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This paper presents an in-situ correction method to compensate the initial position error of an autonomous underwater vehicle (AUV) near sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors, such as Doppler velocity log, and/or acoustic positioning systems. Since inertial navigation systems show drift in position without the bottom reflection of...
The estimation of the position of a person in a building is a must for creating Intelligent Spaces. State-of-the-art Local Positioning Systems (LPS) require a complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used to estimate the movement of a person; a methodology that is called Pedestrian Dead-Reckoning (PDR)....
This paper focuses on the design and test results of an adaptive variation of Kalman filter (KF) estimator based on fusing data from Inertial Measurement Unit (IMU) and two Real Time Kinematic (RTK) Global Positioning Systems (GPS) for driftless 3-D attitude determination and robust position estimation of mobile robots. GPS devices are notorious for their measurement errors vary from one point to...
Advanced robot's navigation system based on GPS/INS is established in order to meet its working surroundings and taskpsilas demand. Centralized open-loop Kalman filter is applied in the navigation system. GPS/INS devices' output difference is the filter's input. The position-velocity integrated measurement equation is deduced based on the robotpsilas locomotion performance and measurement demand....
This paper describes a method for fusing an inertial position measurement from an Ultra-Short Baseline (USBL) sonar with a water-relative velocity measurement (from DVL, ACM, or other device) to improve knowledge of an underwater vehicle's inertial position. The goal is accuracy sufficient to enable closed-loop position control in the midwater. In this paper we describe the implementation of a kinematic...
An accurate positioning is a key requirement of an advanced driver assistance system (ADAS). For cooperative systems using car-to-car and car-to-infrastructure communication, an exact lane precise position estimation becomes essential. We present a system which improves a GPS/INS (inertial navigation system) position estimate using image landmarks. This system allows the tracking of multiple lane...
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