First navigation with wireless muometric navigation system (MuWNS) in indoor and underground environments

•MuWNS enables indoor and underground navigation•MuWNS has been developed demonstrated for the first time•Accuracy of prototype exceeded GPS single-point positioning Navigation in environments extensively studied to realize automation home, hospital, office, factory mining services, various techniques have proposed its implementation. By utilizing relativistic penetrative nature cosmic-ray muons, a completely new wireless navigation technique called muometric system (MuWNS) was developed. This paper shows results world’s physical demonstration MuWNS used on basement floor inside building navigate (a person) an area where global satellite (GNSS)/ (GPS) signals cannot reach. The resultant accuracy comparable or better than attainable with GNSS/GPS urban areas. With further improvements stability local clocks timing, it is anticipated that can be adapted improve autonomous mobile robot as well other underwater practical applications. 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(muPS) invented originally envisioned ideally suited detect seafloor deformation caused submarine volcanism plate tectonics.18Tanaka principle similar GNSS/GPS-based technique, derives receiver’s within coordinates defined multiple detectors instead satellites solving following 4-fold equation:L2i=(xi−xp)2+(yi−yp)2+(zi−zp)2+s2(Equation 1) xi, yi, zi positions detectors, xp, yp, zp receiver detector, s (= cΔt) pseudo-length comes offset detector. connected wires attain centimeter scale. due cable strain entanglement risks, inherently limits mobility detectors; therefore, applicable accurate slow-moving deformation. designed risks make flexible adaptable wider-range applications.19Tanaka Cables connecting capability useful cases. For mentioned previously, adapts remote-controlled robots. (either wireless), limited rate. MuWNS, (instead wires) clock’s intrinsic jitter drift added degradation factor affecting We assume signal arrives same so equations Equation 1 solved derive four parameters (x, y, z, Δt). On hand, open-sky ∼102 m−2s−1sr−1 experiments, any strong level associated clocks, (namely, Δt varies time) equation longer applicable. Tanaka19Tanaka numerically modeled oven-controlled-crystal-oscillator-based (OCXO-based) found fluctuate between 10 m, depending size, surrounding material density. shallow environments, solid angles (Ω 2) formed large, high-frequency could given-sized detector; hence frequent clock calibration frequently 1. effect continuously corrected; attainable. deeper addition smaller angles, reduced. significantly reduced; calibrated, leading lower determined amount existing Assuming fully packed rock, ∼1 ∼10 soil thickness thinner 15 100 respectively.19Tanaka Most faster water. 90% sea energies above 700 MeV. 0.99c kind media (disregarding issues electronics, clocks) underground/underwater techniques. work, goal design real-life targeted expected dual receiver,37Angrisano Gaglione Gioia Adaptive measurement noise performance single point dense environment.Acta Geod. 2013; 48: 149-161Google compared relative positioning, efficient, fast (an sampling rate Hz) low cost (<1,000 US dollars), navigation. step bearing mind GNSS/GPS, aimed m. reports real-world simple. three-dimensional derived (Figure 1A). condition assumption values all t) among equations; otherwise four-fold do hold. reasonable only x, t change required collecting tracks. unlike signals, spatiotemporally dispersed, arrive sporadically, namely, time. (N) detected both function (Ω) detectors. If (dS) (Li) given, (dΩ) 1B) approximated as:dΩ∼dSLiLi−2fordS≪LiLi2(Equation Therefore, (tmin) minimum tracks (four tracks) be:tmin-1=kIμ Li3D-2(Equation 3) Iμ flux, k reduction muon’s transmission given by:k=[∫Ec∞I(E,θ)dE][∫0∞I(E,θ)dE]−1(Equation 4) sizes m2, 30 then tmin s. navigatee travels walking (1 ms−1), (10 s) generates m; conversely, fluctuates ns s, uncertainty suppress frequency, set half regular (0.5 sixth chosen locations Four were placed (green filled circles Figure 1A), labeled first, second, third, fourth (see configuration 1-4 24 ground 20 consists components: grandmaster (GMC) (Trimble Thunderbolt PTP GM200),38Trimble THUNDERBOLT GM200 IEEE-1588 GRANDMASTER CLOCK NTP TIME SERVER.https://infocom.haradacorp.co.jp/wp/wp-content/uploads/2020/05/%E3%80%90GM200%E3%80%91UserGuide_v1.6.0.0.pdfDate: 2020Google electronics. block diagram shown 2. comprise included × 1m2 square-shaped plastic scintillators 2 cm photomultiplier tubes (PMTs) (Hamamatsu R7724) corner via acrylic unit. redundant PMT attached reduce accidental coincidence rate, originates PMT’s dark current. GMC component GMCs (GMC1 GMC2) flight (TOF) GMC1 GMC2 (multi-constellation GPS/GLONASS/Beidou/Galileo/QZSS) OCXO OCXO) adjustment holdover function. corrects OCXO’s real (See 2A). data "holding-over" timing cut off antenna. operate antenna mode, connected. 3 time-dependent GMC’s after cutoff phase mode Method section experimental setup collect data). electronics consist high-voltage (HV) supplies, discriminators, scaler digital converter (TDC). TDC 27 ps.18Tanaka Single count rates Hz. HV PMTs, discriminators binarizing outputs. pulses outputted GMC, measures difference pulse More specifically, fed measure output value nT, n counted start measurement, T period pulses. divided fan-out circuit signal. discriminated stop Δt, TDC. transferred field programmable gate array (FPGA) merge consequence, nT + indicates zero resetting necessity explained follows. Even though antennas, independent identical times variations z