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The inertial navigation system (INS) errors are accumulated over time, so the position errors of each sampling point obtained by INS and applied in the geomagnetic matching algorithm are raised with sampling number increased. And the best transformation to describe the real trajectory and indicated trajectory consists of translation, rotation and stretching. Traditional matching algorithms use only...
This paper follows with interest the problem of localizing Autonomous Underwater Vehicles (AUVs) in three-dimensional space by only using range measurements. Two AUVs are used. The first one is assumed to know its accurate location information in global coordinate system and serves as Communication and Navigation Aid (CNA). While the second is GPS-denied but equipped with an Inertial Navigation System...
The probability-hypothesis-density simultaneous localization and mapping filter is a random-finite-set estimation method that incorporates the probability-hypothesis-density filter within a Rao–Blackwellized particle filter, and was developed for navigation and mapping problems. However, the filter tends to diverge due to the existing importance-weighting methods used in the Rao–Blackwellized particle...
This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed...
This paper considers the closed-loop navigation of a hypothetical ocean-sampling vehicle in the presence of an idealized ocean-eddy pair. This problem embodies many of the challenges of spatiotemporal ocean sampling using minimally actuated Lagrangian sensors. We extend our existing guidance strategy known as the Boundary-Touring Algorithm (BTA) to steer a self-propelled vehicle to a unique streamline...
This paper describes a method for estimating the relative pose of a pair of unmanned aerial vehicles (UAV) using noisy measurements from ranging radios and each aircraft's on board navigation system. In this method, there is no prior information needed about the relative pose of each UAV. During the estimation of the relative pose of two traveling UAVs, only a single range measurement between UAVs...
This paper presents the different levels of signal processing applied to an extensive Ultrasonic Local Positioning System (ULPS) intended for mobile robot (MR) indoor navigation. The working area is covered using several single LPSs, each of them composed of a set of closely arranged ultrasonic beacons. Low-level signal processing deals with the simultaneous encoded emission of the beacons that compose...
This paper deals with autonomous precision attitude and heading reference system. Usage of the dynamically tuned gyros and two-axis gimbals that allows to reduce mass and dimensions of the studied system is suggested. The model of the studied system is given. Forming of the control moments is considered.
In this paper, based on the analysis of the principle of double cross positioning, the selected target placed on the positioning baseline's perpendicular bisector so as to cross-positioning and the positioning model under different geometric distribution conditions is established which is on the positioning baseline's perpendicular bisector, the target distance, lateral angle which are the key factors...
In multipath-assisted indoor navigation and tracking (MINT), explicit use is made of multipath propagation in the ultra-wideband channel. With the help of floorplan information, localization is possible with only one reference node. In this work, we introduce MINT among cooperating users in order to omit the need of any known reference nodes. The received signal is modeled as a combination of deterministic...
A common problem in the evaluation of Pedestrian Dead Reckoning (PDR) algorithms is the determination of a good ground truth. Some authors propose the use of external motion capture systems, however, their setup, complexity, synchronization and limited coverage are important limitations. We propose the generation of a simulated IMU signal for pedestrians, that is obtained from a given 3D trajectory...
This paper presents a nonlinear sensor fusion algorithm for inertial navigation designed to reconstruct trajectories of a Pipeline Inspection Gauge. Outputs of a strapdown inertial measurement unit are combined with non inertial measurements provided by an incremental odometer and a set of cartographic landmarks. The navigation system is modeled as a nonlinear dynamic system and the extended Kalman...
Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization...
To deal with wind field disturbance in DR/GPS/RP integrated navigation of UAV, a method of wind field estimation and trajectory correction online based on the relation of position vector is presented. In addition, in order to obtain more accurate wind field information, a method about estimating the calculation step considering Shannon sampling theory is introduced. The results of simulation and experiments...
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