一种现代的方法

Abstract: From the Publisher: The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

Global Positioning System: Signals, Measurements, and Performance

Abstract: The Global Positioning System (GPS) is a satellite-based navigation and time transfer system developed by the U.S. Department of Defense. It serves marine, airborne, and terrestrial users, both military and civilian. Specifically, GPS includes the Standard Positioning Service (SPS) which provides civilian users with 100 meter accuracy, and it serves military users with the Precise Positioning Service (PPS) which provides 20-m accuracy. Both of these services are available worldwide with no requirement for a local reference station. In contrast, differential operation of GPS provides 2- to 10-m accuracy to users within 1000 km of a fixed GPS reference receiver. Finally, carrier phase comparisons can be used to provide centimeter accuracy to users within 10 km and potentially within 100 km of a reference receiver. This advanced tutorial will describe the GPS signals, the various measurements made by the GPS receivers, and estimate the achievable accuracies. It will not dwell on those aspects of GPS which are well known to those skilled in the radio communications art, such as spread-spectrum or code division multiple access. Rather, it will focus on topics which are more unique to radio navigation or GPS. These include code-carrier divergence, codeless tracking, carrier aiding, and narrow correlator spacing.

Estimation of IMU and MARG orientation using a gradient descent algorithm

Abstract: This paper presents a novel orientation algorithm designed to support a computationally efficient, wearable inertial human motion tracking system for rehabilitation applications. It is applicable to inertial measurement units (IMUs) consisting of tri-axis gyroscopes and accelerometers, and magnetic angular rate and gravity (MARG) sensor arrays that also include tri-axis magnetometers. The MARG implementation incorporates magnetic distortion compensation. The algorithm uses a quaternion representation, allowing accelerometer and magnetometer data to be used in an analytically derived and optimised gradient descent algorithm to compute the direction of the gyroscope measurement error as a quaternion derivative. Performance has been evaluated empirically using a commercially available orientation sensor and reference measurements of orientation obtained using an optical measurement system. Performance was also benchmarked against the propriety Kalman-based algorithm of orientation sensor. Results indicate the algorithm achieves levels of accuracy matching that of the Kalman based algorithm; < 0.8° static RMS error, < 1.7° dynamic RMS error. The implications of the low computational load and ability to operate at small sampling rates significantly reduces the hardware and power necessary for wearable inertial movement tracking, enabling the creation of lightweight, inexpensive systems capable of functioning for extended periods of time.