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Employing the redundant number of inertial MEMS sensors is a promising line of pedestrian positioning technologies development offering a great potential in reliability, measurement accuracy and low level of noise. For this reason the article considers the design and realization features of a miniature pedestrian navigation system implementing this principle. Firstly, the model of a non-orthogonal...
In the process of dead reckoning (DR) for underwater carrier, the scale factor error of DVL and heading error measured by compass are coupled and difficult to be separated. Aiming at solving this problem, an on-line calibration method is put forward for the scale factor error of DVL based on a circular track on the foundation of obtaining the location information from Long Base Line (LBL). This method...
In the age of automation the need for indoor navigation has become quite important for a rising number of applications. In this work a strapdown INS (SINS) in terms of Inertial Navigation System is discussed. INS is an electronic device, containing an Inertial Measurement Unit (IMU), implementing a Dead Reckoning (DR) algorithm. This algorithm estimates position, velocity and orientation utilizing...
This article presents a dead-reckoning (DR) positioning approach based on inertial-measurement-unit (IMU) observations to estimate the location of a mobile terminal (MT). For the location-estimation technique, the positioning experiments are carried out by the DR and character-recognition (CR) algorithms. By processing the observations extracted from the IMU, it is possible to estimate the movement...
Autonomous underwater vehicles (AUVs) that rely on dead reckoning suffer from unbounded localization error growth at a rate dependent on the quality (and cost) of the navigational sensors. Many AUVs surface occasionally to get a GPS position update. Alternatively underwater acoustic beacons such as long baseline (LBL) arrays are used for localization, at the cost of substantial deployment effort....
The Unmanned Ground Vehicle (UGV) is a robot that uses all sorts of sensors to recognize the external environment and acts voluntarily on its own, based on its judgments of the environment. It consists of the navigation system, vehicle control system, arbiter system and the obstacle detecting system. For the UGV to run safely, it is utterly important to have a correct understanding of the Current...
This paper discusses estimation of relative positions of a group of autonomous underwater or surface vehicles. The solution to this problem is crucial for performing cooperated missions. It is show that the relative positioning problem is solvable when dead reckoning data is combined with mutual range data provided by some additional device, e.g. by acoustic telemetry. This data has to be distributed...
We have developed a dead reckoning sensor system and a tracking algorithm for mobile robots to estimate the path when a mobile robot explores an unknown, enclosed region where GPS access or landmarks are unavailable. A dead reckoning sensor system consists of a low-cost MEMS IMU and a navigation sensor (used in laser mice), which provide complementary functions. The IMU has benefits such as compact...
This paper presents a dead reckoning sensor system and a tracking algorithm for mobile robot localization which increases an accuracy of the estimating position at the uneven surface. A dead reckoning sensor system consists of a small, low-cost MEMS IMU and optical navigation sensor that used in laser mice. A tracking algorithm consists of multi-rate extended Kalman filter to fuse redundant and complementary...
Land vehicle navigation concepts, combining Global Positioning System (GPS), sensitivity analyses and dead reckoning, fused by linear Kalman filter, provided by geographic information system are considered. An example is given to illustrate the sensitivity analysis usage. At the end of the paper, required extensions for this research to the basic equations of sensitivity analysis are done. Also, map-matching...
In this paper we propose a hybrid localization system combining an Ultra-Wideband localization system with inertial sensors. Algorithms for dead reckoning as well as the fusion of data provided by the UWB system and the inertial sensors are presented. Finally experimental results are shown.
It is a key issue for mobile robot navigation to have the ability of accurate and reliable dead reckoning. Aimed at this issue, dead reckoning of mobile robot in complex terrain is analyzed by the rigid-body kinematic constraints of mobile robot. At the same time, the kinematic model of mobile robot is obtained using multiple proprioceptive sensorspsila information from odometry, fiber optic gyro,...
The paper presents the autonomy and collision avoidance of oceanographic AUVs. The AUV carries scientific sensors and functions independently. It provides updates back to base from time to time and return to rendezvous for recovery
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