Jan Kenneth Bekkeng

• Thio, Vincent Martello Kwie Hoe; Aparicio, Joaquin; Ånonsen, Kjetil Bergh & Bekkeng, Jan Kenneth (2021). Experimental Evaluation of the Forkbeard Ultrasonic Indoor Positioning System. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. doi: 10.1109/TIM.2021.3136261. Full text in Research Archive Show summary

  Indoor positioning systems are crucial to provide location based services in areas that are not covered by a Global Navigation Satellite System. Among the many technologies applied to this field, ultrasound has emerged as a potential low-cost, high-accuracy approach to positioning based on trilateration. Several ultrasonic systems have been proposed over the years. Of these, academic systems are typically prototypes that are unavailable to the public, whereas commercial systems generally do not provide characterization test results. In this work, we have conducted a detailed characterization study of a commercial indoor positioning system for smart devices developed by Forkbeard Technologies AS. We tested the system under static and dynamic conditions in a motion capture lab of approximately 150 m2. We considered different room occupancies, beacon configurations, and device positions. The results, given in terms of 2D absolute errors at different confidence levels, show great variation depending on the aforementioned conditions. The worst case scenario corresponds to a pedestrian in motion in an office setup with 4 beacons, with the phone placed in the pocket. In this case, 80% of the errors were below 143 cm. The best results were obtained under static conditions using 10 beacons, for which 80% of the errors were below 44 cm.

• Thio, Vincent Martello Kwie Hoe; Aparicio, Joaquin; Ånonsen, Kjetil Bergh; Bekkeng, Jan Kenneth & Booij, Wilfred (2021). Fusing of a continuous output PDR algorithm with an ultrasonic positioning system. IEEE Sensors Journal. ISSN 1530-437X. doi: 10.1109/JSEN.2021.3134468. Full text in Research Archive Show summary

  The availability of inertial navigation sensors in smartphones has facilitated the development of pedestrian dead reckoning (PDR) models on a large scale. These models often consist of a step detection algorithm combined with a heading estimation routine. Common approaches to step detection include searching for peaks/valleys in the acceleration signal, principle frequency estimation, and machine learning techniques. Since the sensors embedded in smart devices are prone to noise, the position error grows unbounded if unchecked and requires periodical corrections based on external measurements. In this work, we propose a novel step detection algorithm based on sine-wave approximation of the acceleration signal. This method detects step fractions as well as full steps, which allows for continuous and real-time updates. The step detection algorithm is combined with a heading estimation routine described in our previous work to obtain a stand-alone PDR model. To mitigate error accumulation, we fuse the proposed model with position and heading measurements provided by a commercial indoor positioning system based on ultrasound. We evaluate the performance of the PDR and fused model in an open office environment, by walking along a trajectory while carrying a smartphone in hand or in the pocket. The results demonstrate the feasibility of the sine-wave approximation approach to step detection, as well as the expected benefits of fusing PDR with the ultrasonic system.

• Thio, Vincent; Ånonsen, Kjetil Bergh & Bekkeng, Jan Kenneth (2021). Relative Heading Estimation for Pedestrians Based on the Gravity Vector. IEEE Sensors Journal. ISSN 1530-437X. doi: 10.1109/JSEN.2021.3052430. Full text in Research Archive Show summary

  Inertial navigation of pedestrians carrying a smart device is a core component of many indoor positioning systems. While infrastructure-based solutions typically depend on an installation of dedicated hardware, inertial navigation depends only on sensors embedded in the device itself. A single solution can thus be applied to a large range of use cases. This work focuses on one of the main challenges in inertial navigation: user heading estimation. We describe a complete statistical model for heading estimation based on the IMU and magnetometer, assuming a fixed device pose on the pedestrian. Our aim is to provide a stand-alone solution, suitable for direct implementation into a larger positioning framework. The method consists of two consecutive parts. The first focuses on gravity vector estimation based on IMU data. We describe a method for obtaining independent estimates under dynamic conditions, thereby removing the quasi-static initialization phase required by conventional methods. The second part combines the gravity vector with gyro and magnetic measurements to estimate user heading. The proposed method is tested against a motion capture system, and against an alternative method based on attitude. We find that both methods produce similar results in terms of accuracy.

• Oksavik, Kjellmar; Moen, Jøran Idar; Lester, M; Bekkeng, Tore Andre & Bekkeng, Jan Kenneth (2012). In situ measurements of plasma irregularity growth in the cusp ionosphere. Journal of Geophysical Research (JGR): Space Physics. ISSN 2169-9380. 117(A11), p. 9–9. doi: 10.1029/2012JA017835. Full text in Research Archive
• Bekkeng, Tore Andre; Jacobsen, Knut Stanley; Bekkeng, Jan Kenneth; Lindem, Torfinn; Lebreton, JP & Moen, Jøran Idar [Show all 7 contributors for this article] (2010). Design of a multi-needle Langmuir probe system. Measurement Science and Technology. ISSN 0957-0233. 21(8). doi: 10.1088/0957-0233/21/8/085903. Full text in Research Archive
• Bekkeng, Jan Kenneth (2009). Calibration of a Novel MEMS Inertial Reference Unit. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. 58(6), p. 1967–1974. doi: 10.1109/TIM.2008.2006126. Full text in Research Archive Show summary

  This paper describes a novel low-cost inertial reference unit (IRU) developed for spin-stabilized sounding rockets, as well as a method to calibrate the IRU using a one-axis rate table. The IRU contains three orthogonally mounted microelectromechanical system (MEMS) gyros and is intended for use in a low-cost system for attitude determination of sounding rockets. The high spin velocity of the rockets (4-6 r/s) causes sensor mis-alignments and scale factor errors to have a large effect on the gyro outputs. The performance of the IRU is considerably improved by detailed calibration, including temperature compensation. For sounding rocket applications, the total rate error is typically reduced by more than one order of magnitude. The calibration procedure uses a ramp profile calibration maneuver input at all three sensor axes and a Kalman filter to estimate the 12 error parameters.

• Bekkeng, Jan Kenneth (2009). Calibration of a Novel MEMS Inertial Reference Unit. IEEE Transactions on Instrumentation and Measurement. ISSN 0018-9456. 58(6), p. 1967–1974. doi: 10.1109/TIM.2008.2006126. Full text in Research Archive
• Bekkeng, Jan Kenneth & Psiaki, Mark (2008). Attitude estimation for sounding rockets using microelectromechanical system gyros. Journal of Guidance Control and Dynamics. ISSN 0731-5090. 31, p. 533–542. Full text in Research Archive
• Bekkeng, Jan Kenneth; Booij, W. & Moen, Jøran Idar (2005). Development of miniaturized low cost attitude determination system for sounding rockets. ESA SP. ISSN 0379-6566. SP590, p. 281–286. Full text in Research Archive
• Moen, Jøran Idar; Bekkeng, Jan Kenneth; Pedersen, Arne & Aase, J. G. (2003). ICI-1: A new sounding rocket concept to observe micro-scale physics in the cusp ionosphere. Proceedings / ESA Symposium on the European Rocket and Balloon Programmes and Related Research. ESA SP-530, p. 543–548. Full text in Research Archive
• Bekkeng, Jan Kenneth & Moen, Jøran Idar (2003). Rocket probe for electric field measurements in PMSE and NLC Regions. Proceedings / ESA Symposium on the European Rocket and Balloon Programmes and Related Research. ESA SP-530, p. 333–338. Full text in Research Archive

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• Moen, Jøran Idar; Oksavik, Kjellmar; Carlson, Herbert C; Spicher, Andres; Bekkeng, Tore Andre & Clausen, Lasse Boy Novock [Show all 12 contributors for this article] (2018). The Investigation of Cusp Irregularities Rocket Program. Full text in Research Archive
• Moen, Jøran Idar; Oksavik, Kjellmar; Carlson, Herbert C; Stausland, Christoffer T; Clausen, Lasse Boy Novock & Daabakk, Yvonne [Show all 13 contributors for this article] (2017). Kelvin Helmholtz and Gradient Drift instabilities in ionosphere cusp flow channels. Full text in Research Archive
• Moen, Jøran Idar; Dåbakk, Yvonne Rinne; Bekkeng, Jan Kenneth; Bekkeng, Tore Andre; Pedersen, A. & Abe, T. [Show all 11 contributors for this article] (2013). INVESTIGATION OF A CUSP FLOW CHANNEL BY THE ICI-3 SOUNDING ROCKET. Full text in Research Archive
• Clausen, Lasse Boy Novock; Moen, Jøran Idar; Saito, Yoshifumi; Chaston, C. C.; Trondsen, Espen & Bekkeng, Tore Andre [Show all 8 contributors for this article] (2013). Inertial Alfven waves observed by ICI-2. Full text in Research Archive
• Moen, Jøran Idar; Dåbakk, Yvonne Rinne; Oksavik, Kjellmar; Bekkeng, Tore Andre; Bekkeng, Jan Kenneth & Lorentzen, Dag Arne [Show all 12 contributors for this article] (2012). Investigation of reversed flow channel events by the ICI-3 sounding rocket. Full text in Research Archive
• Moen, Jøran Idar; Bekkeng, Jan Kenneth; Bekkeng, Tore Andre; Pedersen, Arne; Abe, T & Saito, Y [Show all 10 contributors for this article] (2011). In-situ observations of plasma instabilities in the F-region cusp/polar cap ionosphere. Full text in Research Archive
• Moen, Jøran Idar; Oksavik, Kjellmar; Abe, T.; Lester, M.; Saito, Y. & Bekkeng, Jan Kenneth [Show all 8 contributors for this article] (2010). The first in-situ observations of echoing HF radar backscatter targets, Seventh European Space Weather Week, Brugge. Full text in Research Archive
• Moen, Jøran Idar; Oksavik, Kjellmar; Abe, T.; Lester, M.; Saito, Y. & Bekkeng, Jan Kenneth [Show all 8 contributors for this article] (2010). The first in-situ observations of echoing HF radar backscatter targets. Full text in Research Archive
• Bekkeng, Tore Andre; Bekkeng, Jan Kenneth; Lindem, Torfinn; Moen, Jøran Idar; Pedersen, Arne & Trondsen, Espen [Show all 7 contributors for this article] (2009). Development Of A Multi-Needle Langmuir Probe System. Full text in Research Archive
• Moen, Jøran Idar; Bekkeng, Jan Kenneth; Bekkeng, T. A.; Pedersen, A.; Jacobsen, K. S. & Trondsen, Espen [Show all 17 contributors for this article] (2009). On the investigation of cusp irregularities by sounding rockets. Full text in Research Archive
• Bekkeng, Jan Kenneth; Bekkeng, T. A.; Trondsen, Espen; Agnalt, T. A. & Moen, Jøran Idar (2009). Instrumentation and mechanical boom systems for the ICI-2 rocket, 19th ESA Symposium on European Rocket and Balloon Programmes and Related Research. Full text in Research Archive
• Moen, Jøran Idar; Bekkeng, Jan Kenneth; Bekkeng, T. A.; Pedersen, A.; Jacobsen, K. S. & Trondsen, Espen [Show all 17 contributors for this article] (2009). On the Investigation of cusp irregularities by sounding rockets. Full text in Research Archive
• Bekkeng, Jan Kenneth; Pedersen, A.; Trondsen, Espen & Moen, Jøran Idar (2009). Measurements of Cusp Polar Cap Electric Fields on the ICI-2 Rocket. Full text in Research Archive
• Bekkeng, Jan Kenneth & Psiaki, Mark (2006). Attitude Estimation for Sounding Rockets using MEMS gyros. Full text in Research Archive
• Bekkeng, Jan Kenneth (2005). Development of miniaturised low cost attitude determination system for sounding rockets. Full text in Research Archive
• Moen, Jøran Idar; Bekkeng, Jan Kenneth & Pedersen, Arne (2003). ICI-1: A new sounding rocket concept to observe micro-scale physics in the cusp ionosphere. Full text in Research Archive
• Bekkeng, Jan Kenneth (2003). Rakettmålinger av elektriske felter i ionosfæren. Full text in Research Archive
• Bekkeng, Jan Kenneth (2003). Rocket probe for electric field measurements in PMSE and NLC regions. Full text in Research Archive
• Aase, Johnny Grøneng; Moen, Jøran Idar; Bekkeng, Jan Kenneth; Pedersen, Arne & Søraas, Finn (2003). ICI-1: A new sounding rocket concept to observe micro-scale physics in the cusp ionosphere. Full text in Research Archive
• Bekkeng, Jan Kenneth; Moen, Jøran Idar & Booij, W. (2007). Prototype Development of a Low-Cost Sounding Rocket Attitude Determination System and an Electric field Instrument. Universitetet i Oslo. Full text in Research Archive

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