WorldWideScience

Sample records for automobile navigation systems

  1. Navigation systems

    OpenAIRE

    Ocepek, Marjan

    2013-01-01

    In this thesis we present different navigation systems which may be used also in surveying. Map as a basis of navigation is described at the beginning. Next, we focus on navigation based on celestial bodies. We present basic terms such as navigation and orientation and describe some primitive methods, which had been used for orientation without compass. We present two important time keeping instruments that facilitated the process of position determination, the chronometer and chronograph, an...

  2. Optical Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This proposal is for a flexible navigation system for deep space operations that does not require GPS measurements. The navigation solution is computed using an...

  3. New type air (automobile) gamma spectroscopic system

    International Nuclear Information System (INIS)

    A new type air (automobile) gamma spectroscopic system for identification and measuring of contamination with natural and artificial gamma isotopes is described. developed. Its main principle is a maximal use of the energy resolution of NaJ(Tl) detectors. The system consists of a spectrometer working simultaneously with a set of 1-16 scintillator blocks and a registration/ data processing unit. The operational mode, optimal performance and control subsystem are described

  4. Fiber optic gyroscopes for vehicle navigation systems

    Science.gov (United States)

    Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao

    1994-03-01

    Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.

  5. Multisensor robot navigation system

    Science.gov (United States)

    Persa, Stelian; Jonker, Pieter P.

    2002-02-01

    Almost all robot navigation systems work indoors. Outdoor robot navigation systems offer the potential for new application areas. The biggest single obstacle to building effective robot navigation systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relative free of natural or man-made interference sources. The hybrid tracker combines rate gyros and accelerometers with compass and tilt orientation sensor and DGPS system. Sensor distortions, delays and drift required compensation to achieve good results. The measurements from sensors are fused together to compensate for each other's limitations. Analysis and experimental results demonstrate the system effectiveness. The paper presents a field experiment for a low-cost strapdown-IMU (Inertial Measurement Unit)/DGPS combination, with data processing for the determination of 2-D components of position (trajectory), velocity and heading. In the present approach we have neglected earth rotation and gravity variations, because of the poor gyroscope sensitivities of our low-cost ISA (Inertial Sensor Assembly) and because of the relatively small area of the trajectory. The scope of this experiment was to test the feasibility of an integrated DGPS/IMU system of this type and to develop a field evaluation procedure for such a combination.

  6. Computer Model for Automobile Climate Control System Simulation and Application

    Directory of Open Access Journals (Sweden)

    Emin Oker

    1999-06-01

    Full Text Available A software to simulate the dynamic operation of climate control system for a generic automobile has been developed. The transient nature of passenger cabin temperature and relative humidity are predicted using the principles of thermodynamics. Analysis include detailed simulations of every component of the automobile air conditioning network. The methodology is validated by comparing the simulation results with the experimental results.

  7. GPS INTEGRATED NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Swati R. Dhabarde

    2012-06-01

    Full Text Available In my project I am developing a computer program that willsimulate and explain the need of technology and advance systemfor any person moving or navigating in a car (or any vehicle.Every person in day to day life requires some navigation for theproper working of his work .it is the human nature that ever mantakes some guidance about some or another work without guidancethe job taken by a human being will be completed properly or notis not known. So, for a proper working of your decided scheduleyou should know everything about the place where you live. Youdo know and if you ought to know then you can use “EmergencyNavigation System”.‘Emergency Navigation System’ is specialized softwarewhich is able to track the current position (of any person drivingvehicles and tell the path and other detailed information aboutyour destination. If there are occurrences of multiple paths to thesame destination then it can show the shortest one among them.

  8. Integrated navigation method based on inertial navigation system and Lidar

    Science.gov (United States)

    Zhang, Xiaoyue; Shi, Haitao; Pan, Jianye; Zhang, Chunxi

    2016-04-01

    An integrated navigation method based on the inertial navigational system (INS) and Lidar was proposed for land navigation. Compared with the traditional integrated navigational method and dead reckoning (DR) method, the influence of the inertial measurement unit (IMU) scale factor and misalignment was considered in the new method. First, the influence of the IMU scale factor and misalignment on navigation accuracy was analyzed. Based on the analysis, the integrated system error model of INS and Lidar was established, in which the IMU scale factor and misalignment error states were included. Then the observability of IMU error states was analyzed. According to the results of the observability analysis, the integrated system was optimized. Finally, numerical simulation and a vehicle test were carried out to validate the availability and utility of the proposed INS/Lidar integrated navigational method. Compared with the test result of a traditional integrated navigation method and DR method, the proposed integrated navigational method could result in a higher navigation precision. Consequently, the IMU scale factor and misalignment error were effectively compensated by the proposed method and the new integrated navigational method is valid.

  9. Design of MEMS accelerometer based acceleration measurement system for automobiles

    Science.gov (United States)

    Venkatesh, K. Arun; Mathivanan, N.

    2012-10-01

    Design of an acceleration measurement system using a MEMS accelerometer to measure acceleration of automobiles in all the three axes is presented. Electronic stability control and anti-lock breaking systems in automobiles use the acceleration measurements to offer safety in driving. The system uses an ARM microcontroller to quantize the outputs of accelerometer and save the measurement data on a microSD card. A LabVIEW program has been developed to analyze the longitudinal acceleration measurement data and test the measurement system. Random noises generated and added with measurement data during measurement are filtered by a Kalman filter implemented in LabVIEW. Longitudinal velocity of the vehicle is computed from the measurement data and displayed on a graphical chart. Typical measurement of velocity of a vehicle at different accelerations and decelerations is presented.

  10. Observability of Inertial Navigation System

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system's observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.

  11. Hybrid GPS-GSM Localization of Automobile Tracking System

    OpenAIRE

    Mohammad A. Al-Khedher

    2012-01-01

    An integrated GPS-GSM system is proposed to track vehicles using Google Earth application. The remote module has a GPS mounted on the moving vehicle to identify its current position, and to be transferred by GSM with other parameters acquired by the automobile's data port as an SMS to a recipient station. The received GPS coordinates are filtered using a Kalman filter to enhance the accuracy of measured position. After data processing, Google Earth application is used to view the current loca...

  12. Safety effects of navigation systems.

    OpenAIRE

    2009-01-01

    Increasing numbers of drivers are using navigation systems in their cars. The advantages to the user are obvious: you can get to your destination via the fastest and shortest route. This reduces stress and exposure to other traffic. However, there are also some (unintended) negative effects. For example, using the system while driving can distract your attention from other traffic. The system sometimes directs traffic through small centres of habitation or along unsuitable roads. Moreover, ti...

  13. Navigation system for interstitial brachytherapy

    International Nuclear Information System (INIS)

    The purpose of the stud was to develop a computed tomography (CT) based electromagnetic navigation system for interstitial brachytherapy. This is especially designed for situations when needles have to be positioned adjacent to or within critical anatomical structures. In such instances interactive 3D visualisation of the needle positions is essential. The material consisted of a Polhemus electromagnetic 3D digitizer, a Pentium 200 MHz laptop and a voice recognition for continuous speech. In addition, we developed an external reference system constructed of Perspex which could be positioned above the tumour region and attached to the patient using a non-invasive fixation method. A specially designed needle holder and patient bed were also developed. Measurements were made on a series of phantoms in order to study the efficacy and accuracy of the navigation system. The mean navigation accuracy of positioning the 20.0 cm length metallic needles within the phantoms was in the range 2.0-4.1 mm with a maximum of 5.4 mm. This is an improvement on the accuracy of a CT-guided technique which was in the range 6.1-11.3 mm with a maximum of 19.4 mm. The mean reconstruction accuracy of the implant geometry was 3.2 mm within a non-ferromagnetic environment. We found that although the needles were metallic this did not have a significant influence. We also found for our experimental setups that the CT table and operation table non-ferromagnetic parts had no significant influence on the navigation accuracy. This navigation system will be a very useful clinical tool for interstitial brachytherapy applications, particularly when critical structures have to be avoided. It also should provide a significant improvement on our existing technique

  14. Exploring requirements for indoor navigation systems

    OpenAIRE

    Ni, Chunxiao

    2013-01-01

    Indoor navigation has been a subject in ubiquitous computing domain in the past decade. Recently many studies focus on exploring user requirements for indoor navigation systems and make effort in developing effective interactive systems to support indoor navigation. This study aims to find which kind of spatial representation and what orientation cues common users prefer to use for indoor navigation. An experiment was performed to examine the navigation effectiveness and user satisfaction wit...

  15. Solar Powered Automobile Interior Climate Control System

    Science.gov (United States)

    Howard, Richard T. (Inventor)

    2003-01-01

    There is provided a climate control system for a parked vehicle that includes a solar panel, thermostatic switch, fans, and thermoelectric coolers. The solar panel can serve as the sole source of electricity for the system. The system affords convenient installation and removal by including solar panels that are removably attached to the exterior of a vehicle. A connecting wire electrically connects the solar panels to a housing that is removably mounted to a partially opened window on the vehicle. The thermostatic switch, fans, and thermoelectric coolers are included within the housing. The thermostatic switch alternates the direction of the current flow through the thermoelectric coolers to selectively heat or cool the interior of the vehicle. The interior surface of the thermoelectric coolers are in contact with interior heat sinks that have air circulated across them by an interior fan. Similarly, the exterior surface of the thermoelectric coolers are in contact with exterior heat sinks that have air circulated across them by an exterior fan.

  16. "Electronic Procurement networks and Parts Transaction Systems: A Case of the Automobile Industry"(in Japanese)

    OpenAIRE

    Je-Wheon Oh; Takahiro Fujimoto

    2001-01-01

    Inter-firm information systems in the automobile industry have evolved from firm-specific networks to industrial standard networks and further to internet. This paper examines how electronic parts procurement systems in the automobile industry affected its patterns of inter-firm transactions through empirical studies on information networks, transaction systems, and architectural characteristics of automobile parts. We argue that choice of a certain parts transaction system tends to affect ch...

  17. SYNTHESIS OF AUTOMOBILE IGNITION SYSTEM USING OZONIZED FUEL

    Directory of Open Access Journals (Sweden)

    O. M. Pilipenko

    2015-01-01

    Full Text Available The paper presents a mathematical model for electronic control system of the angular ignition timing (AIT in the (ICE, which is running on ozonized fuel. An algorithm for  ignition system control of internal combustion engine using ozonized fuel has been developed in the paper. A structure of the dynamic ignition system while using a control unit for supplying  ozone into fuel with a purpose to improve automobile ecological and economical indices adapted to operational conditions. Application of the given system allows to ensure minimum reduction of operational petrol consumption and concentration of incomplete combustion products due to optimum ozone dosage into the fuel.  The paper proposes a controlled automobile ignition system as a sequential scheme which has a great number of discrete inputs and outputs and many discrete internal  states. The scheme establishes a functional dependence between input and output states. The paper provides an assessment of ecological indices according to massive emissions of carbon monoxide СО, hydrocarbon СпНт and nitric oxide NOx .  The analysis of  investigations results has been carried out in the paper.

  18. A knowledge-based system for controlling automobile traffic

    Science.gov (United States)

    Maravas, Alexander; Stengel, Robert F.

    1994-01-01

    Transportation network capacity variations arising from accidents, roadway maintenance activity, and special events as well as fluctuations in commuters' travel demands complicate traffic management. Artificial intelligence concepts and expert systems can be useful in framing policies for incident detection, congestion anticipation, and optimal traffic management. This paper examines the applicability of intelligent route guidance and control as decision aids for traffic management. Basic requirements for managing traffic are reviewed, concepts for studying traffic flow are introduced, and mathematical models for modeling traffic flow are examined. Measures for quantifying transportation network performance levels are chosen, and surveillance and control strategies are evaluated. It can be concluded that automated decision support holds great promise for aiding the efficient flow of automobile traffic over limited-access roadways, bridges, and tunnels.

  19. Autonomous navigation system and method

    Science.gov (United States)

    Bruemmer, David J. [Idaho Falls, ID; Few, Douglas A. [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  20. Global navigation satellite systems and their applications

    CERN Document Server

    Madry, Scott

    2015-01-01

    Dr. Madry, one of the world's leading experts in the field, provides in a condensed form a quick yet comprehensive overview of satellite navigation. This book concisely addresses the latest technology, the applications, the regulatory issues, and the strategic implications of satellite navigation systems. This assesses the strengths and weaknesses of satellite navigation networks and review of all the various national systems now being deployed and the motivation behind the proliferation of these systems.

  1. Peculiarities of future air navigation system based on inertial navigation systems/global positioning system

    OpenAIRE

    Sineglazov, V. M.; National Aviation University,; Zakharin, F. M.; National Aviation University

    2014-01-01

    Using an inertial navigation system and Global Positioning System together is preferable to using any of them separately. Derived benefits depend on the level of combining information. Inertial navigation systems/Global Positioning System integration architectures are defined as separate, loosely and tightly coupled, deeply integrated configurations.

  2. Spatial Database Modeling for Indoor Navigation Systems

    Science.gov (United States)

    Gotlib, Dariusz; Gnat, Miłosz

    2013-12-01

    For many years, cartographers are involved in designing GIS and navigation systems. Most GIS applications use the outdoor data. Increasingly, similar applications are used inside buildings. Therefore it is important to find the proper model of indoor spatial database. The development of indoor navigation systems should utilize advanced teleinformation, geoinformatics, geodetic and cartographical knowledge. The authors present the fundamental requirements for the indoor data model for navigation purposes. Presenting some of the solutions adopted in the world they emphasize that navigation applications require specific data to present the navigation routes in the right way. There is presented original solution for indoor data model created by authors on the basis of BISDM model. Its purpose is to expand the opportunities for use in indoor navigation.

  3. High energy X-ray CT system using a linear accelerator for automobile parts inspection

    International Nuclear Information System (INIS)

    A high energy X-ray CT system (maximum photon energy: 0.95 MeV) has been developed for industrial use. This system employs a linear accelerator as an X-ray source. It is able to image the cross section of automobile parts and can be applied to a solidification analysis study of the cylinder head in an automobile. This paper describes the features of the system and application results which can be related to solidification analysis of the cylinder head when fabricated from an aluminum casting. Some cross-sectional images are also presented as evidence for nondestructive inspection of automobile parts. (orig.)

  4. The Feasibility Study of the Waste Heat Air—Conditioning System for Automobile

    Institute of Scientific and Technical Information of China (English)

    Gui-pingLin; Xiu-ganYuan; 等

    1994-01-01

    In this paper,the feasibility of application of a solid-absorption system using ammonia and chlorides as working pair to automobile air-conditioning system is investigated.This system has the advantages of minimum environmental problem and utilizing waste heat from the automobile engine as thermal energy input.Analyses show that the main problem associated with the application of solid-absorption system is the size of the reactors.Techniques to solve this problem are discussed.

  5. Optimization of Thermoelectric Components for Automobile Waste Heat Recovery Systems

    Science.gov (United States)

    Kumar, Sumeet; Heister, Stephen D.; Xu, Xianfan; Salvador, James R.

    2015-10-01

    For a typical spark ignition engine approximately 40% of available thermal energy is lost as hot exhaust gas. To improve fuel economy, researchers are currently evaluating technology which exploits exhaust stream thermal power by use of thermoelectric generators (TEGs) that operate on the basis of the Seebeck effect. A 5% improvement in fuel economy, achieved by use of TEG output power, is a stated objective for light-duty trucks and personal automobiles. System modeling of thermoelectric (TE) components requires solution of coupled thermal and electric fluxes through the n and p-type semiconductor legs, given appropriate thermal boundary conditions at the junctions. Such applications have large thermal gradients along the semiconductor legs, and material properties are highly dependent on spatially varying temperature profiles. In this work, one-dimensional heat flux and temperature variations across thermoelectric legs were solved by using an iterative numerical approach to optimize both TE module and TEG designs. Design traits were investigated by assuming use of skutterudite as a thermoelectric material with potential for automotive applications in which exhaust gas and heat exchanger temperatures typically vary from 100°C to over 600°C. Dependence of leg efficiency, thermal fluxes and electric power generation on leg geometry, fill fractions, electric current, thermal boundary conditions, etc., were studied in detail. Optimum leg geometries were computed for a variety of automotive exhaust conditions.

  6. Nuclear burst detection information transfers system based on BD Navigation

    International Nuclear Information System (INIS)

    The article introduces the character of BD Navigation System.The feasibility of using BD Navigation System is analyzed. Nuclear explosion information transmission system based on BD Navigation System is designed and implemented. (authors)

  7. Integration of Omega and satellite navigation systems

    Science.gov (United States)

    Schlachta, Henry B.

    An extensive series of laboratory tests and flight trials has established that the hybrid Omega/VLF/GPS system effectively applies GPS to the enhancement of Omega with a cost-effective operator installation. The accuracy enhancement thus achieved also increases the reliability of navigation and furnishes aviation fuel savings superior to those of Omega, as a result of reduced flight-path wavering. The prospective GPS/GLONASS navigation system currently undergoing definition will be the first certifiable as a sole means on navigation; the Omega/VLF/GPS hybrid can serve as a transitional system.

  8. Integration of global poisoning system with internal navigation system

    International Nuclear Information System (INIS)

    The Global Positioning System (GPS), Inertial Navigation System (INS), and Integrated INS/GPS System are used in navigation. This project report gives the brief description of above three navigation techniques. The GPS system is a satellite based radio-navigation system that provides precise position, velocity and time information on land, at sea and in the air. On the other hand, the INS system determines the position by the double integration of the output of the accelerometers mounted on the gyroscopically stable platform. GPS system can augment INS system accuracy through Kalman filtering techniques. The integrated INS/GPS system is successfully applied in aerial navigation and missile guidance. (author)

  9. NFC internal: an indoor navigation system.

    Science.gov (United States)

    Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

    2015-01-01

    Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability. PMID:25825976

  10. NFC Internal: An Indoor Navigation System

    Directory of Open Access Journals (Sweden)

    Busra Ozdenizci

    2015-03-01

    Full Text Available Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability.

  11. An integrated platform for inertial navigation systems

    Science.gov (United States)

    Dumitrascu, Ana; Tamas, Razvan D.; Caruntu, George; Bobirca, Daniel

    2015-02-01

    In this paper we propose a new configuration for an inertial navigation system (INS), type strap down, designed to be used onboard a ship. The system consists of an inertial navigation unit (IMU), using a 9-axis inertial sensor and pressure and temperature sensors, a GPS module, various interfaces for optimal communication and command, a microcontroller for data processing and computing and a power supply.

  12. Pulsar Navigation in the Solar System

    CERN Document Server

    Dong, Jiang

    2008-01-01

    The X-ray Pulsar-based Autonomous Navigation(XNAV) were recently tested which use the Crab pulsar (PSR B0531+21) in the USA Experiment on flown by the Navy on the Air Force Advanced Research and Global Observation Satellite (ARGOS) under the Space Test Program. It provide the way that the spacecraft could autonomously determine its position with respect to an inertial origin. Now I analysis the sensitivity of the exist instrument and the signal process to use radio pulsar navigation and discuss the integrated navigation use pulsar,then give the different navigation mission analysis and design process basically which include the space, the airborne, the ship and the land of the planet or the lunar.So the pulsar navigation can give the continuous position in deep spaces, that means we can freedom fly successfully in the solar system use celestial navigation that include pulsar and traditional star sensor.It also can less or abolish the depend of Global Navigation Satellite System which include GPS, GRONSS, Gali...

  13. Digital Laser Welding System for Automobile Side Panel

    OpenAIRE

    Park, Hong-Seok; Choi, Hung-Won

    2010-01-01

    The laser as economical and flexible tool has established a solid ground in industrial manufacturing area. Specially at welding BIW (Body In White) in automobile industry, the importance of it has been increased due to the technological characteristics such as high process speed, slim seam and good capability of automation and so on. For application of laser welding technique, welding principle and influential factors were investigated based on the analysis of laser welding processes. With th...

  14. Market Analysis of RFID Systems in Indian Automobile Industry

    OpenAIRE

    Mariappan, Ramachandran

    2010-01-01

    RFID is an emerging hot technology in tracking and tracing physical objects. The market for RFID ranges from technological artefacts like tags and reader infrastructure to software solutions and supply chain services. One of the key business sectors that have seen the initial benefits of RFID applications is the Automobile sector through improvements in local processes related to better production control and increased handling efficiency. In recent years, there has been a palpable shift in t...

  15. Nonpolluting automobiles

    Energy Technology Data Exchange (ETDEWEB)

    Hoolboom, G.J.; Szabados, B. [McMaster Univ., Hamilton, Ontario (Canada). Dept. of Electrical and Computer Engineering

    1994-11-01

    The advantages/disadvantages of energy storage devices, which can provide nonpolluting automobile systems are discussed. Four types of storage devices are identified: electrochemical (batteries); hydrogen; electromechanical (flywheels); and molten salt heat storage. A high-speed flywheel with a small permanent magnet motor/generator has more advantages than any of the other systems and might become a real competitor to the internal combustion engine. A flywheel/motor/generator system for automobiles now becomes practical, because of the technological advances in materials, bearings and solid state control circuits. The motor of choice is the squirrel cage induction motor, specially designed for automobile applications. The preferred controller for the induction motor is a forced commutated cycloconverter, which transforms a variable voltage/variable frequency source into a controlled variable-voltage/variable-frequency supply. A modulation strategy of the cycloconverter elements is selected to maintain a unity input displacement factor (power factor) under all conditions of loads voltages and frequencies. The system is similar to that of the existing automobile, if only one motor is used: master controller-controller-motor-gears (fixed)-differential-wheels. In the case of two motors, the mechanical differential is replaced by an electric one: master controller-controller-motor-gears (fixed)-wheel. A four-wheel drive vehicle is obtained when four motors with their own controllers are used. 24 refs.

  16. The Mathematics of Navigating the Solar System

    Science.gov (United States)

    Hintz, Gerald

    2000-01-01

    In navigating spacecraft throughout the solar system, the space navigator relies on three academic disciplines - optimization, estimation, and control - that work on mathematical models of the real world. Thus, the navigator determines the flight path that will consume propellant and other resources in an efficient manner, determines where the craft is and predicts where it will go, and transfers it onto the optimal trajectory that meets operational and mission constraints. Mission requirements, for example, demand that observational measurements be made with sufficient precision that relativity must be modeled in collecting and fitting (the estimation process) the data, and propagating the trajectory. Thousands of parameters are now determined in near real-time to model the gravitational forces acting on a spacecraft in the vicinity of an irregularly shaped body. Completing these tasks requires mathematical models, analyses, and processing techniques. Newton, Gauss, Lambert, Legendre, and others are justly famous for their contributions to the mathematics of these tasks. More recently, graduate students participated in research to update the gravity model of the Saturnian system, including higher order gravity harmonics, tidal effects, and the influence of the rings. This investigation was conducted for the Cassini project to incorporate new trajectory modeling features in the navigation software. The resulting trajectory model will be used in navigating the 4-year tour of the Saturnian satellites. Also, undergraduate students are determining the ephemerides (locations versus time) of asteroids that will be used as reference objects in navigating the New Millennium's Deep Space 1 spacecraft autonomously.

  17. Foot mounted inertial system for pedestrian navigation

    International Nuclear Information System (INIS)

    This paper discusses algorithmic concepts, design and testing of a system based on a low-cost MEMS-based inertial measurement unit (IMU) and high-sensitivity global positioning system (HSGPS) receivers for seamless personal navigation in a GPS signal degraded environment. The system developed here is mounted on a pedestrian shoe/foot and uses measurements based on the dynamics experienced by the inertial sensors on the user's foot. The IMU measurements are processed through a conventional inertial navigation system (INS) algorithm and are then integrated with HSGPS receiver measurements and dynamics derived constraint measurements using a tightly coupled integration strategy. The ability of INS to bridge the navigation solution is evaluated through field tests conducted indoors and in severely signal degraded forest environments. The specific focus is on evaluating system performance under challenging GPS conditions

  18. Random vibrations of quadratic damping systems. [optimum damping analysis for automobile suspension system

    Science.gov (United States)

    Sireteanu, T.

    1974-01-01

    An oscillating system with quadratic damping subjected to white noise excitation is replaced by a nonlinear, statistically equivalent system for which the associated Fokker-Planck equation can be exactly solved. The mean square responses are calculated and the optimum damping coefficient is determined with respect to the minimum mean square acceleration criteria. An application of these results to the optimization of automobile suspension damping is given.

  19. Indoor Autonomous Airship Control and Navigation System

    OpenAIRE

    Fedorenko Roman; Krukhmalev Victor

    2016-01-01

    The paper presents an automatic control system for autonomous airship. The system is designed to organize autonomous flight of the mini-airship performing flight mission defined from ground control station. Structure, hardware and software implementation of indoor autonomous airship and its navigation and control system as well as experiment results are described.

  20. Indoor Autonomous Airship Control and Navigation System

    Directory of Open Access Journals (Sweden)

    Fedorenko Roman

    2016-01-01

    Full Text Available The paper presents an automatic control system for autonomous airship. The system is designed to organize autonomous flight of the mini-airship performing flight mission defined from ground control station. Structure, hardware and software implementation of indoor autonomous airship and its navigation and control system as well as experiment results are described.

  1. Experimental analysis of synchronization and dynamics in an automobile as a complex system

    Science.gov (United States)

    González-Cruz, C. A.; Jáuregui-Correa, J. C.; López-Cajún, C.; Sen, M.; Domínguez-González, A.

    2015-08-01

    A complex system is composed of many interacting elements, and its behavior, as a whole, can be quite different from that of the individual elements. An automobile is an example of a common mechanical system composed of a large number of individual elements. These elements are connected through soft and hard linkages that transmit motion to each other. This paper proposes a variety of analytical tools to study experimental data from complex systems using two elements of an automobile as an example. Accelerometer measurements were taken from two elements within an automobile: the door and the dashboard. Two types of data were collected: response to impact loading, and response to road excitation of the automobile driven at different speeds. The signals were processed via Fourier and wavelet transforms, cross-correlation coefficients, Hilbert transform, and Kuramoto order parameters. A new parameter, called the order-deficit parameter, is introduced. Considerable, but not complete, synchronization can be found between the accelerations measured at these two locations in the automobile, and the degree of synchronization is quantified using the order-deficit parameter.

  2. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    Science.gov (United States)

    Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

    2013-01-01

    CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode

  3. Speech Recognition Technology Applied to Intelligent Mobile Navigation System

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The capability of human-computer interaction reflects the intelligent degree of mobile navigation system.The navigation data and functions of mobile navigation system are divided into system commands and non-system commands in this paper.And then a group of speech commands are Abstracted.This paper applies speech recognition technology to intelligent mobile navigation system to process speech commands and does some deep research on the integration of speech recognition technology with mobile navigation system.The navigation operation can be performed by speech commands,which makes human-computer interaction easy during navigation.Speech command interface of navigation system is implemented by Dutty ++ Software,which is based on speech recognition system -Via Voice of IBM.Through navigation experiments,navigation can be done almost without keyboard,which proved that human-computer interaction is very convenient by speech commands and the reliability is also higher.

  4. TARGET RELATIVE NAVIGATION PERFORMANCE RESULTS FROM SINPLEX: A MINIATURIZED NAVIGATION SYSTEM

    OpenAIRE

    Steffes, Stephen; Theil, Stephan; Dumke, Michael; Heise, David; Krüger, Hans; Sagliano, Marco; Samaan, Malak; Oosterling, Han; Boslooper, Erik; Duivenvoorde, Tom; Schulte, Jan; Söderholm, S.; Skaborn, Daniel; Yanson, Yuriy; Esposito, Marco

    2014-01-01

    The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced by functionally integrating the navigation sensors, using micro- and nanotechnology to miniaturize electronics and fusing the sensor data within a navigation filter to improve navigation performance. A breadboard system was built and includes ...

  5. Autonomous system for cross-country navigation

    Science.gov (United States)

    Stentz, Anthony; Brumitt, Barry L.; Coulter, R. C.; Kelly, Alonzo

    1993-05-01

    Autonomous cross-country navigation is essential for outdoor robots moving about in unstructured environments. Most existing systems use range sensors to determine the shape of the terrain, plan a trajectory that avoids obstacles, and then drive the trajectory. Performance has been limited by the range and accuracy of sensors, insufficient vehicle-terrain interaction models, and the availability of high-speed computers. As these elements improve, higher- speed navigation on rougher terrain becomes possible. We have developed a software system for autonomous navigation that provides for greater capability. The perception system supports a large braking distance by fusing multiple range images to build a map of the terrain in front of the vehicle. The system identifies range shadows and interpolates undersamples regions to account for rough terrain effects. The motion planner reduces computational complexity by investigating a minimum number of trajectories. Speeds along the trajectory are set to provide for dynamic stability. The entire system was tested in simulation, and a subset of the capability was demonstrated on a real vehicle. Results to date include a continuous 5.1 kilometer run across moderate terrain with obstacles. This paper begins with the applications, prior work, limitations, and current paradigms for autonomous cross-country navigation, and then describes our contribution to the area.

  6. Navigating the system governance maze.

    Science.gov (United States)

    Savage, T J

    1987-01-01

    Health care system governance today is a complex maze of concerns that assume a unique character in Catholic-sponsored multi-institutional systems. Most Catholic health care systems began with a common sponsor or mission and several shared services and gradually moved from separately incorporated entities to a system with few centralized operating functions but a governing body between the local facilities and the sponsoring religious institute. The next step was development of a managed system with consolidated services and centralized decision making. Now, many systems are attempting the most important and difficult effort--systemwide strategic planning. The phases described have required a rethinking of governance structures, and conflicts often arise during restructuring. Such turmoil requires many Catholic health care systems to develop a clearer sense of direction and purpose. To achieve their objectives, system leaders can use a governance compass that has five key points: Information. Boards must determine what they need to know, where to secure this information, and what form the information should take. Agenda. Boards must make reflective and intentional use of their agenda by reviewing and categorizing agenda items discussed in the past 12 months and establishing an agenda plan for the next 12 months. Structural mechanisms. Boards must decide structural issues such as relationships between system board and local boards, sizes of boards, and kinds of committees needed. Culture. Boards should reflect on their culture--values and traditions that have characterized them in the past--to assess whether changes are needed to strengthen or improve the culture.(ABSTRACT TRUNCATED AT 250 WORDS) PMID:10280354

  7. ADAPTING VEHICLE INFORMATION SYSTEMS TO THE ORGANIZATION OF AUTOMOBILE TRANSPORT ROLLING STOCK TECHNICAL STATE CONTROL

    Directory of Open Access Journals (Sweden)

    E. Komov

    2011-01-01

    Full Text Available The analitycal review of the possible usage on board any vehicle modern scanner-adapters which allows to get information for organize in the control system of the rolling stock technical state in conditions of the radical transformation of the existant control system of the automobile transport is offered.

  8. Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar

    Science.gov (United States)

    Zhang, Xiaoyue; Lin, Zhili; Zhang, Chunxi

    2014-07-01

    An integrated navigation method based on the strapdown inertial navigation system (SINS) and Doppler Lidar was presented and its validity is demonstrated by practical experiments. A very effective and independent integrated navigation mode is realized that both an inertial navigation system (INS) and Lidar are not interfered with or screened by electromagnetic waves. In our work, the SINS error model was first introduced, and the velocity error model was transformed into body reference coordinates. Then the expression for measurement model of SINS/Lidar integrated navigation was deduced under Lidar reference coordinates. For application of land or vehicle navigation, the expression for the measurement model was simplified, and observation analysis was carried out. Finally, numerical simulation and vehicle test results were carried out to validate the availability and utility of the proposed SINS/Lidar integrated navigation method for land navigation.

  9. Robot navigation system using intrinsic evolvable hardware

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Recently there has been great interest in the idea that evolvable system based on the principle of ar tifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems such as autonomous mobile robots and intelligent home devices. Meanwhile, we have seen the introduc tion of evolvable hardware(EHW): new integrated electronic circuits that are able to continuously evolve to a dapt the chages in the environment implemented by evolutionary algorithms such as genetic algorithm(GA)and reinforcement learning. This paper concentrates on developing a robotic navigation system whose basic behav iours are obstacle avoidance and light source navigation. The results demonstrate that the intrinsic evolvable hardware system is able to create the stable robotiiuc behaviours as required in the real world instead of the tra ditional hardware systems.

  10. Obstacle-avoiding navigation system

    Science.gov (United States)

    Borenstein, Johann; Koren, Yoram; Levine, Simon P.

    1991-01-01

    A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.

  11. Simulation-based validation of navigation filter software for a shallow water AUV navigation system (SANS)

    OpenAIRE

    Steven, Ruediger.

    1996-01-01

    Navigation filter software is currently being developed for an inertial navigation system without rotating gyros. This system shall replace the navigation system that is currently used in the Phoenix Autonomous Underwater Vehicle of the Naval Postgraduate School. The filter combines acceleration sensors, angular rate sensors, a water speed sensor, a magnetic compass and a GPS system. The harmonization of the sensors is performed by gain matrices. The filter code must be tested for correctness...

  12. A System Based Approach to Efficiently Implement Color Differentiation Mechanism with Respect to Automobiles

    OpenAIRE

    MOHAMMED KHALID KALEEM,; MOHAMMAD IQUEBAL AKHTER

    2011-01-01

    Artificial Intelligence is the intelligence of machines focusing on creating machines that can engage on behaviors that human considers Intelligent Expert Systems are the programs based on their theory and methods of AI. Expert Systems have a wide variety of applications especially when coming to object recognition. This paper explains the applications of expert systems in object recognition and proposes a sample model of an expert system that would recognize an automobile by differentiating ...

  13. A System Based Approach to Efficiently Implement Color Differentiation Mechanism with Respect to Automobiles

    Directory of Open Access Journals (Sweden)

    MOHAMMED KHALID KALEEM,

    2011-02-01

    Full Text Available Artificial Intelligence is the intelligence of machines focusing on creating machines that can engage on behaviors that human considers Intelligent Expert Systems are the programs based on their theory and methods of AI. Expert Systems have a wide variety of applications especially when coming to object recognition. This paper explains the applications of expert systems in object recognition and proposes a sample model of an expert system that would recognize an automobile by differentiating its color.

  14. Navigation System of Marks Areas - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  15. Identifying Nonstationary Clock Noises in Navigation Systems

    OpenAIRE

    Patrizia Tavella; Lorenzo Galleani

    2008-01-01

    The stability of the atomic clocks on board the satellites of a navigation system should remain constant with time. In reality there are numerous physical phenomena that make the behavior of the clocks a function of time, and for this reason we have recently introduced the dynamic Allan variance (DAVAR), a measure of the time-varying stability of an atomic clock. In this paper we discuss the dynamic Allan variance for phase and frequency jumps, two common nonstationarities of atomic clocks. T...

  16. Target Relative Navigation Results from Hardware-in-the-Loop Tests Using the SINPLEX Navigation System

    OpenAIRE

    Steffes, Stephen; Dumke, Michael; Heise, David; Sagliano, Marco; Samaan, Malak; Theil, Stephan

    2014-01-01

    The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced while still maintaining good navigation performance as compared to a conventional modular system. This is done by functionally integrating the navigation sensors, using micro- and nanotechnology to miniaturize electronics and fusing the sen...

  17. An expert system for detecting automobile insurance fraud using social network analysis

    CERN Document Server

    Šubelj, Lovro; Bajec, Marko; 10.1016/j.eswa.2010.07.143

    2011-01-01

    The article proposes an expert system for detection, and subsequent investigation, of groups of collaborating automobile insurance fraudsters. The system is described and examined in great detail, several technical difficulties in detecting fraud are also considered, for it to be applicable in practice. Opposed to many other approaches, the system uses networks for representation of data. Networks are the most natural representation of such a relational domain, allowing formulation and analysis of complex relations between entities. Fraudulent entities are found by employing a novel assessment algorithm, \\textit{Iterative Assessment Algorithm} (\\textit{IAA}), also presented in the article. Besides intrinsic attributes of entities, the algorithm explores also the relations between entities. The prototype was evaluated and rigorously analyzed on real world data. Results show that automobile insurance fraud can be efficiently detected with the proposed system and that appropriate data representation is vital.

  18. Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

    OpenAIRE

    2014-01-01

    In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using th...

  19. Development of A Plant Navigation System

    International Nuclear Information System (INIS)

    A 'Plant Navigation System (PNS)' is under development to assist nuclear power plant (NPP) operators by automatically displaying the plant situation and plant operational procedures on a CRT screen when abnormalities occur. The operation procedures given in a symptom-oriented manual are expressed in a tree - type flowchart (modified PAD). The optimum operation procedure for an NPP is selected automatically using built-in diagnostic logics based on the current status of the NPP. Concerning the plant situation, the PNS displays important information only on the current status of the NPP. A prototype PNS system is being constructed. (authors)

  20. Integration of Bass Enhancement and Active Noise Control System in Automobile Cabin

    Directory of Open Access Journals (Sweden)

    Liang Wang

    2008-01-01

    Full Text Available With the advancement of digital signal processing technologies, consumers are more concerned with the quality of multimedia entertainment in automobiles. In order to meet this demand, an audio enhancement system is needed to improve bass reproduction and cancel engine noise in the cabins. This paper presents an integrated active noise control system that is based on frequency-sampling filters to track and extract the bass information from the audio signal, and a multifrequency active noise equalizer to tune the low-frequency engine harmonics to enhance the bass reproduction. In the noise cancellation mode, a maximum of 3 dB bass enhancement can be achieved with significant noise suppression, while higher bass enhancement can be achieved in the bass enhance mode. The results show that the proposed system is effective for solving both the bass audio reproduction and the noise control problems in automobile cabins.

  1. Metal hydride work pair development and its application on automobile air conditioning systems

    Institute of Scientific and Technical Information of China (English)

    QIN Feng; CHEN Jiang-ping; ZHANG Wen-feng; CHEN Zhi-jiu

    2007-01-01

    Aiming at developing exhaust gas driving automobile air conditioning systems, a hydride pair LaNi4.61Mn0.26A10.13/La0.6Y0.4Ni4.8Mn0.2 was developed working at 393~473 K/293~323 K/263~273 K. Property tests showed that both alloys have flat plateau slopes and small hystereses; system theoretical coefficient of performance (COP) is 0.711. Based on this work pair, a function proving automobile metal hydride refrigeration system was constructed. The equivalent thermal conductivities of the activated reaction beds were merely 1.1~1.6 W/(m·K), which had not met practical requirement. Intermittent refrigeration cycles were achieved and the average cooling power was 84.6 W at 423 K/303 K/273 K with COP being 0.26. By altering cycling parameters, experiment data showed that cooling power and system COP increase with the growth of heat source temperature as well as pre-heating and regeneration time while decrease with heat sink temperature increment. This study confirms the feasibility of automobile metal hydride refrigeration systems, while heat transfer properties of reaction beds still need to be improved for better performance.

  2. Voice control in automobiles; Sprachbedienung im Automobil

    Energy Technology Data Exchange (ETDEWEB)

    Aiello, D.; Sitter, W. [Siemens VDO Automotive AG (Germany). Div. Infotainment Solutions; Kaemmerer, B. [Siemens Corporate Technology (Germany). Fachzentrum Professional Speech Processing

    2006-06-15

    Voice control simplifies handling the growing number of assistance, communication and convenience systems in automobiles. Siemens VDO Automotive have used the company's comprehensive know-how in the field of voice and communications machines from other sectors - particularly the telecommunications sector - to develop a voice control system for automobiles. It is distinguished by its intelligent architecture with high performance and extremely user-friendly features. (orig.)

  3. Autonomous underwater pipeline monitoring navigation system

    Science.gov (United States)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  4. A modern diagnostic approach for automobile systems condition monitoring

    OpenAIRE

    Selig, Michael; Shi, Zhanqun; Ball, Andrew; Schmidt, K

    2012-01-01

    An important topic in automotive research and development is the area of active and passive safety systems. In general, it is grouped in active safety systems to prevent accidents and passive systems to reduce the impact of a crash. An example for an active system is ABS while a seat belt tensioner represents the group of passive systems. Current developments in the automotive industry try to link active with passive system components to enable a complete event sequence, beginning with the wa...

  5. Low back muscle activity in an automobile seat with a lumbar massage system.

    Science.gov (United States)

    Kolich, M; Taboun, S M; Mohamed, A I

    2000-01-01

    This investigation was conducted to determine the effects of a massaging lumbar support system on low back muscle activity. The apparatus included a luxury-level automobile seat, six 10-mm diameter bipolar surface electrodes, an amplifier, an analog-to-digital conversion board, data acquisition software, and a personal computer. Six experimental conditions, each involving a variation of massage time, were considered. The dependent variable was the change in the root mean square variation of the EMG signal. One minute of lumbar massage every 5 min was found to have a beneficial effect on low back muscle activity (as compared to no massage). This may prove to be an extremely important result in the quest to combat low back pain attributable to automobile seating. PMID:10773893

  6. An integrated GPS/DR navigation system for AUV

    Institute of Scientific and Technical Information of China (English)

    PANG Yong-jie; SUN Yu-shan; GAN Yong; WAN Lei

    2006-01-01

    GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure.Dead-reckoning theory is presented in details. And the strong tracking Kalman filter and Singer model are applied to handle the imprecise navigation mode, which can improve the navigation system's precision and reliability. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.

  7. Vision enhanced navigation for unmanned systems

    Science.gov (United States)

    Wampler, Brandon Loy

    A vision based simultaneous localization and mapping (SLAM) algorithm is evaluated for use on unmanned systems. SLAM is a technique used by a vehicle to build a map of an environment while concurrently keeping track of its location within the map, without a priori knowledge. The work in this thesis is focused on using SLAM as a navigation solution when global positioning system (GPS) service is degraded or temporarily unavailable. Previous work on unmanned systems that lead up to the determination that a better navigation solution than GPS alone is first presented. This previous work includes control of unmanned systems, simulation, and unmanned vehicle hardware testing. The proposed SLAM algorithm follows the work originally developed by Davidson et al. in which they dub their algorithm MonoSLAM [1--4]. A new approach using the Pyramidal Lucas-Kanade feature tracking algorithm from Intel's OpenCV (open computer vision) library is presented as a means of keeping correct landmark correspondences as the vehicle moves through the scene. Though this landmark tracking method is unusable for long term SLAM due to its inability to recognize revisited landmarks, as opposed to the Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), its computational efficiency makes it a good candidate for short term navigation between GPS position updates. Additional sensor information is then considered by fusing INS and GPS information into the SLAM filter. The SLAM system, in its vision only and vision/IMU form, is tested on a table top, in an open room, and finally in an outdoor environment. For the outdoor environment, a form of the slam algorithm that fuses vision, IMU, and GPS information is tested. The proposed SLAM algorithm, and its several forms, are implemented in C++ using an Extended Kalman Filter (EKF). Experiments utilizing a live video feed from a webcam are performed. The different forms of the filter are compared and conclusions are made on

  8. A New Navigation Strategy in Hypermedia Integral Ware Authoring System

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    After analyzing the general navigation mechanisms and discussing the knowledge point card linking model which is the base of the navigation mechanism used in the Hypermedia Integral ware Authoring System(HIAS), the paper presents a new navigation strategy in HIAS. And the application trend of HIAS is discussed at last.

  9. Target relative navigation results from hardware-in-the-loop tests using the sinplex navigation system

    NARCIS (Netherlands)

    Steffes, S.; Dumke, M.; Heise, D.; Sagliano, M.; Samaan, M.; Theil, S.; Boslooper, E.C.; Oosterling, J.A.J.; Schulte, J.; Skaborn, D.; Söderholm, S.; Conticello, S.; Esposito, M.; Yanson, Y.; Monna, B.; Stelwagen, F.; Visee, R.

    2014-01-01

    The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced while still maintaining good navigation performance as com

  10. A modern diagnostic approach for automobile systems condition monitoring

    Science.gov (United States)

    Selig, M.; Shi, Z.; Ball, A.; Schmidt, K.

    2012-05-01

    An important topic in automotive research and development is the area of active and passive safety systems. In general, it is grouped in active safety systems to prevent accidents and passive systems to reduce the impact of a crash. An example for an active system is ABS while a seat belt tensioner represents the group of passive systems. Current developments in the automotive industry try to link active with passive system components to enable a complete event sequence, beginning with the warning of the driver about a critical situation till the automatic emergency call after an accident. The cross-linking has an impact on the current diagnostic approach, which is described in this paper. Therefore, this contribution introduces a new diagnostic approach for automotive mechatronic systems. The concept is based on monitoring the messages which are exchanged via the automotive communication systems, e.g. the CAN bus. According to the authors' assumption, the messages on the bus are changing between faultless and faulty vehicle condition. The transmitted messages of the sensors and control units are different depending on the condition of the car. First experiments are carried and in addition, the hardware design of a suitable diagnostic interface is presented. Finally, first results will be presented and discussed.

  11. A modern diagnostic approach for automobile systems condition monitoring

    International Nuclear Information System (INIS)

    An important topic in automotive research and development is the area of active and passive safety systems. In general, it is grouped in active safety systems to prevent accidents and passive systems to reduce the impact of a crash. An example for an active system is ABS while a seat belt tensioner represents the group of passive systems. Current developments in the automotive industry try to link active with passive system components to enable a complete event sequence, beginning with the warning of the driver about a critical situation till the automatic emergency call after an accident. The cross-linking has an impact on the current diagnostic approach, which is described in this paper. Therefore, this contribution introduces a new diagnostic approach for automotive mechatronic systems. The concept is based on monitoring the messages which are exchanged via the automotive communication systems, e.g. the CAN bus. According to the authors' assumption, the messages on the bus are changing between faultless and faulty vehicle condition. The transmitted messages of the sensors and control units are different depending on the condition of the car. First experiments are carried and in addition, the hardware design of a suitable diagnostic interface is presented. Finally, first results will be presented and discussed.

  12. Navigation system for Finnish oil recovery vessel

    International Nuclear Information System (INIS)

    Finland's National Board of Waters and the Environment (FNBWE) and the Finnish electronics company Jertec Oy have together developed a computer-based oil recovery system to improve the efficiency of oil recovery operations in the Baltic Sea. The Baltic Sea is extremely vulnerable to oil spills, largely because at high latitudes there are only a few hours of daylight during winter. Integration of the ship's navigational equipment with a highly accurate positioning system such as the differential GPS makes it possible to operate 24 hours a day. Also, oil recovery can be made much more efficient by using a new technique to collect oil from a wider area than at present. The oil recovery vessel Halli has a length of 60 meters and is capable of recovering oil either alone or with two assisting vessels. In the latter case, the assisting vessels draw oil booms to direct floating oil from a wide area into the Halli rather like a funnel. Previously, this operation was limited to straight runs and daylight hours. The Halli is also equipped to perform underwater investigations (such as seabed wrecks) with a small submersible. Without an underwater positioning and tracking system, underwater operations are inefficient. The main requirements for the new system were reliable positioning of all vessels (assisting vessels are not known in advance), reliable inter-vessel communication, and documentation and printouts of the planned and real routes. The new navigation system was installed in November 1991 and has since fulfilled all FNBWE's requirements. The main benefit is the capability to operate 24 hours a day, which greatly increases the efficiency of oil recovery

  13. The European Satellite Navigation System Galileo

    Institute of Scientific and Technical Information of China (English)

    G.W. Hein; T. Pany

    2003-01-01

    This paper starts with a brief discussion of the Galileo project status and with a description of the present Galileo architecture (space segment, ground segment, user segment). It focuses on explaining special features compared to the American GPS system. The presentation of the user segment comprises a discussion of the actual Galileo signal structure. The Galileo carrier frequency, modulation scheme and data rate of all 10 navigation signals are described as well as parameters of the search and rescue service. The navigation signals are used to realize three types of open services, the safety of life service, two types of commercial services and the public regulated service. The signal performance in terms of the pseudorange code error due to thermal noise and multipath is discussed as well as interference to and from other radionavigation services broadcasting in the E5 and E6 frequency band. The interoperability and compatibility of Galileo and GPS is realized by a properly chosen signal structures in E5a/L5 and E2-L1-E1 and compatible geodetic and time reference frames. Some new results on reciprocal GPS/Galileo signal degradation due to signal overlay are presented as well as basic requirements on the Galileo code sequences.

  14. Camera Based Navigation System with Augmented Reality

    Directory of Open Access Journals (Sweden)

    M. Marcu

    2012-06-01

    Full Text Available Nowadays smart mobile devices have enough processing power, memory, storage and always connected wireless communication bandwidth that makes them available for any type of application. Augmented reality (AR proposes a new type of applications that tries to enhance the real world by superimposing or combining virtual objects or computer generated information with it. In this paper we present a camera based navigation system with augmented reality integration. The proposed system aims to the following: the user points the camera of the smartphone towards a point of interest, like a building or any other place, and the application searches for relevant information about that specific place and superimposes the data over the video feed on the display. When the user moves the camera away, changing its orientation, the data changes as well, in real-time, with the proper information about the place that is now in the camera view.

  15. Software framework for off-road autonomous robot navigation system

    Institute of Scientific and Technical Information of China (English)

    WU Er-yong; ZHOU Wen-hui; ZHANG Li; DAI Guo-jun

    2009-01-01

    This paper presents a software framework for off-road autonomous robot navigation system. With the requirements of accurate terrain perception and instantaneous obstacles detection, one navigation software framework was advanced based on the principles of "three layer architecture" of intelligence system. Utilized the technologies of distributed system, machine learning and multiple sensor fusion, individual functional module was discussed. This paper aims to provide a framework reference for autonomous robot navigation system design.

  16. Navigation systems for approach and landing of VTOL aircraft

    Science.gov (United States)

    Schmidt, S. F.; Mohr, R. L.

    1979-01-01

    The formulation and implementation of navigation systems used for research investigations in the V/STOLAND avionics system are described. The navigation systems prove position and velocity in a cartestian reference frame aligned with the runway. They use filtering techniques to combine the raw position data from navaids (e.g., TACAN, MLS) with data from onboard inertial sensors. The filtering techniques which use both complementary and Kalman filters, are described. The software for the navigation systems is also described.

  17. Hybrid GPS-GSM Localization of Automobile Tracking System

    Directory of Open Access Journals (Sweden)

    Mohammad A. Al-Khedher

    2012-01-01

    Full Text Available An integrated GPS-GSM system is proposed to track vehicles using Google Earth application. Theremote module has a GPS mounted on the moving vehicle to identify its current position, and to betransferred by GSM with other parameters acquired by the automobile’s data port as an SMS to arecipient station. The received GPS coordinates are filtered using a Kalman filter to enhance theaccuracy of measured position. After data processing, Google Earth application is used to view thecurrent location and status of each vehicle. This goal of this system is to manage fleet, policeautomobiles distribution and car theft cautions.

  18. AIR COOLING IN AUTOMOBILES USING VORTEX TUBE REFRIGERATION SYSTEM

    Directory of Open Access Journals (Sweden)

    B.SREENIVASA KUMAR REDDY

    2013-02-01

    Full Text Available Refrigeration plays an important role in developing countries, primarily for the preservation of food, medicine, and for air conditioning. Conventional refrigeration systems are using Freon as refrigerant. As they are the main cause for depletion of ozone layer, extensive research work is going on alternate refrigeration systems. Vortex tube is a non conventional cooling device, having no moving parts which will produce cold air and hot air from the source of compressed air without affecting the environment. When a high pressure air is tangentially injected into vortex chamber a strong vortex flow will be created which will be split into two air streams, one hot stream and the other is cold stream at its ends.

  19. Lunar Autonomous Automatic Surface Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address the NASA GRC Laboratory need for navigation capabilities to provide location awareness, precision position fixing, best heading, and traverse path...

  20. Hybrid Guidance System for Relative Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Future NASA architectures and missions will involve many distributed platforms that must work together. This in turn requires guidance, navigation and control...

  1. Systems for 42 V mass-market automobiles

    Science.gov (United States)

    Keim, Thomas A.

    With the introduction of the Toyota Crown Royal Saloon in August, 2001, 42 V automotive electrical systems made the transition from a technology for the future to present-day production. Nevertheless, there is widespread malaise in the 42 V technical community, stemming from a slower than expected introduction to the marketplace. This paper discusses some of the reasons for the slow adoption of this technology, and indicates a possible way forward. This paper looks beyond the initial uses of 42 V in limited-volume, high-end cars and light trucks, and discusses the prospects for 42 V in mass-market vehicles, given what is presently known about the technology. It is concluded that a case can be made for 42 V, even at some increment in cost. The motivation is improved fuel economy. The cost targets necessary for this benefit to be achieved are discussed, and new components being widely discussed as part of future electrical systems are evaluated for mass-market applications. New developments with higher potential are suggested.

  2. Integrated navigation method of a marine strapdown inertial navigation system using a star sensor

    International Nuclear Information System (INIS)

    This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved. (paper)

  3. Integrated navigation method of a marine strapdown inertial navigation system using a star sensor

    Science.gov (United States)

    Wang, Qiuying; Diao, Ming; Gao, Wei; Zhu, Minghong; Xiao, Shu

    2015-11-01

    This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved.

  4. Knowledge based Supplier Quality Management System for Automobile Industry

    Directory of Open Access Journals (Sweden)

    S. N. Teli

    2012-08-01

    Full Text Available A large industrial products component manufacturer was challenged to reduce supplier quality issues in response to changing market dynamics. The manufacturer faced increased competition in their core product segments and needed to reduce their overall costs and improve product quality to stay ahead. After a detailed analysis, the manufacturer identified supplier quality as one of the three key operational improvement opportunities. Supplier quality management has emerged as one of the leading business practices in the past few years. World-class manufacturers are making significant investments in systems and processes to improve supplier quality. This paper briefly outlines some of the best practices implemented by such manufacturers in supplier quality management.

  5. Damage model for automobile suspension system subjected to cyclic loading

    International Nuclear Information System (INIS)

    The Continuum damage mechanics (CDM) modeling, a state-of-the art modeling technique, because of its recognized potential has grasped the attention of many researchers in the area of constitutive modeling. An anisotropic continuum damage model for predicting the response of Auto Mobile Suspension System (AMSS) subjected to cyclic loading is presented in this study. The model utilizes an appropriate damage-effect tensor M in constructing the constitutive equations and evolution of damage. The concept of multiple bounding surfaces is used, with a varying size limit fracture surface defining cyclic loading in contrast to a fixed size limit fracture surface for static loading. The model after calibration is shown to predict the stress-strain path for AMSS as well as S-N curves depicting the fatigue response of AMSS. (author)

  6. Evaluating the Performance of an Integrated Navigation System.

    NARCIS (Netherlands)

    Lorga, J.F.M.; Chu, Q.P.; Mulder, J.A.; Halsema, D. van

    2005-01-01

    In this paper, the authors propose to introduce and describe a newly developed precise tightly-coupled integrated navigation system. The performed experiments with the purpose of evaluating the system performance are shown. A complete description of the integrated navigation system hardware, includi

  7. Robot Vision System for Coordinate Measurement of Feature Points on Large Scale Automobile Part

    Institute of Scientific and Technical Information of China (English)

    Pongsak Joompolpong; Pradit Mittrapiyanuruk; Pakorn Keawtrakulpong

    2016-01-01

    In this paper, we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts. Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC. The system controls the robot into the area of feature points. The images of measuring feature points are acquired by the camera mounted on the robot. 3D positions of the feature points are obtained from a model based pose estimation that applies to the images. The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine (CMM). Finally, the point-to-point distances between the measured feature points and the reference feature points are calculated and reported. The results show that the root mean square error (RMSE) of measure values obtained by our system is less than 0.5mm. Our system is adequate for automobile assembly and can perform faster than conventional methods.

  8. Development of a Secured Security System for an Automobile using GSM Technology and Electronic Circuit

    OpenAIRE

    Segun O. Olatinwo; Kola Ayanlowo; O. Shoewu; Tobi Samuel Fadiji; Olasunmbo O. Ajani; Oladotun Owolabi

    2013-01-01

    This paper focuses on the design and development of a security system for an automobile using GSM technology and electronic circuit which is being used to prevent or control the theft of a vehicle. The case of car hijacking has become so rampant that it has become a threat to the world leaders. Some of them cannot drive their expensive cars without escort plus the sounding of siren to scare the evil perpetrators. The necessity of car security cannot be overemphasized by car owners due to high...

  9. E-Procurement System with Embedded Supplier Selection DSS for an Automobile Manufacturing Industry

    Directory of Open Access Journals (Sweden)

    P.Priya

    2012-05-01

    Full Text Available This paper presents the development of Decision Support System (DSS to enable the selection of best suppliers in an e-procurement process. The model base of the DSS incorporates the Online Analytical Processing (OLAP and Analytic Hierarchy Process (AHP techniques to shortlist and selects the best suppliers in a web environment. The e-DSS process is implemented using ASP and SQL server, for an Indian automobile manufacturing industry. The results obtained for supplier selection is competitive in terms of the quality and lead time of the chosen suppliers

  10. An Autonomous Navigation System for Unmanned Underwater Vehicle

    OpenAIRE

    Kim, Seong-Gon; Kim, Yong-Gi

    2009-01-01

    This paper designed a RVC intelligent system model that can be applied to various unmanned vehicles and the underwater vehicle's intelligent autonomous navigation system was designed consisting of a collision avoidance system, a navigation system and a collision risk computation based on a Virtual world system. During the development of the Virtual world system, several points such as the fusion of different techniques, preservation of system consistency, real time system processing etc. were...

  11. Artificial Pheromone System Using RFID for Navigation of Autonomous Robots

    Institute of Scientific and Technical Information of China (English)

    Herianto; Toshiki Sakakibara; Daisuke Kurabayashi

    2007-01-01

    Navigation system based on the animal behavior has received a growing attention in the past few years. The navigation systems using artificial pheromone are still few so far. For this reason, this paper presents our research that aim to implement autonomous navigation with artificial pheromone system. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations and realization using modified mobile robot. The pheromone potential field system can be used for navigation of autonomous robots.

  12. An IR Navigation System for Pleural PDT

    Science.gov (United States)

    Zhu, Timothy; Liang, Xing; Kim, Michele; Finlay, Jarod; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles; Friedberg, Joseph; Cengel, Keith

    2015-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light dose uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  13. Digital Instrumentation Analysis and Navigation System (DIANS) for system identification

    Science.gov (United States)

    Smyth, R. K.; Smyth, D. E.; Taylor, L. W., Jr.

    1983-01-01

    Hardware, software, and performance features of the Digital Instrumentation and Navigation System (DIANS) designed for NASA research to collect flight data as a strap-down system are detailed. The support software for the system has a cross compiler, a linkage editor, and cross assembler, extended communication capabilities, postflight processing applications, and compilers for PASCAL, FORTRAN, CBASIC and MT. The DIANS microcomputer has a 1 Mbyte RAM module, a fast floating point processor board, a 68000 monoboard computer with 64 RAM, a 128 Kbyte bubble memory card, and a navigation radio. The system also carries a battery for full system operation for over an hour. The support software is also stored on a host mainframe computer, which has a CP/M operating system. Pitch, roll, and heading data are gathered from the on-board system, and communication is possible between the airborne and ground-based computer.

  14. Effectiveness and Ergonomics of Integrated Navigation System

    OpenAIRE

    Vidan, Pero; Stanivuk, Tatjana; Bielić, Toni

    2012-01-01

    Ergonomics increases the efficiency of people and device interaction. Nowadays, modern navigation bridges are designed in accordance with the requirements of navigators, designers and shipowners, production costs etc. The bridge design, various layouts, instrument arrangements and their capacities etc. have not been fully regulated by the SOLAS convention. The Convention regulates manufacturers’ requirements which refer to accuracy, device sensitivity etc. However, factors that are important ...

  15. Research on Temperature Modeling of Strapdown Inertial Navigation System

    Science.gov (United States)

    Huang, XiaoJuan; Zhao, LiJian; Xu, RuXiang; Yang, Heng

    2016-02-01

    Strapdown inertial navigation system with laser gyro has been deployed in space tracking ship and compared with the conventional platform inertial navigation system, it has substantial advantage in performance, accuracy and stabilization. Environmental and internal temperature affects the gyro, accelerator, electrical circuits and mechanical structure significantly but the existing temperature compensation model is not accurate enough especially when there is a big temperature change.

  16. Risk assessment guidelines of automobile steering system defects and automobile recall cases%汽车转向系统缺陷风险评估准则与汽车召回案例

    Institute of Scientific and Technical Information of China (English)

    张卫亮; 肖凌云; 刘亚辉

    2013-01-01

    Automobile steering system defects affect the automobile safety, and are important causes of automobile-recal . Risk assessment guidelines were proposed for automobile steering system defects to improve the manage efifciency of automobile recal , based on risk matrix and risk level after analyzed automobile steering system failure forms and their inlfuence. Automobile recal cases caused by steering system defects were analyzed using the risk assessment guidelines. The results show that the defect risk matrix method can identify steering system defects and evaluate the risk level. Therefore, the defect risk assessment guidelines can assess the automobile steering system defects risk and automobile recal , also can be extended to other defects of automobile, and enhance the process of automobile recal .%汽车转向系统缺陷严重影响汽车的行驶安全性,是汽车召回的重要原因之一。为了提高汽车召回的管理效率,该文分析了汽车转向系统故障缺陷的形式及其影响,以风险矩阵法和风险等级为依据,提出了一种汽车转向系统缺陷风险评估准则。以此分析了汽车被召回的案例。结果表明:本文的风险矩阵法,能识别转向系统缺陷,并评估其风险。因此,本汽车转向系统缺陷风险评估准则,能指导汽车转向系统缺陷的风险评估和汽车召回,也可扩展到汽车其他缺陷的风险评估中,服务于汽车召回。

  17. Error Analysis of Inertial Navigation Systems Using Test Algorithms

    OpenAIRE

    Vaispacher, Tomáš; Bréda, Róbert; Adamčík, František

    2015-01-01

    Content of this contribution is an issue of inertial sensors errors, specification of inertial measurement units and generating of test signals for Inertial Navigation System (INS). Given the different levels of navigation tasks, part of this contribution is comparison of the actual types of Inertial Measurement Units. Considering this comparison, there is proposed the way of solving inertial sensors errors and their modelling for low – cost inertial navigation applications. The last part is ...

  18. Basic Mars Navigation System For Local Areas

    Science.gov (United States)

    Petitfils, E.-A.; Boche-Sauvan, L.; Foing, B. H.; Monaghan, E.; Crews, Eurogeomars

    2009-04-01

    Introduction: This project has been first set up as a basic solution in navigation during EVA (extra-vehicular activities) in the Mars Society Desert Research Station in the desert of Utah. The main idea is to keep the system as simple as possible so that it can be easily adaptable and portable. The purpose of such a device is to tell the astronauts in EVA where they roughly are and then letting them reaching different points in avoiding any risky way. Thus the precision needed has not to be really high: even if it is about 50m, every astronaut can then look on a map and be able to design a way to another point. This navigation system will improve the safety of the EVA as it is an added reliable orientating tool. Concept: To look at a simple way to localize oneself, one should have a look at what has been done by mankind on Earth. Today, everyone can think of the GPS because it's simple and very reliable. However the infrastructure for such a system is huge and will not be for sure available during the first missions. We can think of course of a basic GPS using the satellites being in orbit but this approach is not yet as simple as we would like. If we want to keep the sky in sight, we can use the stars and the moons of Mars. Yet this would be a good solution and we can even have a star tracker that would give a good position according to the time of the picture. This solution has to be kept in mind but a star tracker is quite big for an astronaut without any rover nearby and using the sky may not be as precise as one should expect. Another useful tool is the compass. It has been used for centuries by sailors but on Mars, without a good magnetic field for this purpose. But sailors also use lighthouses and some placemarks on the land to localize themselves. This is done with a compass, measuring the angle between a placemark and the magnetic North. With two angles, we can then have the position of the boat. The idea here is the same: measuring the angles between

  19. Comparative advantage between traditional and smart navigation systems

    Science.gov (United States)

    Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan

    2013-03-01

    The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).

  20. Smart electronics and sensors for IVHS and automobile collision warning antenna systems

    Science.gov (United States)

    Varadan, Vijay K.; Varadan, Vasundara V.

    1995-05-01

    In this paper, the feasibility of using electronically steerable antennas for health monitoring of civil structures and early warning of collapsing bridges to the approaching vehicles is presented. These antennas can also be used in automobile collision warning systems. These antennas are lightweight, low volume, low profile and conformal. They have low fabrication costs and are easily mass produced. They are thin and do not perturb the aerodynamics of a host automobile. Linear, circular, and dual polarization are achieved with simple changes in feed position. Beam steering is accomplished by varying the relative phase between radiating elements. In planar array, both horizontal and vertical beam can be combined to provide full scanning capabilities. Tunable ceramic phase shifters are used in these antennas. The dielectric properties of the ferroelectric material are changed by a bias voltage. In the case of health monitoring of civil structures, these antennas are used in conjunction with ferroelectric sensors. The sensors are fabricated with interdigital transducers printed on a piezoelectric polymer or ceramic type film. They are in turn mounted onto an ultra thin Penn State's novel RF antenna. The wave form measurements may be monitored at a remote location via the antenna in the sensors and the electronically steerable antenna outlined above.

  1. Information content in reflected global navigation satellite system signals

    DEFF Research Database (Denmark)

    Høeg, Per; Carlstrom, Anders

    2011-01-01

    The direct signals from satellites in global satellite navigation satellites systems (GNSS) as, GPS, GLONASS and GALILEO, constitute the primary source for positioning, navigation and timing from space. But also the reflected GNSS signals contain an important information content of signal travel...

  2. Regionalized Lunar South Pole Surface Navigation System Analysis

    Directory of Open Access Journals (Sweden)

    Bryan W. Welch

    2008-01-01

    Full Text Available Apollo missions utilized Earth-based assets for navigation, since the landings took place at lunar locations in constant view from the Earth. The new exploration campaign to the lunar South Pole region will have limited Earth visibility, but the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in this region is unknown. This article presents a dilution-of-precision-(DoP- based stationary surface navigation analysis of the performance of multiple lunar satellite constellations, Earth-based deep space network assets, and combinations thereof. Results show that kinematic and integrated solutions cannot be provided by the Earth-based deep space network stations. Also, the surface stationary navigation system needs to be operated as a two-way navigation system, or as a one-way navigation system with local terrain information, while integrating the position solution over a short duration of time with navigation signals being provided by a lunar satellite constellation.

  3. Positioning Navigation and Timing System Integration Laboratory (PNT SIL)

    Data.gov (United States)

    Federal Laboratory Consortium — ThePositioning Navigation and Timing System Integration Laboratory (PNT SIL)is currently used for a number of PNT system development test and evaluation activities...

  4. Development and Analysis of SHEFEX-2 Hybrid Navigation System Experiment

    OpenAIRE

    Steffes, Stephen

    2013-01-01

    There is need in Europe for an accurate navigation system for Earth-based aerospace applications with high dynamics, such as launch and atmospheric entry vehicles. The Hybrid Navigation System (HNS) was developed in response to this need. This system fuses data from an IMU, a Global Position System (GPS) receiver, and a star tracker (STR) using an extended Kalman filter. Data fusion allows the user to combine the strengths of each instrument to compensate for their individual weaknesses. Comb...

  5. Development of a metal hydride refrigeration system as an exhaust gas-driven automobile air conditioner

    Energy Technology Data Exchange (ETDEWEB)

    Qin, Feng; Chen, Jiangping; Chen, Zhijiu [Institute of Refrigeration and Cryogenics Engineering, Shanghai Jiaotong University, Shanghai 200030 (China); Lu, Manqi; Yang, Ke [Engineering Center, Institute of Metal Research, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016 (China); Zhou, Yimin [Research Center, Zhejiang Yinlun Machinery Co. Ltd., Tiantai County, Zhejiang Province 317200 (China)

    2007-10-15

    Aiming at developing exhaust gas-driven automobile air conditioners, two types of systems varying in heat carriers were preliminarily designed. A new hydride pair LaNi{sub 4.61}Mn{sub 0.26}Al{sub 0.13}/La{sub 0.6}Y{sub 0.4}Ni{sub 4.8}Mn{sub 0.2} was developed working at 120-200 C/20-50 C/-10-0 C. P-C isotherms and reaction kinetics were tested. Reaction enthalpy, entropy and theoretical cycling coefficient of performance (COP) were deducted from Van't-Hoff diagram. Test results showed that the hydride pair has flat plateau slopes, fast reaction dynamics and small hystereses; the reaction enthalpy of the refrigeration hydride is -27.1 kJ/mol H{sub 2} and system theoretical COP is 0.711. Mean particle sizes during cycles were verified to be an intrinsic property affected by constitution, heat treatment and cycle numbers rather than initial grain sizes. Based on this work pair, cylindrical reactors were designed and a function proving metal hydride intermittent refrigeration system was constructed with heat conducting oil as heat source and water as heat sink. The reactor equivalent thermal conductivity is merely 1.3 W/(m K), which still has not meet practical requirement. Intermittent refrigeration cycles were achieved and the average cooling power is 84.6 W at 150 C/30 C/0 C with COP being 0.26. The regulations of cycling performance and minimum refrigeration temperature (MRT) were determined by altering heat source temperature. Results showed that cooling power and system COP increase while MRT decreases with the growth of heat source temperature. This study develops a new hydride pair and confirms its application in automobile refrigeration systems, while their heat transfer properties still need to be improved for better performance. (author)

  6. Simulation platform of navigation system for autonomous underwater vehicle

    Institute of Scientific and Technical Information of China (English)

    QIN Zheng; BIAN Xin-qian

    2006-01-01

    In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable.

  7. Multiplexed Optical Transmission System For Automobiles Using Polymer Fiber With High Heat Resistance

    Science.gov (United States)

    Sasayama, Takao; Asano, Hideki; Taketani, Noriaki

    1989-02-01

    A multiplexed optical transmission system for automobiles utilizing newly developed polymer fiber has been proposed. The system is composed with a star-shaped optical network, in which the ootical signals can be transmitted bi-directionally through polymer optical fiber and optical branches with the central and local controllers. The polymer fiber has been developed for this purpose in order to overcome the conventional problems which prevented its wide use for a long time. The new polymer fiber is fabricated with a thereto-setting resin for core which is pushed out from heating furnace after the process of polymerization. The fiber shows the desirable characteristics for this application, that is, the heat resistance is as high as 200°C, and the transmission loss is as low as 0.5003/m at 660 nm wavelength.

  8. Engineering satellite-based navigation and timing global navigation satellite systems, signals, and receivers

    CERN Document Server

    Betz, J

    2016-01-01

    This book describes the design and performance analysis of satnav systems, signals, and receivers. It also provides succinct descriptions and comparisons of all the world’s satnav systems. Its comprehensive and logical structure addresses all satnav signals and systems in operation and being developed. Engineering Satellite-Based Navigation and Timing: Global Navigation Satellite Systems, Signals, and Receivers provides the technical foundation for designing and analyzing satnav signals, systems, and receivers. Its contents and structure address all satnav systems and signals: legacy, modernized, and new. It combines qualitative information with detailed techniques and analyses, providing a comprehensive set of insights and engineering tools for this complex multidisciplinary field. Part I describes system and signal engineering including orbital mechanics and constellation design, signal design principles and underlying considerations, link budgets, qua tifying receiver performance in interference, and e...

  9. Reliable Global Navigation System using Flower Constellation

    Directory of Open Access Journals (Sweden)

    Daniele Mortari

    2013-03-01

    Full Text Available For many space missions using satellite constellations, symmetry of satellites distribution plays usually a key role. Symmetry may be considered in space and/or in time distribution. Examples of required symmetry in space distribution are in Earth observation missions (either, for local or global as well as in navigation systems. It is intuitive that to optimally observe the Earth a satellite constellation should be synchronized with the Earth rotation rate. If a satellite constellation must be designed to constitute a communication network between Earth and Jupiter, then the orbital period of the constellation satellites should be synchronized with both Earth and Jupiter periods of revolution around the Sun. Another example is to design satellite constellations to optimally observe specific Earth sites or regions. Again, this satellites constellation should be synchronized with Earth’s rotational period and (since the time gap between two subsequent observations of the site should be constant also implies time symmetry in satellites distribution. Obtaining this result will allow to design operational constellations for observing targets (sites, borders, regions with persistence or assigned revisit times, while minimizing the number of satellites required. Constellations of satellites for continuous global or zonal Earth coverage have been well studied over the last twenty years, are well known and have been well documented [1], [2], [7], [8], [11], [13]. A symmetrical, inclined constellation, such as a Walker constellation [1], [2] provides excellent global coverage for remote sensing missions; however, applications where target revisit time or persistent observation are important lead to required variations of traditional designs [7], [8]. Also, few results are available that affect other figures of merit, such as continuous regional coverage and the systematic use of eccentric orbit constellations to optimize“hang time” over regions of

  10. METHODOLOGY FOR ANALYSIS OF DECISION MAKING IN AIR NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Volodymyr Kharchenko

    2011-03-01

    Full Text Available Abstract. In the research of Air Navigation System as a complex socio-technical system the methodologyof analysis of human-operator's decision-making has been developed. The significance of individualpsychologicalfactors as well as the impact of socio-psychological factors on the professional activities of ahuman-operator during the flight situation development from normal to catastrophic were analyzed. On thebasis of the reflexive theory of bipolar choice the expected risks of decision-making by the Air NavigationSystem's operator influenced by external environment, previous experience and intentions were identified.The methods for analysis of decision-making by the human-operator of Air Navigation System usingstochastic networks have been developed.Keywords: Air Navigation System, bipolar choice, human operator, decision-making, expected risk, individualpsychologicalfactors, methodology of analysis, reflexive model, socio-psychological factors, stochastic network.

  11. Navigation sensors and systems in GNSS degraded and denied environments

    Institute of Scientific and Technical Information of China (English)

    George T. Schmidt

    2015-01-01

    Position, velocity, and timing (PVT) signals from the Global Positioning System (GPS) are used throughout the world but the availability and reliability of these signals in all environments has become a subject of concern for both civilian and military applications. This presentation sum-marizes recent advances in navigation sensor technology, including GPS, inertial, and other navi-gation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.

  12. Optimum design of automobile seat using statistical design support system; Tokeiteki sekkei shien system no jidoshayo seat eno tekiyo

    Energy Technology Data Exchange (ETDEWEB)

    Kashiwamura, T. [NHK Spring Co. Ltd., Yokohama (Japan); Shiratori, M.; Yu, Q.; Koda, I. [Yokohama National University, Yokohama (Japan)

    1997-10-01

    The authors proposed a new practical optimum design method called statistical design support system, which consists of five steps: the effectivity analysis, reanalysis, evaluation of dispersion, the optimiza4ion and evaluation of structural reliability. In this study, the authors applied the present system to analyze and optimum design of an automobile seat frame subjected to crushing. This study should that the present method could be applied to the complex nonlinear problems such as large deformation, material nonlinearity as well as impact problem. It was shown that the optimum design of the seat frame has been solved easily using the present system. 6 refs., 5 figs., 5 tabs.

  13. Satellite Imagery Assisted Road-Based Visual Navigation System

    Science.gov (United States)

    Volkova, A.; Gibbens, P. W.

    2016-06-01

    There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

  14. An indoor navigation system to support the visually impaired.

    Science.gov (United States)

    Riehle, T H; Lichter, P; Giudice, N A

    2008-01-01

    Indoor navigation technology is needed to support seamless mobility for the visually impaired. A small portable personal navigation device that provides current position, useful contextual wayfinding information about the indoor environment and directions to a destination would greatly improve access and independence for people with low vision. This paper describes the construction of such a device which utilizes a commercial Ultra-Wideband (UWB) asset tracking system to support real-time location and navigation information. Human trials were conducted to assess the efficacy of the system by comparing target-finding performance between blindfolded subjects using the navigation system for real-time guidance, and blindfolded subjects who only received speech information about their local surrounds but no route guidance information (similar to that available from a long cane or guide dog). A normal vision control condition was also run. The time and distance traveled was measured in each trial and a point-back test was performed after goal completion to assess cognitive map development. Statistically significant differences were observed between the three conditions in time and distance traveled; with the navigation system and the visual condition yielding the best results, and the navigation system dramatically outperforming the non-guided condition. PMID:19163698

  15. A navigational guidance system in the human brain.

    Science.gov (United States)

    Spiers, Hugo J; Maguire, Eleanor A

    2007-01-01

    Finding your way in large-scale space requires knowing where you currently are and how to get to your goal destination. While much is understood about the neural basis of one's current position during navigation, surprisingly little is known about how the human brain guides navigation to goals. Computational accounts argue that specific brain regions support navigational guidance by coding the proximity and direction to the goal, but empirical evidence for such mechanisms is lacking. Here, we scanned subjects with functional magnetic resonance imaging as they navigated to goal destinations in a highly accurate virtual simulation of a real city. Brain activity was then analyzed in combination with metric measures of proximity and direction to goal destinations that were derived from each individual subject's coordinates at every second of navigation. We found that activity in the medial prefrontal cortex was positively correlated, and activity in a right subicular/entorhinal region was negatively correlated with goal proximity. By contrast, activity in bilateral posterior parietal cortex was correlated with egocentric direction to goals. Our results provide empirical evidence for a navigational guidance system in the human brain, and define more precisely the contribution of these three brain regions to human navigation. In addition, these findings may also have wider implications for how the brain monitors and integrates different types of information in the service of goal-directed behavior in general. PMID:17492693

  16. Development of a GPS/INS/MAG navigation system and waypoint navigator for a VTOL UAV

    Science.gov (United States)

    Meister, Oliver; Mönikes, Ralf; Wendel, Jan; Frietsch, Natalie; Schlaile, Christian; Trommer, Gert F.

    2007-04-01

    Unmanned aerial vehicles (UAV) can be used for versatile surveillance and reconnaissance missions. If a UAV is capable of flying automatically on a predefined path the range of possible applications is widened significantly. This paper addresses the development of the integrated GPS/INS/MAG navigation system and a waypoint navigator for a small vertical take-off and landing (VTOL) unmanned four-rotor helicopter with a take-off weight below 1 kg. The core of the navigation system consists of low cost inertial sensors which are continuously aided with GPS, magnetometer compass, and a barometric height information. Due to the fact, that the yaw angle becomes unobservable during hovering flight, the integration with a magnetic compass is mandatory. This integration must be robust with respect to errors caused by the terrestrial magnetic field deviation and interferences from surrounding electronic devices as well as ferrite metals. The described integration concept with a Kalman filter overcomes the problem that erroneous magnetic measurements yield to an attitude error in the roll and pitch axis. The algorithm provides long-term stable navigation information even during GPS outages which is mandatory for the flight control of the UAV. In the second part of the paper the guidance algorithms are discussed in detail. These algorithms allow the UAV to operate in a semi-autonomous mode position hold as well an complete autonomous waypoint mode. In the position hold mode the helicopter maintains its position regardless of wind disturbances which ease the pilot job during hold-and-stare missions. The autonomous waypoint navigator enable the flight outside the range of vision and beyond the range of the radio link. Flight test results of the implemented modes of operation are shown.

  17. Independent Navigation System for a Surgical Colonoscope

    Directory of Open Access Journals (Sweden)

    Lilia A. Ochoa-Luna

    2013-08-01

    Full Text Available This paper provides a novel algorithm to attain the independent navigation of a colonoscopy surgical endoscope. First, it introduces a brief description of this issue through the scientist advance for medical robotics. It then makes a quickly count of the existent methods and at the end it provides the basis in order to propose a new alternative solution with help from vision-guidance. That means that images will be processed and interpreted with the purpose of maintaining the endoscope always at the intestine center. All this considered will help us to reduce colonoscopy surgeries consequences and the most important advantage of this new method proposed is that surgeons will accomplish their work easier and more efficiently.

  18. The Study of Automobile Electron Cloud Manufacturing Architecture based on Automobile Open System Architecture%基于汽车开放系统架构的汽车电子云制造架构

    Institute of Scientific and Technical Information of China (English)

    张钺

    2015-01-01

    In order to further satisfy the real-time and reliability requirement of automobile electronic manufacturing industry, this paper based on the automobile electron cloud manufacturing architecture as the main research content, through analyzing automobile electronic standard(AUTOSAR) and the Service oriented architecture(SOA) component model, to designing and illustrating the automobile electron cloud manufacturing architecture which was based on automobile open system architecture.%为进一步满足汽车电子制造业的实时性与可靠性要求,本文以汽车电子云制造架构作为主要研究内容,通过对汽车电子标准AUTOSAR与面向服务体系结构的组件模型SOA进行分析,进而对以汽车开放系统架构为基础的汽车电子云制造架构进行了设计和说明.

  19. Voice Operated Outdoor Navigation System For Visually Impaired Persons

    Directory of Open Access Journals (Sweden)

    Somnath koley, Ravi Mishra

    2012-04-01

    Full Text Available —Blind People uses white canes to aid in obstacle detection & avoidance. Guide dogs can also be of limited aid for finding the way to a remote location. So our goal is to create a portable, simple less costly system that will allow Blind peoples to travel through familiar and unfamiliar environments without the aid of guides. Several guidance system has been developed for vision impaired people, but these systems tends to be expensive, also make use of a client server approach. This Navigation system consists of two distinct components: sensing of the immediate environment for blind people to travel (e.g., obstacles and hazards and navigating to remote destinations beyond the immediately perceptible environment. The paper described here focused on the development and evaluation of a Navigation system that makes use of GPS (the Global Positioning System, voice and ultrasonic sensor for obstacle detection.

  20. Development of a Secured Security System for an Automobile using GSM Technology and Electronic Circuit

    Directory of Open Access Journals (Sweden)

    Segun O. Olatinwo

    2013-01-01

    Full Text Available This paper focuses on the design and development of a security system for an automobile using GSM technology and electronic circuit which is being used to prevent or control the theft of a vehicle. The case of car hijacking has become so rampant that it has become a threat to the world leaders. Some of them cannot drive their expensive cars without escort plus the sounding of siren to scare the evil perpetrators. The necessity of car security cannot be overemphasized by car owners due to high cost of purchasing car nowadays. Car security system using GSM and Electronic circuit had been designed, which can operate in two ways: receiving signal / command from the car owner through the mobile phone or by taken decision by itself using electronic circuit. The signal received through the mobile phone that serves as input to the circuit and immediately sends signal through transistor TR1 and TR2 to the 555 timer IC1 to other transistors in the circuit and output of one transistor serves as input signal to another. The output signal from the PIC 16F84A or CD 4017 demobilized the central lock system and brain box of the car. The demobilized central lock system and brain box can be reset by calling or sending another signal through the mobile phone to reset the brain box.

  1. Adaptive Landmark-Based Navigation System Using Learning Techniques

    DEFF Research Database (Denmark)

    Zeidan, Bassel; Dasgupta, Sakyasingha; Wörgötter, Florentin;

    2014-01-01

    . Inspired by this, we develop an adaptive landmark-based navigation system based on sequential reinforcement learning. In addition, correlation-based learning is also integrated into the system to improve learning performance. The proposed system has been applied to simulated simple wheeled and more complex...

  2. Ergonomics and workplace design: application of Ergo-UAS System in Fiat Group Automobiles.

    Science.gov (United States)

    Vitello, M; Galante, L G; Capoccia, M; Caragnano, G

    2012-01-01

    Since 2008 Fiat Group Automobiles has introduced Ergo-UAS system for the balancing of production lines and to detect ergonomic issues. Ergo-UAS system integrates 2 specific methods: MTM-UAS for time measurement and EAWS as ergonomic method to evaluate biomechanical effort for each workstation. Fiat is using a software system to manage time evaluation and ergo characterization of production cycle (UAS) to perform line balancing and obtain allowance factor in all Italian car manufacturing plant. For new car models, starting from New Panda, FGA is applying Ergo-UAS for workplace design since the earliest phase of product development. This means that workplace design is based on information about new product, new layout, new work organization and is performed by a multidisciplinary team (Work Place Integration Team), focusing on several aspects of product and process: safety, quality and productivity. This allows to find and solve ergonomic threats before the start of production, by means of a strict cooperation between product development, engineering and design, manufacturing. Three examples of workstation design are presented in which application of Ergo-UAS was determinant to find out initial excessive levels of biomechanical load and helped the process designer to improve the workstations and define limits of acceptability. Technical activities (on product or on process), or organizational changes, that have been implemented in order to solve the problems are presented. A comparison between "before" and "new" ergonomic scores necessary to bring workstations in acceptable conditions were made. PMID:22317404

  3. Treelicious: a System for Semantically Navigating Tagged Web Pages

    CERN Document Server

    Mullins, Matt; 10.1109/WI-IAT.2010.289

    2011-01-01

    Collaborative tagging has emerged as a popular and effective method for organizing and describing pages on the Web. We present Treelicious, a system that allows hierarchical navigation of tagged web pages. Our system enriches the navigational capabilities of standard tagging systems, which typically exploit only popularity and co-occurrence data. We describe a prototype that leverages the Wikipedia category structure to allow a user to semantically navigate pages from the Delicious social bookmarking service. In our system a user can perform an ordinary keyword search and browse relevant pages but is also given the ability to broaden the search to more general topics and narrow it to more specific topics. We show that Treelicious indeed provides an intuitive framework that allows for improved and effective discovery of knowledge.

  4. VOR - Calibration by an Airborne Integrated Navigation System

    Directory of Open Access Journals (Sweden)

    Tore Smestad

    1980-01-01

    Full Text Available A simulation study of a possible application of modern control theory is presented. The problem is to check and calibrate a VOR-station from a circling aircraft. An accurate position estimate of the circling aircraft is needed in order to calculate the errors in the received VOR-signals. The position estimate is here obtained from an integrated navigation system using an inertial navigation system (INS, a laser range-finder, angle measurements on the laser line-of-sight, and barometer readings. The range and angle measurements are fed to a Kalman filter which estimates errors in the navigation system. Simulation results show that satisfactory accuracy is obtained by this method. The paper presents a description of the proposed system, the simulation model used, simulation results and some sensitivity analysis.

  5. 3D Visualization and Simulation of the Human Navigation System

    OpenAIRE

    Hjelle, Henrik

    2015-01-01

    The aim of this thesis is to investigate how 3D visualizations and virtual reality can be used to make the human navigation system understandable for the general public. To do this, a 3D visualization of the human navigation systems components in the brain was created using Second Life. In addition, a simulation of how the cells in this system works was created with the same platform. These two types of visualization were used to see if they gave any learning outcome in relation to the ...

  6. Influence of navigation system updates on total knee arthroplasty

    OpenAIRE

    Inui, Hiroshi; Taketomi, Shuji; Nakamura, Kensuke; Takei, Seira; Takeda, Hideki; Tanaka, Sakae; NAKAGAWA, TAKUMI

    2013-01-01

    Background The purpose of this study was to evaluate the influence of image-free computer-assisted navigation system update on outcome in total knee arthroplasty. Methods Thirty-three knees were replaced using the Stryker 3.1 image-free navigation system and 49 knees were replaced using the Stryker 4.0 system. One surgeon took part in all procedures as chief surgeon or first assistant. All patients received the Stryker Scopio NRG CR total knee prosthesis. We compared the accuracy of component...

  7. Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

    Directory of Open Access Journals (Sweden)

    Rui Bai

    2014-01-01

    Full Text Available In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding-mode controller of the electronic throttle is developed. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control method can achieve favorable tracking performance.

  8. An Indoor Navigation System for the Visually Impaired

    Directory of Open Access Journals (Sweden)

    Luis A. Guerrero

    2012-06-01

    Full Text Available Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user’s trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.

  9. An indoor navigation system for the visually impaired.

    Science.gov (United States)

    Guerrero, Luis A; Vasquez, Francisco; Ochoa, Sergio F

    2012-01-01

    Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment. PMID:22969398

  10. Navigation and geo-tracking system of UAV EO payload

    Science.gov (United States)

    Chen, Ying; Zhen, Kang; Xue, Yuanyuan; Zhang, Xiajiang; Li, Yingjuan; Tang, Chao

    2016-01-01

    A multi-function system based on inertial measurement unit (IMU) is introduced, which can fulfill navigation, attitude measurement of LOS in payload, platform stabilization and tracking control. The IMU is integrated with electro-optical sensors and a laser range finder on gimbals, which performs attitude calculation and navigation by constructing navigation coordinates in a mathematic platform, and the platform navigation information is obtained by transformation matrix between platform and gimbal coordinates. The platform comprising of gyros, electro-optical sensors and servo mechanism is capable of stabilizing line of sight and could be used to geo-tracking in the relevant field of view (FOV).The system can determine geography coordinates of the host platform and target only with navigation information and laser ranging data. The geo-tracking system always locked the target image at the center of FOV by calculating spatial geometry and adjusting LOS attitude. This tracking is different from TV tracking and geographical reference image tracking, which may be influenced by fog and obscurant. When the UAV is flying over urban or mountain areas for rescue missions, it can avoid the loss of targets due to strong maneuver or LOS obscuration, and reduce the operation load and improve rescue efficiency.

  11. The PPP Precision Analysis Based on BDS Regional Navigation System

    OpenAIRE

    Zhu, Yongxing; FENG Laiping; Jia, Xiaolin; Zhang, Qinghua; RUAN Rengui

    2015-01-01

    BeiDou navigation satellite system(BDS) has opened service in most of the Asia-Pacific region, it offers the possibility to break the technological monopoly of GPS in the field of high-precision applications, so its performance of precise point positioning (PPP) has been a great concern. Firstly, the constellation of BeiDou regional navigation system and BDS/GPS tracking network is introduced. Secondly, the precise ephemeris and clock offset accuracy of BeiDou satellite based on domestic trac...

  12. A Practical Route Search System for Amusement Parks Navigation

    Directory of Open Access Journals (Sweden)

    Takahiro Shibuya

    2013-12-01

    Full Text Available It is very difficult to find the minimum route to travel in amusement park navigation. A searching system for visitors would be useful. Therefore, we constructed a system to find the route with the minimum total traveling time. Facility visitors can employ this system on a smart phone. The system is composed of Java and a Java Servlet. We conclude that our system is useful and can greatly shorten travel time within a typical amusement park.

  13. Plant pollution from lead produced by automobile exhaust system near certain highways of Iran

    International Nuclear Information System (INIS)

    Plants polluted with Pb produced by automobiles along the roads and highways have extensively been reported all over the world. It is the most important source of pollution in the environment. This research was carried out to determine the polluting degree of plants along the highways such as: Rasht-Anzaly, Kelachay-Ramsar, Tehran-Karaj, and Isfahan-Tehran. At each arbitrary point, a transect 100 meters long perpendicular to the highway was selected for sampling. Along each transect, plants were sampled at 15 cm above the ground, in different distances from the highway. Samples were transported to the laboratory and analyzed by a standard method. The average concentration of total Pb determined in Anzali, Ramsar, Karaj and Delijan (east and west of the road) areas respectively were 114.5, 58.3, 260.2, 75.1 and microgram per gram dry plant weight. Total Pb content in plants along the roads were high and exponentially decreasing with distance from the roadside. Pb concentration in plants were higher than threshold of Standard, so the risk of entrain g of this poisonous element in nutrition system along the roads is very considerable. The plants were polluted from medium degree up to a very high degree. The rate of pollution in plant samples is very high in Karaj area, high in Anzali area, and medium in Ramsar and Delijan areas. Plant pollution was directly related to the traffic volume in road

  14. Implementation of a Vector-based Tracking Loop Receiver in a Pseudolite Navigation System

    OpenAIRE

    Hyoungmin So; Taikjin Lee; Sanghoon Jeon; Chongwon Kim; Changdon Kee; Taehee Kim; Sanguk Lee

    2010-01-01

    We propose a vector tracking loop (VTL) algorithm for an asynchronous pseudolite navigation system. It was implemented in a software receiver and experiments in an indoor navigation system were conducted. Test results show that the VTL successfully tracks signals against the near–far problem, one of the major limitations in pseudolite navigation systems, and could improve positioning availability by extending pseudolite navigation coverage.

  15. Distributed System for Automatic Improvement of Adaptive Website Navigation

    Directory of Open Access Journals (Sweden)

    Željko Eremić

    2012-03-01

    Full Text Available Communication with clients is now largely conducted through websites, whether it comes to business, scientific, or educational activities. Considering that a dynamic website contains a growing amount of information, the issue of efficient navigation through websites allowing quick access to desired content is imperative. Adaptive websites can customize their navigation based on knowledge gained from previous user behaviour. Discovering such knowledge is a process that engages significant resources, and it is convenient to have it organized by the use of one or more servers. This paper describes the architecture of distributed systems for improving navigation through a greater number of adaptive websites. High flexibility, efficiency and reliability of the performance, as well as saving user's time and effort, can be obtained as a result of this system's usage.

  16. Navigation and control considerations for space based orbital maneuvering systems

    Science.gov (United States)

    Brandon, L.

    1984-01-01

    Various design areas of concern in navigation and control of space-based orbital maneuvering systems such as those on the Orbiter are discussed, with note taken of approach maneuvers. Design problems occur in the areas of storage modes, sensing, activation methods, navigation, target/mission determination, rendezvous and docking schemes, reliability, and commonality between low- and high-energy maneuvering vehicles. Navigation may be in autonomous or nonautonomous modes and may include ground-baed computations and commands via the TDRSS or NORAD systems. Autonomous operations would interface with the GPS. All the concepts discussed are significant for the planned orbital transfer and orbital maneuvering vehicles, which would be used to place satellites in orbit and repair or retrieve them.

  17. Northeast:Automobile Feast

    Institute of Scientific and Technical Information of China (English)

    Janet

    2008-01-01

    @@ The northeast has a lot of firsts in the history of China's industrial development,including the first automobile factory-FAW.Due to the system problem and many other complicated factors,quite a number of the northeastern industry enterprises are out of date during the China's economic transition period.

  18. Simple nonlinear systems and navigating catastrophes

    Science.gov (United States)

    Harré, Michael S.; Atkinson, Simon R.; Hossain, Liaquat

    2013-06-01

    Tipping points are a common occurrence in complex adaptive systems. In such systems feedback dynamics strongly influence equilibrium points and they are one of the principal concerns of research in this area. Tipping points occur as small changes in system parameters result in disproportionately large changes in the global properties of the system. In order to show how tipping points might be managed we use the Maximum Entropy (MaxEnt) method developed by Jaynes to find the fixed points of an economic system in two different ways. In the first, economic agents optimise their choices based solely on their personal benefits. In the second they optimise the total benefits of the system, taking into account the effects of all agent's actions. The effect is to move the game from a recently introduced dual localised Lagrangian problem to that of a single global Lagrangian. This leads to two distinctly different but related solutions where localised optimisation provides more flexibility than global optimisation. This added flexibility allows an economic system to be managed by adjusting the relationship between macro parameters, in this sense such manipulations provide for the possibility of "steering" an economy around potential disasters.

  19. Data Analysis Techniques for a Lunar Surface Navigation System Testbed

    Science.gov (United States)

    Chelmins, David; Sands, O. Scott; Swank, Aaron

    2011-01-01

    NASA is interested in finding new methods of surface navigation to allow astronauts to navigate on the lunar surface. In support of the Vision for Space Exploration, the NASA Glenn Research Center developed the Lunar Extra-Vehicular Activity Crewmember Location Determination System and performed testing at the Desert Research and Technology Studies event in 2009. A significant amount of sensor data was recorded during nine tests performed with six test subjects. This paper provides the procedure, formulas, and techniques for data analysis, as well as commentary on applications.

  20. MALL NAVIGATION SYSTEM USING WI-FI Router

    OpenAIRE

    Ankita Paul ,Rohit Das , Abhik Sarkar

    2012-01-01

    There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. A shopping Mall is a vast place, & we often get confused with the direction of the nearest ATMs or even rest rooms. So we have simplified this method with the “Mall Navigation System”. Smart phones have become very popular these days, so we have combined the idea of a smart phone application helping you in an alienated mall. The idea revolves aro...

  1. MALL NAVIGATION SYSTEM USING WI-FI Router

    Directory of Open Access Journals (Sweden)

    Ankita Paul ,Rohit Das , Abhik Sarkar

    2012-12-01

    Full Text Available There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. A shopping Mall is a vast place, & we often get confused with the direction of the nearest ATMs or even rest rooms. So we have simplified this method with the “Mall Navigation System”. Smart phones have become very popular these days, so we have combined the idea of a smart phone application helping you in an alienated mall. The idea revolves around our smart phones & the “WIFI” provided by the mall. An application that needs real-time, fast, & reliable data processing. The WIFI router will install NAVIGATION software by which it will detect our present location and with a view finder & our maps we detect the desired location.

  2. Flexible vision-based navigation system for unmanned aerial vehicles

    Science.gov (United States)

    Blasch, Erik P.

    1995-01-01

    A critical component of unmanned aerial vehicles in the navigation system which provides position and velocity feedback for autonomous control. The Georgia Tech Aerial Robotics navigational system (NavSys) consists of four DVTStinger70C Integrated Vision Units (IVUs) with CCD-based panning platforms, software, and a fiducial onboard the vehicle. The IVUs independently scan for the retro-reflective bar-code fiducial while the NavSys image processing software performs a gradient threshold followed by a image search localization of three vertical bar-code lines. Using the (x,y) image coordinate and CCD angle, the NavSys triangulates the fiducial's (x,y) position, differentiates for velocity, and relays the information to the helicopter controller, which independently determines the z direction with an onboard altimeter. System flexibility is demonstrated by recognition of different fiducial shapes, night and day time operation, and is being extended to on-board and off-board navigation of aerial and ground vehicles. The navigation design provides a real-time, inexpensive, and effective system for determining the (x,y) position of the aerial vehicle with updates generated every 51 ms (19.6 Hz) at an accuracy of approximately +/- 2.8 in.

  3. Bluetooth Navigation System using Wi-Fi Access Points

    OpenAIRE

    Rohit Agrawal; Ashesh Vasalya

    2012-01-01

    There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. Outdoor positioning systems have been deployed quite successfully using GPS but positioning systems for indoor environments still do not have widespread deployment due to various reasons. Most of these use only a single technology for positioning but using more than one in cooperation with each other is always advantageous for obtaining greater ...

  4. Vision-aided inertial navigation system for robotic mobile mapping

    Science.gov (United States)

    Bayoud, Fadi; Skaloud, Jan

    2008-04-01

    A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the method of “SLAM: Simultaneous Localisation And Mapping” where the only external input available to the system at the beginning of the mapping mission is a number of features with known coordinates. SLAM is a term used in the robotics community to describe the problem of mapping the environment and at the same time using this map to determine the location of the mapping device. Differing from the robotics approach, the presented development stems from the frameworks of photogrammetry and kinematic geodesy that are merged in two filters that run in parallel: the Least-Squares Adjustment (LSA) for features coordinates determination and the Kalman filter (KF) for navigation correction. To test this approach, a mapping system-prototype comprising two CCD cameras and one Inertial Measurement Unit (IMU) is introduced. Conceptually, the outputs of the LSA photogrammetric resection are used as the external measurements for the KF that corrects the inertial navigation. The filtered position and orientation are subsequently employed in the photogrammetric intersection to map the surrounding features that are used as control points for the resection in the next epoch. We confirm empirically the dependency of navigation performance on the quality of the images and the number of tracked features, as well as on the geometry of the stereo-pair. Due to its autonomous nature, the SLAM's performance is further affected by the quality of IMU initialisation and the a-priory assumptions on error distribution. Using the example of the presented system we show that centimetre accuracy can be achieved in both navigation and mapping when the image geometry is optimal.

  5. A Hybrid Shortest Path Algorithm for Navigation System

    Science.gov (United States)

    Cho, Hsun-Jung; Lan, Chien-Lun

    2007-12-01

    Combined with Geographic Information System (GIS) and Global Positioning System (GPS), the vehicle navigation system had become a quite popular product in daily life. A key component of the navigation system is the Shortest Path Algorithm. Navigation in real world must face a network consists of tens of thousands nodes and links, and even more. Under the limited computation capability of vehicle navigation equipment, it is difficult to satisfy the realtime response requirement that user expected. Hence, this study focused on shortest path algorithm that enhances the computation speed with less memory requirement. Several well-known algorithms such as Dijkstra, A* and hierarchical concepts were integrated to build hybrid algorithms that reduce searching space and improve searching speed. Numerical examples were conducted on Taiwan highway network that consists of more than four hundred thousands of links and nearly three hundred thousands of nodes. This real network was divided into two connected sub-networks (layers). The upper layer is constructed by freeways and expressways; the lower layer is constructed by local networks. Test origin-destination pairs were chosen randomly and divided into three distance categories; short, medium and long distances. The evaluation of outcome is judged by actual length and travel time. The numerical example reveals that the hybrid algorithm proposed by this research might be tens of thousands times faster than traditional Dijkstra algorithm; the memory requirement of the hybrid algorithm is also much smaller than the tradition algorithm. This outcome shows that this proposed algorithm would have an advantage over vehicle navigation system.

  6. Organizations And Services In The System Of International Aviation Navigation

    Directory of Open Access Journals (Sweden)

    Alexander I. Travnikov

    2015-03-01

    Full Text Available In the present article author reveals the order of creation, structure, aims and objectives of national and international intergovernmental aeronautical organizations, governing procedure for flight operations and providing direct air traffic control over sovereign territory and abroad. In this article, author notes that in the world there are three main organizational and legal forms of air traffic control systems to ensure coordination between civil and military air navigation services (agencies. In the Russian Federation, author notes that air navigation services on behalf of the State are made by the State Corporation for Air Traffic Management that has the legal status of the commercial organization - the Federal State Unitary Enterprise. Author analyzes the work of the Organization for the Civil Air Navigation Services (CANSO, the International Federation of Air Traffic Controllers (IFATCA. During the study author also concludes that in the past decade, there is the steady trend of transferring functions of air navigation from the State to commercial organizations (joint stock companies and limited liability companies, which are financed from the funds received as payment for air traffic services. The responsibility for the improper maintenance of international air navigation, of course, is borne by the State. Author notes that regional and international intergovernmental aeronautical organizations operate in respect of all aircraft (public, civil, experimental, i.e., perform general air navigation, unlike ICAO, which takes standards and recommended practices, rules and procedures for safety and air traffic services only to civil aircraft, that does not ensure the creation of a regulatory framework for the global unification of aeronautical processes.

  7. The transmission link of CAPS navigation and communication system

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The Chinese Area Positioning System (CAPS) is based on communication satellites with integrated capability, which is different from the Global Positioning System (GPS), the International Maritime Satellite Organization (Inmarsat) and so on. CAPS works at C-band, and its navigation information is not directly generated from the satellite, but from the master control station on the ground and transmitted to users via the satellite. The slightly inclined geostationary-satellite orbit (SIGSO) satellites are adopted in CAPS. All of these increase the difficulty in the design of the system and terminals. In this paper, the authors study the CAPS configuration parameters of the navigation master control station, information transmission capability, and the selection of the antenna aperture of the communication center station, as well as the impact of satellite parameters on the whole communication system from the perspective of the transmission link budget. The conclusion of availability of the CAPS navigation system is achieved. The results show that the CAPS inbound communication system forms a new low-data-rate satellite communication system, which can accommodate mass communication terminals with the transmission rate of no more than 1 kbps for every terminal. The communication center station should be configured with a large-aperture antenna (about 10-15 m); spread spectrum com- munication technology should be used with the spreading gain as high as about 40 dB; reduction of the satellite transponder gain attenuation is beneficial to improving the signal-to-noise ratio of the system, with the attenuation value of 0 or 2 dB as the best choice. The fact that the CAPS navigation system has been checked and accepted by the experts and the operation is stable till now clarifies the rationality of the analysis results. The fact that a variety of experiments and applications of the satellite communication system designed according to the findings in this paper have been

  8. Vision aided inertial navigation system augmented with a coded aperture

    Science.gov (United States)

    Morrison, Jamie R.

    Navigation through a three-dimensional indoor environment is a formidable challenge for an autonomous micro air vehicle. A main obstacle to indoor navigation is maintaining a robust navigation solution (i.e. air vehicle position and attitude estimates) given the inadequate access to satellite positioning information. A MEMS (micro-electro-mechanical system) based inertial navigation system provides a small, power efficient means of maintaining a vehicle navigation solution; however, unmitigated error propagation from relatively noisy MEMS sensors results in the loss of a usable navigation solution over a short period of time. Several navigation systems use camera imagery to diminish error propagation by measuring the direction to features in the environment. Changes in feature direction provide information regarding direction for vehicle movement, but not the scale of movement. Movement scale information is contained in the depth to the features. Depth-from-defocus is a classic technique proposed to derive depth from a single image that involves analysis of the blur inherent in a scene with a narrow depth of field. A challenge to this method is distinguishing blurriness caused by the focal blur from blurriness inherent to the observed scene. In 2007, MIT's Computer Science and Artificial Intelligence Laboratory demonstrated replacing the traditional rounded aperture with a coded aperture to produce a complex blur pattern that is more easily distinguished from the scene. A key to measuring depth using a coded aperture then is to correctly match the blur pattern in a region of the scene with a previously determined set of blur patterns for known depths. As the depth increases from the focal plane of the camera, the observable change in the blur pattern for small changes in depth is generally reduced. Consequently, as the depth of a feature to be measured using a depth-from-defocus technique increases, the measurement performance decreases. However, a Fresnel zone

  9. Observability Analysis and Simulation of Passive Gravity Navigation System

    OpenAIRE

    Fenglin Wang; Xiulan Wen; Danghong Sheng

    2013-01-01

    A new simple and low cost passive navigation system can be composed of a rate azimuth inertial platform with a gravity sensor on it, a digital gravity abnormal map and a log. The system achieves the carrier’s true position by matching the gravity sensor measurements with the existing gravity maps, so the gravity field’s characteristics effects on the positioning accuracy greatly. The simplified error model of state variables and gravity observation equation of RAPINS/gravity match...

  10. METHODOLOGY FOR ANALYSIS OF DECISION MAKING IN AIR NAVIGATION SYSTEM

    OpenAIRE

    Kharchenko, Volodymyr; Shmelova, Tetyana; Sikirda, Yuliya

    2011-01-01

    Abstract. In the research of Air Navigation System as a complex socio-technical system the methodologyof analysis of human-operator's decision-making has been developed. The significance of individualpsychologicalfactors as well as the impact of socio-psychological factors on the professional activities of ahuman-operator during the flight situation development from normal to catastrophic were analyzed. On thebasis of the reflexive theory of bipolar choice the expected risks of decision-makin...

  11. Voice and GPS Based Navigation System For Visually Impaired

    OpenAIRE

    Harsha Gawari; Prof. Meeta Bakuli

    2014-01-01

    The paper represents the architecture and implementation of a system that will help in the navigation of the visually impaired people. The system that we have designed uses GPS and voice recognition along with obstacle avoidance for the purpose of guiding visually impaired. The visually impaired person issues the command and receives the direction response using audio signals. The latitude and longitude values are received continuously from the GPS receiver. The directions are given to the us...

  12. A Visual-aided Inertial Navigation and Mapping System

    OpenAIRE

    Munguía, Rodrigo; Nuño, Emmanuel; Aldana, Carlos I.; Urzua, Sarquis

    2016-01-01

    State estimation is a fundamental necessity for any application involving autonomous robots. This paper describes a visual-aided inertial navigation and mapping system for application to autonomous robots. The system, which relies on Kalman filtering, is designed to fuse the measurements obtained from a monocular camera, an inertial measurement unit (IMU) and a position sensor (GPS). The estimated state consists of the full state of the vehicle: the position, orientation, their first derivati...

  13. A projective surgical navigation system for cancer resection

    Science.gov (United States)

    Gan, Qi; Shao, Pengfei; Wang, Dong; Ye, Jian; Zhang, Zeshu; Wang, Xinrui; Xu, Ronald

    2016-03-01

    Near infrared (NIR) fluorescence imaging technique can provide precise and real-time information about tumor location during a cancer resection surgery. However, many intraoperative fluorescence imaging systems are based on wearable devices or stand-alone displays, leading to distraction of the surgeons and suboptimal outcome. To overcome these limitations, we design a projective fluorescence imaging system for surgical navigation. The system consists of a LED excitation light source, a monochromatic CCD camera, a host computer, a mini projector and a CMOS camera. A software program is written by C++ to call OpenCV functions for calibrating and correcting fluorescence images captured by the CCD camera upon excitation illumination of the LED source. The images are projected back to the surgical field by the mini projector. Imaging performance of this projective navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex-vivo chicken tissue model. In all the experiments, the projected images by the projector match well with the locations of fluorescence emission. Our experimental results indicate that the proposed projective navigation system can be a powerful tool for pre-operative surgical planning, intraoperative surgical guidance, and postoperative assessment of surgical outcome. We have integrated the optoelectronic elements into a compact and miniaturized system in preparation for further clinical validation.

  14. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Chien-Hao Tseng

    2016-07-01

    Full Text Available This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF and fuzzy logic adaptive system (FLAS for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF, unscented Kalman filter (UKF, and CKF approaches.

  15. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

    Science.gov (United States)

    Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

    2016-01-01

    This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches. PMID:27472336

  16. Autonomous navigation of the vehicle with vision system. Vision system wo motsu sharyo no jiritsu soko seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Yatabe, T.; Hirose, T.; Tsugawa, S. (Mechanical Engineering Laboratory, Tsukuba (Japan))

    1991-11-10

    As part of the automatic driving system researches, a pilot driverless automobile was built and discussed, which is equipped with obstacle detection and automatic navigating functions without depending on ground facilities including guiding cables. A small car was mounted with a vision system to recognize obstacles three-dimensionally by means of two TV cameras, and a dead reckoning system to calculate the car position and direction from speeds of the rear wheels on a real time basis. The control algorithm, which recognizes obstacles and road range on the vision and drives the car automatically, uses a table-look-up method that retrieves a table stored with the necessary driving amount based on data from the vision system. The steering uses the target point following method algorithm provided that the has a map. As a result of driving tests, useful knowledges were obtained that the system meets the basic functions, but needs a few improvements because of it being an open loop. 36 refs., 22 figs., 2 tabs.

  17. The PPP Precision Analysis Based on BDS Regional Navigation System

    Directory of Open Access Journals (Sweden)

    ZHU Yongxing

    2015-04-01

    Full Text Available BeiDou navigation satellite system(BDS has opened service in most of the Asia-Pacific region, it offers the possibility to break the technological monopoly of GPS in the field of high-precision applications, so its performance of precise point positioning (PPP has been a great concern. Firstly, the constellation of BeiDou regional navigation system and BDS/GPS tracking network is introduced. Secondly, the precise ephemeris and clock offset accuracy of BeiDou satellite based on domestic tracking network is analyzed. Finally, the static and kinematic PPP accuracy is studied, and compared with the GPS. The actual measured numerical example shows that the static and kinematic PPP based on BDS can achieve centimeter-level and decimeter-level respectively, reaching the current level of GPS precise point positioning.

  18. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  19. A Feature Based Navigation System for an Autonomous Underwater Robot

    OpenAIRE

    Folkesson, John; Leederkerken, Jacques; Williams, Rob; Patrikalakis, Andrew; Leonard, John,

    2008-01-01

    International audience We present a system for autonomous underwater navigation as implemented on a Nekton Ranger autonomous underwater vehicle, AUV. This is one of the first implementations of a practical application for simultaneous localization and mapping on an AUV. Besides being an application of real-time SLAM, the implemtation demonstrates a novel data fusion solution where data from 7 sources are fused at different time scales in 5 separate estimators. By modularizing the data fusi...

  20. Behavioural adaptation to in-vehicle navigation systems

    OpenAIRE

    Forbes, Nicholas Lloyd

    2009-01-01

    This PhD investigates driver behavioural adaptation to in-vehicle navigation systems (IVNS). Behavioural adaptation is receiving an increasing amount of research attention in traffic psychology, but few studies have directly considered the concept in relation to IVNS. The thesis aims were addressed using a range of quantitative and qualitative methodologies. Using two online surveys, over 1300 drivers (including over 1000 IVNS users) were sampled, to identify a range of positive, neutral ...

  1. Role of Remote Navigation Systems in AF Ablation

    Directory of Open Access Journals (Sweden)

    Boris Schmidt, MD

    2011-02-01

    Full Text Available During the past decade atrial fibrillation (AF ablation has developed from being an experimental treatment option to an evidence based therapy implemented in current guidelines.1-2 Irrigated radiofrequency current guided ablations remain the golden standard of pulmonary vein isolation (PVI procedures. Although practiced more frequently, it remains a demanding procedure requiring skilful operators. Novel technologies such as balloon based catheters or remote navigation (RN systems have been developed to overcome the pitfalls of manual ablation procedures.

  2. Borehole survey system using fiber optic gyroscopes strapdown inertial navigation

    Science.gov (United States)

    Gao, Shuang; Zhang, Chunxi; Yan, Tingyang; Li, Chen

    2006-11-01

    This paper will present a Fiber Optic Gyroscopes Strap down Inertial Navigation System (SINS) used in borehole survey systems. This system can be used for Wire-Line logging operations because of Fiber Optic Gyroscope's excellent capabilities of long life time, ruggedness, compactness, low cost and high environmental insensitivity. This borehole survey system utilizes the cable length signal aiding Fiber Optic Gyroscopes Strapdown Inertial Navigation System. Furthermore, this system utilizes an optimal estimation procedure based on Kalman filtering method to estimate and compensate the system errors on-line. This paper also presents a cable length model to correct the cable length signal. Simulation results show that the methods can effectively enhance the precision of the borehole survey system. In this system, the borehole survey system can fleetly and continuously survey the borehole during Wire-Line logging operations for determining the precise path of the borehole. Moreover, due to the compact frame of IMU, the borehole surveying system can be used for determining the small diameter boreholes.

  3. A Visual-aided Inertial Navigation and Mapping System

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2016-05-01

    Full Text Available State estimation is a fundamental necessity for any application involving autonomous robots. This paper describes a visual-aided inertial navigation and mapping system for application to autonomous robots. The system, which relies on Kalman filtering, is designed to fuse the measurements obtained from a monocular camera, an inertial measurement unit (IMU and a position sensor (GPS. The estimated state consists of the full state of the vehicle: the position, orientation, their first derivatives and the parameter errors of the inertial sensors (i.e., the bias of gyroscopes and accelerometers. The system also provides the spatial locations of the visual features observed by the camera. The proposed scheme was designed by considering the limited resources commonly available in small mobile robots, while it is intended to be applied to cluttered environments in order to perform fully vision-based navigation in periods where the position sensor is not available. Moreover, the estimated map of visual features would be suitable for multiple tasks: i terrain analysis; ii three dimensional (3D scene reconstruction; iii localization, detection or perception of obstacles and generating trajectories to navigate around these obstacles; and iv autonomous exploration. In this work, simulations and experiments with real data are presented in order to validate and demonstrate the performance of the proposal.

  4. Development of a Micro-Step Voltage-Fed Actuator with a Novel Stepper Motor for Automobile AGS Systems

    OpenAIRE

    Se-Hyun Rhyu; Jeong-Jong Lee; Bon-Gwan Gu; Byung-Dae Choi; Jung-Hyuk Lim

    2014-01-01

    This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS) system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM) motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possess...

  5. Experience of percutaneous vertebroplasty with 3D-CT navigation system

    International Nuclear Information System (INIS)

    We performed percutaneous vertebroplasty with 3D-CT navigation system Arcadis Orbic 3D+Stealth Station Navigation System for vertebral fractures expressing instability. From April 2007 to December 2007, we performed percutaneous vertebroplasty with 3D-CT navigation system on 31 unstable fractures. Progress was good in all cases, indicating that percutaneous vertebroplasty with 3D-CT navigation system is effective for vertebral fractures expressing instability. (author)

  6. Fluoroscopy-based navigation system in spine surgery

    CERN Document Server

    Merloz, Philippe; Vouaillat, Hervé; Vasile, Christian; Tonetti, Jérôme; Eid, Ahmad; Plaweski, Stéphane

    2007-01-01

    The variability in width, height, and spatial orientation of a spinal pedicle makes pedicle screw insertion a delicate operation. The aim of the current paper is to describe a computer-assisted surgical navigation system based on fluoroscopic X-ray image calibration and three-dimensional optical localizers in order to reduce radiation exposure while increasing accuracy and reliability of the surgical procedure for pedicle screw insertion. Instrumentation using transpedicular screw fixation was performed: in a first group, a conventional surgical procedure was carried out with 26 patients (138 screws); in a second group, a navigated surgical procedure (virtual fluoroscopy) was performed with 26 patients (140 screws). Evaluation of screw placement in every case was done by using plain X-rays and post-operative computer tomography scan. A 5 per cent cortex penetration (7 of 140 pedicle screws) occurred for the computer-assisted group. A 13 per cent penetration (18 of 138 pedicle screws) occurred for the non comp...

  7. Updating inertial navigation systems with VOR/DME information.

    Science.gov (United States)

    Bobick, J. C.; Bryson, A. E., Jr.

    1972-01-01

    Demonstration that updating an inertial navigation system (INS) with VOR/DME information (from one or two stations) by means of a maximum-likelihood filter results in substantial improvements in navigational accuracy over that obtained by the use of a single VOR/DME (current practice). When continuously updating, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy. In-flight alignment (or realignment) of an INS to an accuracy comparable to that of ground alignment can be accomplished by using two DMEs. Several reduced-order suboptimal filters were found to perform nearly optimally.

  8. Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter

    Directory of Open Access Journals (Sweden)

    Fariz Outamazirt

    2014-09-01

    Full Text Available Although nonlinear H∞ (NH∞ filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞ filter is proposed for the Unmanned Aerial Vehicle (UAV localization problem. Based on a real-time Fuzzy Inference System (FIS, the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds  and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter.

  9. The transmission link of CAPS navigation and communication system

    Institute of Scientific and Technical Information of China (English)

    CUI JunXia; SHI HuLi; CHEN JiBin; PEI Jun

    2009-01-01

    The Chinese Area Positioning System (CAPS) is based on communication satellites with integrated oapability,whioh is different from the Global Positioning System (GPS),the International Maritime Satellite Organization (Inmarsat) and so on.CAPS works at G-band,and its navigation information ie not directly generated from the satellite,but from the master control station on the ground and transmitted to users via the satellite.The slightly inclined geostationary-satellite orbit (SIGSO) satellites are adopted in CAPS.All of these increase the difficulty in the design of the system and terminals.In this paper,the authors study the CAPS oonfiguration parameters of the navigation master control station,information transmission capability,and the selection of the antenna aperture of the communication oenter station,as well as the impact of satellite parameters on the whole communication system from the perspective of the transmission link budget.The conclusion of availability of the GAPS navigation system is achieved.The results show that the GAPS inbound communication system forms a new low-data-rate satellite communicaUon system,which can accommodate mass communication termihale with the transmission rate of no more than 1 kbps for every terminal.The communication center station should be configured with a large-aperture antenna (about 10--15 m); spread spectrum communication technology should be used with the spreading gain as high as about 40 dB; reduction of the satellite transponder gain attenuation is beneficial to improving the signal-to-noise ratio of the system,with the attenuation value of 0 or 2 dB as the best choice.The fact that the GAPS navigation system has been checked and aooepted by the experts and the operation is stable till now larifies the rationality of the analysis results.The fact that a variety of experiments and applications of the satellite communication system designed according to the findings in this paper have been successfully carried out

  10. A Topographical Lidar System for Terrain-Relative Navigation

    Science.gov (United States)

    Liebe, Carl Christian; Spiers, Gary; Bartman, Randy; Lam, Raymond; Alexander, James; Montgomery, James; Goldberg, Hannah; Johnson, Andrew; Meras, Patrick; Palacios, Peter

    2008-01-01

    An imaging lidar system is being developed for use in navigation, relative to the local terrain. This technology will potentially be used for future spacecraft landing on the Moon. Systems like this one could also be used on Earth for diverse purposes, including mapping terrain, navigating aircraft with respect to terrain and military applications. The system has been field-tested aboard a helicopter in the Mojave Desert. When this system was designed, digitizers with sufficient sampling rate (2 GHz) were only available with very limited memory. Also, it was desirable to limit the amount of data to be transferred between the digitizer and the mass storage between individual frames. One of the novelty design features of this system was to design the system around the limited amount of memory of the digitizer. The system is required to operate over an altitude (distance) range from a few meters to approximately 1 km, but for each scan across the full field of view, the digitizer memory is only able to hold data for an altitude range no more than 100 m. Data acquisition methods in support of the limited 100 m wide altitude range are described.

  11. Implementation of a vector-based tracking loop receiver in a pseudolite navigation system.

    Science.gov (United States)

    So, Hyoungmin; Lee, Taikjin; Jeon, Sanghoon; Kim, Chongwon; Kee, Changdon; Kim, Taehee; Lee, Sanguk

    2010-01-01

    We propose a vector tracking loop (VTL) algorithm for an asynchronous pseudolite navigation system. It was implemented in a software receiver and experiments in an indoor navigation system were conducted. Test results show that the VTL successfully tracks signals against the near-far problem, one of the major limitations in pseudolite navigation systems, and could improve positioning availability by extending pseudolite navigation coverage. PMID:22163552

  12. Implementation of a Vector-based Tracking Loop Receiver in a Pseudolite Navigation System

    Directory of Open Access Journals (Sweden)

    Hyoungmin So

    2010-06-01

    Full Text Available We propose a vector tracking loop (VTL algorithm for an asynchronous pseudolite navigation system. It was implemented in a software receiver and experiments in an indoor navigation system were conducted. Test results show that the VTL successfully tracks signals against the near–far problem, one of the major limitations in pseudolite navigation systems, and could improve positioning availability by extending pseudolite navigation coverage.

  13. IMPROVING CAR NAVIGATION WITH A VISION-BASED SYSTEM

    OpenAIRE

    Kim, H.; Choi, K.; Lee, I.

    2015-01-01

    The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the pos...

  14. Development of an advanced intelligent robot navigation system

    International Nuclear Information System (INIS)

    As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication

  15. Automatic guided vehicle contributing to physical distribution of automobile parts; Butsuryu no jidoka ni kokensuru jidosha buhin mujin hanso system

    Energy Technology Data Exchange (ETDEWEB)

    Inaba, E. [Meidensha Corp., Tokyo (Japan)

    1997-06-30

    This paper presents one example of the unmanned carrying systems using the small automatic guided vehicles (AGV) recently delivered by Meidensha Corp. This system carries hand trucks or buckets loaded with such small parts for automobile engines as sensor and connector by the AGVs. The following abilities were required in adoption of this system: (1) Indication of destinations to several AGVs coming from different lines, and monitoring of traveling conditions of every AGV, (2) The optimum traveling/waiting control between AGVs at crossings, and (3) Hand truck carrying in consideration of an importance of safety. This system allows integrated control of ten and several AGVs using the AGV control board through the stationary radio control station and radio equipment on AGVs. In addition, this system allows indicating communication of destinations to AGVs, and realtime control of AGV traveling conditions. Waiting control of entrance/exit by intercommunication between AGVs is also possible. 7 figs., 2 tabs.

  16. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Microcosm proposes to design and develop a fully autonomous Lunar Navigator based on our MicroMak miniature star sensor and a gravity gradiometer similar to one on...

  17. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Microcosm will use existing hardware and software from related programs to create a prototype Lunar Navigation Sensor (LNS) early in Phase II, such that most of the...

  18. Current state in tracking and robotic navigation systems for application in endovascular aortic aneurysm repair

    NARCIS (Netherlands)

    De Ruiter, Quirina M B; Moll, Frans L.; Van Herwaarden, Joost A.

    2015-01-01

    Objective This study reviewed the current developments in manual tracking and robotic navigation technologies for application in endovascular aortic aneurysm repair (EVAR). Methods EMBASE and MEDLINE databases were searched for studies reporting manual tracking or robotic navigation systems that are

  19. IMPROVING CAR NAVIGATION WITH A VISION-BASED SYSTEM

    Directory of Open Access Journals (Sweden)

    H. Kim

    2015-08-01

    Full Text Available The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

  20. Improving CAR Navigation with a Vision-Based System

    Science.gov (United States)

    Kim, H.; Choi, K.; Lee, I.

    2015-08-01

    The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

  1. 77 FR 13350 - Certain Automotive GPS Navigation Systems, Components Thereof, and Products Containing Same...

    Science.gov (United States)

    2012-03-06

    ... complaint filed by Beacon Navigation GmbH of Zug, Switzerland (``Beacon''). 76 FR 72443 (Nov. 23, 2011). The... COMMISSION Certain Automotive GPS Navigation Systems, Components Thereof, and Products Containing Same... importation of certain automotive GPS navigation systems, components thereof, and products containing the...

  2. Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters

    Science.gov (United States)

    Karmali, M. S.; Phatak, A. V.

    1982-01-01

    Results of a study to investigate, by means of a computer simulation, the performance sensitivity of helicopter IMC DSAL operations as a function of navigation system parameters are presented. A mathematical model representing generically a navigation system is formulated. The scenario simulated consists of a straight in helicopter approach to landing along a 6 deg glideslope. The deceleration magnitude chosen is 03g. The navigation model parameters are varied and the statistics of the total system errors (TSE) computed. These statistics are used to determine the critical navigation system parameters that affect the performance of the closed-loop navigation, guidance and control system of a UH-1H helicopter.

  3. Tuning and Robustness Analysis for the Orion Absolute Navigation System

    Science.gov (United States)

    Holt, Greg N.; Zanetti, Renato; D'Souza, Christopher

    2013-01-01

    The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test ight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modi cations since its inception, and continues as a work-in-progress. This paper seeks to show the e orts made to-date in tuning the lter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. The results generally show Monte Carlo error performance bounded by the lter uncertainty for all phases of ight. Some future items of investigation are presented related to suspected anomalies in the trajectory truth reference le.

  4. A Kinect™ camera based navigation system for percutaneous abdominal puncture

    Science.gov (United States)

    Xiao, Deqiang; Luo, Huoling; Jia, Fucang; Zhang, Yanfang; Li, Yong; Guo, Xuejun; Cai, Wei; Fang, Chihua; Fan, Yingfang; Zheng, Huimin; Hu, Qingmao

    2016-08-01

    Percutaneous abdominal puncture is a popular interventional method for the management of abdominal tumors. Image-guided puncture can help interventional radiologists improve targeting accuracy. The second generation of Kinect™ was released recently, we developed an optical navigation system to investigate its feasibility for guiding percutaneous abdominal puncture, and compare its performance on needle insertion guidance with that of the first-generation Kinect™. For physical-to-image registration in this system, two surfaces extracted from preoperative CT and intraoperative Kinect™ depth images were matched using an iterative closest point (ICP) algorithm. A 2D shape image-based correspondence searching algorithm was proposed for generating a close initial position before ICP matching. Evaluation experiments were conducted on an abdominal phantom and six beagles in vivo. For phantom study, a two-factor experiment was designed to evaluate the effect of the operator’s skill and trajectory on target positioning error (TPE). A total of 36 needle punctures were tested on a Kinect™ for Windows version 2 (Kinect™ V2). The target registration error (TRE), user error, and TPE are 4.26  ±  1.94 mm, 2.92  ±  1.67 mm, and 5.23  ±  2.29 mm, respectively. No statistically significant differences in TPE regarding operator’s skill and trajectory are observed. Additionally, a Kinect™ for Windows version 1 (Kinect™ V1) was tested with 12 insertions, and the TRE evaluated with the Kinect™ V1 is statistically significantly larger than that with the Kinect™ V2. For the animal experiment, fifteen artificial liver tumors were inserted guided by the navigation system. The TPE was evaluated as 6.40  ±  2.72 mm, and its lateral and longitudinal component were 4.30  ±  2.51 mm and 3.80  ±  3.11 mm, respectively. This study demonstrates that the navigation accuracy of the proposed system is acceptable

  5. Wellbore inertial navigation system (WINS) software development and test results

    Energy Technology Data Exchange (ETDEWEB)

    Wardlaw, R. Jr.

    1982-09-01

    The structure and operation of the real-time software developed for the Wellbore Inertial Navigation System (WINS) application are described. The procedure and results of a field test held in a 7000-ft well in the Nevada Test Site are discussed. Calibration and instrumentation error compensation are outlined, as are design improvement areas requiring further test and development. Notes on Kalman filtering and complete program listings of the real-time software are included in the Appendices. Reference is made to a companion document which describes the downhole instrumentation package.

  6. Personal Shopping Assistance and Navigator System for Visually Impaired People

    OpenAIRE

    Chippendale, Paul; Tomaselli, Valeria; D'Alto, Viviana; Urlini, Giulio; Maria Modena, Carla; Messelodi, Stefano; Mauro Strano, Sebastiano; Alce, Günter; Hermodsson, Klas; Razafimahazo, Mathieu; Michel, Thibaud; Giovanni, Maria Farinella

    2014-01-01

    In this paper, a personal assistant and navigator system for visually impaired people will be described. The showcase presented in-tends to demonstrate how partially sighted people could be aided by the technology in performing an ordinary activity, like going to a mall and moving inside it to find a specific product. We propose an Android ap-plication that integrates Pedestrian Dead Reckoning and Computer Vi-sion algorithms, using an off-the-shelf Smartphone connected to a Smart-watch. The d...

  7. A High Accuracy Hybrid Navigation System for Unmanned Underwater Vehicle

    Science.gov (United States)

    Kumagai, Hideo; Numajima, Toru; Sugimoto, Sueo

    The development of small, light weight, low power navigation system for guidance of both tethered and autonomous Unmanned Underwater Vehicle (UUV) is required in applications such as deep salvage, oil and gas well head and pipe line laying and maintenance, etc. All have stringent position requirements in order to define target locations followings the initial find, minimize search time for return missions, as well as support of autopilot functions. In these applications mainly an accurate Sonar Doppler Velocity Log (DVL) was used for Inertial Navigation System (INS) error corrections. But the settlement of DVL is not affordable to various UUV so that not convenient to low cost and small UUV. In this paper we propose a new algorithm for combining the low cost but highly accurate INS with Water Screw Speed (WSS) of the UUV efficiently. In order to evaluate our algorithm we produced the data acquisition system and after several experimental run, we simulated this algorithm searching the error correlation time and noise variance of these estimations.

  8. A multi-dimensional numerical method for predicting warm-up characteristic of automobile catalytic converter systems

    Energy Technology Data Exchange (ETDEWEB)

    Sugiura, Shigeki; Ijuin, Koichi; Yamada, Toshio; Yaegashi, Takehisa; Baba, Naoki

    1995-12-31

    A multi-dimensional numerical method for predicting the warm-up characteristic of automobile catalytic converter systems was developed to effectively design catalytic converter systems which achieve low tail pipe emissions with satisfactory package ability. The features of the method are: (1) consideration of the governing phenomena such as gas flow, heat transfer, and chemical reactions and (2) capability of predicting warm-up characteristic for not only the catalytic converters but also the system as a whole during emission test modes such as the USA LA-4 mode. The description of the method is presented. The experimental verifications of the method were conducted to assure the accuracy of it. The effect of design parameters such as electrically heated catalyst (EHC), high loading of noble metal and thin honeycomb wall on warm-up characteristic of the catalyst are analyzed in the paper.

  9. Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

    Science.gov (United States)

    Force, Dale A.

    2013-01-01

    GPS has been used for spacecraft navigation for many years center dot In support of this, the US has committed that future GPS satellites will continue to provide signals in the Space Service Volume center dot NASA is working with international agencies to obtain similar commitments from other providers center dot In support of this effort, I simulated multi-constellation navigation in the Space Service Volume In this presentation, I extend the work to examine the navigational benefits and drawbacks of the new constellations center dot A major benefit is the reduced geometric dilution of precision (GDOP). I show that there is a substantial reduction in GDOP by using all of the GNSS constellations center dot The increased number of GNSS satellites broadcasting does produce mutual interference, raising the noise floor. A near/far signal problem can also occur where a nearby satellite drowns out satellites that are far away. - In these simulations, no major effect was observed Typically, the use of multi-constellation GNSS navigation improves GDOP by a factor of two or more over GPS alone center dot In addition, at the higher altitudes, four satellite solutions can be obtained much more often center dot This show the value of having commitments to provide signals in the Space Service Volume Besides a commitment to provide a minimum signal in the Space Service Volume, detailed signal gain information is useful for mission planning center dot Knowledge of group and phase delay over the pattern would also reduce the navigational uncertainty

  10. Experimental validation of GPS-INS-STAR hybrid navigation system for space autonomy

    Science.gov (United States)

    Tanabe, Toru; Harigae, Masatoshi

    The experimental validation of the GPS-INS-STAR hybrid navigation system concept is performed. The hybrid navigation system combines the best features of employed sensors to improve total navigation performances. The GPS-INS-STAR hybrid navigation system consists of the three different sensors, a GPS receiver, an inertial navigation system and a STAR image sensor. In this concept, the system integrates a high positioning performance of the GPS system, an accurate attitude determination capability of the STAR image sensor and the INS signal with a wide bandwidth. It results in a complete 6-DOF (degrees of freedom) autonomous navigation system. The present paper shows the validation of the concept by the experiments using GPS, INS and STAR hardware systems. The experiments are divided into three steps. Firstly, the INS-STAR hybrid navigation system is constructed on the 3-axis motion table to verify the performances of its attitude loop. Secondly, the GPS-INS hybrid navigation system installed on the car shows the performance improvement in its translational loop. Finally, the full configuration of the GPS-INS-STAR hybrid navigation system is evaluated at night. Each experiment result is checked by the theoretical analysis. In the theoretical analysis, the concept of observability well explains the performances of the system. Its feasibility for space application is also evaluated in the point of existing hardware technology. It is concluded that the experiments vaidate the concept of the hybrid navigation system and confirm its capability to realize space autonomy.

  11. Inertial Pocket Navigation System: Unaided 3D Positioning.

    Science.gov (United States)

    Diaz, Estefania Munoz

    2015-01-01

    Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We propose the first step-and-heading approach based on unaided inertial data solving 3D positioning. We present a step detector for steps up and down and a novel vertical displacement estimator. Our navigation system uses the sensor introduced in the front pocket of the trousers, a likely location of a smartphone. The proposed algorithms are based on the opening angle of the leg or pitch angle. We analyzed our step detector and compared it with the state-of-the-art, as well as our already proposed step length estimator. Lastly, we assessed our vertical displacement estimator in a real-world scenario. We found that our algorithms outperform the literature step and heading algorithms and solve 3D positioning using unaided inertial data. Additionally, we found that with the pitch angle, five activities are distinguishable: standing, sitting, walking, walking up stairs and walking down stairs. This information complements the pedestrian location and is of interest for applications, such as elderly care. PMID:25897501

  12. Mobile Restaurant Information System Integrating Reservation Navigating and Parking Management

    Directory of Open Access Journals (Sweden)

    Chih-Yao Lo,

    2011-04-01

    Full Text Available In recent years, with the pace of technological development, people have become more and more demanding in terms of quality of life. At the same time the restaurant industry has become one of the largest industries in the world. To follow international trends and development in the restaurant business in Taiwan, various types of theme restaurants and cafes have emerged. Needless to saycompetition is intense. In such an environment, raising service quality and management performance are the foremost goals; informatization is the key to these goals. A restaurant information system is the digital nervous system of restaurant management, containing all the relevant processes. Management can understand operational conditions through a restaurant information system and respond to them. They can become aware of competitor challenges or customer needs and then formulate strategies accordingly. A restaurant information system combines software and hardware; it provides restaurant management with precise, direct, and abundant information, which can enhance insight and productivity.This study developed a restaurant information system aimed at online restaurant services and information management. Combined with a parking management system and GPS navigating technology, this powerful system applies object-oriented techniques; the extensibility of object-oriented systems allows integration with different information system cores, providing diversified management and new informational services. Functions can be easily extended, increasing the flexibility of the system. This information system can enhance competition, create overall advantage, and increase operationalefficiency and performance.

  13. A new image navigation system for MR-guided cryosurgery

    International Nuclear Information System (INIS)

    The purpose of this study was to evaluate the feasibility of Interactive Scan Control (ISC), a new MR image navigation system, during percutaneous puncture in cryosurgery. With the ISC system in place, percutaneous MR-guided cryosurgery was performed in 26 cases, with the ISC system being used in 11 cases (five renal tumors, three uterine fibroids and three metastatic liver tumors). The ISC system comprised infrared cameras and an MR-compatible optical tracking tool that was directly connected to a cryoprobe. Tumor sizes ranged from 1.2 cm (metastatic liver tumor) to 9.0 cm (uterine fibroid), for a mean size of 3.9 cm. With ISC, one to three cryoprobes with a diameter of 2 mm or 3 mm were advanced into the tumors with the guidance of an MR fluoroscopic image. Two freeze-thaw cycles were used for cryosurgery. During the cryosurgery, the formation of iceballs was monitored on MR images. Follow-up dynamic CT or MRI as well as physical examinations were conducted after two weeks and six weeks. Placement of probes was successfully performed under the control of the ISC system. During cryosurgery, engulfment of the tumors by iceballs was carefully monitored by MRI. Necrosis of the cryoablated area was confirmed in all renal tumors by follow-up dynamic CT. The size regression of the uterine fibroids was observed through follow-up MRI. Two of the three cases of metastatic liver tumor were ablated completely. Additional therapy for a residual tumor was performed on one patient with a metastatic liver tumor. A small amount of pneumothorax was the only complication found in a patient with a metastatic liver tumor. MR-guided cryosurgery with this new navigation system was feasible with low morbidity and allowed for safe and accurate puncture with a cryoprobe. (author)

  14. Study on Federated Architecture for GPS/INS/TRN Integrated Navigation System

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Based on the information fusion theory,a kind of integrated navigation system integration for cruise missile is presented in this paper.Besides,the way with which the system is integrated and the related data fusion technique are discussed.Information-fusion-based hybrid navigation system integration can fully utilize information provided by all kinds of navigation sensor subsystem and can improve the precision of the system effectively.Simultaneously,the reconstructing ability ensures the system of great reliability.

  15. An adaptive technique for a redundant-sensor navigation system.

    Science.gov (United States)

    Chien, T.-T.

    1972-01-01

    An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. This adaptive system is structured as a multistage stochastic process of detection, identification, and compensation. It is shown that the detection system can be effectively constructed on the basis of a design value, specified by mission requirements, of the unknown parameter in the actual system, and of a degradation mode in the form of a constant bias jump. A suboptimal detection system on the basis of Wald's sequential analysis is developed using the concept of information value and information feedback. The developed system is easily implemented, and demonstrates a performance remarkably close to that of the optimal nonlinear detection system. An invariant transformation is derived to eliminate the effect of nuisance parameters such that the ambiguous identification system can be reduced to a set of disjoint simple hypotheses tests. By application of a technique of decoupled bias estimation in the compensation system the adaptive system can be operated without any complicated reorganization.

  16. Impact of Used Communication Technology on the Navigation System for Hybrid Environment

    OpenAIRE

    Juraj Machaj; Peter Brida; Michal Mlynka

    2012-01-01

    This paper deals with navigation of mobile device in outdoor and indoor environment by only navigation system or application. In the paper, the navigation system is proposed in the light of seamless navigation service. Main parts of the system from positioning point of view are based on GPS and WifiLOC system. WifiLOC is an indoor positioning system based on Wi-Fi technology. The proposal of the system will be described in detail. The system is implemented at the University of Zilina as a pil...

  17. Intraoperative CT with integrated navigation system in spinal neurosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Zausinger, S.; Heigl, T.; Scheder, B.; Schnell, O.; Tonn, J.C.; Uhl, E. [Neurochirurgische Klinik, Ludwig-Maximilians-Univ. Muenchen (Germany); Morhard, D. [Inst. fuer Klinische Radiologie, Klinikum Grosshadern, Ludwig-Maximilians-Univ. Muenchen (Germany)

    2007-06-15

    For spinal surgery navigational system images are usually acquired before surgery with patients positioned supine. The aim of this study was to evaluate prospectively navigated procedures in spinal surgery with data acquisition by intraoperative computed tomography (iCT). CT data of 38 patients [thoracolumbar instability (n = 24), C1/2 instability (n = 6), cervicothoracic stabilization (n = 7), disk herniation (n = 1)] were acquired after positioning the patient in prone position. A sliding gantry 24 detector row CT was used for image acquisition. Data were imported to the frameless infrared-based neuronavigation station. A postprocedural CT was obtained to assess the extent of decompression and the accuracy of instrumentation. Intraoperative registration revealed computed accuracy <1 mm (0.9 {+-} 0.1 mm) in all cases. Control-iCT revealed incorrect screw position > 2 mm in 9/158 screws (5.6%), allowing immediate correction in five screws without any damage to vessels or nerves. There were three transient complications with clinical improvement in all patients. Intraoperative CT in combination with neuronavigation provides high accuracy of screw placement and thus safety for patients undergoing spinal stabilization. The procedure is rapid and easy to perform and - by replacing pre- and postoperative imaging-is not associated with additional exposure to radiation. (orig.)

  18. Voice and GPS Based Navigation System for Visually Impaired

    Directory of Open Access Journals (Sweden)

    Harsha Gawari

    2014-05-01

    Full Text Available The paper represents the architecture and implementation of a system that will help in the navigation of the visually impaired people. The system that we have designed uses GPS and voice recognition along with obstacle avoidance for the purpose of guiding visually impaired. The visually impaired person issues the command and receives the direction response using audio signals. The latitude and longitude values are received continuously from the GPS receiver. The directions are given to the user with the help of audio signals. An obstacle detector is used to help the user to avoid obstacles by sending an audio message.GPS receivers uses NMEA standard. With the advancement in voice recognition it becomes easier to issue commands regarding directions to the visually impaired.

  19. Voice and GPS Based Navigation System For Visually Impaired

    Directory of Open Access Journals (Sweden)

    Harsha Gawari

    2014-04-01

    Full Text Available The paper represents the architecture and implementation of a system that will help to navigate the visually impaired people. The system designed uses GPS and voice recognition along with obstacle avoidance for the purpose of guiding visually impaired. The visually impaired person issues the command and receives the direction response using audio signals. The latitude and longitude values are received continuously from the GPS receiver. The directions are given to the user with the help of audio signals. An obstacle detector is used to help the user to avoid obstacles by sending an audio message.GPS receivers use NMEA standard. With the advancement in voice recognition it becomes easier to issue commands regarding directions to the visually impaired.

  20. Innovative use of global navigation satellite systems for flight inspection

    Science.gov (United States)

    Kim, Eui-Ho

    The International Civil Aviation Organization (ICAO) mandates flight inspection in every country to provide safety during flight operations. Among many criteria of flight inspection, airborne inspection of Instrument Landing Systems (ILS) is very important because the ILS is the primary landing guidance system worldwide. During flight inspection of the ILS, accuracy in ILS landing guidance is checked by using a Flight Inspection System (FIS). Therefore, a flight inspection system must have high accuracy in its positioning capability to detect any deviation so that accurate guidance of the ILS can be maintained. Currently, there are two Automated Flight Inspection Systems (AFIS). One is called Inertial-based AFIS, and the other one is called Differential GPS-based (DGPS-based) AFIS. The Inertial-based AFIS enables efficient flight inspection procedures, but its drawback is high cost because it requires a navigation-grade Inertial Navigation System (INS). On the other hand, the DGPS-based AFIS has relatively low cost, but flight inspection procedures require landing and setting up a reference receiver. Most countries use either one of the systems based on their own preferences. There are around 1200 ILS in the U.S., and each ILS must be inspected every 6 to 9 months. Therefore, it is important to manage the airborne inspection of the ILS in a very efficient manner. For this reason, the Federal Aviation Administration (FAA) mainly uses the Inertial-based AFIS, which has better efficiency than the DGPS-based AFIS in spite of its high cost. Obviously, the FAA spends tremendous resources on flight inspection. This thesis investigates the value of GPS and the FAA's augmentation to GPS for civil aviation called the Wide Area Augmentation System (or WAAS) for flight inspection. Because standard GPS or WAAS position outputs cannot meet the required accuracy for flight inspection, in this thesis, various algorithms are developed to improve the positioning ability of Flight

  1. Acoustic underwater navigation of the Phoenix Autonomous Underwater Vehicle using the DiveTracker system

    OpenAIRE

    Scrivener, Arthur W.

    1996-01-01

    Autonomous Underwater Vehicles (AUVs) require a navigation system in order to conduct useful functions. This research was an experimental investigation of the commercial DiveTracker underwater acoustic navigation system used onboard the NPS Phoenix AUV. Tests conducted with the DiveTracker system proved that the system could be used successfully in AUV navigation while submerged and revealed that more precise positioning could be obtained through postconditioning of the DiveTracker output ran...

  2. Navigation of Pedicle Screws in the Thoracic Spine with a New Electromagnetic Navigation System: A Human Cadaver Study

    Science.gov (United States)

    Hahn, Patrick; Oezdemir, Semih; Komp, Martin; Giannakopoulos, Athanasios; Kasch, Richard; Merk, Harry; Liermann, Dieter; Godolias, Georgios; Ruetten, Sebastian

    2015-01-01

    Introduction. Posterior stabilization of the spine is a standard procedure in spinal surgery. In addition to the standard techniques, several new techniques have been developed. The objective of this cadaveric study was to examine the accuracy of a new electromagnetic navigation system for instrumentation of pedicle screws in the spine. Material and Method. Forty-eight pedicle screws were inserted in the thoracic spine of human cadavers using EMF navigation and instruments developed especially for electromagnetic navigation. The screw position was assessed postoperatively by a CT scan. Results. The screws were classified into 3 groups: grade 1 = ideal position; grade 2 = cortical penetration <2 mm; grade 3 = cortical penetration ≥2 mm. The initial evaluation of the system showed satisfied positioning for the thoracic spine; 37 of 48 screws (77.1%, 95% confidence interval [62.7%, 88%]) were classified as group 1 or 2. Discussion. The screw placement was satisfactory. The initial results show that there is room for improvement with some changes needed. The ease of use and short setup times should be pointed out. Instrumentation is achieved without restricting the operator's mobility during navigation. Conclusion. The results indicate a good placement technique for pedicle screws. Big advantages are the easy handling of the system. PMID:25759814

  3. Navigation of Pedicle Screws in the Thoracic Spine with a New Electromagnetic Navigation System: A Human Cadaver Study

    Directory of Open Access Journals (Sweden)

    Patrick Hahn

    2015-01-01

    Full Text Available Introduction. Posterior stabilization of the spine is a standard procedure in spinal surgery. In addition to the standard techniques, several new techniques have been developed. The objective of this cadaveric study was to examine the accuracy of a new electromagnetic navigation system for instrumentation of pedicle screws in the spine. Material and Method. Forty-eight pedicle screws were inserted in the thoracic spine of human cadavers using EMF navigation and instruments developed especially for electromagnetic navigation. The screw position was assessed postoperatively by a CT scan. Results. The screws were classified into 3 groups: grade 1 = ideal position; grade 2 = cortical penetration <2 mm; grade 3 = cortical penetration ≥2 mm. The initial evaluation of the system showed satisfied positioning for the thoracic spine; 37 of 48 screws (77.1%, 95% confidence interval [62.7%, 88%] were classified as group 1 or 2. Discussion. The screw placement was satisfactory. The initial results show that there is room for improvement with some changes needed. The ease of use and short setup times should be pointed out. Instrumentation is achieved without restricting the operator’s mobility during navigation. Conclusion. The results indicate a good placement technique for pedicle screws. Big advantages are the easy handling of the system.

  4. A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)

    Science.gov (United States)

    Truong, S. H.

    1999-01-01

    Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

  5. Research of smart real-time robot navigation system

    Science.gov (United States)

    Rahmani, Budi; Harjoko, A.; Priyambodo, T. K.; Aprilianto, H.

    2016-02-01

    In this paper described how the humanoid robot measures its distance to the orange ball on green floor. We trained the robot camera (CMUcam5) to detect and track the block color of the orange ball. The block color also used to estimate the distance of the camera toward the ball by comparing its block color size when its in the end of field of view and when its near of the camera. Then, using the pythagoras equation we calculate the distance estimation between the whole humanoid robot toward the ball. The distance will be used to estimate how many step the robot must perform to approach the ball and doing another task like kick the ball. The result shows that our method can be used as one of smart navigation system using a camera as the only one sensor to perceive the information of environtment.

  6. Guiding Blind Pedestrians with a Personal Navigation System

    Science.gov (United States)

    Dodson, A. H.; Moon, G. V.; Moore, T.; Jones, D.

    With the assistance provided by the white cane or guide dog, most blind pedestrians can find their way to known destinations along familiar routes. Finding new or known destinations along unfamiliar routes is more challenging. Before such a journey is attempted, detailed instructions must be acquired. The difficulty of obtaining and then reliably following such instructions deters many blind pedestrians from travelling alone in unknown areas. This paper demonstrates a technological approach, by way of field trials, that supplements the existing aids and eliminates the need for sighted guides. The approach has the potential to offer greater independence to the blind person. The investigation suggests that the methodology used in personal navigation systems for the sighted is sub-optimal for guiding the blind pedestrian. Suitable extensions are introduced, and the results show the proposed methodology is efficient for guiding the blind individual to unknown destinations in the chosen field trial environment.

  7. Bluetooth Navigation System using Wi-Fi Access Points

    CERN Document Server

    Agrawal, Rohit

    2012-01-01

    There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. Outdoor positioning systems have been deployed quite successfully using GPS but positioning systems for indoor environments still do not have widespread deployment due to various reasons. Most of these use only a single technology for positioning but using more than one in cooperation with each other is always advantageous for obtaining greater accuracy. Particularly, the ones which use Bluetooth are better since they would enhance the scalability of such a system because of the fact that this technology is in use by the common people so it would always be easy to track them. Moreover it would also reduce the hardware installation cost to some extent. The system that has been introduced here uses Bluetooth primarily for positioning and tracking in combination with Wi-Fi access points. The reason that makes the commercial application of such a system easier and ch...

  8. Global Navigation Satellite Systems (GNSS: The Utmost Interdisciplinary Integrator

    Directory of Open Access Journals (Sweden)

    Bernd Eissfeller

    2015-08-01

    Full Text Available Currently four global satellite navigation systems are under modernization and development: The US American GPS III, the Russian GLONASS, the European Galileo and Chinese BeiDou systems. In the paper the interdisciplinary contributions of different scientific areas to GNSS are assessed. It is outlined that GNSS is not only a technical system but also a basic element of mobile computing high-tech market. At the same time a GNSS has the role of a force enabler in security related applications. Technology, market and security policies are interdependent and are sometimes in a relationship of tension. The goal of the paper is to describe the overall systemics of GNSS from a holistic point of view. The paper also addresses the human factor side of GNSS. The requirements on human resources in GNSS are at least two-fold: On the one hand very specialized engineers are needed; on the other hand the generalists are necessary who are able to understand the system aspects. Decision makers in institutions and industry need special knowledge in technologies, economics and political strategies. Is the current university system able to educate and prepare such generalists? Are specialized master courses for GNSS needed? Are external training courses necessary?

  9. FPGA-Based Real-Time Embedded System for RISS/GPS Integrated Navigation

    OpenAIRE

    Umar Iqbal; Jacques Georgy; Walid Farid Abdelfatah; Aboelmagd Noureldin

    2011-01-01

    Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been ...

  10. Bluetooth Navigation System Using WI-FI Access Points

    Directory of Open Access Journals (Sweden)

    Rohit Agrawal

    2012-04-01

    Full Text Available There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. Outdoor positioning systems have been deployed quite successfully using GPS but positioning systems for indoor environments still do not have widespread deployment due to various reasons. Most of these use only a single technology for positioning but using more than one in cooperation with each other is always advantageous for obtaining greater accuracy. Particularly, the ones which use Bluetooth are better since they would enhance the scalability of such a system because of the fact that this technology is in use by the common people so it would always be easy to track them. Moreover it would also reduce the hardware installation cost to some extent. The systemthat has been introduced here uses bluetooth primarily for positioning and tracking in combination with Wi-Fi access points. The reason that makes the commercial application of such a system easier and cheaper is that most of the localized areas today like college campus, offices are being provided withinternet connectivity using these access points.

  11. Visibility and Geometry of Global Satellite Navigation Systems Constellations

    Science.gov (United States)

    Januszewski, Jacek

    2015-12-01

    Nowadays (November 2015) there are two global fully operational satellite navigation systems, American GPS and Russian GLONASS. Two next are under construction, Galileo in Europe and BeiDou in China. As the error of observer's position obtained from these systems depends on geometry factor DOP (Dilution Of Precision) among other things the knowledge of the number of satellites visible by this observer above given masking elevation angle Hmin and the distributions of DOP coefficient values, GDOP in particular, is very important. The lowest and the greatest number of satellites visible in open area by the observer at different latitudes for different Hmin, the percentage of satellites visible above angle H (9 intervals, each 10O wide), distributions (in per cent) of satellites azimuths (8 intervals, each 45O wide) and GDOP coefficient values (8 intervals) for Hmin = 5O for all these four systems at different observer's latitudes (9 intervals, each wide 10O wide) are presented in the paper. Additionally the lowest elevation for which the number of satellites visible at different latitudes by the observer in open area above this angle is equal 4 or 3 and the distributions (in per cent) of GDOP coefficient values for different Hmin at observer's latitudes 50-60O for the same four systems are showed. All calculations were made for constellation of GPS 27 satellites, GLONASS 24, Galileo 30 and BeiDou 27 MEO satellites.

  12. Development of gasification and melting system for energy recovery from automobile shredder residue

    International Nuclear Information System (INIS)

    As one of the efforts to increase recycling rate of end of life vehicles enforcing by the governmental regulation, automobile shredder residue (ASR) was considered to treat by a thermal method with converting waste to energy. Gasification and melting experimental processes of lab (1 kg/ hour) and pilot (5 ton/ day) scale were installed. ASR collected from a domestic shredding company was experimented at a lab-scale and pilot-scale gasification and melting process which is similar to the shaft type gasification melting furnace. The characteristics of syngas, tar and residue (slag) generated from a conversion process (gasification and melting) were analyzed to provide the information to further utilize them as fuel and recyclable materials in scaled up plants. A series of experiments have been conducted with various air equivalent ratios (ERs), and syngas compositions, carbon conversion efficiency, heating value of syngas, yield and characteristics of slag were analyzed. Finally, slags generated from the process were recycled with various alternative technologies. In summary, energy conversion technology of ASR with the least production of residue by gasification and slag utilization has been developed. The main components in product gas were H2, CO, CH4 and CO2; and concentrations of C2H4 and C2H6 were less. This can be used as clean fuel gas whose heating value ranged from 2.5 to 14.0 MJ/ m3. Most of slag generated from the process can further be fabricated to valuable and usable products. Such combined technology would result in achieving almost zero waste release from ELVs. (author)

  13. GPS-INS-STAR - A navigation system for the era of space autonomy

    Science.gov (United States)

    Tanabe, Toru; Kitamura, Toshiaki; Ikeuchi, Masayuki; Tanaka, Toshiyuki; Akasaka, Akira

    Experimental validation of the GPS-INS-STAR hybrid navigation system concept is performed. First, an INS-STAR hybrid navigation system is constructed on the 3-axis motion table to verify the performance of its attitude loop. A GPS-INS hybrid navigation system is then installed on a car, and its translational performance is evaluated. Each result of the experiments is verified by theoretical analysis, and its feasibility for space application is evaluated. Through the experiments, the concept of the autonomous hybrid navigation is validated, and its potential in space autonomy is indicated.

  14. ODINS: On-Demand Indoor Navigation System RFID Based.

    Science.gov (United States)

    Bianchi, Federico; Masciadri, Andrea; Salice, Fabio

    2015-01-01

    This paper presents an On-Demand Indoor Navigation System (ODINS) based on RFID technology. ODINS is a distributed infrastructure where a set of information points (Fixed Stations - FS) provides the direction to a user who has to reach the destination point he/she has previously selected. ODINS system is proposed for residencies hosting people with mild cognitive disabilities and elderly but it can be also applied to structures where people could be disoriented. The destination is configured at some reception points or it is a predefined (e.g. the bed room or a selected "safe" point). The destination is associated with a RFID disposable bracelet assigned to her/him. The path is algorithmically computed and spread to all FSs. Every time the user is disoriented, she/he can search for the closest FS that displays the right directition. FSs should be located in strategic positions and provide a user-friendly interface such as bright arrows. The complexity is "system-side" making ODINS usable for everyone. PMID:26294495

  15. The automobile share

    International Nuclear Information System (INIS)

    Out of a conversion of 120 billions metric tons of fossil carbon per year 1 billion are traffic related. But this amount is growing steadily. The global automobile density is about 10 automobiles per capita. It grows with 1.7% per year, as fast as the population. The number of automobiles doubles in 25 years. In all groups of developed countries the automobile density increased from 5 to 50 automobiles per capita in less than 50 years so far. Where is the fuel for the 1 billion automobiles of the year 2030 or 2050? Can one reduce this number or what chances does one have to reduce the adverse consequences? Whatever the number of motor vehicles will be, man will have the chance to reduce fuel consumption and therefore CO2-emission together with other emissions considerably

  16. System Architecture Dynamics The case of Japanese Car Navigation Systems

    OpenAIRE

    Munehiko Itoh

    2003-01-01

    This paper attempts to clarify how the integration of software and hardware is related to product systems and product development organization in the growing electronic equipment market in the IT age. As a framework for analyzing the effect of integration, we will examine the influence of software on product functions, product development organization and product innovation by introducing the concept of system architecture, which represents the nature of a system, and is defined as a combinat...

  17. Nonlinear analysis of position estimate in global navigation satellite systems

    International Nuclear Information System (INIS)

    The paper presents a nonlinear analysis of position estimation based on a global navigation satellite system. A classical problem formulation and iterative solution that results in the weighted least squares estimate of the receiver state are assumed. The analysis employs the Taylor's theorem to express the nonlinear measurement model using the first order Taylor polynomial at the state estimate and the Lagrange form of the remainder. A sensitivity analysis of the Jacobian matrix pseudoinverse is performed, and an upper bound on the size of the Lagrange remainder is derived using eigenstructure of the Hessian matrix. The results obtained show that both the sensitivity of the pseudoinverse and the size of the quadratic term are not significant, and thus the linear approximation commonly used to derive stochastic properties of the state estimate is reasonable. Although this result has been experimentally confirmed by numerous successful applications, this analysis can serve as a more rigorous basis when the design procedures for a safety critical system have to be satisfied

  18. Weather-enabled future onboard surveillance and navigation systems

    Science.gov (United States)

    Mutuel, L.; Baillon, B.; Barnetche, B.; Delpy, P.

    2009-09-01

    With the increasing traffic and the development of business trajectories, there is a widespread need to anticipate any adverse weather conditions that could impact the performance of the flight or to use of atmospheric parameters to optimize trajectories. Current sensors onboard air transport are challenged to provide the required service, while new products for business jets and general aviation open the door to innovative assimilation of weather information in onboard surveillance and navigation. The paper aims at surveying current technology available to air transport aircraft and pointing out their shortcomings in view of the modernization proposed in SESAR and NextGen implementation plans. Foreseen innovations are then illustrated via results of ongoing research like FLYSAFE or standardization efforts, in particular meteorological datalink services and impact on Human-Machine Interface. The paper covers the operational need to avoid adverse weather like thunderstorm, icing, turbulence, windshear and volcanic ash, but also the requirement to control in 4D the trajectory through the integration of wind and temperature grids in the flight management. The former will lead to enhanced surveillance systems onboard the aircraft with new displays and new alerting schemes, ranging from targeted information supporting better re-planning to auto-escape strategies. The latter will be standard in next generation flight management systems. Finally both will rely on ATM products that will also assimilate weather information so that situational awareness is shared and decision is collaborative.

  19. Evaluation of Mobile Phone Interference With Aircraft GPS Navigation Systems

    Science.gov (United States)

    Pace, Scott; Oria, A. J.; Guckian, Paul; Nguyen, Truong X.

    2004-01-01

    This report compiles and analyzes tests that were conducted to measure cell phone spurious emissions in the Global Positioning System (GPS) radio frequency band that could affect the navigation system of an aircraft. The cell phone in question had, as reported to the FAA (Federal Aviation Administration), caused interference to several GPS receivers on-board a small single engine aircraft despite being compliant with data filed at the time with the FCC by the manufacturer. NASA (National Aeronautics and Space Administration) and industry tests show that while there is an emission in the 1575 MHz GPS band due to a specific combination of amplifier output impedance and load impedance that induces instability in the power amplifier, these spurious emissions (i.e., not the intentional transmit signal) are similar to those measured on non-intentionally transmitting devices such as, for example, laptop computers. Additional testing on a wide sample of different commercial cell phones did not result in any emission in the 1575 MHz GPS Band above the noise floor of the measurement receiver.

  20. TASS-Enhanced Near Earth Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The need for science-grade Position, Navigation, and Timing (PNT) sensors that are low Size, Weight, and Power (SWaP) is well recognized. The ability to provide...

  1. A Novel Navigation Robustness and Accuracy Improvement System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address NASA's need for L1 C/A-based navigation with better anti-spoofing ability and higher accuracy, Broadata Communications, Inc. (BCI) proposes to develop a...

  2. Flexible Particle Filter Navigation System for Analysis and Operations Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Odyssey Space Research proposes to develop a modular navigation software package to provide precise state information for offline analysis and real-time...

  3. Indoor Navigation System based on Passive RFID Transponder with Digital Compass for Visually Impaired People

    OpenAIRE

    A. M. Kassim; T. Yasuno; Suzuki, H.; H. I. Jaafar; M.S.M. Aras

    2016-01-01

    Conventionally, visually impaired people using white cane or guide dog for traveling to desired destination. However, they could not identify their surround easily. Hence, this paper describes the development of navigation system which is applied to guide the visually impaired people at an indoor environment. To provide an efficient and user-friendly navigation tools, a navigation device is developed by using passive radio frequency identification (RFID) transponders which are mounted on the ...

  4. Comparison between audio and tactile systems for delivering simple navigational information to visually impaired pedestrians

    OpenAIRE

    Gustafson-Pearce, O; Billett, EH; Cecelja, F

    2007-01-01

    Many of the current GPS (Global Positioning Systems) navigation aids use an audio method to deliver navigation information to the user. For the visually impaired person this method can be problematic. The visually impaired pedestrian relies heavily on information contained within the ambient sound environment; for location and orientation information, navigation information, and importantly, safety information. In this paper we present the design of an innovative tactile interface and verific...

  5. Reliable location-based services from radio navigation systems.

    Science.gov (United States)

    Qiu, Di; Boneh, Dan; Lo, Sherman; Enge, Per

    2010-01-01

    Loran is a radio-based navigation system originally designed for naval applications. We show that Loran-C's high-power and high repeatable accuracy are fantastic for security applications. First, we show how to derive a precise location tag--with a sensitivity of about 20 meters--that is difficult to project to an exact location. A device can use our location tag to block or allow certain actions, without knowing its precise location. To ensure that our tag is reproducible we make use of fuzzy extractors, a mechanism originally designed for biometric authentication. We build a fuzzy extractor specifically designed for radio-type errors and give experimental evidence to show its effectiveness. Second, we show that our location tag is difficult to predict from a distance. For example, an observer cannot predict the location tag inside a guarded data center from a few hundreds of meters away. As an application, consider a location-aware disk drive that will only work inside the data center. An attacker who steals the device and is capable of spoofing Loran-C signals, still cannot make the device work since he does not know what location tag to spoof. We provide experimental data supporting our unpredictability claim. PMID:22163532

  6. Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

    Directory of Open Access Journals (Sweden)

    Daehee Won

    2015-01-01

    Full Text Available A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

  7. Navigating towards Decoupled Aquaponic Systems: A System Dynamics Design Approach

    OpenAIRE

    Simon Goddek; Carlos Alberto Espinal; Boris Delaide; Mohamed Haissam Jijakli; Zala Schmautz; Sven Wuertz; Keesman, Karel J.

    2016-01-01

    The classical working principle of aquaponics is to provide nutrient-rich aquacultural water to a hydroponic plant culture unit, which in turn depurates the water that is returned to the aquaculture tanks. A known drawback is that a compromise away from optimal growing conditions for plants and fish must be achieved to produce both crops and fish in the same environmental conditions. The objective of this study was to develop a theoretical concept of a decoupled aquaponic system (DAPS), and p...

  8. Navigating towards Decoupled Aquaponic Systems: A System Dynamics Design Approach

    Directory of Open Access Journals (Sweden)

    Simon Goddek

    2016-07-01

    Full Text Available The classical working principle of aquaponics is to provide nutrient-rich aquacultural water to a hydroponic plant culture unit, which in turn depurates the water that is returned to the aquaculture tanks. A known drawback is that a compromise away from optimal growing conditions for plants and fish must be achieved to produce both crops and fish in the same environmental conditions. The objective of this study was to develop a theoretical concept of a decoupled aquaponic system (DAPS, and predict water, nutrient (N and P, fish, sludge, and plant levels. This has been approached by developing a dynamic aquaponic system model, using inputs from data found in literature covering the fields of aquaculture, hydroponics, and sludge treatment. The outputs from the model showed the dependency of aquacultural water quality on the hydroponic evapotranspiration rate. This result can be explained by the fact that DAPS is based on one-way flows. These one-way flows results in accumulations of remineralized nutrients in the hydroponic component ensuring optimal conditions for the plants. The study also suggests to size the cultivation area based on P availability in the hydroponic component as P is an exhaustible resource and has been identified one of the main limiting factors for plant growth.

  9. A Novel Navigation Information Management System for Food Maritime Logistics Based on Internet of Things

    Directory of Open Access Journals (Sweden)

    Wei He

    2014-02-01

    Full Text Available This study focuses on the construction of a new navigation information management system for food maritime logistics. With the vigorous development of Internet technology, the Internet of things technology has been introduced into the food maritime logistics to enhance the efficiency of food production transportation. However, the navigation information management system for food maritime logistics is still a big challenge and very limited work has been done to address safe and effective navigation information management for food maritime logistics. For this reason, a novel navigation information management system based on Internet of things for food maritime logistics is presented in this study to achieve a variety of network data exchange and integration and build a set of information collection and transmission modules to process and share the information involved with the beacons, hydrology and environment. The navigation information management system could provide important information and decision for food maritime logistics to ensure their safety.

  10. Stirling engines for automobiles

    Science.gov (United States)

    Beremand, D. G.

    1979-01-01

    The results of recent and ongoing automobile Stirling engine development efforts are reviewed and technology status and requirements are identified. Key technology needs include those for low cost, high temperature (1300 - 1500 F) metal alloys for heater heads, and reliable long-life, low-leakage shaft seals. Various fuel economy projections for Stirling powered automobiles are reviewed and assessed.

  11. Evaluation of intraoperative brain shift using an ultrasound-linked navigation system for brain tumor surgery

    International Nuclear Information System (INIS)

    Image-guided neurosurgery using navigation systems is an essential tool to increase accuracy in brain tumor surgery. However, brain shift during surgery has remained problematic. The present study evaluated the utility of a new ultrasound (US)-linked navigation system for brain tumor surgery in 64 patients with intracranial tumors. The navigation system consisted of a StealthStationTM navigation system, a SonoNavTM system, and a standard US scanner. This system determines the orientation of the US images and reformats the images from preoperative computed tomography (CT) or magnetic resonance (MR) imaging to match the US images. The system was used intraoperatively to measure brain shift several times, using the results to guide tumor resection. US-linked navigation provided information regarding brain shift, and extent of tumor resection during surgery. Evaluation of brain shift was easily achieved in all patients, without using intraoperative CT or MR imaging. Accurate information regarding the true anatomical configuration of the patient could be obtained in all phases of the operation. Magnitude of brain shift increased progressively from pre- to post-resection and depended on the type of cranial structure. Integration of the US scanner with the navigation system allowed comparisons between the intraoperative US and preoperative images, thus improving interpretation of US images. The system also improved the rate of tumor resection by facilitating the detection of remnant tumor tissue. This US-linked navigation system provides information on brain shift, and improves the accuracy and utility of image-guided surgery. (author)

  12. Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

    Science.gov (United States)

    Upadhyay, Triveni M.

    1991-01-01

    The briefing describes work using the Global Positioning System to determine position of spacecraft and the development of computer tools to utilize these position determinations to enable autonomous rendezvous. Using GPS data in conjunction with Inertial Navigation Systems (INS) provides the capability for absolute spacecraft navigation, navigation of one spacecraft relative to another, and attitude determination. Some results presented are based on limited observations, though simulation results are documented. A GPS/INS navigation flight experiment could provide a platform for evaluating approaches for autonomous operation and reconfigurability of the navigation and attitude determination subsystem for future space vehicles. Current emphasis is on the development and demonstration of an Onboard Mission Manager (OMM) and a Multi-Mode Navigation Kalman filter. Sensor data will be handed over to the OMM, which will determine the appropriate response and generate commands for the Kalman filter to use to reconfigure itself. Global Positioning System measurements and INS data will be processed in the integrated navigation filter and used to compute errors in position, velocity, and attitude. Inertial Navigation Systems instrument errors (biases, scale factors, etc.) also can be estimated. The OMM then will use a knowledge base to determine appropriate system response. The GPS is good for missions that have attitude pointing accuracy requirements within the 100 to 200 arcsecond range.

  13. A navigation system for the visually impaired an intelligent white cane.

    Science.gov (United States)

    Fukasawa, A Jin; Magatani, Kazusihge

    2012-01-01

    In this paper, we describe about a developed navigation system that supports the independent walking of the visually impaired in the indoor space. Our developed instrument consists of a navigation system and a map information system. These systems are installed on a white cane. Our navigation system can follow a colored navigation line that is set on the floor. In this system, a color sensor installed on the tip of a white cane, this sensor senses a color of navigation line and the system informs the visually impaired that he/she is walking along the navigation line by vibration. This color recognition system is controlled by a one-chip microprocessor. RFID tags and a receiver for these tags are used in the map information system. RFID tags are set on the colored navigation line. An antenna for RFID tags and a tag receiver are also installed on a white cane. The receiver receives the area information as a tag-number and notifies map information to the user by mp3 formatted pre-recorded voice. And now, we developed the direction identification technique. Using this technique, we can detect a user's walking direction. A triaxiality acceleration sensor is used in this system. Three normal subjects who were blindfolded with an eye mask were tested with our developed navigation system. All of them were able to walk along the navigation line perfectly. We think that the performance of the system is good. Therefore, our system will be extremely valuable in supporting the activities of the visually impaired. PMID:23366992

  14. Namen in uporaba mednarodne baze podatkov o materialih v avtomobilski industriji: The aim and use of the international material data system in the automobile industry:

    OpenAIRE

    Ačko, Bojan; Sečnjak, Marko

    2005-01-01

    The subject of the presented work is the International Material Data System (IMDS), which is incorporated in automobiles and was developed for the German car manufacturersć associationćs initiative to use it for the management of car manufacture from an environmental viewpoint. The IMDS is based on legislative regulations and the car manufacturers decision to recycle the largest possible number of cars. The database is used for manufacturers of rawmaterials and composites to input information...

  15. Geographical information systems for map based navigation in urban environments

    OpenAIRE

    Mirats-Tur, Josep M.; Zinggerling, Claudio; Corominas Murtra, Andreu

    2009-01-01

    In order to solve most of the existing mobile robotics applications, the robot needs some information about its spatial environment encoded in what it has been commonly called a map. The knowledge contained in such a map, whatever approach is used to obtain it, will mainly be used by the robot to gain the ability to navigate in a given environment. We are describing in this paper, a method that allows a robot or team of robots to navigate in large urban areas for which an existing map in a st...

  16. A human motion model based on maps for navigation systems

    Directory of Open Access Journals (Sweden)

    Kaiser Susanna

    2011-01-01

    Full Text Available Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters (PFs, long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. In this article, a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e., eliminating those that crossed walls and keeping the rest. We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios.

  17. Navigation Maps in a Computer-Networked Hypertext Learning System.

    Science.gov (United States)

    Chou, Chien; Lin, Hua

    A study of first-year college students (n=121) in Taiwan investigated the effects of navigation maps and learner cognitive styles on performance in searches for information, estimation of course scope, and the development of cognitive maps within a hypertext learning course. Students were tested to determine level of perceptual field dependence…

  18. The cerebellum: a new key structure in the navigation system

    Directory of Open Access Journals (Sweden)

    Laure Rondi-Reig

    2013-03-01

    Full Text Available Early investigations of cerebellar function focused on motor learning, in particular on eyeblink conditioning and adaptation of the vestibulo-ocular reflex, and led to the general view that cerebellar Long Term Depression (LTD at parallel fiber-Purkinje cell synapses is the neural correlate of cerebellar motor learning. Thereafter, while the full complexity of cerebellar plasticities was being unraveled, cerebellar involvement in more cognitive tasks - including spatial navigation - was further investigated. However, cerebellar implication in spatial navigation remains a matter of debate because motor deficits frequently associated with cerebellar damage often prevent the dissociation between its role in spatial cognition from its implication in motor function. Here, we review recent findings from behavioral and electrophysiological analyses of cerebellar mutant mouse models, which show that the cerebellum might participate in the construction of hippocampal spatial representation map (i.e. place cells and thereby in goal-directed navigation. These recent advances in cerebellar research point toward a model in which computation from the cerebellum could be required for spatial representation and would involve the integration of multi-source self-motion information to: 1 transform the reference frame of vestibular signals and 2 distinguish between self- and externally-generated vestibular signals. We eventually present herein anatomical and functional connectivity data supporting a cerebello-hippocampal interaction. Whilst a direct cerebello-hippocampal projection has been suggested, recent investigations rather favor a multi-synaptic pathway involving posterior parietal and retrosplenial cortices, two regions critically involved in spatial navigation.

  19. Development of a micro-step voltage-fed actuator with a novel stepper motor for automobile AGS systems.

    Science.gov (United States)

    Rhyu, Se-Hyun; Lee, Jeong-Jong; Gu, Bon-Gwan; Choi, Byung-Dae; Lim, Jung-Hyuk

    2014-01-01

    This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS) system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM) motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possesses the following advantages: simple structure, lighter weight, smaller volume, and less time consumption. The unique auxiliary poles in the stepper motor supply the flux path to increase the step resolution even without any coils. The characteristics of the proposed stepper motor were investigated using finite element analysis. In particular, the effect of the magnetization distribution of the PM on the motor performance was investigated during the analysis. Cogging torque, which causes noise and vibration issues, was minimized by the tooth-shape optimization. In addition, a micro-step voltage-fed algorithm was implemented for a high-resolution position control. By employing a current close to a sine wave using space vector pulse-width modulation, a high-quality current waveform with a high resolution was obtained. Finally, the proposed prototype was fabricated, and the cogging torque, back-electromotive force, and current characteristics were measured by mounting the prototype on the AGS system. Both the analysis and experimental results validate the performance improvement from the proposed motor and its possible application for the flap control of the AGS system. PMID:24803193

  20. Development of a Micro-Step Voltage-Fed Actuator with a Novel Stepper Motor for Automobile AGS Systems

    Directory of Open Access Journals (Sweden)

    Se-Hyun Rhyu

    2014-05-01

    Full Text Available This paper presents an improved micro-step voltage-fed actuator for an automobile active grill shutter (AGS system. A novel structured stepper motor, which contains both the main and auxiliary teeth in the stator, is proposed for the actuator. In a normal permanent magnet (PM motor coils are generally wound on all the stator teeth, however, in the proposed motor, the winding is only on the main teeth. Because of the absence of coils in the auxiliary teeth, the proposed stepper motor possesses the following advantages: simple structure, lighter weight, smaller volume, and less time consumption. The unique auxiliary poles in the stepper motor supply the flux path to increase the step resolution even without any coils. The characteristics of the proposed stepper motor were investigated using finite element analysis. In particular, the effect of the magnetization distribution of the PM on the motor performance was investigated during the analysis. Cogging torque, which causes noise and vibration issues, was minimized by the tooth-shape optimization. In addition, a micro-step voltage-fed algorithm was implemented for a high-resolution position control. By employing a current close to a sine wave using space vector pulse-width modulation, a high-quality current waveform with a high resolution was obtained. Finally, the proposed prototype was fabricated, and the cogging torque, back-electromotive force, and current characteristics were measured by mounting the prototype on the AGS system. Both the analysis and experimental results validate the performance improvement from the proposed motor and its possible application for the flap control of the AGS system.

  1. PROSPECTS OF AUTOMOBILE TIRE RECYCLING

    OpenAIRE

    A. D. Gusev; V. S. Demyanova

    2012-01-01

    Statement of the problem. The legislative system of legal handling of waste in the Russian Fed-eration is focused on governing the handling waste as an environment pollutant. There is almost no legal regulations for handling waste as secondary material resources. Therefore, there is a pressing need to describe directions to be taken in the recycling of automobile tires.Results and conclusions. The system of legal regulations for handling wastes has been analyzed. A growing need to utilize aut...

  2. 基于温差发电的汽车电源系统设计%Design of Automobile Power System Based on Thermoelectric Generation

    Institute of Scientific and Technical Information of China (English)

    刘贻华

    2014-01-01

    为了减少传统汽车的燃油消耗以及提高汽车电池的使用寿命,通过对温差发电技术的研究,利用汽车燃烧产生的废气热量进行发电,将温差发电系统与传统汽车电源系统进行优化,为汽车的用电设备进行充电,可以有效的减少汽车燃油消耗以及提高车用电池的寿命,同时也达到相应的环保功用。%In order to reduce the fuel consumption of traditional automobiles and improve the battery life of cars, on the basis of the re-search of the thermoelectric generation technology, waste heat from cars is used for power generation. The optimization with the combi-nation of thermoelectric power generation system and the traditional automobile power system, which is used for automobile electric e-quipment charging can effectively reduce vehicle fuel consumption and improve vehicle battery life, at the same time, have correspond-ing environmental protection function.

  3. Hidden Markov Model-based Pedestrian Navigation System using MEMS Inertial Sensors

    Directory of Open Access Journals (Sweden)

    Zhang Yingjun

    2015-02-01

    Full Text Available In this paper, a foot-mounted pedestrian navigation system using MEMS inertial sensors is implemented, where the zero-velocity detection is abstracted into a hidden Markov model with 4 states and 15 observations. Moreover, an observations extraction algorithm has been developed to extract observations from sensor outputs; sample sets are used to train and optimize the model parameters by the Baum-Welch algorithm. Finally, a navigation system is developed, and the performance of the pedestrian navigation system is evaluated using indoor and outdoor field tests, and the results show that position error is less than 3% of total distance travelled.

  4. aKIA Automobile : a Multi-Agent System in E-Commerce

    OpenAIRE

    Kia, Abbas; Aïmeur, Esma; Kropf, Peter

    2010-01-01

    Electronic commerce is a domain where agent technologies are well suited. The search and retrieval of product information is crucial in every E-commerce system. While some systems provide the user just with a fixed selection of products, others offer a wide variety of products with different characteristics. In this case, the system must provide means to efficiently and accurately search and retrieve product information according to the user’s desired product characteristics. In this paper, a...

  5. Design And Implementation of Dsp-Based Intelligent Controller For Automobile Braking System

    OpenAIRE

    S.N. Sidek and M.J.E. Salami

    2012-01-01

    An intelligent braking system has great potential applications especially, in developed countries where research on smart vehicle and intelligent highways are receiving ample attention. The system when integrated with other subsystems like automatic traction control, intelligent throttle, and auto cruise systems, etc will result in smart vehicle maneuver. The driver at the end of the day will become the passenger, safety accorded the highest priority and the journey optimized in term of time ...

  6. Recent trends in automobile recycling: An energy and economic assessment

    Energy Technology Data Exchange (ETDEWEB)

    Curlee, T.R.; Das, S.; Rizy, C.G. [Oak Ridge National Lab., TN (United States); Schexanyder, S.M. [Tennessee Univ., Knoxville, TN (United States). Dept. of Biochemistry

    1994-03-01

    Recent and anticipated trends in the material composition of domestic and imported automobiles and the increasing cost of landfilling the non-recyclable portion of automobiles (automobile shredder residue or ASR) pose questions about the future of automobile recycling. This report documents the findings of a study sponsored by the US Department of Energy`s Office of Environmental Analysis to examine the impacts of these and other relevant trends on the life-cycle energy consumption of automobiles and on the economic viability of the domestic automobile recycling industry. More specifically, the study (1) reviewed the status of the automobile recycling industry in the United States, including the current technologies used to process scrapped automobiles and the challenges facing the automobile recycling industry; (2) examined the current status and future trends of automobile recycling in Europe and Japan, with the objectives of identifying ``lessons learned`` and pinpointing differences between those areas and the United States; (3) developed estimates of the energy system impacts of the recycling status quo and projections of the probable energy impacts of alternative technical and institutional approaches to recycling; and (4) identified the key policy questions that will determine the future economic viability of automobile shredder facilities in the United States.

  7. A Novel Approach for Enhancement of Automobile Clutch Engagement Quality Using Mechatronics Based Automated Clutch System

    Science.gov (United States)

    Tripathi, K.

    2013-01-01

    In automated manual clutch (AMC) a mechatronic system controls clutch force trajectory through an actuator governed by a control system. The present study identifies relevant characteristics of this trajectory and their effects on driveline dynamics and engagement quality. A new type of force trajectory is identified which gives the good engagement quality. However this trajectory is not achievable through conventional clutch control mechanism. But in AMC a mechatronic system based on electro-hydraulic or electro-mechanical elements can make it feasible. A mechatronic system is presented in which a mechatronic add-on system can be used to implement the novel force trajectory, without the requirement of replacing the traditional diaphragm spring based clutch in a vehicle with manual transmission.

  8. Solar Energy Automobile

    OpenAIRE

    HE Jianhua

    2014-01-01

    The thesis was to design a solar energy automobile, which is using solar power as energy re-source. At the moment, Finland was chosen as an example place. It was necessary to calculate the related data, which are the solar angle and the day length when designing the solar energy automobile. Also the seats and dashboard to improve the performance. Actually, in Finland it is possible to use solar energy automobile in summer. But in winter, the day length is so short and the solar constant i...

  9. LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

    OpenAIRE

    Jian Tang; Yuwei Chen; Xiaoji Niu; Li Wang; Liang Chen; Jingbin Liu; Chuang Shi; Juha Hyyppä

    2015-01-01

    A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. Th...

  10. 14 CFR Appendix G to Part 121 - Doppler Radar and Inertial Navigation System (INS): Request for Evaluation; Equipment and...

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Doppler Radar and Inertial Navigation... OPERATIONS Pt. 121, App. G Appendix G to Part 121—Doppler Radar and Inertial Navigation System (INS): Request... Radar or Inertial Navigation System must submit a request for evaluation of the system to the...

  11. Ionospheric monitoring by the Global Navigation Satellite System (GNSS)

    Science.gov (United States)

    Park, Jihye

    The ionosphere reacts to geophysical events, such as earthquakes, tsunamis, surface explosions, underground nuclear explosions (UNE), etc. The Global Navigation Satellite System (GNSS) remote sensing (RS) enables monitoring of the ionospheric disturbances excited by these events. The purpose of this dissertation is to use GNSS RS to detect, discriminate, model and monitor ionospheric disturbances induced by earthquakes and UNEs. Ionospheric delay, which can be derived from dual frequency GNSS signals, is converted to the total electron contents (TEC) along the signal path. After eliminating the main trend of TEC by taking the numerical third order horizontal 3-point derivatives, the traveling ionospheric disturbances (TIDs) are isolated. Since a TID can be generated due to various events, the source of TID must be verified. In this dissertation, the characteristics of the TID waves induced by an earthquake and an UNE are examined. The case studies are: (1) M9.0 2011 Tohoku, Japan earthquake, (2) 2006 North Korean UNE, and (3) 2009 North Korean UNE. From these experiments, the TIDs resulting from different types of events were characterized and discriminated due to the different waveform properties. In addition, the epicenter of the point source can be determined by TID observations. In experiment (2), the 2009 North Korean UNE was examined, using data from eleven nearby GNSS stations. Within a few hours from the explosion, the GNSS stations detected the TIDs, whose arrival time for each station formulated the linear model with respect to the distance to the station. TIDs were observed to propagate with speeds of roughly 150 - 400 m/s at stations about 365 km to 1330 km from the explosion site. Considering the wind effect, the wind-adjusted TIDs located the UNE to within about 2.7 km of its seismically determined epicenter. Through the case studies, the distinctive signatures of different events were demonstrated, which suggests the uniqueness of TIDs excited by

  12. METHODS OF PROVIDING NOISE IMMUNITY IN AUTOMOBILE ANTI-THEFT SYSTEM CONTROL

    OpenAIRE

    Frolov, V.; Kovtunov, J.; Kubata, V.

    2013-01-01

    In modern ani-theft systems they use frequency and phase modulation. Since the width of the signal is limited, it is possible to intercept the signal and then switch off the alarm at the right time.To ensure the noise immunity and secrecy manufacturers use more sophisticated codes using the methods of cryptography. Significant increase in noise immunity in modern ani-theft systems is possible using broadband signals.

  13. Approximation and Filtering Techniques for Navigation Data in Time-critical Electronic Warfare Systems

    Directory of Open Access Journals (Sweden)

    Vanitha D.

    2013-03-01

    Full Text Available This paper presents a holistic solution to the navigation requirements in a time critical electronic warfare systems like missile warning systems (MWS. In a passive MWS using IR sensors the efficiency of the system is determined by attributes such as low false alarm rate, minimal response time and ability to track different IR radiating objects by association and correlation of consecutive detections through time. Such a system is required to be supported by a navigation system capable of accurate estimation of the aircraft position, attitude angles and altitude. In this paper, estimation techniques used to accurately calculate aircraft navigation data at the time of capture of IR frames are discussed. The paper discusses about synchronization of INGPS, IR sensors & Processor on to same timeline. The paper also intends to evaluate the performance of wavelet transform filter in effective elimination of noise in navigation parameters like acceleration and attitude angle rates for a better estimation of position and attitude.

  14. A Toolbox of Aiding Techniques for the HUGIN AUV Integrated Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-07-01

    Full Text Available Modern AUV designs must handle submerged autonomous operation for long periods of time. The state of the art solution embedded in the HUGIN AUVs is a Doppler Velocity Log (DVL aided Inertial Navigation System (INS that can integrate various forms of position measurement updates. In autonomous operations, position updates are only available in limited periods of time or space, thus the core velocity aided inertial navigation system must exhibit high accuracy However, position uncertainty of a DVL aided inertial navigation system will eventually drift off, compromising either mission operation or requirements for accurate positioning of payload data. To meet the requirements for a range of military and civilian AUV applications, the HUGIN vehicles come with a flexible and powerful set of navigation techniques. Methods for position updates include GPS surface fix, DGPS-USBL, Underwater Transponder Positioning (UTP and bathymetric terrain navigation. Based on synthetic aperture sonar technology, a potentially revolutionary accurate velocity measurement is under development. HUGIN also comes with a navigation post-processing system (NavLab, which can be applied to increase navigational integrity and maximize position accuracy.

  15. Gender differences in navigation dialogues with computer systems

    OpenAIRE

    Koulouri, Theodora

    2013-01-01

    This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University. Gender is among the most influential of the factors underlying differences in spatial abilities, human communication and interactions with and through computers. Past research has offered important insights into gender differences in navigation and language use. Yet, given the multidimensionality of these domains, many issues remain contentious while others unexplored. Moreover, having been d...

  16. Design And Implementation of Dsp-Based Intelligent Controller For Automobile Braking System

    Directory of Open Access Journals (Sweden)

    S.N. Sidek and M.J.E. Salami

    2012-08-01

    Full Text Available An intelligent braking system has great potential applications especially, in developed countries where research on smart vehicle and intelligent highways are receiving ample attention. The system when integrated with other subsystems like automatic traction control, intelligent throttle, and auto cruise systems, etc will result in smart vehicle maneuver. The driver at the end of the day will become the passenger, safety accorded the highest priority and the journey optimized in term of time duration, cost, efficiency and comfortability. The impact of such design and development will cater for the need of contemporary society that aspires to a quality drive as well as to accommodate the advancement of technology especially in the area of smart sensors and actuators.  The emergence of digital signal processor enhances the capacity and features of universal microcontroller.  This paper introduces the use of TI DSP, TMS320LF2407 as an engine of the system. The overall system is designed so that the value of inter-vehicle distance from infrared laser sensor and speed of follower car from speedometer are fed into the DSP for processing, resulting in the DSP issuing commands to the actuator to function appropriately.Key words:  Smart Vehicle, Digital Signal Processor, Fuzzy Controller, and Infra Red Laser Sensor

  17. Prelaunch Forecasting of New Automobiles

    OpenAIRE

    Urban, Glen L.; John R. Hauser; John H. Roberts

    1990-01-01

    This paper develops and applies a prelaunch model and measurement system to the marketing planning of a new automobile. The analysis addresses active search by consumers, dealer visits, word-of-mouth communication, magazine reviews, and production constraints---issues that are important in understanding consumer response to durable goods. We address these issues with a detailed consumer flow model which monitors and projects key consumer transitions in response to marketing actions. A test-vs...

  18. An advanced media interface for control of modern transport aircraft navigational systems

    Science.gov (United States)

    Jones, D. R.; Parrish, R. V.; Person, L. H., Jr.; Old, J. L.

    1984-01-01

    With the advent of digital avionics, the workload of the pilot in a moderen transport aircraft is increasing significantly. This situation makes it necessary to reduce pilot workload with the aid of new advanced technologies. As part of an effort to improve information management systems, NASA has, therefore, studied an advanced concept for managing the navigational tasks of a modern transport aircraft. This concept is mainly concerned with the simplification of the pilot interface. The advanced navigational system provides a simple method for a pilot to enter new waypoints to change his flight plan because of heavy traffic, adverse weather conditions, or other reasons. The navigational system was implemented and evaluated in a flight simulator representative of a modern transport aircraft. Attention is given to the simulator, flight simulation, multimode devices, and the navigational system.

  19. Guidance, Navigation, and Control System for Maneuverable Pico-Satellites Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Pico-satellites are an emerging new class of spacecraft. Maneuverable pico-satellites require active guidance, navigation, and control (GN&C) systems to perform...

  20. Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

    Directory of Open Access Journals (Sweden)

    Yahya Zare Khafri

    2012-07-01

    Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

  1. Dilution-of-Precision-Based Lunar Surface Navigation System Analysis Utilizing Earth-Based Assets

    Science.gov (United States)

    Welch, Bryan W.; Connolly, Joseph W.; Sands, Obed S.

    2007-01-01

    The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. Although navigation systems have already been proven in the Apollo missions to the Moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the Moon, those under the Exploration Systems Initiative will require navigation on the Moon's limb and far side. These regions are known to have poor Earth visibility, but unknown is the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in these areas. This report presents a dilution-of-precision (DoP)-based analysis of the performance of a network of Earth-based assets. This analysis extends a previous analysis of a lunar network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions. These assumptions pertain to the minimum provider elevation angle, nadir and zenith beam widths, and a total single failure in one of the Earth-based assets. The assessment is accomplished by making appropriately formed estimates of DoP. Different adaptations of DoP, such as geometrical DoP and positional DoP (GDoP and PDoP), are associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver.

  2. The automobile in Japan

    OpenAIRE

    Lone, Stewart; Madeley, Christopher

    2005-01-01

    Lone: The 1920s saw the emergence in Kansai of modern industrial urban living with the development of the underground, air services; wireless telephones, super express trains etc. Automobiles dominated major streets from the early 1920s in the new Age of Speed. Using Kyoto city as an example, the article covers automobile advertising, procedures for taxis, buses and cars and traffic safety and regulation. Madeley: Nissan Motor Company had a longer connection with the British industry than any...

  3. Hybrid extended particle filter (HEPF) for integrated inertial navigation and global positioning systems

    International Nuclear Information System (INIS)

    Navigation includes the integration of methodologies and systems for estimating time-varying position, velocity and attitude of moving objects. Navigation incorporating the integrated inertial navigation system (INS) and global positioning system (GPS) generally requires extensive evaluations of nonlinear equations involving double integration. Currently, integrated navigation systems are commonly implemented using the extended Kalman filter (EKF). The EKF assumes a linearized process, measurement models and Gaussian noise distributions. These assumptions are unrealistic for highly nonlinear systems like land vehicle navigation and may cause filter divergence. A particle filter (PF) is developed to enhance integrated INS/GPS system performance as it can easily deal with nonlinearity and non-Gaussian noises. In this paper, a hybrid extended particle filter (HEPF) is developed as an alternative to the well-known EKF to achieve better navigation data accuracy for low-cost microelectromechanical system sensors. The results show that the HEPF performs better than the EKF during GPS outages, especially when simulated outages are located in periods with high vehicle dynamics

  4. MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

    OpenAIRE

    Belharet, Karim; Folio, David; Ferreira, Antoine

    2010-01-01

    This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3-D navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient s...

  5. An Adaptive Unscented Kalman Filtering Algorithm for MEMS/GPS Integrated Navigation Systems

    OpenAIRE

    Jianhua Cheng; Daidai Chen; Rene Jr. Landry; Lin Zhao; Dongxue Guan

    2014-01-01

    MEMS/GPS integrated navigation system has been widely used for land-vehicle navigation. This system exhibits large errors because of its nonlinear model and uncertain noise statistic characteristics. Based on the principles of the adaptive Kalman filtering (AKF) and unscented Kalman filtering (AUKF) algorithms, an adaptive unscented Kalman filtering (AUKF) algorithm is proposed. By using noise statistic estimator, the uncertain noise characteristics could be online estimated to adaptively com...

  6. PERCEPT-II: smartphone based indoor navigation system for the blind.

    Science.gov (United States)

    Ganz, Aura; Schafer, James M; Tao, Yang; Wilson, Carole; Robertson, Meg

    2014-01-01

    In this paper we introduce PERCEPT-II, a low cost and user friendly indoor navigation system for blind and visually impaired users. Using an Android Smartphone that runs PERCEPT-II application with accessibility features, the blind user obtains navigation instructions to the chosen destination when touching specific landmarks tagged with Near Field Communication tags. The system was deployed and tested in a large building at the University of Massachusetts at Amherst. PMID:25570785

  7. A LabVIEW-based Autonomous Vehicle Navigation System using Robot Vision and Fuzzy Control

    OpenAIRE

    Ramírez-Cortés J.M.; Gómez-Gil P.; Martínez-Carballido J.; López-Larios F.

    2011-01-01

    This paper describes a navigation system for an autonomous vehicle using machine vision techniques applied to real-time captured images of the track, for academic purposes. The experiment consists of the automatic navigation of a remote control car through a closed circuit. Computer vision techniques are used for the sensing of the environment through a wireless camera. The received images are captured into the computer through the acquisition card NI USB-6009, and processed in a system devel...

  8. A Novel Navigation Information Management System for Food Maritime Logistics Based on Internet of Things

    OpenAIRE

    Wei He; Xiumin Chu

    2014-01-01

    This study focuses on the construction of a new navigation information management system for food maritime logistics. With the vigorous development of Internet technology, the Internet of things technology has been introduced into the food maritime logistics to enhance the efficiency of food production transportation. However, the navigation information management system for food maritime logistics is still a big challenge and very limited work has been done to address safe and effective navi...

  9. Lessons Learned in Integration for Sensor-Based Robot Navigation Systems

    OpenAIRE

    Javier Minguez; Luis Montesano; Luis Montano

    2006-01-01

    This paper presents our work of integration during the last years within the context of sensor-based robot navigation systems. In our motion system, as in many others, there are functionalities involved such as modeling, planning or motion control, which have to be integrated within an architecture. This paper addresses this problematic. Furthermore, we also discuss the lessons learned while: (i) designing, testing and validating techniques that implement the functionalities of the navigation...

  10. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments

    OpenAIRE

    Georg Gerstweiler; Emanuel Vonach; Hannes Kaufmann

    2015-01-01

    Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or...

  11. Research on Switched Reluctance Motor for Automobile Starter/Generator System

    Institute of Scientific and Technical Information of China (English)

    QUAN Li; LIU Qiang; ZHAO De-an; LIU Di-ji

    2006-01-01

    A self-designed and developed 12/10 switched reluctance motor(SRM)is chosen as the object of study and a prototype of 2.5 kW switched reluctance starter/generator with fly-wheel is designed based on the requirements of the selected engine (Changan Aotooc three-cylinder engine wagon) for the starter, generator and drive. The 36 V/42 V DC source system is applied to establishing the simulation-analyzing model of the motor. A finite-element (FE) analysis of its two-dimensional electromagnetic field is conducted to obtain the exact model of the motor. Systematic simulation is carried out combining with its power conversion circuit and control element. Meanwhile the starting process and performance of the system are studied and analyzed with special efforts. Satisfactory result is derived from the testing of the prototype:theoretical analysis is basically matched with the tested data, which proves the rationality and feasibility of the design procedures, systematic modeling and control strategies. Therefore, the new 12/10-structure scheme is put forward based on the development and analysis of various SRM and it meets the requirements of the researched motor in terms of the structural parameters.

  12. An Adaptive Technique for a Redundant-Sensor Navigation System. Ph.D. Thesis

    Science.gov (United States)

    Chien, T. T.

    1972-01-01

    An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. The gyro navigation system is modeled as a Gauss-Markov process, with degradation modes defined as changes in characteristics specified by parameters associated with the model. The adaptive system is formulated as a multistage stochastic process: (1) a detection system, (2) an identification system and (3) a compensation system. It is shown that the sufficient statistics for the partially observable process in the detection and identification system is the posterior measure of the state of degradation, conditioned on the measurement history.

  13. Radar seeker based autonomous navigation update system using topography feature matching techniques

    Science.gov (United States)

    Lerche, H. D.; Tumbreagel, F.

    1992-11-01

    The discussed navigation update system was designed for an unmanned platform with fire and forget capability. It meets the requirement due to fully autonomous operation. The system concept will be characterized by complementary use of the radar seeker for target identification as well as for navigation function. The system works in the navigation mode during preprogrammable phases where the primary target identification function is not active or in parallel processing. The dual function radar seeker system navigates the drone during the midcourse and terminal phases of the mission. Its high resolution due to range measurement and doppler beam sharpening in context with its radar reflectivity sensing capability are the basis for topography referenced navigation computation. The detected height jumps (coming from terrain elevation and cultural objects) and radar reflectivity features will be matched together with topography referenced features. The database comprises elevation data and selected radar reflectivity features that are robust against seasonal influences. The operational benefits of the discussed system are as follows: (1) the improved navigation performance with high probability of position fixing, even over flat terrain; (2) the operation within higher altitudes; and (3) bad weather capability. The developed software modules were verified with captive flight test data running in a hardware-in-the-loop simulation.

  14. Multi-Purpose Avionic Architecture for Vision Based Navigation Systems for EDL and Surface Mobility Scenarios

    Science.gov (United States)

    Tramutola, A.; Paltro, D.; Cabalo Perucha, M. P.; Paar, G.; Steiner, J.; Barrio, A. M.

    2015-09-01

    Vision Based Navigation (VBNAV) has been identified as a valid technology to support space exploration because it can improve autonomy and safety of space missions. Several mission scenarios can benefit from the VBNAV: Rendezvous & Docking, Fly-Bys, Interplanetary cruise, Entry Descent and Landing (EDL) and Planetary Surface exploration. For some of them VBNAV can improve the accuracy in state estimation as additional relative navigation sensor or as absolute navigation sensor. For some others, like surface mobility and terrain exploration for path identification and planning, VBNAV is mandatory. This paper presents the general avionic architecture of a Vision Based System as defined in the frame of the ESA R&T study “Multi-purpose Vision-based Navigation System Engineering Model - part 1 (VisNav-EM-1)” with special focus on the surface mobility application.

  15. A 3D Model Based Imdoor Navigation System for Hubei Provincial Museum

    Science.gov (United States)

    Xu, W.; Kruminaite, M.; Onrust, B.; Liu, H.; Xiong, Q.; Zlatanova, S.

    2013-11-01

    3D models are more powerful than 2D maps for indoor navigation in a complicate space like Hubei Provincial Museum because they can provide accurate descriptions of locations of indoor objects (e.g., doors, windows, tables) and context information of these objects. In addition, the 3D model is the preferred navigation environment by the user according to the survey. Therefore a 3D model based indoor navigation system is developed for Hubei Provincial Museum to guide the visitors of museum. The system consists of three layers: application, web service and navigation, which is built to support localization, navigation and visualization functions of the system. There are three main strengths of this system: it stores all data needed in one database and processes most calculations on the webserver which make the mobile client very lightweight, the network used for navigation is extracted semi-automatically and renewable, the graphic user interface (GUI), which is based on a game engine, has high performance of visualizing 3D model on a mobile display.

  16. Gemma: a Generic, Extensible and Modular Multi-Sensor Navigation Analysis System

    Science.gov (United States)

    Navarro, J. A.; Parés, M. E.; Colomina, I.

    2016-06-01

    This paper presents the concept of an architecture for a system that helps researchers in the field of Geomatics to speed up their daily research on kinematic geodesy, navigation and positioning fields. The presented ideas correspond to an extensible and modular software system aimed at the development of new navigation and positioning algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system GEMMA is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms or model sensors needs to be taken into account. As a consequence, change poses a much smaller problem for CTTC's research activities is this specific area. This system includes several standalone tools that may be combined in different ways to accomplish various goals; that is, it may be used to perform a variety of tasks, as, for instance, (1) define positioning and navigation scenarios, (2) simulate different kinds of sensors, (3) validate new navigation algorithms or (4) evaluate the quality of an estimated navigation solution.

  17. Indoor Navigation System based on Passive RFID Transponder with Digital Compass for Visually Impaired People

    Directory of Open Access Journals (Sweden)

    A. M. Kassim

    2016-02-01

    Full Text Available Conventionally, visually impaired people using white cane or guide dog for traveling to desired destination. However, they could not identify their surround easily. Hence, this paper describes the development of navigation system which is applied to guide the visually impaired people at an indoor environment. To provide an efficient and user-friendly navigation tools, a navigation device is developed by using passive radio frequency identification (RFID transponders which are mounted on the floor such as on tactile paving to build such as RFID networks. The developed navigation system is equipped with a digital compass to facilitate the visually impaired people to walk properly at right direction especially when turning process. The idea of positioning and localization with the digital compass and direction guiding through voice commands is implemented in this system. Some experiments also done which is focused on the calibration of the digital compass and relocates the visually impaired people back to the right route if they are out of the direction. Besides, a comparison between two subjects which are human and a mobile robot is made to check the validity of the developed navigation system. As the result, the traveling speed of human and mobile robot is obtained from the experiment. This project is beneficial to visually impaired people because the navigation device designed with voice commands will help them to have a better experience, safer and comfortable travel.

  18. Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

    OpenAIRE

    Evennou Frédéric; Marx François

    2006-01-01

    This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS) are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements ca...

  19. Development of a robotic mobile mapping system by vision-aided inertial navigation: a geomatics approach

    OpenAIRE

    Bayoud, Fadi Atef; Merminod, Bertrand

    2007-01-01

    Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burden. After the technology advancement, high-quality hardware and computing power became reachable for the investigation and realisation of various applications. In this thesis, a mapping system by vision-aided inertial navigation was develope...

  20. GNSS/INS/Star Tracker Integrated Navigation System for Earth-Moon Transfer Orbit

    OpenAIRE

    Capuano, Vincenzo; Botteron, Cyril; Wang, Yanguang; Tian, Jia; Leclère, Jérôme; Farine, Pierre-André

    2014-01-01

    Over the last few years, new Global Navigation Satellite System (GNSS) applications have emerged that go far beyond the original objectives of GNSS which was providing position, velocity and timing (PVT) services for land, maritime, and air applications. Indeed, today, GNSS is used in Low Earth Orbit (LEO) for a wide range of applications such as real-time navigation, formation flying, precise time synchronization, orbit determination and atmospheric profiling. GNSS, in fact, can maximize the...

  1. Comparison of Global Navigation Satellite System Devices on Speed Tracking in Road (Tran)SPORT Applications

    OpenAIRE

    Matej Supej; Ivan Čuk

    2014-01-01

    Global Navigation Satellite Systems (GNSS) are, in addition to being most widely used vehicle navigation method, becoming popular in sport-related tests. There is a lack of knowledge regarding tracking speed using GNSS, therefore the aims of this study were to examine under dynamic conditions: (1) how accurate technologically different GNSS measure speed and (2) how large is latency in speed measurements in real time applications. Five GNSSs were tested. They were fixed to a car’s roof-rack: ...

  2. Quantitative and qualitative evaluation of PERCEPT indoor navigation system for visually impaired users.

    Science.gov (United States)

    Ganz, Aura; Schafer, James; Puleo, Elaine; Wilson, Carole; Robertson, Meg

    2012-01-01

    In this paper we introduce qualitative and quantitative evaluation of PERCEPT system, an indoor navigation system for the blind and visually impaired. PERCEPT system trials with 24 blind and visually impaired users in a multi-story building show PERCEPT system effectiveness in providing appropriate navigation instructions to these users. The uniqueness of our system is that it is affordable and that its design follows Orientation and Mobility principles. These results encourage us to generalize the solution to large indoor spaces and test it with significantly larger visually impaired population in diverse settings. We hope that PERCEPT will become a standard deployed in all indoor public spaces. PMID:23367251

  3. Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

    Science.gov (United States)

    Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.; Carpenter, J. Russell; Long, Anne C.; Farahmand, Mitra

    2016-01-01

    NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMS is achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

  4. Navigation systems requirement analysis for the Aeroassist Flight Experiment (AFE)

    Science.gov (United States)

    Huang, K. H.; Chang, Ho-Pen; Wells, Eugene M.

    1990-01-01

    Navigation requirements for Aeroassist Flight Experiment (AFE) spacecraft passing through the earth's atmosphere have been studied using a 6-DOF dynamics model, an Inertial Measurement Unit model, a baseline AFE aeropass flight guidance logic, and a baseline AFE aeropass control model. The goal of this study is to determine, in a statistical sense, how much flight path angle error can be tolerated at Entry Interface (EI) and still have acceptable delta-V requirements at exit to position the AFE spacecraft for recovery. Assuming there is fuel available to produce 370 ft/sec of delta-V at atmospheric exit, a 3-sigma standard deviation in flight path angle error of 0.04 degree at EI would result in a 98 percent probability of mission success. In addition to the required delta-V at exit, other aeropass parameters such as maximum aeroheating rate, fuel consumption, and the science requirements affecting mission success are also investigated.

  5. Prospects of a mathematical theory of human behavior in complex man-machine systems tasks. [time sharing computer analogy of automobile driving

    Science.gov (United States)

    Johannsen, G.; Rouse, W. B.

    1978-01-01

    A hierarchy of human activities is derived by analyzing automobile driving in general terms. A structural description leads to a block diagram and a time-sharing computer analogy. The range of applicability of existing mathematical models is considered with respect to the hierarchy of human activities in actual complex tasks. Other mathematical tools so far not often applied to man machine systems are also discussed. The mathematical descriptions at least briefly considered here include utility, estimation, control, queueing, and fuzzy set theory as well as artificial intelligence techniques. Some thoughts are given as to how these methods might be integrated and how further work might be pursued.

  6. Columbia River System Operation Review final environmental impact statement. Appendix H: Navigation

    International Nuclear Information System (INIS)

    The System Operation Review (SOR) is a study and environmental compliance process being used by the three Federal agencies to analyze future operations of the system and river use issues. The goal of the SOR is to achieve a coordinated system operation strategy for the river that better meets the needs of all river users. This technical appendix addresses only the effects of alternative system operating strategies for managing the Columbia River system. The Navigation Technical Appendix presents the analysis of the various SOR alternatives in terms of their potential affects on the congressionally authorized navigation system within the Columbia and Snake river waterways. The focus of the study, impacts to the authorized navigation, improvements/developments, reflects on one of the continuing historical missions of the US Army Corps of Engineers: to promote safe commercial navigation of the nation's waterways benefiting the development of commerce within the US. The study and evaluation process involved Scoping, Screening and Full Scale Evaluation. During screening two models were developed; one was used to evaluate the effects of the various alternatives on navigation through the Snake River Projects and the other the effects on the Dworshak Pool. Full Scale Analysis was expanded to included a study of effects throughout the system

  7. Alternative drives for motor cars. Hybrid systems, fuel cells, alternative energy sources. 3. ed.; Alternative Antriebe fuer Automobile. Hybridsysteme, Brennstoffzellen, alternative Energietraeger

    Energy Technology Data Exchange (ETDEWEB)

    Stan, Cornel [California Univ., Berkeley, CA (United States); Paris-1 Univ., 75 (France); Pisa Univ. (Italy); Perugia Univ. (Italy); Kronstadt Univ. (Russian Federation)

    2012-07-01

    This book describes and assesses on the basis of the latest research and development projects worldwide what the possibilities are for the realisation of future drive concepts, ranging from battery-driven electromotors to hybrid systems combining electromotor and combustion engine to alternative energy resources such as hydrogen or alcohol. Power density, torque band, acceleration characteristics, specific energy consumption and chemical and noise emissions are the most important criteria for assessing the quality of a drive configuration. The boundary conditions for the introduction of alternative automotive drives are determined by the availability or production characteristics and the storability of the energy resources in question as well as by the degree of technical complexity, costs, safety, infrastructure and service. This book provides an updated overview and analysis of the processes, prime movers and energy resources that can be combined in complex energy management systems for automobiles. Up-to-date information of this kind is indispensable for the development of new concepts. The contents in overview: current data and facts on the development of new concepts; compact overview and analysis of processes, prime movers and energy resources; methods and solutions in designing alternative drives. [German] Die Realisierungsmoeglichkeiten zukuenftiger Antriebskonzepte - von batteriebetriebenen Elektromotoren und Hybridsystemen bestehend aus Elektro- und Verbrennungsmotor ueber Brennstoffzellen bis hin zu alternativen Energietraegern wie Wasserstoff oder Alkohol - werden auf Basis neuesten Forschungs- und Entwicklungsarbeiten weltweit praesentiert und bewertet. Leistungsdichte, Drehmomentverlauf, Beschleunigungscharakteristik, spezifischer Energieverbrauch sowie Emission chemischer Stoffe und Geraeusche sind wichtige Merkmale zur Beurteilung der Qualitaet einer Antriebskonfiguration. Die Verfuegbarkeit oder die Herstellungsmerkmale sowie die Speicherfaehigkeit

  8. Design of fault diagnosis system for inertial navigation system based on virtual technology

    Science.gov (United States)

    Hu, Baiqing; Wang, Boxiong; Li, An; Zhang, Mingzhao; Qin, Fangjun; Pan, Hua

    2006-11-01

    With regard to the complex structure of the inertial navigation system and the low rate of fault detection with BITE (built-in test equipment), a fault diagnosis system for INS based on virtual technologies (virtual instrument and virtual equipment) is proposed in this paper. The hardware of the system is a PXI computer with highly stable performance and strong extensibility. In addition to the basic functions of digital multimeter, oscilloscope and cymometer, it can also measure the attitude of the ship in real-time, connect and control the measurement instruments with digital interface. The software is designed with the languages of Measurement Studio for VB, JAVA, and CULT3D. Using the extensively applied fault-tree reasoning and fault cases makes fault diagnosis. To suit the system to the diagnosis for various navigation electronic equipments, the modular design concept is adopted for the software programming. Knowledge of the expert system is digitally processed and the parameters of the system's interface and the expert diagnosis knowledge are stored in the database. The application shows that system is stable in operation, easy to use, quick and accurate in fault diagnosis.

  9. Pedestrian tracking and navigation using an adaptive knowledge system based on neural networks

    Science.gov (United States)

    Grejner-Brzezinska, Dorota A.; Toth, Charles; Moafipoor, Shahram

    2007-11-01

    The primary objective of the research presented here is to develop theoretical foundations and implementation algorithms, which integrate the Global Positioning System (GPS), micro-electromechanical inertial measurement unit (MEMS IMU), digital barometer, electronic compass, and human pedometry to provide navigation and tracking of military and rescue ground personnel. This paper discusses the design, implementation and the performance analyses of the personal navigator prototype, with a special emphasis on dead-reckoning (DR) navigation supported by the human locomotion model. The adaptive knowledge system, based on the Artificial Neural Networks (ANN), is implemented to support this functionality. The knowledge system is trained during the GPS signal reception and is used to support navigation under GPS-denied conditions. The human locomotion parameters, step frequency (SF) and step length (SL), are extracted from GPS-timed impact switches (step frequency) and GPS/IMU data (step length), respectively, during the system calibration period. SL is correlated with several data types, such as acceleration, acceleration variation, SF, terrain slope, etc. that constitute the input parameters to the ANN-based knowledge system. The ANN-predicted SL, together with the heading information from the compass and gyro, support DR navigation. The current target accuracy of the system is 3-5 m CEP (circular error probable) 50%.

  10. Establishment of high-precision navigation system in the Republic of Armenia

    Directory of Open Access Journals (Sweden)

    Manukyan Larisa Vladimirovna

    2015-04-01

    Full Text Available Medium-Earth orbit satellite systems make it possible to provide services on time coordination and navigation support for a wide range of consumers. At present, there are global navigation satellite systems GLONASS (Russia and GPS (USA. Users of these systems have an opportunity to determine their location accurately with the given characteristics of their navigation devices. In all developed countries the progress of geodesy and cartography is closely related to the implementation of advanced new technologies in both scientific and industrial areas. The introduction of new technologies and equipment in production is essential for the development of geodesy and cartography, bringing the existing geodetic networks and cartographic materials to modern condition. In the Republic of Armenia there are also plans on introduction of the systems for monitoring and management of vehicles for various purposes, as well as it is proposed to establish and implement an effective satellite navigation system to monitor and control traffic on the basis of advanced satellite technology. The article describes the basic steps to create the network of reference stations, GPS, aerial photography of much of the territory of Armenia, the creation of digital terrain model and the new maps by orthophotoplans. The analysis of the materials were carried out, on the basis of which in the Republic in 2015 a high-precision navigation system will be created. Due to the hard work of surveyors, cartographers and topographers the Republic was brought to European states level.

  11. Experience of percutaneous pedicle screw insertion system SEXTANT with intra-operative 3D-CT navigation system

    International Nuclear Information System (INIS)

    From 2007, we have performed spinal instrumental surgery, using an intra-operative 3D-CT navigation system to treat cervical or upper thoracic lesions. With this 3D-CT navigation system, implanation of the percutaneous pedicle screw and rod was started recently as minimally invasive posterior lumbar interbody fusion (PLIF). When using SEXTANT system, the 3D-CT navigation enables us to perform lumbar instrumental surgery more safely. We report our experience on this treatment, in terms of the surgery technique and problems. (author)

  12. Development and clinical application of surgical navigation system for laparoscopic hepatectomy

    Science.gov (United States)

    Hayashi, Yuichiro; Igami, Tsuyoshi; Hirose, Tomoaki; Nagino, Masato; Mori, Kensaku

    2015-03-01

    This paper describes a surgical navigation system for laparoscopic surgery and its application to laparoscopic hepatectomy. The proposed surgical navigation system presents virtual laparoscopic views using a 3D positional tracker and preoperative CT images. We use an electromagnetic tracker for obtaining positional information of a laparoscope and a forceps. The point-pair matching registration method is performed for aligning coordinate systems between the 3D positional tracker and the CT images. Virtual laparoscopic views corresponding to the laparoscope position are generated from the obtained positional information, the registration results, and the CT images using a volume rendering method. We performed surgical navigation using the proposed system during laparoscopic hepatectomy for fourteen cases. The proposed system could generate virtual laparoscopic views in synchronization with the laparoscope position during surgery.

  13. Lessons Learned in Integration for Sensor-Based Robot Navigation Systems

    Directory of Open Access Journals (Sweden)

    Javier Minguez

    2008-11-01

    Full Text Available This paper presents our work of integration during the last years within the context of sensor-based robot navigation systems. In our motion system, as in many others, there are functionalities involved such as modeling, planning or motion control, which have to be integrated within an architecture. This paper addresses this problematic. Furthermore, we also discuss the lessons learned while: (i designing, testing and validating techniques that implement the functionalities of the navigation system, (ii building the architecture of integration, and (iii using the system on several robots equipped with different sensors in different laboratories.

  14. NAVIGATOR (FER)

    International Nuclear Information System (INIS)

    The NAVIGATOR concept is based on the negative-ion-grounded 500 keV/20 MW neutral beam injection system (NBI system), which has been proposed and studied at JAERI. The NAVIGATOR concept contains two categories; one is the NAVIGATOR machine as a tokamak reactor, and the other is the NAVIGATOR philosphy as a quiding principle in fusion research. The NAVIGATOR concept should be applied in a phased approach to and beyond the operating goal for the FER (Fusion Experimental Reactor, the next generation tokamak machine in Japan). The mission of the FER is to realize self-ignition and a long controlled burn of about 800 seconds and to develop and test fusion technologies, including the tritiumfuel cycle, superconducting magnet, remote maintenance and breeding blanket test modules. The NAVIGATOR concept is composed of three major elements, that is, reliable operation scenarios, reliable maintenability and suffiecient flexibility of the reactor. The NAVIGATOR concept well supports the ideas of phased operation and phased construction of the FER, which will result in the reduction technological risk. (author). 4 refs.; 3 figs

  15. Robot navigation research at CESAR (Center for Engineering Systems Advanced Research)

    Energy Technology Data Exchange (ETDEWEB)

    Barnett, D.L.; de Saussure, G.; Pin, F.G.; Sabharwal, A.; Iyengar, S.S. (Oak Ridge National Lab., TN (USA); Louisiana State Univ., Baton Rouge, LA (USA). Dept. of Computer Science)

    1989-01-01

    A considerable amount of work has been reported on the problem of robot navigation in known static terrains. Algorithms have been proposed and implemented to search for an optimum path to the goal, taking into account the finite size and shape of the robot. Not as much work has been reported on robot navigation in unknown, unstructured, or dynamic environments. A robot navigating in an unknown environment must explore with its sensors, construct an abstract representation of its global environment to plan a path to the goal, and update or revise its plan based on accumulated data obtained and processed in real-time. The core of the navigation program for the CESAR robots is a production system developed on the expert-system-shell CLIPS which runs on an NCUBE hypercube on board the robot. The production system can call on C-compiled navigation procedures. The production rules can read the sensor data and address the robot's effectors. This architecture was found efficient and flexible for the development and testing of the navigation algorithms; however, in order to process intelligently unexpected emergencies, it was found necessary to be able to control the production system through externally generated asynchronous data. This led to the design of a new asynchronous production system, APS, which is now being developed on the robot. This paper will review some of the navigation algorithms developed and tested at CESAR and will discuss the need for the new APS and how it is being integrated into the robot architecture. 18 refs., 3 figs., 1 tab.

  16. Apollo Onboard Navigation Techniques

    Science.gov (United States)

    Interbartolo, Michael

    2009-01-01

    This viewgraph presentation reviews basic navigation concepts, describes coordinate systems and identifies attitude determination techniques including Primary Guidance, Navigation and Control System (PGNCS) IMU management and Command and Service Module Stabilization and Control System/Lunar Module (LM) Abort Guidance System (AGS) attitude management. The presentation also identifies state vector determination techniques, including PGNCS coasting flight navigation, PGNCS powered flight navigation and LM AGS navigation.

  17. An Aircraft Navigation System Fault Diagnosis Method Based on Optimized Neural Network Algorithm

    Institute of Scientific and Technical Information of China (English)

    Jean-dedieu Weyepe

    2014-01-01

    Air data and inertial reference system (ADIRS) is one of the complex sub-system in the aircraft navigation system and it plays an important role into the flight safety of the aircraft. This paper propose an optimize neural network algorithm which is a combination of neural network and ant colony algorithm to improve efficiency of maintenance engineer job task.

  18. 76 FR 50808 - Airborne Supplemental Navigation Equipment Using the Global Positioning System (GPS)

    Science.gov (United States)

    2011-08-16

    ... System (GPS) AGENCY: Federal Aviation Administration (FAA), DOT. ACTION: Notice of intent to cancel... Positioning System (GPS), and request for public comment. SUMMARY: This notice announces the FAA's intent to cancel TSO-C129a, Airborne Supplemental Navigation Equipment Using the Global Positioning System...

  19. Effects of using a portable navigation system and paper map in real driving.

    Science.gov (United States)

    Lee, Wen-Chen; Cheng, Bor-Wen

    2008-01-01

    Navigation systems are very useful tools because they display a user's location and guide them to a destination using graphics, text and voice information. Recent work has revealed that millions of consumers received driving directions using their cell phone or PDA. This present work aimed to explore whether the efficiency to destination and driver behavior were distinguishable when using a portable navigation system compared to a paper map. Thirty-two subjects were paid to participate in this research, with field experiments being carried out in both urban and rural environments. A smart phone was adopted as the portable navigation system in the study. The results revealed that the drivers performed better when using a portable navigation system compared to those using a paper map, in terms of efficiency to destination and driving performance. In addition, drivers could save time and gasoline using a portable navigation system when in an unfamiliar region, and driving performance may be safer, despite the fact that the display screen of the phone is small. PMID:18215562

  20. The comparison of performance by using alternative refrigerant R152a in automobile climate system with different artificial neural network models

    Science.gov (United States)

    Kalkisim, A. T.; Hasiloglu, A. S.; Bilen, K.

    2016-04-01

    Due to the refrigerant gas R134a which is used in automobile air conditioning systems and has greater global warming impact will be phased out gradually, an alternative gas is being desired to be used without much change on existing air conditioning systems. It is aimed to obtain the easier solution for intermediate values on the performance by creating a Neural Network Model in case of using a fluid (R152a) in automobile air conditioning systems that has the thermodynamic properties close to each other and near-zero global warming impact. In this instance, a network structure giving the most accurate result has been established by identifying which model provides the best education with which network structure and makes the most accurate predictions in the light of the data obtained after five different ANN models was trained with three different network structures. During training of Artificial Neural Network, Quick Propagation, Quasi-Newton, Levenberg-Marquardt and Conjugate Gradient Descent Batch Back Propagation methodsincluding five inputs and one output were trained with various network structures. Over 1500 iterations have been evaluated and the most appropriate model was identified by determining minimum error rates. The accuracy of the determined ANN model was revealed by comparing with estimates made by the Multi-Regression method.

  1. An Adaptive Unscented Kalman Filtering Algorithm for MEMS/GPS Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Cheng

    2014-01-01

    Full Text Available MEMS/GPS integrated navigation system has been widely used for land-vehicle navigation. This system exhibits large errors because of its nonlinear model and uncertain noise statistic characteristics. Based on the principles of the adaptive Kalman filtering (AKF and unscented Kalman filtering (AUKF algorithms, an adaptive unscented Kalman filtering (AUKF algorithm is proposed. By using noise statistic estimator, the uncertain noise characteristics could be online estimated to adaptively compensate the time-varying noise characteristics. Employing the adaptive filtering principle into UKF, the nonlinearity of system can be restrained. Simulations are conducted for MEMS/GPS integrated navigation system. The results show that the performance of estimation is improved by the AUKF approach compared with both conventional AKF and UKF.

  2. Micromachined magnetometer-accelerometer for a navigation system

    Science.gov (United States)

    Cho, Ji-Man; Kim, Kyung S.; An, Seungdo; Park, HoJoon; Hahm, Ghun

    2002-11-01

    A new type of magnetometer-accelerometer is developed with a silicon micromachining. The operation principle of the sensor is based on the well known Lorentz force caused by the interaction of a current and an external magnetic field on a suspended conducting beam. To realize a new resonant micro sensor detecting both acceleration and the geomagnetic field simultaneously, a conducting line is formed on a spring part of a silicon accelerometer having two mass plates. And a new Samsung MEMS fabrication process is developed for this sensor. The process uses a silicon-on-glass (SOG) wafer, an inverted SOG wafer, and a gold-silicon eutectic bonding for the wafer-level hermetic packaging. To operate the sensor, an ac current of its mechanical resonant frequency is driven through the conducting line. Totally 1 mW is consumed in the current driving element. This newly developed sensor is enough for the 10 degree electronic display of the orientation angle and can be used in a portable navigator such as SmartPhones and PDAs that need a small, low cost and low power electronic compass.

  3. The satellite based augmentation system – EGNOS for non-precision approach global navigation satellite system

    Directory of Open Access Journals (Sweden)

    Andrzej FELLNER

    2012-01-01

    Full Text Available First in the Poland tests of the EGNOS SIS (Signal in Space were conducted on 5th October 2007 on the flight inspection with SPAN (The Synchronized Position Attitude Navigation technology at the Mielec airfield. This was an introduction to a test campaign of the EGNOS-based satellite navigation system for air traffic. The advanced studies will be performed within the framework of the EGNOS-APV project in 2011. The implementation of the EGNOS system to APV-I precision approach operations, is conducted according to ICAO requirements in Annex 10. Definition of usefulness and certification of EGNOS as SBAS (Satellite Based Augmentation System in aviation requires thorough analyses of accuracy, integrity, continuity and availability of SIS. Also, the project will try to exploit the excellent accuracy performance of EGNOS to analyze the implementation of GLS (GNSS Landing System approaches (Cat I-like approached using SBAS, with a decision height of 200 ft. Location of the EGNOS monitoring station Rzeszów, located near Polish-Ukrainian border, being also at the east border of planned EGNOS coverage for ECAC states is very useful for SIS tests in this area. According to current EGNOS programmed schedule, the project activities will be carried out with EGNOS system v2.2, which is the version released for civil aviation certification. Therefore, the project will allow demonstrating the feasibility of the EGNOS certifiable version for civil applications.

  4. Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

    Science.gov (United States)

    Shoemaker, Michael; Wright, Cinnamon; Liounis, Andrew; Getzandanner, Kenneth; Van Eepoel, John; Deweese, Keith

    2016-01-01

    This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereophotoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

  5. An Approach for Indoor Wayfinding Replicating Main Principles of AN Outdoor Navigation System for Cyclists

    Science.gov (United States)

    Makri, A.; Zlatanova, S.; Verbree, E.

    2015-05-01

    This work presents an approach to enhance navigation in indoor environments based on a landmark concept. It has already been proved by empirical research that by using landmarks the wayfinding task can be significantly simplified. Navigation based on landmarks relies on the presence of landmarks at each point along a route where wayfinders might need assistance. The approach presented here is based on the Dutch system for navigation of cyclists. The landmarks that are used in the proposed approach are special signposts containing the necessary directional information in order to guide the wayfinder in the space. The system is quite simple, efficient and satisfactory in providing navigational assistance in indoor space. An important contribution of this research is the generation of an approach to automatically determine the decision points in indoor environments, which makes it possible to apply it to navigational assistance systems in any building. The proposed system is verified by placing numbered landmark-signs in a specific building. Several tests are performed and the results are analysed. The findings of the experiment are very promising, showing that participants reach the destinations without detours.

  6. LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

    Science.gov (United States)

    Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

    2015-01-01

    A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

  7. Price Variability in Automobile Insurance

    OpenAIRE

    Joseph A. Fields; Emilio C. Venezian; David Jou

    1992-01-01

    In this paper the causes of variation in automobile insurance prices are examined within a small and homogenous state. The central hypothesis of interest is the relation between the price of automobile insurance and the quality of the product. The findings here indicate that the market is one which contains substantial frictions, making the search for automobile insurance products a worthwhile activity for consumers.

  8. Code Recognition Device for Automobile, a Panacea for Automobiles Theft

    OpenAIRE

    Ozomata David AHMED

    2011-01-01

    Code Recognition Device is a security device for automobiles. It responds only to the right sequence of codes that are keyed from the key pad. This closes the electrical circuitry of the automobile and enables it to start. If a wrong key is touched, it resets the device which disengages the electrical circuit of the automobile from the power supply. The device works properly on closing all the doors of the automobile, otherwise it cannot start. Also, once the automobile is in operation, openi...

  9. A weighted combination filter with nonholonomic constrains for integrated navigation systems

    Science.gov (United States)

    Guo, Hang; Guo, Junge; Yu, Min; Hong, Haibin; Xiong, Jian; Tian, Baolian

    2015-03-01

    To meet the requirements of higher accuracy and stability of integrated navigation system, this paper applied Sage-Husa adaptive Kalman filter with nonholonomic constraints and forward/backward filtering to IMU/GPS integrated system, and the results of the forward and backward filtering are weighted and combined. A weighted combination filter is proposed in this paper, and which has been used in post-processing to improve MEMS IMU/GPS accuracy. Through the car navigation experiment, data set has been processed by four filtering algorithms. By means of comparing the four results, the method proposed for the vehicle integrated navigation system achieved the best accuracy with standard deviations of latitude = 1.03 m, longitude = 1.31 m, and heading angle = 0.84 deg°, which demonstrated the advantages of the new method.

  10. Using an Empirical Model of Human Turning Motion to Aid Heading Estimation in a Personal Navigation System

    Science.gov (United States)

    Jakel, Thomas

    With the adoption of Global Navigation Satellite Systems in smart phones, soldier equipment, and emergency responder navigation systems users have realized the usefulness of low cost Personal Navigation Systems. The state-of-the-art Personal Navigation System is a unit that fuses information based on external references with a low cost IMU. Due to the size, weight, power, and cost constraints imposed on a pedestrian navigation systems as well as current IMU performance limitations, the gyroscopes used to determine heading exhibit significant drift limiting the performance of the navigation system. In this thesis biomechanical signals are used to predict the onset of pedestrian turning motion. Experimental data from eight subjects captured in a gait laboratory using a Vicon motion tracking unit is used for validation. The analysis of experimental data shows the heading computed by turn prediction augmented integration is more accurate than open loop gyro integration alone.

  11. On the automobile lightweight

    Institute of Scientific and Technical Information of China (English)

    Ma Mingtu; Yi Hongliang; Lu Hongzhou; Wan Xinming

    2012-01-01

    The significance, description parameters, evaluation method, implement way and design for lightweight of au- tomobile are comprehensively reviewed. The relationship among the performances of auto parts & components, the prop- erties of materials and application of advanced technologies is also elaborated. According to recently related progress of lightweight and authors' research and developing work, lightweight of automobile is comprehensively and systematically overviewed.

  12. Clinical application of virtual US-CT or MRI fusion navigation system in interventional radiology

    International Nuclear Information System (INIS)

    Objective: To evaluate the clinical value of virtual US-CT or MRI navigation system for guidance of interventional procedures. Methods: Virtual US-CT or MRI fusion navigation system was applied on 47 cases for guiding various interventional procedures. The operating method, success rate, clinical outcome, and complication of the navigating interventional technique were retrospectively analyzed. Thirtyeight cases of hepatic tumors underwent percutaneous needle biopsy and / or radiofrequency ablation (RFA); 4 cases of hepatic abscess underwent percutaneous abscess rainage, 5 cases of musculoskeletal diseases underwent biopsy, RFA or RFA with cementoplasty. Results: For 38 cases of hepatic tumors who underwent RFA, 27 acquired complete ablation in one session, no recurrence after 3.0-6.0 months (median time 4.8 months) follow-up; while the other 11 cases present with no significant change. Five cases of musculoskeletal diseases improved significantly after interventional therapy and pathological diagnoses were also acquired. Four cases of hepatic abscesses were cured after drainage. All cases were free of significant complication, except one local skin thermal damage. Conclusion: Virtual US-CCT or MRI navigation guiding technique provides mutual aid to different imaging modalities for guiding interventional procedure. After application of navigation system, those interventional procedures may become more convenient, more effective and safer. (authors)

  13. Microelectromechnical Systems Inertial Measurement Unit Error Modelling and Error Analysis for Low-cost Strapdown Inertial Navigation System

    OpenAIRE

    Ramalingam, R.; G. Anitha; J. Shanmugam

    2009-01-01

    This paper presents error modelling and error analysis of microelectromechnical systems (MEMS) inertial measurement unit (IMU) for a low-cost strapdown inertial navigation system (INS). The INS consists of IMU and navigation processor. The IMU provides acceleration and angular rate of the vehicle in all the three axes. In this paper, errors that affect the MEMS IMU, which is of low cost and less volume, are stochastically modelled and analysed using Allan variance. Wavelet decomposition has b...

  14. Universal navigation on smartphones

    CERN Document Server

    Karimi, Hassan A

    2011-01-01

    Universal navigation is accessible primarily through smart phones providing users with navigation information regardless of the environment (i.e., outdoor or indoor). ""Universal Navigation for Smart Phones"" provide the most up-to-date navigation technologies and systems for both outdoor and indoor navigation. It also provides a comparison of the similarities and differences between outdoor and indoor navigation systems from both a technological stand point and user's perspective. All aspects of navigation systems including geo-positioning, wireless communication, databases, and functions wil

  15. The Odd Man Out: How Fathers Navigate the Special Education System

    Science.gov (United States)

    Mueller, Tracy Gershwin; Buckley, Pamela C.

    2014-01-01

    Research about parent experiences with the special education system is largely dominated by the perspectives of mothers. Using purposeful sampling techniques, we interviewed 20 active fathers about their experiences navigating the special education system. All the fathers described three primary roles they experienced, including acting as a…

  16. Designing a wearable navigation system for image-guided cancer resection surgery.

    Science.gov (United States)

    Shao, Pengfei; Ding, Houzhu; Wang, Jinkun; Liu, Peng; Ling, Qiang; Chen, Jiayu; Xu, Junbin; Zhang, Shiwu; Xu, Ronald

    2014-11-01

    A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer through a USB port. In the Google glass mode, a wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A software program is written in Python to call OpenCV functions for image calibration, co-registration, fusion, and display with augmented reality. The imaging performance of the surgical navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex vivo tissue model. Surgical margins identified by the wearable navigation system are co-incident with those acquired by a standard small animal imaging system, indicating the technical feasibility for intraoperative surgical margin detection. The proposed surgical navigation system combines the sensitivity and specificity of a fluorescence imaging system and the mobility of a wearable goggle. It can be potentially used by a surgeon to identify the residual tumor foci and reduce the risk of recurrent diseases without interfering with the regular resection procedure. PMID:24980159

  17. A novel approach for navigational guidance of ships using onboard monitoring systems

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam; Jensen, Jørgen Juncher

    2011-01-01

    A novel approach and conceptual ideas are outlined for risk-based navigational guidance of ships using decision support systems in combination with onboard, in-service monitoring systems. The guidance has as the main objective to advise on speed and/or course changes; in particular with focus...

  18. Geophysical flight line flying and flight path recovery utilizing the Litton LTN-76 inertial navigation system

    Energy Technology Data Exchange (ETDEWEB)

    Mitkus, A.F.; Cater, D.; Farmer, P.F.; Gay, S.P. Jr.

    1981-11-01

    The Litton LTN-76 Inertial Navigation Systems (INS) with Inertial Track guidance System (ITGS) software is geared toward the airborne survey industry. This report is a summary of tests performed with the LTN-76 designed to fly an airborne geophysical survey as well as to recover the subsequent flight path utilizing INS derived coordinates.

  19. BlindNav: A Smartphone Based Navigation System for the Visually Impaired

    Directory of Open Access Journals (Sweden)

    Varsha Varadarajan

    2014-04-01

    Full Text Available Navigating in an indoor building and finding path to common locations is one of the primary concerns for visually challenged people. When the blind or visually impaired find themselves in an area they are not familiar with, they feel lost and their safety is at great risk. Current systems do not function in GPS-denied indoor environments and only do identification of particular landmarks encountered by user. As an attempt to address this problem, we present an indoor navigation system based on WiFi strength calculation which is easy to use and highly efficient.

  20. Low-cost Vision Sensors and Integrated Systems for Unmanned Aerial Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Roberto Sabatini, Celia Bartel, Tesheen Shaid, Anish Kaharkar

    2012-12-01

    Full Text Available A novel low cost navigation system based on Vision Based Navigation (VBN and other avionics sensors is presented, which is designed for small size Unmanned Aerial Vehicle (UAV applications. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN techniques can be fully exploited in a multisensory integrated architecture. Various existing techniques for VBN are compared and the Appearance-based Navigation (ABN approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we address the possible synergies between VBN, Global Navigation Satellite System (GNSS and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit sensors and also the use of Aircraft Dynamics Models (ADMs to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures are implemented. The first uses VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also includes the ADM (computations performed at 100 Hz to provide augmentation of the attitude channel. Simulation of these two modes is performed in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc

  1. COST-EFFECTIVE STEREO VISION SYSTEM FOR MOBILE ROBOT NAVIGATION AND 3D MAP RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    Arjun B Krishnan

    2014-07-01

    Full Text Available The key component of a mobile robot system is the ability to localize itself accurately in an unknown environment and simultaneously build the map of the environment. Majority of the existing navigation systems are based on laser range finders, sonar sensors or artificial landmarks. Navigation systems using stereo vision are rapidly developing technique in the field of autonomous mobile robots. But they are less advisable in replacing the conventional approaches to build small scale autonomous robot because of their high implementation cost. This paper describes an experimental approach to build a cost- effective stereo vision system for autonomous mobile robots that avoid obstacles and navigate through indoor environments. The mechanical as well as the programming aspects of stereo vision system are documented in this paper. Stereo vision system adjunctively with ultrasound sensors was implemented on the mobile robot, which successfully navigated through different types of cluttered environments with static and dynamic obstacles. The robot was able to create two dimensional topological maps of unknown environments using the sensor data and three dimensional model of the same using stereo vision system.

  2. Autonomous Rubidium Clock Weak Frequency Jump Detector for Onboard Navigation Satellite System.

    Science.gov (United States)

    Khare, Akshay; Arora, Rajat; Banik, Alak; Mehta, Sanjay D

    2016-02-01

    Frequency jumps are common in rubidium frequency sources. They affect the estimation of user position in navigational satellite systems. These jumps must be detected and corrected immediately as they have direct impact on the navigation system integrity. A novel weak frequency jump detector is proposed based on a Kalman filter with a multi-interval approach. This detector can be applied for both "sudden" and "slow" frequency transitions. In this detection method, noises of clock data are reduced by Kalman filtering, for accurate estimation of jump size with less latency. Analysis on in-orbit rubidium atomic frequency standard (RAFS) phase telemetry data shows that the detector can be used for fast detection and correction of weak frequency jumps. Furthermore, performance comparison of different existing frequency jump detection techniques with the proposed detector is discussed. A multialgorithm-based strategy is proposed depending on the jump size and latency for onboard navigation satellites having RAFS as the primary frequency source. PMID:26685233

  3. A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems.

    Science.gov (United States)

    Ran, Changyan; Cheng, Xianghong

    2016-01-01

    This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method. PMID:27598169

  4. Real-Time Orbit Determination for Future Korean Regional Navigation Satellite System

    Science.gov (United States)

    Shin, Kihae; Oh, Hyungjik; Park, Sang-Young; Park, Chandeok

    2016-03-01

    This paper presents an algorithm for Real-Time Orbit Determination (RTOD) of navigation satellites for the Korean Regional Navigation Satellite System (KRNSS), when the navigation satellites generate ephemeris by themselves in abnormal situations. The KRNSS is an independent Regional Navigation Satellite System (RNSS) that is currently within the basic/preliminary research phase, which is intended to provide a satellite navigation service for South Korea and neighboring countries. Its candidate constellation comprises three geostationary and four elliptical inclined geosynchronous orbit satellites. Relative distance ranging between the KRNSS satellites based on Inter-Satellite Ranging (ISR) is adopted as the observation model. The extended Kalman filter is used for real-time estimation, which includes fine-tuning the covariance, measurement noise, and process noise matrices. Simulation results show that ISR precision of 0.3-0.7 m, ranging capability of 65,000 km, and observation intervals of less than 20 min are required to accomplish RTOD accuracy to within 1 m. Furthermore, close correlation is confirmed between the dilution of precision and RTOD accuracy.

  5. A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Changyan Ran

    2016-09-01

    Full Text Available This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF for the integration of strapdown inertial navigation systems (SINSs with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method.

  6. Monitoring Capabilities of a Mobile Mapping System Based on Navigation Qualities

    Science.gov (United States)

    Jing, H.; Slatcher, N.; Meng, X.; Hunter, G.

    2016-06-01

    Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner's performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

  7. Optical 3D laser measurement system for navigation of autonomous mobile robot

    Science.gov (United States)

    Básaca-Preciado, Luis C.; Sergiyenko, Oleg Yu.; Rodríguez-Quinonez, Julio C.; García, Xochitl; Tyrsa, Vera V.; Rivas-Lopez, Moises; Hernandez-Balbuena, Daniel; Mercorelli, Paolo; Podrygalo, Mikhail; Gurko, Alexander; Tabakova, Irina; Starostenko, Oleg

    2014-03-01

    In our current research, we are developing a practical autonomous mobile robot navigation system which is capable of performing obstacle avoiding task on an unknown environment. Therefore, in this paper, we propose a robot navigation system which works using a high accuracy localization scheme by dynamic triangulation. Our two main ideas are (1) integration of two principal systems, 3D laser scanning technical vision system (TVS) and mobile robot (MR) navigation system. (2) Novel MR navigation scheme, which allows benefiting from all advantages of precise triangulation localization of the obstacles, mostly over known camera oriented vision systems. For practical use, mobile robots are required to continue their tasks with safety and high accuracy on temporary occlusion condition. Presented in this work, prototype II of TVS is significantly improved over prototype I of our previous publications in the aspects of laser rays alignment, parasitic torque decrease and friction reduction of moving parts. The kinematic model of the MR used in this work is designed considering the optimal data acquisition from the TVS with the main goal of obtaining in real time, the necessary values for the kinematic model of the MR immediately during the calculation of obstacles based on the TVS data.

  8. Real-time Risk Assessment for Aids to Navigation Using Fuzzy-FSA on Three-Dimensional Simulation System

    Directory of Open Access Journals (Sweden)

    Jinbiao Chen

    2014-06-01

    Full Text Available The risk level of the Aids to Navigation (AtoNs can reflect the ship navigation safety level in the channel to some extent. In order to appreciate the risk level of the aids to navigation (AtoNs in a navigation channel and to provide some decision-making suggestions for the AtoNs Maintenance and Management Department, the risk assessment index system of the AtoNs was built considering the advanced experience of IALA. Under the Formal Safety Assessment frame, taking the advantages of the fuzzy comprehensive evaluation method, the fuzzy-FSA model of risk assessment for aids to navigation was established. The model was implemented for the assessment of aids to navigation in Shanghai area based on the aids to navigation three-dimensional simulation system. The real-time data were extracted from the existing information system of aids to navigation, and the real-time risk assessment for aids to navigation of the chosen channel was performed on platform of the three-dimensional simulation system, with the risk assessment software. Specifically, the deep-water channel of the Yangtze River estuary was taken as an example to illustrate the general assessment procedure. The method proposed presents practical significance and application prospect on the maintenance and management of the aids to navigation.

  9. Comparison of different 3D navigation systems by a clinical "user".

    Science.gov (United States)

    Cartellieri, M; Kremser, J; Vorbeck, F

    2001-01-01

    Three-dimensional navigation systems are routinely used in endoscopic skull base surgery, neurosurgery, maxillo-facial and endoscopic sinus surgery. Their precision can, however, change in the course of one experiment. We have compared five different 3D navigation systems and discuss here possible reasons for the limits of system precision. A plexiglass cube on which test points were marked served as a test-model. Two well-trained system users measured the distances between the test points in each of the five systems. The results were compared with reference data provided by the NUMEREX device at the Technical University of Vienna. The accuracy data shown by all these 3D navigation systems ranged from 0.0 mm to 6.67 mm. The accuracy data of a system calculated in advance did not always correspond with the system precision on the screen. The system precision in the center of the cube was higher than on its surface, which made us conclude that the angle between the tracker system and the pointing device touching the test point may be critical for system precision. Applying an automatic registration step did not result in greater system precision. Slice thickness and the angle of the pointing device seem to be responsible for system precision. PMID:11271433

  10. DIY-style GIS service in mobile navigation system integrated with web and wireless GIS

    Science.gov (United States)

    Yan, Yongbin; Wu, Jianping; Fan, Caiyou; Wang, Minqi; Dai, Sheng

    2007-06-01

    Mobile navigation system based on handheld device can not only provide basic GIS services, but also enable these GIS services to be provided without location limit, to be more instantly interacted between users and devices. However, we still see that most navigation systems have common defects on user experience like limited map format, few map resources, and unable location share. To overcome the above defects, we propose DIY-style GIS service which provide users a more free software environment and allow uses to customize their GIS services. These services include defining geographical coordinate system of maps which helps to hugely enlarge the map source, editing vector feature, related property information and hotlink images, customizing covered area of download map via General Packet Radio Service (GPRS), and sharing users' location information via SMS (Short Message Service) which establishes the communication between users who needs GIS services. The paper introduces the integration of web and wireless GIS service in a mobile navigation system and presents an implementation sample of a DIY-Style GIS service in a mobile navigation system.

  11. Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm.

    Science.gov (United States)

    Lu, Hao; Zhao, Kaichun; Wang, Xiaochu; You, Zheng; Huang, Kaoli

    2016-01-01

    Bio-inspired imaging polarization navigation which can provide navigation information and is capable of sensing polarization information has advantages of high-precision and anti-interference over polarization navigation sensors that use photodiodes. Although all types of imaging polarimeters exist, they may not qualify for the research on the imaging polarization navigation algorithm. To verify the algorithm, a real-time imaging orientation determination system was designed and implemented. Essential calibration procedures for the type of system that contained camera parameter calibration and the inconsistency of complementary metal oxide semiconductor calibration were discussed, designed, and implemented. Calibration results were used to undistort and rectify the multi-camera system. An orientation determination experiment was conducted. The results indicated that the system could acquire and compute the polarized skylight images throughout the calibrations and resolve orientation by the algorithm to verify in real-time. An orientation determination algorithm based on image processing was tested on the system. The performance and properties of the algorithm were evaluated. The rate of the algorithm was over 1 Hz, the error was over 0.313°, and the population standard deviation was 0.148° without any data filter. PMID:26805851

  12. Approximation and Filtering Techniques for Navigation Data in Time-critical Electronic Warfare Systems

    Directory of Open Access Journals (Sweden)

    Vanitha D.

    2013-03-01

    Full Text Available This paper presents a holistic solution to the navigation requirements in a time critical electronic warfare systems like missile warning systems (MWS. In a passive MWS using IR sensors the efficiency of the system is determined by attributes such as low false alarm rate, minimal response time and ability to track different IR radiating objects by association and correlation of consecutive detections through time. Such a system is required to be supported by a navigation system capable of accurate estimation of the aircraft position, attitude angles and altitude. In this paper, estimation techniques used to accurately calculate aircraft navigation data at the time of capture of IR frames are discussed. The paper discusses about synchronization of INGPS, IR sensors & Processor on to same timeline. The paper also intends to evaluate the performance of wavelet transform filter in effective elimination of noise in navigation parameters like acceleration and attitude angle rates for a better estimation of position and attitude.Defence Science Journal, 2013, 63(2, pp.204-209, DOI:http://dx.doi.org/10.14429/dsj.63.4265

  13. Real-time fault detection method based on belief rule base for aircraft navigation system

    Institute of Scientific and Technical Information of China (English)

    Zhao Xin; Wang Shicheng; Zhang Jinsheng; Fan Zhiliang; Min Haibo

    2013-01-01

    Real-time and accurate fault detection is essential to enhance the aircraft navigation system's reliability and safety.The existent detection methods based on analytical model draws back at simultaneously detecting gradual and sudden faults.On account of this reason,we propose an online detection solution based on non-analytical model.In this article,the navigation system fault detection model is established based on belief rule base (BRB),where the system measuring residual and its changing rate are used as the inputs of BRB model and the fault detection function as the output.To overcome the drawbacks of current parameter optimization algorithms for BRB and achieve online update,a parameter recursive estimation algorithm is presented for online BRB detection model based on expectation maximization (EM) algorithm.Furthermore,the proposed method is verified by navigation experiment.Experimental results show that the proposed method is able to effectively realize online parameter evaluation in navigation system fault detection model.The output of the detection model can track the fault state very well,and the faults can be diagnosed in real time and accurately.In addition,the detection ability,especially in the probability of false detection,is superior to offline optimization method,and thus the system reliability has great improvement.

  14. A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones.

    Science.gov (United States)

    Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

    2015-01-01

    Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy. PMID:26690170

  15. A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones

    Science.gov (United States)

    Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

    2015-01-01

    Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy. PMID:26690170

  16. Lesions of the basal forebrain cholinergic system in mice disrupt idiothetic navigation.

    Directory of Open Access Journals (Sweden)

    Adam S Hamlin

    Full Text Available Loss of integrity of the basal forebrain cholinergic neurons is a consistent feature of Alzheimer's disease, and measurement of basal forebrain degeneration by magnetic resonance imaging is emerging as a sensitive diagnostic marker for prodromal disease. It is also known that Alzheimer's disease patients perform poorly on both real space and computerized cued (allothetic or uncued (idiothetic recall navigation tasks. Although the hippocampus is required for allothetic navigation, lesions of this region only mildly affect idiothetic navigation. Here we tested the hypothesis that the cholinergic medial septo-hippocampal circuit is important for idiothetic navigation. Basal forebrain cholinergic neurons were selectively lesioned in mice using the toxin saporin conjugated to a basal forebrain cholinergic neuronal marker, the p75 neurotrophin receptor. Control animals were able to learn and remember spatial information when tested on a modified version of the passive place avoidance test where all extramaze cues were removed, and animals had to rely on idiothetic signals. However, the exploratory behaviour of mice with cholinergic basal forebrain lesions was highly disorganized during this test. By contrast, the lesioned animals performed no differently from controls in tasks involving contextual fear conditioning and spatial working memory (Y maze, and displayed no deficits in potentially confounding behaviours such as motor performance, anxiety, or disturbed sleep/wake cycles. These data suggest that the basal forebrain cholinergic system plays a specific role in idiothetic navigation, a modality that is impaired early in Alzheimer's disease.

  17. Endoscopic anterior cruciate ligament reconstruction using a computer-assisted fluoroscopic navigation system

    International Nuclear Information System (INIS)

    During anterior cruciate ligament (ACL) reconstruction, placement of the reconstructed ligament affects the clinical results. To accomplish accurate and reproducible placement of the tibial bone tunnel, we employed a fluoroscopic navigation system for endoscopic ACL reconstruction. In this study, preciseness of the tibial tunnel placement was evaluated, and the advantages and disadvantages of this navigation system for endoscopic ACL reconstruction are discussed. Altogether, 16 knees of 16 patients who had undergone ACL reconstruction using this system (navi group) were evaluated regarding the positioning of the tibial tunnel against Blumensaat's line using X-p and the route of the graft by magnetic resonance imaging (MRI). Another 16 knees of 16 patients who underwent endoscopic ACL reconstruction without the navigation system were the controls (control group). At the 1-year follow-up, maximally extended lateral knee X-p revealed that the anterior edge of the tibial tunnel and Blumensaat's line were almost aligned and that roof impingement was avoided; the T2-weighted MR images showed that the graft was placed close to and parallel to the inter-condylar roof in all the knees of the navi group. The ratio of the distance between Blumensaat's line and the anterior edge of the tibial tunnel at the level of the tibial plateau to the anteroposterior width in fully extended true lateral radiographs was 2.7%±3.4% in the navi group and 8.4%±7.4% in the control group. The computer-assisted fluoroscopic navigation system improves accuracy and decreases dispersion of the tibial tunnel placement against Blumensaat's line in single-bundle ACL reconstruction. This innovative device renders the reconstruction procedure more reliable, eliminating the problem of skeletal variation among patients. However, the function of this navigation system for femoral tunnel placement is insufficient at present. Further refinement of the system is necessary, and the method of application

  18. Application of talairach coordinates for transcranial magnetic stimulation navigation system

    International Nuclear Information System (INIS)

    Since the development of transcranial magnetic stimulation (TMS) in 1985, its clinical and experimental studies and therapeutic applications have been widely being investigated. MRI-based neuronavigational systems have been developed and used for positioning of the magnetic coil, which is the main problem of most TMS studies. The functional brain map provided by these systems, however, may be unsuitable for a population-based study since it does not describe the location of brain structures independent from individual differences in brain, and also, it would be difficult to localize particular point of brain since there is no reference point excepting anatomical structure. In this paper, neuronavigational approach of TMS and application of Talairach coordinate system are introduced. We expect that this concept of the system will allow not only to perform the population-based study taking individual anatomy into account, but also to help physician to localize specific point in the Talairach coordinates. (author)

  19. A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems

    Directory of Open Access Journals (Sweden)

    Young Soo Suh

    2010-10-01

    Full Text Available In pedestrian navigation systems, the position of a pedestrian is computed using an inertial navigation algorithm. In the algorithm, the zero velocity updating plays an important role, where zero velocity intervals are detected and the velocity error is reset. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable.

  20. Solution to the problem of the close integration of satellite and inertial platform navigation systems

    Science.gov (United States)

    Pogorelov, V. A.; Sokolov, S. V.

    2015-11-01

    The problem of the close integration of a satellite and inertial navigation system (NA) constructed on the basis of a gyro-stabilized platform is solved. The features of the synthesis of an algorithm for nonlinear estimation of the NS state vector in view of the continuous character for the autonomous measurements and the discrete character for satellite measurements are studied. The developed algorithm for solving the navigation problem on the basis of the integrated NS allows one to provide a stable high-precision estimation of the parameters of motion for a movable object, including in the absence of satellite signals.

  1. Performance improvement and study of the space-oriented strapdown inertial navigation system

    International Nuclear Information System (INIS)

    The inertial navigation system (INS) has been playing a prominent role in space navigation applications. However, the selected order of conventional integration schemes limits the computational accuracy of the strapdown INS (SINS) and its availability during different mission phases of space flight. A space-oriented SINS scheme, based on modern multispeed (two/three-speed) algorithms, is implemented in this paper to meet the increasing space navigation requirement. Instructive guidelines are proposed to promote the practical realization and computational efficiency of the improved scheme in space SINSs. Making use of Monte Carlo simulation, both the multispeed scheme and the conventional one are evaluated. Performance comparison between the algorithms indicates that the attitude algorithms associated with both schemes have the same degree of accuracy in the test scenario, and three times accuracy improvement is verified involving the velocity and position algorithms of the multispeed scheme in comparison with those of the conventional one

  2. An intelligent multi-sensor system for first responder indoor navigation

    International Nuclear Information System (INIS)

    This paper presents an indoor navigation system based on sensor data from first responder wearable modules. The system combines an inertial measurement unit, a digital camera and a radio frequency identification device in a way that allows the advantages of each sensor to be fully exploited. The key to this synergy is the extracted qualitative criteria which characterize the performance of each sensor subsystem at various first responder activities and operational conditions under certain time intervals. The accuracy of the detected walking pattern through measurements of the acceleration magnitude from the inertial sensor is utilized for the performance evaluation of the dead-reckoning algorithm. The amount of correct feature matches is linked to the three-dimensional scene representation from the camera navigation subsystem and finally, the degree of probability of each radio frequency identification location estimate is exploited as a straightforward qualitative criterion. The final fused location estimation is extracted after applying fuzzy if–then rules at each time interval. Since the inertial sensor suffers from accumulated drift, the rules of the fuzzy inference system drop the measurements from the inertial measurement unit whenever the other two subsystems perform adequately. Extensive comparison and experimental results based on the proposed architecture have shown not only better navigation effectiveness and lower positioning error compared with other first responder navigation systems but also increased accuracy in various and challenging operational conditions

  3. Design and Flight Performance of the Orion Pre-Launch Navigation System

    Science.gov (United States)

    Zanetti, Renato

    2016-01-01

    Launched in December 2014 atop a Delta IV Heavy from the Kennedy Space Center, the Orion vehicle's Exploration Flight Test-1 (EFT-1) successfully completed the objective to test the prelaunch and entry components of the system. Orion's pre-launch absolute navigation design is presented, together with its EFT-1 performance.

  4. A Short Tutorial on Inertial Navigation System and Global Positioning System Integration

    Science.gov (United States)

    Smalling, Kyle M.; Eure, Kenneth W.

    2015-01-01

    The purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.

  5. Modeling of Electromagnetic Damper for Automobile Suspension

    Science.gov (United States)

    Kawamoto, Yasuhiro; Suda, Yoshihiro; Inoue, Hirofumi; Kondo, Takuhiro

    In this paper, the modeling of the electromagnetic damper (EMD) for automobile suspension is presented and the validation of the model is demonstrated by comparing the numerical results with the experimental results obtained using shaker tests. EMD is used as an active suspension and controlled to have output force calculated from velocities of sprung and unsprung masses. The formulation of EMD system for active suspensions is first developed, and the validation of the EMD model is demonstrated by experiments of the EMD for automobile suspensions. The validity of the formulation of the EMD developed in this investigation is shown for the frequency responses as well as energy balance for its active use.

  6. Ubiquitous Positioning: A Taxonomy for Location Determination on Mobile Navigation System

    CERN Document Server

    Bejuri, Wan Mohd Yaakob Wan; Sapri, Maimunah; 10.5121/sipij.2011.2103

    2011-01-01

    The location determination in obstructed area can be very challenging especially if Global Positioning System are blocked. Users will find it difficult to navigate directly on-site in such condition, especially indoor car park lot or obstructed environment. Sometimes, it needs to combine with other sensors and positioning methods in order to determine the location with more intelligent, reliable and ubiquity. By using ubiquitous positioning in mobile navigation system, it is a promising ubiquitous location technique in a mobile phone since as it is a familiar personal electronic device for many people. However, as research on ubiquitous positioning systems goes beyond basic methods there is an increasing need for better comparison of proposed ubiquitous positioning systems. System developers are also lacking of good frameworks for understanding different options during building ubiquitous positioning systems. This paper proposes taxonomy to address both of these problems. The proposed taxonomy has been constr...

  7. Surgical cartographic navigation system for endoscopic bypass grafting.

    Science.gov (United States)

    Voruganti, Arun; Mayoral, Rafael; Jacobs, Stephan; Grunert, Ronny; Moeckel, Hendrik; Korb, Werner

    2007-01-01

    Endoscopic bypass grafting with the da Vinci system is still challenging and needs high level of experience and skill of the surgeon. Therefore, it is necessary to support the surgeon with enhanced vision and augmented reality. The augmentation of the patient model into the view of the endoscope is a direct approach to enhance support. The results of a preclinical study are shown in this paper. The method applied is suitable for endoscopic bypass grafting and in general applicable to minimal invasive surgery. The system was designed as an open architecture to facilitate easy transfer of the methodology into other surgical domain applications. PMID:18002243

  8. PROSPECTS OF AUTOMOBILE TIRE RECYCLING

    Directory of Open Access Journals (Sweden)

    A. D. Gusev

    2012-11-01

    Full Text Available Statement of the problem. The legislative system of legal handling of waste in the Russian Fed-eration is focused on governing the handling waste as an environment pollutant. There is almost no legal regulations for handling waste as secondary material resources. Therefore, there is a pressing need to describe directions to be taken in the recycling of automobile tires.Results and conclusions. The system of legal regulations for handling wastes has been analyzed. A growing need to utilize automobile tires has been indicated. Physical and mechanical indicators have been established and the residual durability of metal cord as a product of tire processing has been evaluated. The comparative analysis with an industrial fiber has been carried out. The most technological and economic directions to be taken in the recycling of rubber scraps in order to do-mestically manufacture tile and of metal cord to manufacture fiber-concrete of various types are suggested for a “floating floor” structure.

  9. Obstacle detection and warning system for aircraft navigation at airports

    Science.gov (United States)

    Gallo, Laurent

    2000-06-01

    This paper speaks about work conducted in 1998 and 1999 by AEROSPATIALE MATRA in development of an obstacle detection system, which has been tested on a demonstrator aircraft in Toulouse. The purpose of this mock- up was to verify the feasibility of a passive technology, and to consider the limits of its use.

  10. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Science.gov (United States)

    2010-07-01

    .... If a towboat is not equipped with a radio or its radio is out of service, pilots shall furnish this... when navigation is passing over the dam. During daylight hours a yellow and black disc will be... deckhands shall maintain their stations while tows are moving adjacent to any part of a lock. They...

  11. Navigation in surgery

    OpenAIRE

    Mezger, Uli; Jendrewski, Claudia; Bartels, Michael

    2013-01-01

    Introduction “Navigation in surgery” spans a broad area, which, depending on the clinical challenge, can have different meanings. Over the past decade, navigation in surgery has evolved beyond imaging modalities and bulky systems into the rich networking of the cloud or devices that are pocket-sized. Discussion This article will review various aspects of navigation in the operating room and beyond. This includes a short history of navigation, the evolution of surgical navigation, as well as t...

  12. Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

    Directory of Open Access Journals (Sweden)

    Evennou Frédéric

    2006-01-01

    Full Text Available This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand, INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally, the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems.

  13. SEXTANT X-Ray Pulsar Navigation Demonstration: Flight System and Test Results

    Science.gov (United States)

    Winternitz, Luke; Mitchell, Jason W.; Hassouneh, Munther A.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven; Gendreau, Keith C.

    2016-01-01

    The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a technology demonstration enhancement to the Neutron-star Interior Composition Explorer (NICER) mission. NICER is a NASA Explorer Mission of Opportunity that will be hosted on the International Space Station (ISS). SEXTANT will, for the first time, demonstrate real-time, on-board X-ray Pulsar Navigation (XNAV), a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond. This paper gives an overview of the SEXTANT system architecture and describes progress prior to environmental testing of the NICER flight instrument. It provides descriptions and development status of the SEXTANT flight software and ground system, as well as detailed description and results from the flight software functional and performance testing within the high-fidelity Goddard Space Flight Center (GSFC) X-ray Navigation Laboratory Testbed (GXLT) software and hardware simulation environment. Hardware-in-the-loop simulation results are presented, using the engineering model of the NICER timing electronics and the GXLT pulsar simulator-the GXLT precisely controls NASA GSFC's unique Modulated X-ray Source to produce X-rays that make the NICER detector electronics appear as if they were aboard the ISS viewing a sequence of millisecond pulsars

  14. Evaluation of semiautonomous navigation assistance system for power wheelchairs with blindfolded nondisabled individuals

    Directory of Open Access Journals (Sweden)

    Vinod Sharma, PhD

    2010-12-01

    Full Text Available Some individuals with disabilities are denied powered mobility because they lack the visual, motor, and/or cognitive skills required to safely operate a power wheelchair. The Drive-Safe System (DSS is an add-on, distributed, shared-control navigation assistance system for power wheelchairs intended to provide safe and independent mobility to such individuals. The DSS is a human-machine system in which the user is responsible for high-level control of the wheelchair, such as choosing the destination, path planning, and basic navigation actions, while the DSS overrides unsafe maneuvers through autonomous collision avoidance, wall following, and door crossing. In this project, the DSS was clinically evaluated in a controlled laboratory with blindfolded, nondisabled individuals. Further, these individuals' performance with the DSS was compared with standard cane use for navigation assistance by people with visual impairments. Results indicate that compared with a cane, the DSS significantly reduced the number of collisions. Users rated the DSS favorably even though they took longer to navigate the same obstacle course than they would have using a standard long cane. Participants experienced less physical demand, effort, and frustration when using the DSS as compared with a cane. These findings suggest that the DSS can be a viable powered mobility solution for wheelchair users with visual impairments.

  15. Positioning Errors Predicting Method of Strapdown Inertial Navigation Systems Based on PSO-SVM

    Directory of Open Access Journals (Sweden)

    Xunyuan Yin

    2013-01-01

    Full Text Available The strapdown inertial navigation systems (SINS have been widely used for many vehicles, such as commercial airplanes, Unmanned Aerial Vehicles (UAVs, and other types of aircrafts. In order to evaluate the navigation errors precisely and efficiently, a prediction method based on support vector machine (SVM is proposed for positioning error assessment. Firstly, SINS error models that are used for error calculation are established considering several error resources with respect to inertial units. Secondly, flight paths for simulation are designed. Thirdly, the -SVR based prediction method is proposed to predict the positioning errors of navigation systems, and particle swarm optimization (PSO is used for the SVM parameters optimization. Finally, 600 sets of error parameters of SINS are utilized to train the SVM model, which is used for the performance prediction of new navigation systems. By comparing the predicting results with the real errors, the latitudinal predicting accuracy is 92.73%, while the longitudinal predicting accuracy is 91.64%, and PSO is effective to increase the prediction accuracy compared with traditional SVM with fixed parameters. This method is also demonstrated to be effective for error prediction for an entire flight process. Moreover, the prediction method can save 75% of calculation time compared with analyses based on error models.

  16. FLYCON-R: Wireless Integrated Communication and Navigation System

    Science.gov (United States)

    Palomo, Jose Maria; Gomez de Aguero, Sergio; Latorre, Antonio; Fernandez, Antonio; Pina, Fernando; Tarziu, Andrei; Balan, Mugurel; Sanchez Gestido, Manuel; Concari, Paolo

    2015-09-01

    This paper presents the FLYCON-R system, which is an integrated communication and ranging system based on OFDM signal. FLYCON-R supports high data rates and flexible data communications, providing also relative ranging measurements based on Time of Arrival (ToA) from the Radio Frequency signals. Deimos Space (Spain and Romania) and ISS are carrying out the FLYCON-R project for ESA under the Romanian task force initiative. FLYCON-R (Prototype of Integrated Nav-Com sensor based on WiMax Standard for Formation Flying) aims to upgrade the previously existing FLYCON proof of concept (PoC) to a more advanced, elegant breadboard version, ready for on-ground flight testing and as near as possible to a future flight version. The paper presents as well the preliminary results of the flight tests performed on the Spanish R&D PERIGEO project, using the FLYCON PoC prototypes.

  17. Information systems evaluation: Navigating through the problem domain

    OpenAIRE

    Irani, Z

    2002-01-01

    Information systems (IS) make it possible to improve organizational efficiency and effectiveness, which can provide competitive advantage. There is, however, a great deal of difficulty reported in the normative literature when it comes to the evaluation of investments in IS, with companies often finding themselves unable to assess the full implications of their IS infrastructure. Although many of the savings resulting from IS are considered suitable for inclusion within traditional ...

  18. The course correction implementation of the inertial navigation system based on the information from the aircraft satellite navigation system before take-off

    Science.gov (United States)

    Markelov, V.; Shukalov, A.; Zharinov, I.; Kostishin, M.; Kniga, I.

    2016-04-01

    The use of the correction course option before aircraft take-off after inertial navigation system (INS) inaccurate alignment based on the platform attitude-and-heading reference system in azimuth is considered in the paper. A course correction is performed based on the track angle defined by the information received from the satellite navigation system (SNS). The course correction includes a calculated track error definition during ground taxiing along straight sections before take-off with its input in the onboard digital computational system like amendment for using in the current flight. The track error calculation is performed by the statistical evaluation of the track angle comparison defined by the SNS information with the current course measured by INS for a given number of measurements on the realizable time interval. The course correction testing results and recommendation application are given in the paper. The course correction based on the information from SNS can be used for improving accuracy characteristics for determining an aircraft path after making accelerated INS preparation concerning inaccurate initial azimuth alignment.

  19. Alternative drives for motor cars. Hybrid systems, fuel cells, alternative energy sources. 2. enl. ed.; Alternative Antriebe fuer Automobile. Hybridsysteme, Brennstoffzellen, alternative Energietraeger

    Energy Technology Data Exchange (ETDEWEB)

    Stan, Cornel [Berkeley Univ., CA (United States)]|[Paris Univ. (France)]|[Pisa Univ. (Italy)]|[Perugia Univ. (Italy)]|[Westsaechsischen Hochschule Zwickau (Germany)

    2008-07-01

    The implementation possibilities of future drive concepts - from hybrid systems comprising an electric motor and an internal combustion engine to fuel cells to alternative fuels like hydrogen or alcohol - will depend largely on quality criteria, e.g. power density, rotary momentum, acceleration characteristics, specific energy consumption, emissions of chemical substances, and noise. The boundary criteria for the introduction of realizeable concepts of alternative drives for motor cars will be defined by the availability and storability of the envisaged fuels, technical complexity, cost, safety, infrastructure and service. The book presents and analyzes the processes, drives and energy sources that can be combined in complex energy management systems for motor cars in accordance with the aforementioned criteria. Knowledge about these facts is indispensable for the development of new concepts. The 2nd edition describes many new developments in car propulsion systems as well as their combinations, new energy sources, energy converters and energy stores. All contents and literature reflect the latest state of science and technology. (orig.) [German] Ueber die Realisierungsmoeglichkeiten zukuenftiger Antriebskonzepte - von Hybridsystemen Elektro-/Verbrennungsmotor ueber Brennstoffzellen bis zu alternativen Energietraegern wie Wasserstoff oder Alkohol - werden fundierte Kriterien der Qualitaet eines Antriebs entscheiden. Leistungsdichte, Drehmomentverlauf, Beschleunigungscharakteristik, spezifischer Energieverbrauch sowie Emission chemischer Stoffe und Geraeusche sind dafuer wichtige Merkmale zur Qualitaetsbeurteilung. Die Verfuegbarkeit und die Speicherfaehigkeit vorgesehener Energietraeger, die technische Komplexitaet, Kosten, Sicherheit, Infrastruktur und Service werden die Randbedingungen fuer die Einfuehrung realisierbarer Konzepte alternativer Antriebe fuer Automobile stellen. Die Uebersicht und die Analyse der Prozesse, Antriebsmaschinen und Energietraeger, die

  20. PERCEPT Indoor Navigation System for the Blind and Visually Impaired: Architecture and Experimentation.

    Science.gov (United States)

    Ganz, Aura; Schafer, James; Gandhi, Siddhesh; Puleo, Elaine; Wilson, Carole; Robertson, Meg

    2012-01-01

    We introduce PERCEPT system, an indoor navigation system for the blind and visually impaired. PERCEPT will improve the quality of life and health of the visually impaired community by enabling independent living. Using PERCEPT, blind users will have independent access to public health facilities such as clinics, hospitals, and wellness centers. Access to healthcare facilities is crucial for this population due to the multiple health conditions that they face such as diabetes and its complications. PERCEPT system trials with 24 blind and visually impaired users in a multistory building show PERCEPT system effectiveness in providing appropriate navigation instructions to these users. The uniqueness of our system is that it is affordable and that its design follows orientation and mobility principles. We hope that PERCEPT will become a standard deployed in all indoor public spaces, especially in healthcare and wellness facilities. PMID:23316225

  1. Design and implementation of interactive strap-down inertial navigation simulation system for UAV

    Science.gov (United States)

    Cheng, Chuan-qi; Cheng, Xiang; Hao, Xiang-yang; Zhao, Man-dan

    2016-01-01

    Strap-down inertial navigation system (SINS) is widely used in military field, to facilitate the study of SINS algorithms and various coupled navigation algorithms, a simulation system of SINS is designed. Based on modular design, with good portability and expansibility, the system consists of four independent modules: analysis module of motion state, trajectory simulator, IMU simulation module and SINS calculation module. With graphical interface, the system can control every motion state of the trajectory, which is convenient to generate various trajectories efficiently. Using rotation vector attitude algorithm to process simulation data, experiment results show that the attitude, velocity and position error is consistent with the theoretical value, which verifies the rationality of the simulation model and the availability of the simulation system.

  2. On hybrid inertial navigation systems%论混合式惯性导航系统

    Institute of Scientific and Technical Information of China (English)

    冯培德

    2016-01-01

    惯性导航系统是当代空、天、海、陆各类先进运载器所不可或缺的一项自主导航定位装备。简要回顾了平台式、捷联式以及旋转式惯导系统的发展历程和各自优缺点,在此基础上提出了集平台式、捷联式和旋转式惯导系统优点于一体的混合式惯导系统新技术途径。介绍了这种新型惯导系统的概念、原理、特点、关键技术,样机实验结果验证了该技术途径的优越性和可行性,为该系统的未来研发和应用提供了技术基础并指出了研究方向。%Inertial navigation systems are self-contained navigation equipments, which are widely applied in all sorts of advanced vehicles in space, air, marine, and on land. The development process, advantages and drawbacks of platform-, strapdown- and rotatory-type inertial navigation systems are reviewed. Based on these, a new approach, namely hybrid inertial navigation system, is proposed, which combines the advantages of the above three types of inertial navigation systems. The conception, principle, characteristics and key techniques are presented, and the prototype experiment results demonstrate the superiority and feasibility of this novel approach, laying the technical foundation and pointing the research issues for its future development and application.

  3. Application of Lean Production System by Chinese Automobile Spare Parts Manufacturers%我国汽车零部件企业的精益生产应用

    Institute of Scientific and Technical Information of China (English)

    倪呈英

    2014-01-01

    简述了精益生产的内涵与我国汽车零部件企业的现状及汽车零部件企业精益生产存在的问题,从精益生产的布局与精益生产的改善两方面构建了汽车零部件企业的精益生产模式。%In this paper, we introduced briefly the connotation of the lean production practice as well as the current status and existing problems of the lean production system of the Chinese automobile spare parts manufacturers, and then established the lean production mode suitable for these enterprises.

  4. Particle-Filter-Based WiFi-Aided Reduced Inertial Sensors Navigation System for Indoor and GPS-Denied Environments

    OpenAIRE

    M. M. Atia; Korenberg, M. J.; A. Noureldin

    2012-01-01

    Indoor navigation is challenging due to unavailability of satellites-based signals indoors. Inertial Navigation Systems (INSs) may be used as standalone navigation indoors. However, INS suffers from growing drifts without bounds due to error accumulation. On the other side, the IEEE 802.11 WLAN (WiFi) is widely adopted which prompted many researchers to use it to provide positioning indoors using fingerprinting. However, due to WiFi signal noise and multipath errors indoors, WiFi positioning ...

  5. Local and global navigational coordinate systems in desert ants.

    Science.gov (United States)

    Collett, Matthew; Collett, Thomas S

    2009-04-01

    While foraging, the desert ant Cataglyphis fortis keeps track of its position with respect to its nest through a process of path integration (PI). Once it finds food, it can then follow a direct home vector to its nest. Furthermore, it remembers the coordinates of a food site, and uses these coordinates to return to the site. Previous studies suggest, however, that it does not associate any coordinates remembered from previous trips with familiar views such that it can produce a home vector when displaced to a familiar site. We ask here whether a desert ant uses any association between PI coordinates and familiar views to ensure consistent PI coordinates as it travels along a habitual route. We describe an experiment in which we manipulated the PI coordinates an ant has when reaching a distinctive point along a habitual route on the way to a feeder. The subsequent home vectors of the manipulated ants, when displaced from the food-site to a test ground, show that also when a route memory is evoked at a significant point on the way to a food site, C. fortis does not reset its PI coordinates to those it normally has at that point. We use this result to argue that local vector memories, which encode the metric properties of a segment of a habitual route, must be encoded in a route-based coordinate system that is separate from the nest-based global coordinates. We propose a model for PI-based guidance that can account for several puzzling observations, and that naturally produces the route-based coordinate system required for learning and following local vectors. PMID:19282486

  6. The skill of surface registration in CT-based navigation system for total hip arthroplasty

    International Nuclear Information System (INIS)

    Surface registration of the CT-based navigation system, which is a matching between computational and real spatial spaces, is a key step to guarantee the accuracy of navigation. However, it has not been well described how the accuracy is affected by the registration skill of surgeon. Here, we reported the difference of the registration error between eight surgeons with the experience of navigation and six apprentice surgeons. A cadaveric pelvic model with an acetabular cup was made to measure the skill and learning curve of registration. After surface registration, two cup angles (inclination and anteversion) were recorded in the navigation system and the variance of these cup angles in ten trials were compared between the experienced surgeons and apprentices. In addition, we investigated whether the accuracy of registration by the apprentices was improved by visual information on how to take the surface points. The results showed that there was statistically significant difference in the accuracy of registration between the two groups. The accuracy of the second ten trials after getting the visual information showed great improvements. (orig.)

  7. 49 CFR 523.4 - Passenger automobile.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 6 2010-10-01 2010-10-01 false Passenger automobile. 523.4 Section 523.4... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION VEHICLE CLASSIFICATION § 523.4 Passenger automobile. A passenger automobile is any automobile (other than an automobile capable of off-highway operation)...

  8. Magnetic Navigation System for Thoracoscopic Surgery: a Partial Lung Resection with Transbronchial Marking

    Science.gov (United States)

    Shimada, Junichi; Itoh, Kazuhiro; Terauchi, Kunihiko; Yanada, Masashi; Shimomura, Masanori; Nishikawa, Atsushi

    In order to detect and track a small magnet embedded in the vicinity of a target tumor during surgery, we have developed a magnetic navigation system based on three-dimensional measurements with micro-fluxgate magnetic sensors. In this paper, we present an image overlay method for superimposing the embedded magnetic marker through a bronchoscope. To evaluate the performance of the proposed system and its applicability in clinical use, we set up an in vivo experiment, in which surgeons used this system to perform thoracoscopic surgery on a pig with transbronchial marking and oblique-viewing, and we succeeded in a partial resection of the pig lung including the target area. Next, we tried a wedge resection for a lung tumor in a clinical case. We successfully performed the partial resection of the lung including the target area, which corresponded to the tumor lesion, under the guidance of the magnetic navigation system.

  9. Design and Development of Secure Navigation System for Visually Impaired People

    Directory of Open Access Journals (Sweden)

    Prashant Bhardwaj

    2013-08-01

    Full Text Available The proposed work presents a navigation system, which detects the obstacles and also guide to visually impaired people about appropriate path. The system we propose detects the obstacle via an infrared based detecting system and sends back vibro-tactile or sound (buzzer feedback to inform the user about its position. The most common method of obstacle detection, used by blind people is the walking stick. The limitation of walking stick is that, it does not provide protection near to head area. A sensor module is fixed on a light weight cap allowing the user to obtain the information about obstacles (near to head area and also about correct path on which the user should move. When the user uses this system with cane, he is fully protected about obstacles and can navigate freely into the environment

  10. A rotating inertial navigation system with the rotating axis error compensation consisting of fiber optic gyros

    Institute of Scientific and Technical Information of China (English)

    ZHA Feng; HU Bai-qing; QIN Fang-jun; LUO Yin-bo

    2012-01-01

    An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system (RINS).The accuracy of single-axial RINS is limited by the errors on the rotating axis.A novel inertial measurement unit (IMU) scheme with error compensation for the rotating axis of fiber optic gyros (FOG) RINS is presented.In the scheme,two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error.Without any change for the rotation cycle,this scheme improves the system's precision and reliability,and also offers the redundancy for the system.The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS,besides the heading accuracy is increased by 3 times compared with single-axial RINS,and the position accuracy is improved by 1 order of magnitude.

  11. Optimal Observability Analysis of Gimbled Inertial Navigation System on the Moving Base

    Institute of Scientific and Technical Information of China (English)

    于家城; 陈家斌

    2004-01-01

    To investigate the observability of gimbled inertial navigation system when the base moves on the basis of piece-wise constant system's observability theory and singular value decomposition, the variation of the singular value in the observability matrix with time is discussed. The simulation results reveal that only if orientation angle is 60° and the flight route is S-figure in initial alignment, the optimal observability is obtained, thus a theoretical foundation for fast and accurate alignment of GINS is provided.

  12. PERCEPT Indoor Navigation System for the Blind and Visually Impaired: Architecture and Experimentation

    OpenAIRE

    Aura Ganz; James Schafer; Siddhesh Gandhi; Elaine Puleo; Carole Wilson; Meg Robertson

    2012-01-01

    We introduce PERCEPT system, an indoor navigation system for the blind and visually impaired. PERCEPT will improve the quality of life and health of the visually impaired community by enabling independent living. Using PERCEPT, blind users will have independent access to public health facilities such as clinics, hospitals, and wellness centers. Access to healthcare facilities is crucial for this population due to the multiple health conditions that they face such as diabetes and its complicat...

  13. Study on dynamic model of tractor system for automated navigation applications

    Institute of Scientific and Technical Information of China (English)

    FENG Lei; HE Yong

    2005-01-01

    This research aims at using a dynamic model of tractor system to support navigation system design for an automatically guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, has been implemented in the MATLAB environment and was developed based on a John Deere tractor. The simulation results from this MATLAB model was validated through field navigation tests. The accuracy of the trajectory estimation is strongly affected by the determination of the cornering stiffness of the tractor. In this simulation, the tractor cornering stiffness analysis was identified during simulation analysis using the MATLAB model based on the recorded trajectory data. The obtained data was used in simulation analyses for various navigation operations in the field of interest. The analysis on field validation test results indicated that the developed tractor system could accurately estimate wheel trajectories of a tractor system while operating in agricultural fields at various speeds. The results also indicated that the developed system could accurately determine tractor velocity and steering angle while the tractor operates in curved fields.

  14. Ubiquitous Positioning: A Taxonomy for Location Determination on Mobile Navigation System

    Directory of Open Access Journals (Sweden)

    Wan Bejuri

    2011-03-01

    Full Text Available The location determination in obstructed area can be very challenging especially if Global PositioningSystem are blocked. Users will find it difficult to navigate directly on-site in such condition, especiallyindoor car park lot or obstructed environment. Sometimes, it needs to combine with other sensors andpositioning methods in order to determine the location with more intelligent, reliable and ubiquity. Byusing ubiquitous positioning in mobile navigation system, it is a promising ubiquitous location techniquein a mobile phone since as it is a familiar personal electronic device for many people. However, there isan increasing need for better development of proposed ubiquitous positioning systems. System developersare also lacking of good frameworks for understanding different options during building ubiquitouspositioning systems. This paper proposes taxonomy to address both of these problems. The proposedtaxonomy has been constructed from a literature study of papers and articles on positioning estimationthat can be used to determine location everywhere on mobile navigation system. For researchers thetaxonomy can also be used as an aid for scoping out future research in the area of ubiquitous positioning.

  15. Development and hardware-in-the-loop test of a guidance, navigation and control system for on-orbit servicing

    Science.gov (United States)

    Benninghoff, Heike; Rems, Florian; Boge, Toralf

    2014-09-01

    The rendezvous phase is one of the most important phases in future orbital servicing missions. To ensure a safe approach to a non-cooperative target satellite, a guidance, navigation and control system which uses measurements from optical sensors like cameras was designed and developed. During ground-based rendezvous, stability problems induced by delayed position measurements can be compensated by using a specially adapted navigation filter. Within the VIBANASS (VIsion BAsed NAvigation Sensor System) test campaign, hardware-in-the-loop tests on the terrestrial, robotic based facility EPOS 2.0 were performed to test and verify the developed guidance, navigation and control algorithms using real sensor measurements. We could demonstrate several safe rendezvous test cases in a closed loop mode integrating the VIBANASS camera system and the developed guidance, navigation and control system to a dynamic rendezvous simulation.

  16. Design and Implementation of Scalable VANETbased Navigation System Using Probability-based Broadcasting

    Directory of Open Access Journals (Sweden)

    Ms. Nikita Tiwari

    2015-06-01

    Full Text Available Global Positioning System (GPS is widely used for finding the shortest path from source to destination based on a local map database, as real-time road situations are not taken into consideration in GPS. Vehicular ad-hoc network (VANET based navigation system automatically searches for the route that yields minimum traveling delay. The system uses collected data to provide navigation service to drivers. In order to maintain the security and privacy, a Trusted Authority (TA is able to obtain user’s real identity. However, the centralized approach for route searching is not scalable for large cities. Probability based broadcasting approach eliminates privacy issues and provides scalability. Thus, propose broadcasting approach provides two ways to determine a retransmit probability: 1 fixed (V2I and 2 one-hop distance (V2V. Broadcasting approach also eliminates broadcast storm problem with reasonable delay and high delivery rate.

  17. Design and Development of Scalable Navigation System using Probability-based Broadcasting in VANET

    Directory of Open Access Journals (Sweden)

    Ms. Nikita Tiwari

    2015-03-01

    Full Text Available Global Positioning System (GPS is widely used for finding the shortest path from source to destination based on a local map database, as real-time road situations are not taken into consideration in GPS. Vehicular ad-hoc network (VANET based navigation system automatically searches for the route that yields minimum traveling delay. The system uses collected data to provide navigation service to drivers. In order to maintain the security and privacy, a Trusted Authority (TA is able to obtain user’s real identity. However, the centralized approach for route searching is not scalable for large cities. Probability based broadcasting approach eliminates privacy issues and provides scalability. Thus, propose broadcasting approach provides two ways to determine a retransmit probability: 1 fixed (V2I and 2 one-hop distance (V2V. Broadcasting approach also eliminates broadcast storm problem with reasonable delay and high delivery rate.

  18. a European Global Navigation Satellite System — the German Market and Value Adding Chain Effects

    Science.gov (United States)

    Vollerthun, A.; Wieser, M.

    2002-03-01

    Since Europe is considering to establish a "market-driven" European Global Navigation Satellite System, the German Center of Aerospace initiated a market research to justify a German investment in such a European project. The market research performed included the following market segments: aviation, railway, road traffic, shipping, surveying, farming, military, space applications, leisure, and sport. In these market segments, the forementioned inputs were determined for satellite navigation hardware (receivers) as well as satellite navigation services. The forecast period was from year 2007 to 2017. For the considered period, the market amounts to a total of DM 83.0 billion (approx. US $50 billion), whereas the satellite navigation equipment market makes up DM 39.8 billion, and charges for value-added-services amount to DM 43.2 billion. On closer examination road traffic can be identified as the dominant market share, both in the receiver-market and service-market. With a share of 96% for receivers and 73% for services the significance of the road traffic segment becomes obvious. The second part of this paper investigates the effects the market potential has on the Value-Adding-Chain. Therefore, all participants in the Value-Adding-Chain are identified, using industrial cost structure models the employment effect is analyzed, and possible tax revenues for the state are examined.

  19. Radar and electronic navigation

    CERN Document Server

    Sonnenberg, G J

    2013-01-01

    Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur

  20. Design, Implementation and Evaluation of an Indoor Navigation System for Visually Impaired People.

    Science.gov (United States)

    Martinez-Sala, Alejandro Santos; Losilla, Fernando; Sánchez-Aarnoutse, Juan Carlos; García-Haro, Joan

    2015-01-01

    Indoor navigation is a challenging task for visually impaired people. Although there are guidance systems available for such purposes, they have some drawbacks that hamper their direct application in real-life situations. These systems are either too complex, inaccurate, or require very special conditions (i.e., rare in everyday life) to operate. In this regard, Ultra-Wideband (UWB) technology has been shown to be effective for indoor positioning, providing a high level of accuracy and low installation complexity. This paper presents SUGAR, an indoor navigation system for visually impaired people which uses UWB for positioning, a spatial database of the environment for pathfinding through the application of the A* algorithm, and a guidance module. The interaction with the user takes place using acoustic signals and voice commands played through headphones. The suitability of the system for indoor navigation has been verified by means of a functional and usable prototype through a field test with a blind person. In addition, other tests have been conducted in order to show the accuracy of different relevant parts of the system. PMID:26703610

  1. Design, Implementation and Evaluation of an Indoor Navigation System for Visually Impaired People

    Directory of Open Access Journals (Sweden)

    Alejandro Santos Martinez-Sala

    2015-12-01

    Full Text Available Indoor navigation is a challenging task for visually impaired people. Although there are guidance systems available for such purposes, they have some drawbacks that hamper their direct application in real-life situations. These systems are either too complex, inaccurate, or require very special conditions (i.e., rare in everyday life to operate. In this regard, Ultra-Wideband (UWB technology has been shown to be effective for indoor positioning, providing a high level of accuracy and low installation complexity. This paper presents SUGAR, an indoor navigation system for visually impaired people which uses UWB for positioning, a spatial database of the environment for pathfinding through the application of the A* algorithm, and a guidance module. The interaction with the user takes place using acoustic signals and voice commands played through headphones. The suitability of the system for indoor navigation has been verified by means of a functional and usable prototype through a field test with a blind person. In addition, other tests have been conducted in order to show the accuracy of different relevant parts of the system.

  2. Model-based robust estimation and fault detection for MEMS-INS/GPS integrated navigation systems

    Institute of Scientific and Technical Information of China (English)

    Miao Lingjuan; Shi Jing

    2014-01-01

    In micro-electro-mechanical system based inertial navigation system (MEMS-INS)/global position system (GPS) integrated navigation systems, there exist unknown disturbances and abnormal measurements. In order to obtain high estimation accuracy and enhance detection sensitivity to faults in measurements, this paper deals with the problem of model-based robust esti-mation (RE) and fault detection (FD). A filter gain matrix and a post-filter are designed to obtain a RE and FD algorithm with current measurements, which is different from most of the existing pri-ori filters using measurements in one-step delay. With the designed filter gain matrix, the H-infinity norm of the transfer function from noise inputs to estimation error outputs is limited within a certain range;with the designed post-filter, the residual signal is robust to disturbances but sensitive to faults. Therefore, the algorithm can guarantee small estimation errors in the presence of distur-bances and have high sensitivity to faults. The proposed method is evaluated in an integrated navigation system, and the simulation results show that it is more effective in position estimation and fault signal detection than priori RE and FD algorithms.

  3. The automobile after tomorrow

    Energy Technology Data Exchange (ETDEWEB)

    Guzzella, L. [Swiss Federal Inst. of Technology (ETH), Zurich (Switzerland)

    1996-11-01

    This talk discusses the technical options available for automobiles within the next 5 to 10 years. With the objective to reduce consumption and pollution, several alternative approaches are presented and analyzed using simplified but realistic calculations. Main emphasis is laid on CO{sub 2} emission of the complete energy transformation path from the primary energy carrier to the energy dissipated in test cycles. It is shown that no single optimal solution exist but that a trade-off between consumption, pollution and cost must be made for each specific situation. (author) 17 figs., 2 tabs.

  4. a New Survey on Self-Tuning Integrated Low-Cost Gps/ins Vehicle Navigation System in Harsh Environment

    Science.gov (United States)

    Navidi, N.; Landry, R., Jr.

    2015-08-01

    Nowadays, Global Positioning System (GPS) receivers are aided by some complementary radio navigation systems and Inertial Navigation Systems (INS) to obtain more accuracy and robustness in land vehicular navigation. Extended Kalman Filter (EKF) is an acceptable conventional method to estimate the position, the velocity, and the attitude of the navigation system when INS measurements are fused with GPS data. However, the usage of the low-cost Inertial Measurement Units (IMUs) based on the Micro-Electro-Mechanical Systems (MEMS), for the land navigation systems, reduces the precision and stability of the navigation system due to their inherent errors. The main goal of this paper is to provide a new model for fusing low-cost IMU and GPS measurements. The proposed model is based on EKF aided by Fuzzy Inference Systems (FIS) as a promising method to solve the mentioned problems. This model considers the parameters of the measurement noise to adjust the measurement and noise process covariance. The simulation results show the efficiency of the proposed method to reduce the navigation system errors compared with EKF.

  5. Code Recognition Device for Automobile, a Panacea for Automobiles Theft

    Directory of Open Access Journals (Sweden)

    Ozomata David AHMED

    2011-06-01

    Full Text Available Code Recognition Device is a security device for automobiles. It responds only to the right sequence of codes that are keyed from the key pad. This closes the electrical circuitry of the automobile and enables it to start. If a wrong key is touched, it resets the device which disengages the electrical circuit of the automobile from the power supply. The device works properly on closing all the doors of the automobile, otherwise it cannot start. Also, once the automobile is in operation, opening of any door will disengage the device and the engine will stop. To restart the engine, the doors must be closed and the codes rendered sequentially-in this case the codes are 1974.

  6. LATENCY DETERMINATION AND COMPENSATION IN REAL-TIME GNSS/INS INTEGRATED NAVIGATION SYSTEMS

    Directory of Open Access Journals (Sweden)

    P. D. Solomon

    2012-09-01

    Full Text Available Unmanned Aerial Vehicle (UAV technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA navigation system. In practical Real-Time Navigation Systems (RTNS there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.

  7. Evaluation of the Terminal Sequencing and Spacing System for Performance Based Navigation Arrivals

    Science.gov (United States)

    Thipphavong, Jane; Jung, Jaewoo; Swenson, Harry N.; Martin, Lynne; Lin, Melody; Nguyen, Jimmy

    2013-01-01

    NASA has developed the Terminal Sequencing and Spacing (TSS) system, a suite of advanced arrival management technologies combining timebased scheduling and controller precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals that have both current standard ATC routes and terminal Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. In collaboration with the FAA and MITRE's Center for Advanced Aviation System Development (CAASD), TSS system performance was evaluated in human-in-the-loop (HITL) simulations with currently active controllers as participants. Traffic scenarios had mixed Area Navigation (RNAV) and Required Navigation Performance (RNP) equipage, where the more advanced RNP-equipped aircraft had preferential treatment with a shorter approach option. Simulation results indicate the TSS system achieved benefits by enabling PBN, while maintaining high throughput rates-10% above baseline demand levels. Flight path predictability improved, where path deviation was reduced by 2 NM on average and variance in the downwind leg length was 75% less. Arrivals flew more fuel-efficient descents for longer, spending an average of 39 seconds less in step-down level altitude segments. Self-reported controller workload was reduced, with statistically significant differences at the p less than 0.01 level. The RNP-equipped arrivals were also able to more frequently capitalize on the benefits of being "Best-Equipped, Best- Served" (BEBS), where less vectoring was needed and nearly all RNP approaches were conducted without interruption.

  8. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments

    Directory of Open Access Journals (Sweden)

    Georg Gerstweiler

    2015-12-01

    Full Text Available Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization.

  9. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments.

    Science.gov (United States)

    Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes

    2015-01-01

    Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization. PMID:26712755

  10. Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system

    Institute of Scientific and Technical Information of China (English)

    HAO Yan-ling; CHEN Ming-hui; LI Liang-jun; XU Bo

    2008-01-01

    There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system.This paper discussed the use of GPS,but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS).One method is based on the Kalman filter (KF),and the other is based on the robust filter.Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF,given substantial process noise or unknown noise statistics.So the robust filter is an effective and useful method for initial alignment of SINS.This research should make the use of SINS more popular,and is also a step for further research.

  11. IN-FLIGHT ALIGNMENT OF INERTIAL NAVIGATION SYSTEM BY CELESTIAL OBSERVATION TECHNIQUE

    Institute of Scientific and Technical Information of China (English)

    ALlJamshaid; FANGJian-cheng

    2005-01-01

    This paper presents an in-flight alignment technique for a strapdown inertial navigation system (SINS) and employs a star pattern recognition procedure for identifying stars sensed by a CCD electrooptical star sensor.Collinearity equations are used to estimate sensor frame star coordinates and the conventional least square differential correction method is used to estimate the unknown orientation angles. A comparison of this attitude with the attitude estimated by the SINS provides axis misalignment angles. Simulations using a Kalman filter are carried out for an SINS and the system employs a local level navigation frame. The space stabilized SINS is discussed in conjunction with the celestial aiding. Based on the observation of the Kalman filter, the estimating and compensating gyro errors, as well as the position and velocity errors caused by the SINS misalignments are calibrated by celestial attitute information.

  12. Perception system and functions for autonomous navigation in a natural environment

    Science.gov (United States)

    Chatila, Raja; Devy, Michel; Lacroix, Simon; Herrb, Matthieu

    1994-01-01

    This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.

  13. An improved robust hand-eye calibration for endoscopy navigation system

    Science.gov (United States)

    He, Wei; Kang, Kumsok; Li, Yanfang; Shi, Weili; Miao, Yu; He, Fei; Yan, Fei; Yang, Huamin; Zhang, Huimao; Mori, Kensaku; Jiang, Zhengang

    2016-03-01

    Endoscopy is widely used in clinical application, and surgical navigation system is an extremely important way to enhance the safety of endoscopy. The key to improve the accuracy of the navigation system is to solve the positional relationship between camera and tracking marker precisely. The problem can be solved by the hand-eye calibration method based on dual quaternions. However, because of the tracking error and the limited motion of the endoscope, the sample motions may contain some incomplete motion samples. Those motions will cause the algorithm unstable and inaccurate. An advanced selection rule for sample motions is proposed in this paper to improve the stability and accuracy of the methods based on dual quaternion. By setting the motion filter to filter out the incomplete motion samples, finally, high precision and robust result is achieved. The experimental results show that the accuracy and stability of camera registration have been effectively improved by selecting sample motion data automatically.

  14. Simulation studies of the GOES-I Image Navigation and Registration (INR) system

    Science.gov (United States)

    Carr, James L.; Dunhill, Herbert W.; Gamble, Donald W.; Kamel, Ahmed A.

    1990-01-01

    The GOES-I Image Navigation and Registration (INR) system will fly on the next generation of NOAA geostationary meteorological satellites. This system uses observations of stars and earth landmarks made by the Imager and Sounder Instruments themselves to determine the orbit, attitude, and misalignment state of the spacecraft and instruments. An extensive program of simulation and analysis has been conducted to assess the expected performance of the INR system. This paper discusses these activities and presents some computer simulation results showing expected system performance under a variety of conditions including station-keeping.

  15. Novel microstrip antenna array for anti-jam satellite navigation system

    OpenAIRE

    Martynyuk, Sergiy Ye.; Vasylenko, Dmytro O.; Dubrovka, Fedor F.; Laush, Anatolii G.

    2015-01-01

    We present results of theoretical and experimental investigations of a novel dual band right hand circularly polarized microstrip antenna array with adaptive space-time processing capability for terminal of GPS/GLONASS/GALILEO satellite navigation systems. The array structure is composed from 10 microstrip radiators excited independently via separate coaxial input ports. Two central radiating elements for two frequency bands (L1 and L2) have got circular shapes with slits and are stacked to p...

  16. Adaptive Covariance Estimation Method for LiDAR-Aided Multi-Sensor Integrated Navigation Systems

    OpenAIRE

    Shifei Liu; Mohamed Maher Atia; Yanbin Gao; Aboelmagd Noureldin

    2015-01-01

    The accurate estimation of measurements covariance is a fundamental problem in sensors fusion algorithms and is crucial for the proper operation of filtering algorithms. This paper provides an innovative solution for this problem and realizes the proposed solution on a 2D indoor navigation system for unmanned ground vehicles (UGVs) that fuses measurements from a MEMS-grade gyroscope, speed measurements and a light detection and ranging (LiDAR) sensor. A computationally efficient weighted line...

  17. COST TU1302- SaPPART White Paper - Better use of Global Navigation Satellite Systems for safer and greener transport

    OpenAIRE

    PEYRET, François; Gilliéron, Pierre-Yves; Ruotsalainen, Laura; Engdahl, Jesper

    2015-01-01

    This white paper, entitled “Better use of Global Navigation Satellite Systems for safer and greener transport”, explains the role of positioning systems in transportation and the necessity to correctly assess their performance. This document introduces the fundamentals of positioning systems with a particular focus on Global Navigation Satellite System (GNSS). It describes the positioning terminal architecture and the parameters used for the characterization of performance such as availabilit...

  18. Automobile Club CERN

    CERN Multimedia

    Automobile Club CERN

    2010-01-01

     L’Assemblée Générale Ordinaire de «L’Automobile Club du CERN» s’est tenue le mercredi 12 janvier 2010. Le Président, J. Pierlot, souhaite la bienvenue aux membres présents, annonce l’agenda et résume les activités et événements du club pour l’année 2009. Le Club compte environ 600 membres, une petite diminution par rapport aux précédentes années dû surtout aux départs anticipés à la retraite. La cotisation reste inchangée : 50 CHF. Notre trésorier, E. Squadrani, présente de façon détaillée la situation du compte d’exploitation pour 2009 ainsi que le bilan de l’Automobile Club. Les comptes sont équilibrés, la situation de la trés...

  19. Development of automatic navigation measuring system using template-matching software in image guided neurosurgery

    International Nuclear Information System (INIS)

    An image-guided neurosurgery and neuronavigation system based on magnetic resonance imaging has been used as an indispensable tool for resection of brain tumors. Therefore, accuracy of the neuronavigation system, provided by periodic quality assurance (QA), is essential for image-guided neurosurgery. Two types of accuracy index, fiducial registration error (FRE) and target registration error (TRE), have been used to evaluate navigation accuracy. FRE shows navigation accuracy on points that have been registered. On the other hand, TRE shows navigation accuracy on points such as tumor, skin, and fiducial markers. This study shows that TRE is more reliable than FRE. However, calculation of TRE is a time-consuming, subjective task. Software for QA was developed to compute TRE. This software calculates TRE automatically by an image processing technique, such as automatic template matching. TRE was calculated by the software and compared with the results obtained by manual calculation. Using the software made it possible to achieve a reliable QA system. (author)

  20. Positioning accuracy in a registration-free CT-based navigation system

    International Nuclear Information System (INIS)

    In order to maintain overall navigation accuracy established by a calibration procedure in our CT-based registration-free navigation system, the CT scanner has to repeatedly generate identical volume images of a target at the same coordinates. We tested the positioning accuracy of the prototype of an advanced workplace for image-guided surgery (AWIGS) which features an operating table capable of direct patient transfer into a CT scanner. Volume images (N = 154) of a specialized phantom were analysed for translational shifting after various table translations. Variables included added weight and phantom position on the table. The navigation system's calibration accuracy was determined (bias 2.1 mm, precision ± 0.7 mm, N = 12). In repeated use, a bias of 3.0 mm and a precision of ± 0.9 mm (N = 10) were maintainable. Instances of translational image shifting were related to the table-to-CT scanner docking mechanism. A distance scaling error when altering the table's height was detected. Initial prototype problems visible in our study causing systematic errors were resolved by repeated system calibrations between interventions. We conclude that the accuracy achieved is sufficient for a wide range of clinical applications in surgery and interventional radiology

  1. Control and navigation system for a fixed-wing unmanned aerial vehicle

    Directory of Open Access Journals (Sweden)

    Ruiyong Zhai

    2014-02-01

    Full Text Available This paper presents a flight control and navigation system for a fixed-wing unmanned aerial vehicle (UAV with low-cost micro-electro-mechanical system (MEMS sensors. The system is designed under the inner loop and outer loop strategy. The trajectory tracking navigation loop is the outer loop of the attitude loop, while the attitude control loop is the outer loop of the stabilization loop. The proportional-integral-derivative (PID control was adopted for stabilization and attitude control. The three-dimensional (3D trajectory tracking control of a UAV could be approximately divided into lateral control and longitudinal control. The longitudinal control employs traditional linear PID feedback to achieve the desired altitude of the UAV, while the lateral control uses a non-linear control method to complete the desired trajectory. The non-linear controller can automatically adapt to ground velocity change, which is usually caused by gust disturbance, thus the UAV has good wind resistance characteristics. Flight tests and survey missions were carried out with our self-developed delta fixed-wing UAV and MEMS-based autopilot to confirm the effectiveness and practicality of the proposed navigation method.

  2. Statistical machine translation for automobile marketing texts

    OpenAIRE

    Läubli, Samuel; Fishel, Mark; Weibel, Manuela; Volk, Martin

    2013-01-01

    We describe a project on introducing an in-house statistical machine translation system for marketing texts from the automobile industry with the final aim of replacing manual translation with post-editing, based on the translation system. The focus of the paper is the suitability of such texts for SMT; we present experiments in domain adaptation and decompounding that improve the baseline translation systems, the results of which are evaluated using automatic metrics as well as manual evalua...

  3. Observability and performance analysis of integrated GPS/INS navigation systems

    Science.gov (United States)

    Shao, Yunfeng

    This primary objective of this thesis is to analyze the performance and observability characteristics of integrated navigation systems which fuse the information from the Global Positioning System (GPS) and Inertial Navigation Systems (INS) of varying quality. It is shown that INS output error characteristics affect the notion of observability with these systems. More specifically; it is shown that when INS sensor quality is low, the traditional metrics of deterministic and stochastic observability are incomplete metrics to describe the system performance. Accordingly, a new metric as well as detailed trade study results that characterize the observability of GPS/INS fusion filter which use low quality inertial sensors is developed. A secondary objective of this thesis is to evaluate the use of an integrated GPS/INS system in two aviation applications of significant current interest. The first application is about monitoring and mitigating the impact of structural flexure of an aircraft carrier which is he host of the GPS-based landing system known as Joint Precision Approach and Landing Systems (JPALS). A mathematic error model is developed and validated using experimental ship motion data. The second application is that of checking the integrity of the GPS signal used in GPS-based landing systems such as JPALS and other landing systems envisioned for future use in commercial aviation. An inertial aided Receiver Autonomous Integrity Monitoring (RAIM) algorithm is designed and its performance improvements with inertial aiding are quantified.

  4. Designing a wearable navigation system for image-guided cancer resection surgery

    OpenAIRE

    Shao, Pengfei; Ding, Houzhu; Wang, Jinkun; Liu, Peng; Ling, Qiang; Chen, Jiayu; Xu, Junbin; Zhang, Shiwu; Xu, Ronald

    2014-01-01

    A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer throu...

  5. Loosely Coupled GPS-Aided Inertial Navigation System for Range Safety

    Science.gov (United States)

    Heatwole, Scott; Lanzi, Raymond J.

    2010-01-01

    The Autonomous Flight Safety System (AFSS) aims to replace the human element of range safety operations, as well as reduce reliance on expensive, downrange assets for launches of expendable launch vehicles (ELVs). The system consists of multiple navigation sensors and flight computers that provide a highly reliable platform. It is designed to ensure that single-event failures in a flight computer or sensor will not bring down the whole system. The flight computer uses a rules-based structure derived from range safety requirements to make decisions whether or not to destroy the rocket.

  6. Integrated guidance, navigation and control verification plan primary flight system. [space shuttle avionics integration

    Science.gov (United States)

    1978-01-01

    The verification process and requirements for the ascent guidance interfaces and the ascent integrated guidance, navigation and control system for the space shuttle orbiter are defined as well as portions of supporting systems which directly interface with the system. The ascent phase of verification covers the normal and ATO ascent through the final OMS-2 circularization burn (all of OPS-1), the AOA ascent through the OMS-1 burn, and the RTLS ascent through ET separation (all of MM 601). In addition, OPS translation verification is defined. Verification trees and roadmaps are given.

  7. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-10-01

    Full Text Available The RDI WHN-600 Doppler Velocity Log (DVL is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV. HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS. Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.

  8. A Pedestrian Navigation System Using Cellular Phone Video-Conferencing Functions

    Directory of Open Access Journals (Sweden)

    Akihiko Sugiura

    2012-01-01

    Full Text Available A user’s position-specific field has been developed using the Global Positioning System (GPS technology. To determine the position using cellular phones, a device was developed, in which a pedestrian navigation unit carries the GPS. However, GPS cannot specify a position in a subterranean environment or indoors, which is beyond the reach of transmitted signals. In addition, the position-specification precision of GPS, that is, its resolution, is on the order of several meters, which is deemed insufficient for pedestrians. In this study, we proposed and evaluated a technique for locating a user’s 3D position by setting up a marker in the navigation space detected in the image of a cellular phone. By experiment, we verified the effectiveness and accuracy of the proposed method. Additionally, we improved the positional precision because we measured the position distance using numerous markers.

  9. CEGB intergraph computer aided design system as an aid for the navigation of remote manipulators

    International Nuclear Information System (INIS)

    Computer Aided Design Systems with 3D Graphic capability can offer substantial benefits for the simulation and navigation of remote manipulators. The CEGB has been experimenting with its own Corporate INTERGRAPH CAD Network using as an example a remote links manipulator working within the above gas baffle dome area of an Advanced Gas Cooled Reactor. A report of this work is presented together with graphic simulations of the manipulator within the above dome area and reconstructions of images anticipated from the on board cameras. Future improvements in the speed of graphic processing will enable these techniques to be used for the on-line navigation of manipulators, as an aid to the interpretation of video images and for the training of operators without the need for full size test and training facilities. (author)

  10. Indoor navigation by people with visual impairment using a digital sign system.

    Directory of Open Access Journals (Sweden)

    Gordon E Legge

    Full Text Available There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.

  11. Long-term evolution of the inclined geosynchronous orbit in Beidou Navigation Satellite System

    Science.gov (United States)

    Tang, Jingshi; Hou, Xiyun; Liu, Lin

    2016-07-01

    China's Beidou Navigation Satellite System (BDS), unlike other navigation satellite systems, uses several inclined geosynchronous orbits (IGSO) to enhance the accuracy of regional or global navigation. In order to maintain a safe space environment in the vicinity of its operational orbit, it is necessary that the decommissioned satellites be well disposed of. Following up the study on the specific BDS IGSO satellites in the previous COSPAR Scientific Assembly, we now extend the study to understand the underlying dynamics and discuss the long-term evolution of such orbits from a more general perspective. In this paper, we first theoretically analyze the problem using simplified models of 1 and 2 degrees of freedoms (1-/2-dof). Then we extensively investigate the numerically propagated orbits for 200 and 1000 years, applying the results from these simplified models and seeking proper explanations for the underlying dynamics. We especially focus on the eccentricity evolution, which is a major concern regarding the collision hazard. We expect to understand the underlying dynamics governing the long-term evolution of BDS IGSO and gain helpful insight into future disposal strategies.

  12. Indoor navigation by people with visual impairment using a digital sign system.

    Science.gov (United States)

    Legge, Gordon E; Beckmann, Paul J; Tjan, Bosco S; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan

    2013-01-01

    There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment. PMID:24116156

  13. On-the-fly Locata/inertial navigation system integration for precise maritime application

    International Nuclear Information System (INIS)

    The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance

  14. Evolution of organizational structure and strategy of the automobile industry

    OpenAIRE

    Heng, S.H.; Wibbelink, R.

    2000-01-01

    This paper is a historically oriented study of the automobile industry. It sets out to understand why have the structure and strategy of the dominant companies in the automobile industry changed in the way they have done. Our findings suggest three factors at work, namely the knowledge of car production and of customers, the capability of the technological system, and the business environment. The knowledge system represents the level of know-how and the availability of information. In a sens...

  15. A Google Glass navigation system for ultrasound and fluorescence dual-mode image-guided surgery

    Science.gov (United States)

    Zhang, Zeshu; Pei, Jing; Wang, Dong; Hu, Chuanzhen; Ye, Jian; Gan, Qi; Liu, Peng; Yue, Jian; Wang, Benzhong; Shao, Pengfei; Povoski, Stephen P.; Martin, Edward W.; Yilmaz, Alper; Tweedle, Michael F.; Xu, Ronald X.

    2016-03-01

    Surgical resection remains the primary curative intervention for cancer treatment. However, the occurrence of a residual tumor after resection is very common, leading to the recurrence of the disease and the need for re-resection. We develop a surgical Google Glass navigation system that combines near infrared fluorescent imaging and ultrasonography for intraoperative detection of sites of tumor and assessment of surgical resection boundaries, well as for guiding sentinel lymph node (SLN) mapping and biopsy. The system consists of a monochromatic CCD camera, a computer, a Google Glass wearable headset, an ultrasonic machine and an array of LED light sources. All the above components, except the Google Glass, are connected to a host computer by a USB or HDMI port. Wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A control program is written in C++ to call OpenCV functions for image calibration, processing and display. The technical feasibility of the system is tested in both tumor simulating phantoms and in a human subject. When the system is used for simulated phantom resection tasks, the tumor boundaries, invisible to the naked eye, can be clearly visualized with the surgical Google Glass navigation system. This system has also been used in an IRB approved protocol in a single patient during SLN mapping and biopsy in the First Affiliated Hospital of Anhui Medical University, demonstrating the ability to successfully localize and resect all apparent SLNs. In summary, our tumor simulating phantom and human subject studies have demonstrated the technical feasibility of successfully using the proposed goggle navigation system during cancer surgery.

  16. Implementation of a Global Navigation Satellite System (GNSS) Augmentation to Tsunami Early Warning Systems

    Science.gov (United States)

    LaBrecque, John

    2016-04-01

    The Global Geodetic Observing System has issued a Call for Participation to research scientists, geodetic research groups and national agencies in support of the implementation of the IUGG recommendation for a Global Navigation Satellite System (GNSS) Augmentation to Tsunami Early Warning Systems. The call seeks to establish a working group to be a catalyst and motivating force for the definition of requirements, identification of resources, and for the encouragement of international cooperation in the establishment, advancement, and utilization of GNSS for Tsunami Early Warning. During the past fifteen years the populations of the Indo-Pacific region experienced a series of mega-thrust earthquakes followed by devastating tsunamis that claimed nearly 300,000 lives. The future resiliency of the region will depend upon improvements to infrastructure and emergency response that will require very significant investments from the Indo-Pacific economies. The estimation of earthquake moment magnitude, source mechanism and the distribution of crustal deformation are critical to rapid tsunami warning. Geodetic research groups have demonstrated the use of GNSS data to estimate earthquake moment magnitude, source mechanism and the distribution of crustal deformation sufficient for the accurate and timely prediction of tsunamis generated by mega-thrust earthquakes. GNSS data have also been used to measure the formation and propagation of tsunamis via ionospheric disturbances acoustically coupled to the propagating surface waves; thereby providing a new technique to track tsunami propagation across ocean basins, opening the way for improving tsunami propagation models, and providing accurate warning to communities in the far field. These two new advancements can deliver timely and accurate tsunami warnings to coastal communities in the near and far field of mega-thrust earthquakes. This presentation will present the justification for and the details of the GGOS Call for

  17. Reliable Alignment in Total Knee Arthroplasty by the Use of an iPod-Based Navigation System

    Science.gov (United States)

    Koenen, Paola; Schneider, Marco M.; Fröhlich, Matthias; Driessen, Arne; Bouillon, Bertil; Bäthis, Holger

    2016-01-01

    Axial alignment is one of the main objectives in total knee arthroplasty (TKA). Computer-assisted surgery (CAS) is more accurate regarding limb alignment reconstruction compared to the conventional technique. The aim of this study was to analyse the precision of the innovative navigation system DASH® by Brainlab and to evaluate the reliability of intraoperatively acquired data. A retrospective analysis of 40 patients was performed, who underwent CAS TKA using the iPod-based navigation system DASH. Pre- and postoperative axial alignment were measured on standardized radiographs by two independent observers. These data were compared with the navigation data. Furthermore, interobserver reliability was measured. The duration of surgery was monitored. The mean difference between the preoperative mechanical axis by X-ray and the first intraoperatively measured limb axis by the navigation system was 2.4°. The postoperative X-rays showed a mean difference of 1.3° compared to the final navigation measurement. According to radiographic measurements, 88% of arthroplasties had a postoperative limb axis within ±3°. The mean additional time needed for navigation was 5 minutes. We could prove very good precision for the DASH system, which is comparable to established navigation devices with only negligible expenditure of time compared to conventional TKA. PMID:27313898

  18. IAE-adaptive Kalman filter for INS/GPS integrated navigation system

    Institute of Scientific and Technical Information of China (English)

    Bian Hongwei; Jin Zhihua; Tian Weifeng

    2006-01-01

    A marine INS/GPS adaptive navigation system is presented in this paper. GPS with two antenna providing vessel's altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kalman filter is the most frequently used algorithm in the integrated navigation system, which is capable of estimating INS errors online based on the measured errors between INS and GPS. The standard Kalman filter (SKF) assumes that the statistics of the noise on each sensor are given. As long as the noise distributions do not change, the Kalman filter will give the optimal estimation. However GPS receiver will be disturbed easily and thus temporally changing measurement noise will join into the outputs of GPS, which will lead to performance degradation of the Kalman filter. Many researchers introduce fuzzy logic control method into innovation-based adaptive estimation adaptive Kalman filtering (IAE-AKF) algorithm, and accordingly propose various adaptive Kalman filters. However how to design the fuzzy logic controller is a very complicated problem still without a convincing solution. A novel IAE-AKF is proposed herein, which is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence of the filter gain. The approach is direct and simple without having to establish fuzzy inference rules. After having deduced the proposed IAE-AKF algorithm theoretically in detail, the approach is tested by the simulation based on the system error model of the developed INS/GPS integrated marine navigation system. Simulation results show that the adaptive Kalman filter outperforms the SKF with higher accuracy, robustness and less computation. It is demonstrated that this proposed approach is a valid solution for the unknown changing measurement noise exited in the Kalman filter.

  19. A biologically inspired meta-control navigation system for the Psikharpax rat robot

    International Nuclear Information System (INIS)

    A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e.g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment—recognized as new contexts—and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics. (paper)

  20. The Application of Federated Kalman Filtering in SINS/GPS/CNS Intergrated Navigation System

    Directory of Open Access Journals (Sweden)

    DENG Chun-lin

    2012-04-01

    Full Text Available Federated filter was an important method to estimate high-precision navigation parameters based on “SINS/GPS/CNS”. A no-feedback federated filter with UD_UKF algorithm was designed in the paper, a threetime amendment scheme to correct navigation parameters was designed at the same time and the mathematical model of SINS/GPS/CNS was established in launch inertial coordinate system too. The paper discussed the simulation conditions and a lot of simulations were carried out to compare 2 aspects: (1the performance between four navigation mode, which respectively is SINS, SINS/GPS, SINS/CNS, SINS/GPS/CNS;(2the estimate precision of federated filter and that of centralized Kalman filter. The results of simulation showed that the designed federated filter and amendment scheme based on SINS/GPS/CNS had high estimate precision and led to gain high hitting precision of ballistic missile, that is to say position errors were less than 20 meter and velocity errors were less than 0.1m/s in simulation.

  1. Navigated revision knee arthroplasty using a system designed for primary surgery.

    Science.gov (United States)

    Massin, Philippe; Boyer, Patrick; Pernin, Jerome; Jeanrot, Cecile

    2008-07-01

    While navigation is now recognized as an efficient tool for improving femoro-tibial alignment of primary knee prostheses, its use in revision surgery has not yet been fully evaluated. We describe a procedure based on a bone morphing acquisition performed on the surface of the original implants, followed by a dependant bone cut sequence (tibia first). Using the current system, a preoperative CT-scan measurement of the original femoral component was required. Knee balancing was achieved using spacer blocks, with the trial tibial component and the original femoral component still in place. Preliminary experience from 19 cases, some with severe bone loss requiring reconstruction, is reported. A retrospective comparison to 10 non-navigated revision cases performed concomitantly by the same operating surgeon was carried out. Although there was no significant difference in the number of outliers for the two series, navigation appeared to be a valuable aid in reconstructing both bone extremities, while controlling the level of the joint line. However, definitive validation requires further prospective and comparative investigations in larger series. PMID:18622792

  2. Application of H∞ filtering in the initial alignment of strapdown inertial navigation system

    Institute of Scientific and Technical Information of China (English)

    YU Fei; SUN Feng

    2005-01-01

    In this paper , the principle of H∞ filtering is discussed and H∞ filter is constructed, which is used in the initial alignment of the strapdown inertial navigation systems(SINS). The error model of SINS is derived. By utilizing constructed H∞ filter, the filtering calculation to that system has been conducted. The simulation results of the misalignment angle are given under the condition of unknown noises. The results show that the process of alignment with H∞ filter is much faster and with excellent robustness.

  3. Tightly coupled long baseline/ultra-short baseline integrated navigation system

    Science.gov (United States)

    Batista, Pedro; Silvestre, Carlos; Oliveira, Paulo

    2016-06-01

    This paper proposes a novel integrated navigation filter based on a combined long baseline/ultra short baseline acoustic positioning system with application to underwater vehicles. With a tightly coupled structure, the position, linear velocity, attitude, and rate gyro bias are estimated, considering the full nonlinear system dynamics without resorting to any algebraic inversion or linearisation techniques. The resulting solution ensures convergence of the estimation error to zero for all initial conditions, exponentially fast. Finally, it is shown, under simulation environment, that the filter achieves very good performance in the presence of sensor noise.

  4. A New Electromagnetic Navigation System for Pedicle Screws Placement: A Human Cadaver Study at the Lumbar Spine

    Science.gov (United States)

    Hahn, Patrick; Oezdemir, Semih; Komp, Martin; Giannakopoulos, Athanasios; Heikenfeld, Roderich; Kasch, Richard; Merk, Harry; Godolias, Georgios; Ruetten, Sebastian

    2015-01-01

    Introduction Technical developments for improving the safety and accuracy of pedicle screw placement play an increasingly important role in spine surgery. In addition to the standard techniques of free-hand placement and fluoroscopic navigation, the rate of complications is reduced by 3D fluoroscopy, cone-beam CT, intraoperative CT/MRI, and various other navigation techniques. Another important aspect that should be emphasized is the reduction of intraoperative radiation exposure for personnel and patient. The aim of this study was to investigate the accuracy of a new navigation system for the spine based on an electromagnetic field. Material and Method Twenty pedicle screws were placed in the lumbar spine of human cadavers using EMF navigation. Navigation was based on data from a preoperative thin-slice CT scan. The cadavers were positioned on a special field generator and the system was matched using a patient tracker on the spinous process. Navigation was conducted using especially developed instruments that can be tracked in the electromagnetic field. Another thin-slice CT scan was made postoperatively to assess the result. The evaluation included the position of the screws in the direction of trajectory and any injury to the surrounding cortical bone. The results were classified in 5 groups: grade 1: ideal screw position in the center of the pedicle with no cortical bone injury; grade 2: acceptable screw position, cortical bone injury with cortical penetration ≤ 2 mm; grade 3: cortical bone injury with cortical penetration 2,1-4 mm, grad 4: cortical bone injury with cortical penetration 4,1-6 mm, grade 5: cortical bone injury with cortical penetration >6 mm. Results The initial evaluation of the system showed good accuracy for the lumbar spine (65% grade 1, 20% grade 2, 15% grade 3, 0% grade 4, 0% grade 5). A comparison of the initial results with other navigation techniques in literature (CT navigation, 2D fluoroscopic navigation) shows that the accuracy of

  5. A New Electromagnetic Navigation System for Pedicle Screws Placement: A Human Cadaver Study at the Lumbar Spine.

    Directory of Open Access Journals (Sweden)

    Patrick Hahn

    Full Text Available Technical developments for improving the safety and accuracy of pedicle screw placement play an increasingly important role in spine surgery. In addition to the standard techniques of free-hand placement and fluoroscopic navigation, the rate of complications is reduced by 3D fluoroscopy, cone-beam CT, intraoperative CT/MRI, and various other navigation techniques. Another important aspect that should be emphasized is the reduction of intraoperative radiation exposure for personnel and patient. The aim of this study was to investigate the accuracy of a new navigation system for the spine based on an electromagnetic field.Twenty pedicle screws were placed in the lumbar spine of human cadavers using EMF navigation. Navigation was based on data from a preoperative thin-slice CT scan. The cadavers were positioned on a special field generator and the system was matched using a patient tracker on the spinous process. Navigation was conducted using especially developed instruments that can be tracked in the electromagnetic field. Another thin-slice CT scan was made postoperatively to assess the result. The evaluation included the position of the screws in the direction of trajectory and any injury to the surrounding cortical bone. The results were classified in 5 groups: grade 1: ideal screw position in the center of the pedicle with no cortical bone injury; grade 2: acceptable screw position, cortical bone injury with cortical penetration ≤ 2 mm; grade 3: cortical bone injury with cortical penetration 2,1-4 mm, grad 4: cortical bone injury with cortical penetration 4,1-6 mm, grade 5: cortical bone injury with cortical penetration >6 mm.The initial evaluation of the system showed good accuracy for the lumbar spine (65% grade 1, 20% grade 2, 15% grade 3, 0% grade 4, 0% grade 5. A comparison of the initial results with other navigation techniques in literature (CT navigation, 2D fluoroscopic navigation shows that the accuracy of this system is

  6. Multi-antenna synchronized global navigation satellite system receiver and its advantages in high-precision positioning applications

    Science.gov (United States)

    Dong, Danan; Chen, Wen; Cai, Miaomiao; Zhou, Feng; Wang, Minghua; Yu, Chao; Zheng, Zhengqi; Wang, Yuanfei

    2016-02-01

    The multi-antenna synchronized global navigation satellite system receiver is a high precision, low cost, and widely used emerging receiver. Using this type of receiver, the satellite and receiver clock errors can be eliminated simultaneously by forming between antenna single-differences, which is equivalent to the conventional double-difference model. However, current multi-antenna synchronized global navigation satellite system receiver products have not fully realized their potential to achieve better accuracy, efficiency, and broader applications. This paper introduces the conceptual design and derivable products of multi-antenna synchronized global navigation satellite system receivers involving the aspects of attitude determination, multipath effect mitigation, phase center variation correction, and ground-based carrier phase windup calibration. Through case studies, the advantages of multi-antenna synchronized global navigation satellite system receivers in high-precision positioning applications are demonstrated.

  7. Energy scenario after oil peak for automobiles, food system.. Is hydrogen by nuclear power plant good candidate from view of Energy Profit Ratio

    International Nuclear Information System (INIS)

    Oil is usefully for us for automobiles. A hydrogen vehicle is thought as a better candidate for an ordinal vehicle after oil peak. Nuclear hydrogen is the best choice to make hydrogen from water compared to the other way. From view of EPR we must consider whole process, such as making hydrogen by a nuclear power plant, storage it in a tank as liquid, carry it by a tanker to a gas stand ( a hydrogen stand),keep it as high pressure in a stand and supply it to a car as high pressure like from 35 to 70 Pa. I would like to introduce the EPR value of hydrogen vehicle and the points to improve. I would like to introduce other candidates like bio-ethanol from corn and sugar or an electric vehicle or some real candidates by EPR. I would like to show EPR value on food system. Then we will have to seek Energy generation ways which are high EPR value up to 10 compensating low food system EPR value. Nuclear power is the best way to achieve high EPR value. (authors)

  8. Integrated software health management for aerospace guidance, navigation, and control systems: A probabilistic reasoning approach

    Science.gov (United States)

    Mbaya, Timmy

    Embedded Aerospace Systems have to perform safety and mission critical operations in a real-time environment where timing and functional correctness are extremely important. Guidance, Navigation, and Control (GN&C) systems substantially rely on complex software interfacing with hardware in real-time; any faults in software or hardware, or their interaction could result in fatal consequences. Integrated Software Health Management (ISWHM) provides an approach for detection and diagnosis of software failures while the software is in operation. The ISWHM approach is based on probabilistic modeling of software and hardware sensors using a Bayesian network. To meet memory and timing constraints of real-time embedded execution, the Bayesian network is compiled into an Arithmetic Circuit, which is used for on-line monitoring. This type of system monitoring, using an ISWHM, provides automated reasoning capabilities that compute diagnoses in a timely manner when failures occur. This reasoning capability enables time-critical mitigating decisions and relieves the human agent from the time-consuming and arduous task of foraging through a multitude of isolated---and often contradictory---diagnosis data. For the purpose of demonstrating the relevance of ISWHM, modeling and reasoning is performed on a simple simulated aerospace system running on a real-time operating system emulator, the OSEK/Trampoline platform. Models for a small satellite and an F-16 fighter jet GN&C (Guidance, Navigation, and Control) system have been implemented. Analysis of the ISWHM is then performed by injecting faults and analyzing the ISWHM's diagnoses.

  9. 19 CFR 148.39 - Rented automobiles.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 2 2010-04-01 2010-04-01 false Rented automobiles. 148.39 Section 148.39 Customs... automobiles. (a) Importation for temporary period. An automobile rented by a resident of the United States... (HTSUS) (19 U.S.C. 1202), without payment of duty. The automobile shall be used for the transportation...

  10. 49 CFR 523.3 - Automobile.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 6 2010-10-01 2010-10-01 false Automobile. 523.3 Section 523.3 Transportation..., DEPARTMENT OF TRANSPORTATION VEHICLE CLASSIFICATION § 523.3 Automobile. (a) An automobile is any 4-wheeled... pounds and less than 10,000 pounds gross vehicle weight are determined to be automobiles: (1)...

  11. Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter

    OpenAIRE

    Neda Parnian; Farid Golnaraghi

    2010-01-01

    This paper describes the development of a modified Kalman filter to integrate a multi-camera vision system and strapdown inertial navigation system (SDINS) for tracking a hand-held moving device for slow or nearly static applications over extended periods of time. In this algorithm, the magnitude of the changes in position and velocity are estimated and then added to the previous estimation of the position and velocity, respectively. The experimental results of the hybrid vision/SDINS design ...

  12. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-05-01

    Full Text Available This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF and Unscented Kalman filter (UKF were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.

  13. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering.

    Science.gov (United States)

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

  14. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    Science.gov (United States)

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

  15. Developing a Hybrid GPS/Wi-Fi Navigation System for User Guidance

    Directory of Open Access Journals (Sweden)

    Mohsen Rashidian

    2016-05-01

    Full Text Available Today, location based services  are offered by different organizations such as Google, MapQuest, open trip planner, and etc., but in most cases current services do not provide seamless operations between indoor and outdoor environments;Development of a hybrid navigation system with the capability of continuously positioning in both indoor and outdoor environments is important. This paper, presents architecture for developing a hybrid navigation system that includes five main subsystems: routing, positioning, database, user interface and mapping. In the positioning part, the combination of Global positioning system (GPS and Wi-Fi finger print technique are proposed to determine the position of users in outdoor and indoor environments respectively. Also, the data related to the movement history of user is suggested to be used for improving the accuracy of obtained positions in indoor part. The evaluation of proposed method was done by implementation of prototype system. The obtained result shows the possibility of utilizing the suggested method in most location-based services in indoor/outdoor environments.

  16. Tightly coupled integration of ionosphere-constrained precise point positioning and inertial navigation systems.

    Science.gov (United States)

    Gao, Zhouzheng; Zhang, Hongping; Ge, Maorong; Niu, Xiaoji; Shen, Wenbin; Wickert, Jens; Schuh, Harald

    2015-01-01

    The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS. PMID:25763647

  17. On-Line Smoothing for an Integrated Navigation System with Low-Cost MEMS Inertial Sensors

    Directory of Open Access Journals (Sweden)

    Shih-Ching Huang

    2012-12-01

    Full Text Available The integration of the Inertial Navigation System (INS and the Global Positioning System (GPS is widely applied to seamlessly determine the time-variable position and orientation parameters of a system for navigation and mobile mapping applications. For optimal data fusion, the Kalman filter (KF is often used for real-time applications. Backward smoothing is considered an optimal post-processing procedure. However, in current INS/GPS integration schemes, the KF and smoothing techniques still have some limitations. This article reviews the principles and analyzes the limitations of these estimators. In addition, an on-line smoothing method that overcomes the limitations of previous algorithms is proposed. For verification, an INS/GPS integrated architecture is implemented using a low-cost micro-electro-mechanical systems inertial measurement unit and a single-frequency GPS receiver. GPS signal outages are included in the testing trajectories to evaluate the effectiveness of the proposed method in comparison to conventional schemes.

  18. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Directory of Open Access Journals (Sweden)

    David Zapata

    2013-01-01

    Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

  19. An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

    Science.gov (United States)

    Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

    2013-01-01

    Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

  20. Amarok Pikap: interactive percussion playing automobile

    OpenAIRE

    Artut, Selçuk Hüseyin; Artut, Selcuk Huseyin

    2013-01-01

    Alternative interfaces that imitate the audio-structure of authentic musical instruments are often equipped with sound generation techniques that feature physical attributes similar to those of the instruments they imitate. Amarok Pikap project utilizes an interactive system on the surface of an automobile that is specially modified with the implementation of various electronic sensors attached to its bodywork. Sur-faces that will be struck to produce sounds in percussive instrument modeling ...

  1. Estimation of Claim Numbers in Automobile Insurance

    OpenAIRE

    Arató, Miklós; Martinek, László

    2012-01-01

    The use of bonus-malus systems in compulsory liability automobile insurance is a worldwide applied method for premium pricing. If certain assumptions hold, like the conditional Poisson distribution of the policyholders claim number, then an interesting task is to evaluate the so called claims frequency of the individuals. Here we introduce 3 techniques, two is based on the bonus-malus class, and the third based on claims history. The article is devoted to choose the method, which fits to the ...

  2. The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a per ceiving system for exploring its surroundings. Its computation source is a simultaneously running system com posed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is em ployed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.

  3. Automobile electronic parking brake system (EPB) and pplication development%汽车电子驻车制动系统(EPB)的研发与应用

    Institute of Scientific and Technical Information of China (English)

    周娟英

    2014-01-01

    With thedevelopment of automobile electronic technology, auto control more and more components from the traditional mechanical control mode is gradually transformed into electronic control mode.For example,previously only in some luxury cars can see electronic brake system,is now being applied to medium and small cars.Electronic parking brake system (EPB)and the application of the further impetus to the integration of automotive electronic control system,not only reduces the complexity of the body structure, the optimization of the system of space,but also can reduce the cost,improve the reliability of the system.%随着汽车电子技术的不断进步,越来越多的汽车控制组件从传统的机械控制方式逐渐转变为电子控制方式。比如以前只能在一些高级豪华车上才能看得到的电子刹车系统,如今也逐渐被应用到中小型汽车上。电子驻车制动系统(EPB)的出现和应用更进一步地推动了汽车电子控制系统的集成,不仅降低了车身结构的复杂性,优化了系统的空间,还可以降低成本,提高系统的可靠性。

  4. Chery Automobile: Chinese Firms catching up

    OpenAIRE

    Zhang, Ying; Yang, Sheng Yun

    2015-01-01

    textabstractChery Automobile Co., Ltd. is one of the few private automobile companies in China. Compared to state automobile companies, it lacks adequate resources and state support; compared to joint-venture brands, it cannot leverage popular and profitable international models. Despite these obstacles, Chery has developed dramatically over the last decade, becoming the top automobile exporter among all automobile companies in China. Strategic alliances served as the foundation of its amazin...

  5. The Linguistic Features of English Automobile Advertisements

    Institute of Scientific and Technical Information of China (English)

    李琼璐

    2014-01-01

    Household cars are largely demanded today, stimulating the economic development throughout the automobile industry. To enlarge market, all automobile producers pay great efforts to advertisements which result in a large quantity of automobile advertisements. Due to the rare analysis on the linguistic features of automobile advertisements, this essay makes a specific study on this. Analysis will be done through the perspectives of the lexical level, the syntactic level and the rhetoric level. Hence, valid references could be offered to future automobile advertisers.

  6. A Target-Orientated Marker Image Binarization Method for Orthopaedic Surgical Navigation System

    Institute of Scientific and Technical Information of China (English)

    YAN Shi-ju; CHEN Xiao-jun; WANG Cheng-tao; SU Ying-ying; XIA Qing

    2007-01-01

    Camera calibration is the key technique in a C-arm based orthopaedic surgical navigation system. The extraction of marker location information is a necessary step in the calibration process. Ideal marker images should possess uniform background and contain marker shadow only, but in fact marker images always possess nonuniform background and are contaminated by noise and unwanted anatomic information, making the extraction very difficult. A target-orientated marker shadow extraction method was proposed. With this method a proper threshold for marker image binarization can be determined.

  7. A Kinect(™) camera based navigation system for percutaneous abdominal puncture.

    Science.gov (United States)

    Xiao, Deqiang; Luo, Huoling; Jia, Fucang; Zhang, Yanfang; Li, Yong; Guo, Xuejun; Cai, Wei; Fang, Chihua; Fan, Yingfang; Zheng, Huimin; Hu, Qingmao

    2016-08-01

    Percutaneous abdominal puncture is a popular interventional method for the management of abdominal tumors. Image-guided puncture can help interventional radiologists improve targeting accuracy. The second generation of Kinect(™) was released recently, we developed an optical navigation system to investigate its feasibility for guiding percutaneous abdominal puncture, and compare its performance on needle insertion guidance with that of the first-generation Kinect(™). For physical-to-image registration in this system, two surfaces extracted from preoperative CT and intraoperative Kinect(™) depth images were matched using an iterative closest point (ICP) algorithm. A 2D shape image-based correspondence searching algorithm was proposed for generating a close initial position before ICP matching. Evaluation experiments were conducted on an abdominal phantom and six beagles in vivo. For phantom study, a two-factor experiment was designed to evaluate the effect of the operator's skill and trajectory on target positioning error (TPE). A total of 36 needle punctures were tested on a Kinect(™) for Windows version 2 (Kinect(™) V2). The target registration error (TRE), user error, and TPE are 4.26  ±  1.94 mm, 2.92  ±  1.67 mm, and 5.23  ±  2.29 mm, respectively. No statistically significant differences in TPE regarding operator's skill and trajectory are observed. Additionally, a Kinect(™) for Windows version 1 (Kinect(™) V1) was tested with 12 insertions, and the TRE evaluated with the Kinect(™) V1 is statistically significantly larger than that with the Kinect(™) V2. For the animal experiment, fifteen artificial liver tumors were inserted guided by the navigation system. The TPE was evaluated as 6.40  ±  2.72 mm, and its lateral and longitudinal component were 4.30  ±  2.51 mm and 3.80  ±  3.11 mm, respectively. This study demonstrates that the navigation accuracy of the proposed system is

  8. gLAB upgrade with BeiDou navigation system signals

    OpenAIRE

    Wang, Xiaoli

    2015-01-01

    The gLAB tool suit is an educational and professional multipurpose GNSS data processing software. It has been developed by gAGE/UPC under a contract of the European Space Agency (ESA). The current version of gLAB allows full GPS data processing with High Accuracy Positioning capability (at the centimetre level), but only a very limited data handling of Galileo and GLONASS. The Chinese Global Satellite Navigation System Beidou was not included in the initial requirements of ESA. The target of ...

  9. A Study on the System and Method for Drawing 3-Dimensional Cable Object with the cable tracking Navigation

    International Nuclear Information System (INIS)

    3D cable tracking system with navigation makes it possible to easily search the objects which users want to retrieve and to measure the visual, spatial and structural distance by connecting the existing cable management system with 3D cable tracking system with navigation. With this consideration, we hope to create a more advanced cable management system in the future. I would like to describes the management system and method of the cable installed in the nuclear power plant, and how to build the database of the system. More specifically, it will be operated to the maintenance and management function, and the life management system of the cable, describing the creation method of three-dimensional cable object formed by the information of trace route through navigation and how to build the system database automatically

  10. A Study on the System and Method for Drawing 3-Dimensional Cable Object with the cable tracking Navigation

    Energy Technology Data Exchange (ETDEWEB)

    Bhang, Keugjin; Jung, Sunchul [Central Research Institute, Daejeon (Korea, Republic of); Hong, Junhee [Chungnam Univ., Daejeon (Korea, Republic of)

    2013-05-15

    3D cable tracking system with navigation makes it possible to easily search the objects which users want to retrieve and to measure the visual, spatial and structural distance by connecting the existing cable management system with 3D cable tracking system with navigation. With this consideration, we hope to create a more advanced cable management system in the future. I would like to describes the management system and method of the cable installed in the nuclear power plant, and how to build the database of the system. More specifically, it will be operated to the maintenance and management function, and the life management system of the cable, describing the creation method of three-dimensional cable object formed by the information of trace route through navigation and how to build the system database automatically.

  11. Automobile Driving and Aggressive Behavior

    OpenAIRE

    Novaco, Raymond W.

    1991-01-01

    Automobile driving and aggressive behavior have had an extensive association. Themes of dominance and territoriality have long been part of automobile driving, which has also involved flagrant assaultive actions. Recent episodes of roadway violence in metropolitan areas have raised community concern about aggressive behavior in driving, although common beliefs about why such violence occurs can be seen as pseudoexplanations. Various themes in the psychology of aggression are presented as they...

  12. Design and implementation of a patient navigation system in rural Nepal: Improving patient experience in resource-constrained settings.

    Science.gov (United States)

    Raut, Anant; Thapa, Poshan; Citrin, David; Schwarz, Ryan; Gauchan, Bikash; Bista, Deepak; Tamrakar, Bibhu; Halliday, Scott; Maru, Duncan; Schwarz, Dan

    2015-12-01

    Patient navigation programs have shown to be effective across multiple settings in guiding patients through the care delivery process. Limited experience and literature exist, however, for such programs in rural and resource-constrained environments. Patients living in such settings frequently have low health literacy and substantially lower social status than their providers. They typically have limited experiences interfacing with formalized healthcare systems, and, when they do, their experience can be unpleasant and confusing. At a district hospital in rural far-western Nepal, we designed and implemented a patient navigation system that aimed to improve patients' subjective care experience. First, we hired and trained a team of patient navigators who we recruited from the local area. Their responsibility is exclusively to demonstrate compassion and to guide patients through their care process. Second, we designed visual cues throughout our hospital complex to assist in navigating patients through the buildings. Third, we incorporated the patient navigators within the management and communications systems of the hospital care team, and established standard operating procedures. We describe here our experiences and challenges in designing and implementing a patient navigator program. Such patient-centered systems may be relevant at other facilities in Nepal and globally where patient health literacy is low, patients come from backgrounds of substantial marginalization and disempowerment, and patient experience with healthcare facilities is limited. PMID:26699353

  13. Safety Cases for Global Navigation Satellite Systems' Safety of Life(SOL) Applications

    Science.gov (United States)

    Johnson, C. W.; Yepez, Amaya Atencia

    2010-09-01

    Global Navigation Satellite Systems(GNSS) have recently been enhanced to provide additional guarantees for the accuracy, integrity, reliability and coverage of their services. These infrastructures are intended to be robust against jamming. They support real-time self-diagnostic error detection and provide end-users with detailed information about precision and integrity. In consequence, they are gradually being introduced into safety-related applications. This paper argues that greater attention needs to be paid to the ways in which these navigation infrastructures are being integrated into the safety cases that support Safety of Life(SoL) applications. In particular, we contrast the significant investments that have been made in analysing the safety of GNSS aviation applications, such as en-route operations and non-precision approaches, with the relative lack of progress in other industries. There is also a need for greater consistency between the safety arguments that support similar GNSS applications. This helps to ensure that safety managers and regulators consider a similar set of hazards when seeking to integrate these new navigation infrastructures into SoL systems. While international aviation organisations have taken important steps to establish communication mechanisms within their industry, the same cannot be said for other industries. The ad hoc nature of the safety arguments supporting many recent proposals creates a danger that technological innovation will outstrip our commitment to mitigate or avoid future hazards. Unless these issues are addressed then accidents involving the first wave of SoL applications will further jeopardise the development of GNSS infrastructures.

  14. Error Analysis and Reduction for Shearer Positioning using the Strapdown Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Chengming Luo

    2012-09-01

    Full Text Available Shearer dynamic positioning is a key factor for coal mine equipment automation, and it is feasible to shearer positioning using the strapdown inertial navigation system(SINS. Yet, it is very difficult to guarantee positioning accuracy by error influence. This paper provided a method for shearer positioning error analysis. Firstly, we built the shearer state equation and put forward a method called quaternion method rule. This method can deduce misalignment angle of the shearer Inertial Navigation System. Secondly, we considered the initial alignment error of INS is the main system error, the nonlinear Extended Kalman Filter (EKF is proposed to estimate and adjust the misalignment angles, as well as the shearer velocity. Shearer dynamic positioning accuracy is guaranteed by precise and fast alignment of the INS. Based on the shearer state equation; this paper derived the observation equation. Finally, we simulated the initial alignments process which contains the observation equation and initial condition, and did experiment using ADIS16350. Results show misalignment angles model and EKF is feasible for initial alignments of INS in shearer positioning.

  15. Concepts for AutomatedPrecise Low Earth Orbiter Navigation With the Global Positioning System

    Science.gov (United States)

    Lichten, S. M.; Thornton, C. L.; Young, L. E.; Yunck, T. P.

    1998-01-01

    The Global Positioning System (GPS) is widely used for satellite positioning and navigation and for numerous geolocation activities. Real-time, onboard positioning accuracies for low Earth orbiters (LEOs) currently vary from 50 to 100 m for stand-alone conventional GPS tracking to somewhat better than 10 m with sophisticated onboard data filtering. Wide-area differential techniques, such as those supported by the Wide Area Augmentation System (WAAS) under development by the U.S. Federal Aviation Administration, offer real-time, kinematic positioning accuracies ranging from a few meters to better than a meter over well-defined local regions. This article describes a concept for extending the wide-area differential GPS techniques to achieve global, real-time positioning of LEOs at submeter accuracies. GPS design and operation policy issues that currently limit real-time, onboard precision positioning are discussed. The article then examines a number of proposed system design enhancements under consideration by the U.S. Department of Defense for the next-generation GPS, termed GPS III. These potential enhancements, if implemented, would enable global real-time, stand-alone position accuracies of a few decimeters for kinematic users and better than 10 cm for LEOs. Such capabilities could dramatically impact NASA missions by greatly lowering ground operations costs, as well as navigation and orbit determination costs in general.

  16. Comparison of Global Navigation Satellite System Devices on Speed Tracking in Road (TranSPORT Applications

    Directory of Open Access Journals (Sweden)

    Matej Supej

    2014-12-01

    Full Text Available Global Navigation Satellite Systems (GNSS are, in addition to being most widely used vehicle navigation method, becoming popular in sport-related tests. There is a lack of knowledge regarding tracking speed using GNSS, therefore the aims of this study were to examine under dynamic conditions: (1 how accurate technologically different GNSS measure speed and (2 how large is latency in speed measurements in real time applications. Five GNSSs were tested. They were fixed to a car’s roof-rack: a  smart phone, a wrist watch, a handheld device, a professional system for testing vehicles and a high-end Real Time Kinematics (RTK GNSS. The speed data were recorded and analyzed during rapid acceleration and deceleration as well as at steady speed. The study produced four main findings. Higher frequency and high quality GNSS receivers track speed at least at comparable accuracy to a vehicle speedometer. All GNSS systems measured maximum speed and movement at a constant speed well. Acceleration and deceleration have different level of error at different speeds. Low cost GNSS receivers operating at 1 Hz sampling rate had high latency (up to 2.16 s and are not appropriate for tracking speed in real time, especially during dynamic movements.

  17. Hybridní pohon automobilů

    OpenAIRE

    Tvrdý, Josef

    2014-01-01

    Obsahem této bakalářské práce je přehled možných hybridních pohonů automobilů a jejich praktické využití. Je zaměřena na hlavní výhody a nevýhody hybridního pohonu a zabývá se dopadem takto vybavených automobilů na životní prostředí, především na produkci skleníkových plynů. Také uvádí pohled na hybridy z finančního hlediska. This bachelor thesis deals with an overview of all possible hybrid vehicle propulsion systems and their practical usage. It is focused on the main advantages and disa...

  18. A Cooling System for an Automobile Based on Vapour Absorption Refrigeration Cycle Using Waste Heat of an Engine.

    OpenAIRE

    Satish K. Maurya; Saurabh Awasthi

    2014-01-01

    Now a days the air conditioning system of cars is mainly uses “Vapour Compression Refrigerant System” (VCRS) which absorbs and removes heat from the interior of the car that is the space to be cooled and rejects the heat to atmosphere. In vapour compression refrigerant system, the system utilizes power from engine shaft as the input power to drive the compressor of the refrigeration system, hence the engine has to produce extra work to run the compressor of the refrigerating s...

  19. 基于RFID的整车物流管理信息系统设计与实现%Design and Implementation of Management Information System of Automobile Logistics Based on RFID

    Institute of Scientific and Technical Information of China (English)

    王保敏; 黄珊

    2016-01-01

    针对当前整车物流业务存在的主要问题,分析RFID的实际应用需求,在此基础上重组和再造了原有典型流程。以整车物流供应链为背景,论证RFID资源型应用模式的可行性,设计整车物流管理系统的总体架构,阐述系统与其他管理应用的交互。采用EPCIS标准规定的EPC事件获取机制,以分层设计的思想实现系统主要功能。%Aiming at main problems existing in current automobile logistics,this paper analyzed practi-cal requirements of RFID and reconstructed the typical processes. Based on supply chain of automobile logis-tics,feasibility of RFID resource-application mode is demonstrated. The paper also designed overall architec-ture of automobile logistics management system and elaborated its interactions with other management appli-cations. Main functions of the system was also realized under hierarchical-designing idea,adopting by EPC event acquisition mechanism which is stipulated by EPCIS standard.

  20. Merging Autopilot/Flight Control and Navigation-Flight Management Systems

    Directory of Open Access Journals (Sweden)

    Khaleel Qutbodin

    2010-01-01

    Full Text Available In this abstract the following commercial aircraft 3 avionics systems will be merged together: (1 Autopilot Flight Director System (APFDS, (2 Flight Control System (FCS and (3 Flight Management Systems (FMS. Problem statement: These systems perform functions that are dependant and related to each other, also they consists of similar hardware components. Each of these systems consists of at least one computer, control panel and displays that place on view the selection and aircraft response. They receive several similar sensor inputs, or outputs of one system are fed as input to the other system. By combining the three systems, repeated and related functions are reduced. Since these systems perform related functions, designers and programmers verify that conflict between these systems is not present. Combining the three systems will eliminate such possibility. Also used space, weight, wires and connections are decreased, consequently electrical consumption is reduced. To keep redundancy, the new system can be made of multiple channels. Approach: The new system (called Autopilot Navigation Management System, APNMS is more efficient and resolves the above mention drawbacks. Results: The APFDS system functions (as attitude-hold or heading-hold are merged with the FCS system main function which is controlling flight control surfaces as well as other functions as flight protection, Turn coordination and flight stability augmentation. Also the Flight Management system functions (as flight planning, aircraft flight performance/engine thrust management are merged in the new system. All this is done through combining all 3 systems logic software’s. Conclusion/Recommendations: The new APNMS system can be installed and tested on prototype aircraft in order to verify its benefits and fruits to the aviation industry.

  1. Interactive multiview video system with non-complex navigation at the decoder

    CERN Document Server

    Maugey, Thomas

    2012-01-01

    Multiview video with interactive and smooth view switching at the receiver is a challenging application with several issues in terms of effective use of storage and bandwidth resources, reactivity of the system, quality of the viewing experience and system complexity. The classical decoding system for generating virtual views first projects a reference or encoded frame to a given viewpoint and then fills in the holes due to potential occlusions. This last step still constitutes a complex operation with specific software or hardware at the receiver and requires a certain quantity of information from the neighboring frames for insuring consistency between the virtual images. In this work we propose a new approach that shifts most of the burden due to interactivity from the decoder to the encoder, by anticipating the navigation of the decoder and sending auxiliary information that guarantees temporal and interview consistency. This leads to an additional cost in terms of transmission rate and storage, which we m...

  2. Thoracoscopic surgical navigation system for cancer localization in collapsed lung based on estimation of lung deformation.

    Science.gov (United States)

    Nakamoto, Masahiko; Aburaya, Naoki; Sato, Yoshinobu; Konishi, Kozo; Yoshino, Ichiro; Hashizume, Makoto; Tamura, Shinichi

    2007-01-01

    We have developed a thoracoscopic surgical navigation system for lung cancer localization. In our system, the thoracic cage and mediastinum are localized using rigid registration between the intraoperatively digitized surface points and the preoperative CT surface model, and then the lung deformation field is estimated using nonrigid registration between the registered and digitized point datasets on the collapsed lung surface and the preoperative CT lung surface model to predict cancer locations. In this paper, improved methods on key components of the system are investigated to realize clinically acceptable usability and accuracy. Firstly, we implement a non-contact surface digitizer under thoracoscopic control using an optically tracked laser pointer. Secondly, we establish a rigid registration protocol which minimizes the influence of the deformation in different patient's positions by analyzing MR images of volunteers. These techniques were evaluated by in vitro and clinical experiments. PMID:18044554

  3. Application of Adaptive Divided Difference Filter on GPS/IMU Integrated Navigation System

    Institute of Scientific and Technical Information of China (English)

    ZHAO Pei-pei; LI Shi-xin; XIAO Zhi-tao

    2009-01-01

    The efficient and accurate approximate nonlinear filters have been widely used in the estimation of states and parameters of dynamical systems.In this paper,an adaptive divided difference filter is designed for precise estimation of states and parameters of mieromechanical gyro navigation system.Based on the investigation of nonlinear divided difference filter the adaptive divided difference filter(ADDF)was designed,which takes account of the incorrect time-varying noise statistics of dynamical systems and compensation of the nonlinearity effects neglected by linearization.And its performance is superior to that of DDF and extended Kalman filter (EKF). Simulation results indicate that the advantages of the proposed nonlinear filters make them attractive alternatives to the extended Kalman filter.

  4. A Cooling System for an Automobile Based on Vapour Absorption Refrigeration Cycle Using Waste Heat of an Engine.

    Directory of Open Access Journals (Sweden)

    Satish K. Maurya

    2014-03-01

    Full Text Available Now a days the air conditioning system of cars is mainly uses “Vapour Compression Refrigerant System” (VCRS which absorbs and removes heat from the interior of the car that is the space to be cooled and rejects the heat to atmosphere. In vapour compression refrigerant system, the system utilizes power from engine shaft as the input power to drive the compressor of the refrigeration system, hence the engine has to produce extra work to run the compressor of the refrigerating system utilizing extra amount of fuel. This loss of power of the vehicle for refrigeration can be neglected by utilizing another refrigeration system i.e. a “Vapour Absorption Refrigerant System”. As well known thing about VAS that these machines required low grade energy for operation. Hence in such types of system, a physicochemical process replaces the mechanical process of the Vapour Compression Refrigerant System by using energy in the form of heat rather than mechanical work. This heat obtained from the exhaust of high power internal combustion engines.

  5. A control system of mobile navigation robot for precise spraying based ultrasonic detecting and ARM embedded technologies

    Science.gov (United States)

    Tang, Xiuying; Li, Cuiling; Wang, Xiu; Yue, Xinpeng; Peng, Yankun

    2011-06-01

    This paper described a control system of mobile navigation robot for precision spraying in greenhouse environment, which were composed of main control module, motor driving module, ultrasonic detecting module and wirless remote control module. The hard circuits of control system were built. The main control module used ARM7TDMI-S-based LPC2210 micro-processing controller. The motor driving module consisted of voltage amplifier circuit based SN74LS245N and DM74LS244N chips, RC filter circuit, and HM-YZ-30 DC brush motor driver. The ultrasonic detecting module consisted of four standard ultrasonic ranging modules which were arranged on the four sides around the mobile navigation robot, and used GM8125 chip to expand serial communication interfaces. An obstacle-avoiding strategy and its algorithm were proposed and the control programs of mobile navigation robot were programmed. The mobile navigation robot for spraying can realize the actions such as starting and stopping, forward and backward moving, accelerate and decelerate motion, and right and left turn. Finally, the functional experiments of the mobile navigation robot were conducted in the laboratory environment. The results showed that the ultrasonic detecting distance of the robot was 50.5mm-1832.0mm and detecting blind zone was less than 50mm, the ultrasonic detecting angle of individual ultrasonic detecting module of robot was similar to U-shaped and its vaule was about 45.66°, and the moving path of navigation robot was approximately linear.

  6. Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters. [Instrument Meteorological Conditions

    Science.gov (United States)

    Karmali, M. S.; Phatak, A. V.; Bull, J. S.; Peach, L. L.; Demko, P. S.

    1984-01-01

    The present investigation is concerned with a sensitivity analysis of the Decelerated Steep Approach and Landing (DSAL) maneuver to on-board and ground-based navigation system parameters. The Instrument Meteorological Conditions (IMC) DSAL maneuver involves decelerating to zero range rate while tracking the localizer and glideslope. The considered study investigated the performance of the navigation systems using Constant Deceleration Profile (CDP) guidance and a six degrees glideslope trajectory. A closed-loop computer simulation of the UH1H helicopter DSAL system was developed for the sensitivity analysis. Conclusions on system performance parameter sensitivity are discussed.

  7. SYSTEM ENGINEERING PRINCIPLES OF ESTIMATION OF ECOLOGICAL SAFETY OF ENVIRONMENT AT CONSTRUCTION AND RECONSTRUCTION OF AUTOMOBILE ROADS

    OpenAIRE

    Ugnenko, E.

    2005-01-01

    Basic system engineering principles of an estimation of ecological safety at designing, construction and reconstruction of highways are shown. A complex approach to the definition of settlement visibility on highways is offered.

  8. Damping Design of Airborne Inertial Navigation System%机载惯导系统减振设计

    Institute of Scientific and Technical Information of China (English)

    宁月光; 贾新强

    2015-01-01

    Damping design is important for keeping the performance and reliability of airborne inertial navigation system. Under the environment of the airborne inertial navigation system, the requirement of damping system is presented in this paper, and the relevant dynamic model is set up according to the platform inertial navigation system and the strap-down inertial navigation system. The damping design of airborne inertial navigation system is presented, which includes choosing the structure of damping system, determining the material and structure of damper and the inherent frequency of damping system. According to the design method, a damping design of platform inertial navigation system is put forward and satisfied by the demands of this damping system.%为了保证机载惯导系统的性能和可靠性,减振系统的设计至关重要.本文根据机载惯导系统的使用环境,提出了系统对减振系统的要求,并针对平台式惯导系统和捷联惯导系统,建立了相应的系统振动动力学模型.在总结减振系统设计指标的基础上,提出了机载惯导减振系统的设计方法,包括减振系统结构形式的选取、减振器材料和结构的确定、减振系统固有频率的确定以及阻尼特性设计等.按照设计方法,给出了一个平台惯导减振系统设计实例,该减振系统满足系统需要.

  9. Application of the spherical harmonic gravity model in high precision inertial navigation systems

    Science.gov (United States)

    Wang, Jing; Yang, Gongliu; Li, Xiangyun; Zhou, Xiao

    2016-09-01

    The spherical harmonic gravity model (SHM) may, in general, be considered as a suitable alternative to the normal gravity model (NGM), because it represents the Earth’s gravitational field more accurately. However, the high-resolution SHM has never been used in current inertial navigation systems (INSs) due to its extremely complex expression. In this paper, the feasibility and accuracy of a truncated SHM are discussed for application in a real-time free-INS with a precision demand better than 0.8 nm h‑1. In particular, the time and space complexity are analyzed mathematically to verify the feasibility of the SHM. Also, a test on a typical navigation computer shows a storable range of cut-off degrees. To further evaluate the appropriate degree and accuracy of the truncated SHM, analyses of covariance and truncation error are proposed. Finally, a SHM of degree 12 is demonstrated to be the appropriate model for routine INSs in the precision range of 0.4–0.75 nm h‑1. Flight simulations and road tests show its outstanding performance over the traditional NGM.

  10. Estimating zenith tropospheric delays from BeiDou navigation satellite system observations.

    Science.gov (United States)

    Xu, Aigong; Xu, Zongqiu; Ge, Maorong; Xu, Xinchao; Zhu, Huizhong; Sui, Xin

    2013-01-01

    The GNSS derived Zenith Tropospheric Delay (ZTD) plays today a very critical role in meteorological study and weather forecasts, as ZTDs of thousands of GNSS stations are operationally assimilated into numerical weather prediction models. Recently, the Chinese BeiDou Navigation Satellite System (BDS) was officially announced to provide operational services around China and its neighborhood and it was demonstrated to be very promising for precise navigation and positioning. In this contribution, we concentrate on estimating ZTD using BDS observations to assess its capacity for troposphere remote sensing. A local network which is about 250 km from Beijing and comprised of six stations equipped with GPS- and BDS-capable receivers is utilized. Data from 5 to 8 November 2012 collected on the network is processed in network mode using precise orbits and in Precise Point Positioning mode using precise orbits and clocks. The precise orbits and clocks are generated from a tracking network with most of the stations in China and several stations around the world. The derived ZTDs are compared with that estimated from GPS data using the final products of the International GNSS Service (IGS). The comparison shows that the bias and the standard deviation of the ZTD differences are about 2 mm and 5 mm, respectively, which are very close to the differences of GPS ZTD estimated using different software packages. PMID:23552104

  11. Estimating Zenith Tropospheric Delays from BeiDou Navigation Satellite System Observations

    Directory of Open Access Journals (Sweden)

    Xin Sui

    2013-04-01

    Full Text Available The GNSS derived Zenith Tropospheric Delay (ZTD plays today a very critical role in meteorological study and weather forecasts, as ZTDs of thousands of GNSS stations are operationally assimilated into numerical weather prediction models. Recently, the Chinese BeiDou Navigation Satellite System (BDS was officially announced to provide operational services around China and its neighborhood and it was demonstrated to be very promising for precise navigation and positioning. In this contribution, we concentrate on estimating ZTD using BDS observations to assess its capacity for troposphere remote sensing. A local network which is about 250 km from Beijing and comprised of six stations equipped with GPS- and BDS-capable receivers is utilized. Data from 5 to 8 November 2012 collected on the network is processed in network mode using precise orbits and in Precise Point Positioning mode using precise orbits and clocks. The precise orbits and clocks are generated from a tracking network with most of the stations in China and several stations around the world. The derived ZTDs are compared with that estimated from GPS data using the final products of the International GNSS Service (IGS. The comparison shows that the bias and the standard deviation of the ZTD differences are about 2 mm and 5 mm, respectively, which are very close to the differences of GPS ZTD estimated using different software packages.

  12. An Ultrasound Based System for Navigation and Therapy Control of Thermal Tumour Therapies

    Science.gov (United States)

    Lemor, R. M.; Tretbar, S. H.; Hewener, H. J.; Guenther, C.; Schwarzenbarth, K.; Ritz, J.-P.; Lehmann, K.

    Interstitial thermal therapies such as laser induced interstitial thermal therapy (LITT) and radio frequency induced interstitial thermal therapy (RFITT) are widely used in treatment of focal lesions of tumors and metastasis. For improving the results and the safety of these therapies it is necessary to optimize the precise heat applicator placement and to control the energy deposition into the tissue. In this paper we present a dedicated system for navigation and therapy control of thermal ablation therapies for liver applications based on ultrasound technology. The navigation scenario offers the possibility to use single or multiple applicators and allows on line three-dimensional puncturing guidance inside and outside the imaging plane of the transducer. Using attenuation changes as an ultrasound parameter for defining the thermal ablation zone the therapy process can be controlled and monitored. Differential attenuation data are derived by using a coded excitation scheme for acquiring multi band attenuation images, which are reconstructed into 3d volume data. The volume data sets are then coregistered with and compared to pretreatment data. A strong increase in attenuation change correlates with tissue coagulation

  13. Drift Reduction in Pedestrian Navigation System by Exploiting Motion Constraints and Magnetic Field

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-09-01

    Full Text Available Pedestrian navigation systems (PNS using foot-mounted MEMS inertial sensors use zero-velocity updates (ZUPTs to reduce drift in navigation solutions and estimate inertial sensor errors. However, it is well known that ZUPTs cannot reduce all errors, especially as heading error is not observable. Hence, the position estimates tend to drift and even cyclic ZUPTs are applied in updated steps of the Extended Kalman Filter (EKF. This urges the use of other motion constraints for pedestrian gait and any other valuable heading reduction information that is available. In this paper, we exploit two more motion constraints scenarios of pedestrian gait: (1 walking along straight paths; (2 standing still for a long time. It is observed that these motion constraints (called “virtual sensor”, though considerably reducing drift in PNS, still need an absolute heading reference. One common absolute heading estimation sensor is the magnetometer, which senses the Earth’s magnetic field and, hence, the true heading angle can be calculated. However, magnetometers are susceptible to magnetic distortions, especially in indoor environments. In this work, an algorithm, called magnetic anomaly detection (MAD and compensation is designed by incorporating only healthy magnetometer data in the EKF updating step, to reduce drift in zero-velocity updated INS. Experiments are conducted in GPS-denied and magnetically distorted environments to validate the proposed algorithms.

  14. Human spatial navigation via a visuo-tactile sensory substitution system.

    Science.gov (United States)

    Segond, Hervé; Weiss, Déborah; Sampaio, Eliana

    2005-01-01

    Spatial navigation within a real 3-D maze was investigated to study space perception on the sole basis of tactile information transmitted by means of a 'tactile vision substitution system' (TVSS) allowing the conversion of optical images-collected by a micro camera-into 'tactile images' via a matrix in contact with the skin. The development of such a device is based on concepts of cerebral and functional plasticity, enabling subjective reproduction of visual images from tactile data processing. Blindfolded sighted subjects had to remotely control the movements of a robot on which the TVSS camera was mounted. Once familiarised with the cues in the maze, the subjects were given two exploration sessions. Performance was analysed according to an objective point of view (exploration time, discrimination capacity), as well as a subjective one (speech). The task was successfully carried out from the very first session. As the subjects took a different path during each navigation, a gradual improvement in performance (discrimination and exploration time) was noted, generating a phenomenon of learning. Moreover, subjective analysis revealed an evolution of the spatialisation process towards distal attribution. Finally, some emotional expressions seemed to reflect the genesis of 'qualia' (emotional qualities of stimulation). PMID:16309117

  15. Indoor wayfinding and navigation

    CERN Document Server

    2015-01-01

    Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.

  16. GLONASS-R: GNSS reflectometry with a Frequency Division Multiple Access-based satellite navigation system

    Science.gov (United States)

    Hobiger, T.; Haas, R.; Löfgren, J. S.

    2014-04-01

    The information from reflected Global Navigation Satellite System (GNSS) signals can become a valuable data source, from which geophysical properties can be deduced. This approach, called GNSS Reflectometry (GNSS-R), can be used to develop instruments that act like an altimeter when arrival times of direct and reflected signals are compared. Current GNSS-R systems usually entirely rely on signals from the Global Positioning Service (GPS), and field experiments could demonstrate that information from such systems can measure sea level with an accuracy of a few centimeters. However, the usage of the Russian GLONASS system has the potential to simplify the processing scheme and to allow handling of direct and reflected signals like a bistatic radar. Thus, such a system has been developed and deployed for test purposes at the Onsala Space Observatory, Sweden, that has an operational GPS-based GNSS-R system. Over a period of 2 weeks in October 2013, GPS-based GNSS-R sea level monitoring and measurements with the newly developed GLONASS-R system were carried out in parallel. In addition, data from colocated tide gauge measurements were available for comparison. It can be shown that precision and accuracy of the GLONASS-based GNSS-R system is comparable to, or even better than, conventional GPS-based GNSS-R solutions. Moreover, the simplicity of the newly developed GLONASS-R system allows to make it a cheap and valuable tool for various remote sensing applications.

  17. Numerical modeling of a Global Navigation Satellite System in a general relativistic framework

    CERN Document Server

    Delva, P; Cadez, A

    2010-01-01

    In this article we model a Global Navigation Satellite System (GNSS) in a Schwarzschild space-time, as a first approximation of the relativistic geometry around the Earth. The closed time-like and scattering light-like geodesics are obtained analytically, describing respectively trajectories of satellites and electromagnetic signals. We implement an algorithm to calculate Schwarzschild coordinates of a GNSS user who receives proper times sent by four satellites, knowing their orbital parameters; the inverse procedure is implemented to check for consistency. The constellation of satellites therefore realizes a geocentric inertial reference system with no \\emph{a priori} realization of a terrestrial reference frame. We show that the calculation is very fast and could be implemented in a real GNSS, as an alternative to usual post-Newtonian corrections. Effects of non-gravitational perturbations on positioning errors are assessed, and methods to reduce them are sketched. In particular, inter-links between satelli...

  18. 33 CFR 66.10-15 - Aids to navigation.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  19. A LOW BUDGET MOBILE LASER SCANNING SOLUTION USING ON BOARD SENSORS AND FIELD BUS SYSTEMS OF TODAY'S CONSUMER AUTOMOBILES

    Directory of Open Access Journals (Sweden)

    D. M. M. Vock

    2012-09-01

    Full Text Available Mobile laser scanning systems (MLS offer a great potential for acquiring detailed point cloud data of urban and suburban surroundings with minimum effort. In this paper a new solution for MLSs is presented, requiring solely a combination of a profile laser scanning device and systems that are included in today's serialized end consumer vehicles. While today's mobile laser scan systems require different and expensive additional hardware that needs to be mounted onto the vehicle, the devices included within vehicle electronics offer good alternatives without additional costs.The actual scan consists of a continuous profile scan together with information gathered from on-board sensor modules. In a post- processing step, the sensor data is used to reconstruct the car's trajectory for the period of the scan and, based on this information, the track of the scan device for every measured laser pixel. Synchronization of pixel data and vehicle movement is realized via a timestamp signal which is transmitted to the car's field bus system and the scan device. To generate the final point cloud scenario, the trajectory is interpolated for every single scan point and used to convert its local position within the profile into the global coordinate system (Fig.1, Left.

  20. INDUSTRIAL ECOLOGY AND SUSTAINABLE SYSTEMS INNOVATION: A STUDENT DESIGN PROJECT ON MOBILITY IN THE POST-AUTOMOBILE ERA

    Science.gov (United States)

    The emergent field of industrial ecology (IE) has been described as the "science and engineering of sustainability" and the "technological core of sustainability." Some proponents of IE draw on metaphors from systems ecology and suggest that a design revolution is necessary t...

  1. Interfacing Space Communications and Navigation Network Simulation with Distributed System Integration Laboratories (DSIL)

    Science.gov (United States)

    Jennings, Esther H.; Nguyen, Sam P.; Wang, Shin-Ywan; Woo, Simon S.

    2008-01-01

    NASA's planned Lunar missions will involve multiple NASA centers where each participating center has a specific role and specialization. In this vision, the Constellation program (CxP)'s Distributed System Integration Laboratories (DSIL) architecture consist of multiple System Integration Labs (SILs), with simulators, emulators, testlabs and control centers interacting with each other over a broadband network to perform test and verification for mission scenarios. To support the end-to-end simulation and emulation effort of NASA' exploration initiatives, different NASA centers are interconnected to participate in distributed simulations. Currently, DSIL has interconnections among the following NASA centers: Johnson Space Center (JSC), Kennedy Space Center (KSC), Marshall Space Flight Center (MSFC) and Jet Propulsion Laboratory (JPL). Through interconnections and interactions among different NASA centers, critical resources and data can be shared, while independent simulations can be performed simultaneously at different NASA locations, to effectively utilize the simulation and emulation capabilities at each center. Furthermore, the development of DSIL can maximally leverage the existing project simulation and testing plans. In this work, we describe the specific role and development activities at JPL for Space Communications and Navigation Network (SCaN) simulator using the Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) tool to simulate communications effects among mission assets. Using MACHETE, different space network configurations among spacecrafts and ground systems of various parameter sets can be simulated. Data that is necessary for tracking, navigation, and guidance of spacecrafts such as Crew Exploration Vehicle (CEV), Crew Launch Vehicle (CLV), and Lunar Relay Satellite (LRS) and orbit calculation data are disseminated to different NASA centers and updated periodically using the High Level Architecture (HLA). In

  2. Maintenance-free lead acid battery for inertial navigation systems aircraft

    Science.gov (United States)

    Johnson, William R.; Vutetakis, David G.

    1995-05-01

    Historically, Aircraft Inertial Navigation System (INS) Batteries have utilized vented nickel-cadmium batteries for emergency DC power. The United States Navy and Air Force developed separate systems during their respective INS developments. The Navy contracted with Litton Industries to produce the LTN-72 and Air Force contracted with Delco to produce the Carousel IV INS for the large cargo and specialty aircraft applications. Over the years, a total of eight different battery national stock numbers (NSNs) have entered the stock system along with 75 battery spare part NSNs. The Standard Hardware Acquisition and Reliability Program is working with the Aircraft Battery Group at Naval Surface Warfare Center Crane Division, Naval Air Systems Command (AIR 536), Wright Laboratory, Battelle Memorial Institute, and Concorde Battery Corporation to produce a standard INS battery. This paper discusses the approach taken to determine whether the battery should be replaced and to select the replacement chemistry. The paper also discusses the battery requirements, aircraft that the battery is compatible with, and status of Navy flight evaluation. Projected savings in avoided maintenance in Navy and Air Force INS Systems is projected to be $14.7 million per year with a manpower reduction of 153 maintenance personnel. The new INS battery is compatible with commercially sold INS systems which represents 66 percent of the systems sold.

  3. Optimization of reliability centered predictive maintenance scheme for inertial navigation system

    International Nuclear Information System (INIS)

    The goal of this study is to propose a reliability centered predictive maintenance scheme for a complex structure Inertial Navigation System (INS) with several redundant components. GO Methodology is applied to build the INS reliability analysis model—GO chart. Components Remaining Useful Life (RUL) and system reliability are updated dynamically based on the combination of components lifetime distribution function, stress samples, and the system GO chart. Considering the redundant design in INS, maintenance time is based not only on components RUL, but also (and mainly) on the timing of when system reliability fails to meet the set threshold. The definition of components maintenance priority balances three factors: components importance to system, risk degree, and detection difficulty. Maintenance Priority Number (MPN) is introduced, which may provide quantitative maintenance priority results for all components. A maintenance unit time cost model is built based on components MPN, components RUL predictive model and maintenance intervals for the optimization of maintenance scope. The proposed scheme can be applied to serve as the reference for INS maintenance. Finally, three numerical examples prove the proposed predictive maintenance scheme is feasible and effective. - Highlights: • A dynamic PdM with a rolling horizon is proposed for INS with redundant components. • GO Methodology is applied to build the system reliability analysis model. • A concept of MPN is proposed to quantify the maintenance sequence of components. • An optimization model is built to select the optimal group of maintenance components. • The optimization goal is minimizing the cost of maintaining system reliability

  4. Globalization of the automobile industry in China: dynamics and barriers in greening of the road transportation

    International Nuclear Information System (INIS)

    This article describes the state of the automobile industry and urban road transportation management in China. It reviews how the automobile industry is evolving to respond to challenges in economic development, environmental regulations, and technological change. The dynamics and barriers resulting from technological change of automobiles in response to reduction of exhaust emissions and energy-efficiency improvement are analyzed. It is argued that consideration of externality costs should be integrated in automobile industrial policymaking and transportation management. Efforts need to be made to use more economic incentives for emissions reduction, and to promote technological change for cleaner vehicle development. This paper questions the current government policy of encouraging private car ownership, and suggests that improvement in public transportation systems, stronger emissions control, and technology innovation on environmental friendly automobile technologies would be relevant to China's drive toward sustainable transportation development. Social inequities resulted from automobile use is also stressed in the analysis

  5. An automated arc spray tooling system for rapid die-making of large-sized automobile body panels

    Institute of Scientific and Technical Information of China (English)

    HE Zhong-yun; LU Bing-heng; WANG Yi-qing; HONG Jun; TANG Yi-ping

    2006-01-01

    A creative robot wrist consisting of link mechanisms and a novel robot motion control method based on the cross-sectional vector contours of an STL-formatted model was proposed.By using the wrist and the control method,an industrial robot with five degrees of freedom for rapid tooling using metal arc spraying and electric brush plating techniques was developed.The wrist of the robot including a specially designed link mechanism can maintain the position of the spraying point on the surface of the master pattern whatever the orientation of the gun.Therefore,the kinematic nonlinear coupling between the position mechanism and orientation mechanism in a traditional robot can be avoided.The only input of the control system is the STL-formatted 3D CAD model of the pattern.Without the need of any manual programming,the metal arc spraying and brush plating (if necessary)processes can be performed automatically and efficiently after receiving the 3D CAD data of the pattern.Using this robot system in new car development and trial production,the cost and lead-time can be reduced substantially as compared with the conventional tool making method.

  6. Corrosion protection and finishing of automobiles

    International Nuclear Information System (INIS)

    finishing of automobiles is an important aspect. There have been considerable reductions of weight in automobiles by the use of composites components replacing heavy metallic components. Fenders previously based on metal have been replaced with plastic and painted with the same colour shade as of the metallic body, this has eps for proper adhesion of the paints on the plastic fender to avoid chipping off the paint form it. This paper discusses the necessary processes required for finishing of an automobile along with the corrosion protection measures. Automobiles contains a variety of engineering materials, engine main body fuel tanks connecting rods heat radiators and other mechanical parts are made from different types of engineering alloys having varying chemical compositions. Other parts like dashboard, front panel and other are made from composites. The main body made from cold roll ed steel having various contours 'c' it due to the different designs is the potential site for corrosion attack, The main body is exposed to the hostile environment through out its life period. An automobile is given a particular finish with a view to counter the hostile environments as they are not limited for plying in a limiting conditions and are taken to different weather conditions in one day thus facing severe stresses and strain. Thus it is essential that an automobile before rolling 'out of the assembly line should properly corrosion resistant and aesthetically pleasant also. Finishing for automobiles being very specialized, the main requirement being maximum durability with minimum numbers of coats baked, at the fastest possible schedule. High gloss and range of good eye catching colours being important to increase sales appeal. In the near past the car finishes were based on alkyd-amino resins baking materials and force drying lacquers, which have excellent appearance originally and maintain it on aging. The finishing system for the synthetic baking type may consist of

  7. Development of a Pedestrian Indoor Navigation System Based on Multi-Sensor Fusion and Fuzzy Logic Estimation Algorithms

    Science.gov (United States)

    Lai, Y. C.; Chang, C. C.; Tsai, C. M.; Lin, S. Y.; Huang, S. C.

    2015-05-01

    This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS). There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system to extend its

  8. DEVELOPMENT OF A PEDESTRIAN INDOOR NAVIGATION SYSTEM BASED ON MULTI-SENSOR FUSION AND FUZZY LOGIC ESTIMATION ALGORITHMS

    Directory of Open Access Journals (Sweden)

    Y. C. Lai

    2015-05-01

    Full Text Available This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS. There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system

  9. A fast and accurate initial alignment method for strapdown inertial navigation system on stationary base

    Institute of Scientific and Technical Information of China (English)

    Xinlong WANG; Gongxun SHEN

    2005-01-01

    In this work,a fast and accurate stationary alignment method for strapdown inertial navigation system (SINS) is proposed.It has been demonstrated that the stationary alignment of SINS can be improved by employing the multiposition technique,but the alignment time of the azimuth error is relatively longer.Over here,the two-position alignment principle is presented.On the basis of this SINS error model,a fast estimation algorithm of the azimuth error for the initial alignment of SINS on stationary base is derived fully from the horizontal velocity outputs and the output rates,and the novel azimuth error estimation algorithm is used for the two-position alignment.Consequently,the speed and accuracy of the SINS's initial alignment is enhanced greatly.The computer simulation results illustrate the efficiency of this alignment method.

  10. A Novel Pedestrian Navigation Algorithm for a Foot-Mounted Inertial-Sensor-Based System.

    Science.gov (United States)

    Ren, Mingrong; Pan, Kai; Liu, Yanhong; Guo, Hongyu; Zhang, Xiaodong; Wang, Pu

    2016-01-01

    This paper proposes a novel zero velocity update (ZUPT) method for a foot-mounted pedestrian navigation system (PNS). First, the error model of the PNS is developed and a Kalman filter is built based on the error model. Second, a novel zero velocity detection algorithm based on the variations in speed over a gait cycle is proposed. A finite state machine including three states is employed to model a gait cycle. The state transition conditions are determined based on speed using a sliding window. Third, the ZUPT software flow is illustrated and described. Finally, the performances of the proposed method and other methods are examined and compared experimentally. The experimental results show that the mean relative accuracy of the proposed method is 0.89% under various motion modes. PMID:26805848

  11. Noncommutativity Error Analysis of Strapdown Inertial Navigation System under the Vibration in UAVs

    Directory of Open Access Journals (Sweden)

    Jizhou Lai

    2012-10-01

    Full Text Available Noncommutativity error of a strapdown inertial navigation system (SINS in an unmanned aerial vehicle’s (UAV vibration environment is analysed. The traditional analysis of noncommutativity errors is based on a coning motion model, which is inconsistent with a UAV’s vibration environment. In this paper the UAV’s vibration form is discussed and is modelled as a sinusoidal angular vibration and a random angular vibration. Then, SINS motion models under these two forms of vibration are built up and the formulas for the noncommutativity errors are derived separately. In addition, the effect of a multi‐sample algorithm is explored, which is an effective method for compensating for noncommutativity errors in cases of coning motion. Finally, the UAV’s vibration environment is simulated and it is indicated that the simulation results of the SINS’s noncommutativity errors are consistent with theoretical analysis.

  12. Analysis of a clock-aided global navigation satellite system (GNSS)

    International Nuclear Information System (INIS)

    This paper presents a dilution of precision (DOP) analysis of a clock-aided global navigation satellite system (GNSS). Firstly, the analysis shows that a best linear unbiased estimator should be used in the clock-aided GNSS to get the best improvements in accuracy. Secondly, the influence of the clock on vertical DOP (VDOP) and horizontal DOP (HDOP) is analysed by using the clock characteristics as a weighting matrix. The analysis highlights quantitative improvements in the VDOP and HDOP and explains why improvements in the VDOP are superior to those of the HDOP in the clock-aided GNSS. Finally, the paper analyses how incorrectly known a priori clock variances degrade the level of accuracy and offers guidelines for determining a weighting matrix in the cases where the clock characteristics are not clearly known

  13. Reliability Assessment and Robustness Study for Key Navigation Components using Belief Rule Based System

    Science.gov (United States)

    You, Yuan; Wang, Liuying; Chang, Leilei; Ling, Xiaodong; Sun, Nan

    2016-02-01

    The gyro device is the key navigation component for maritime tracking and control, and gyro shift is the key factor which influences the performance of the gyro device, which makes conducting the reliability analysis on the gyro device very important. For the gyro device reliability analysis, the residual life probability prediction plays an essential role although it requires a complex process adapted by existed studies. In this study the Belief Rule Base (BRB) system is applied to model the relationship between the time as the input and the residual life probability as the output. Two scenarios are designed to study the robustness of the proposed BRB prediction model. The comparative results show that the BRB prediction model performs better in Scenario II when new the referenced values are predictable.

  14. A Hybrid Deep Sea Navigation System of LBL/DR Integration Based on UKF and PSO-SVM

    Institute of Scientific and Technical Information of China (English)

    LIU Ben; LIU Kaizhou; WANG Yanyan; ZHAO Yang; CUI Shengguo; WANG Xiaohui

    2015-01-01

    In order to improve the navigation accuracy of human occupied vehicle (HOV) precisely and efficiently, an innovative hybrid approach based on unscented Kalman filter (UKF) and support vector machine (SVM) is proposed to fuse integrated navigation data. HOV is generally equipped with long baseline (LBL) acoustic positioning system and dead reckoning (DR) as an integrated navigation system. UKF is adopted to estimate the state of the dynamic model because of its good performance in filtering nonlinear problems. An accurate and stable filtering result can be obtained when both LBL and DR are online. At the same time, SVM is utilized to train DR information with the result when LBL outrages, and the particle swarm optimization (PSO) algorithm is employed for SVM parameters optimization. Therefore, the integrated navigation system can maintain a good performance when the LBL is off-line. Simulation results with the real navigation data of Jiaolong HOV show that the methodology proposed here is able to meet the needs of HOV application.

  15. Reconfigurable GPS/MEMS IMU/WAAS/RA Navigation System for UAVs Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Accurate absolute position, velocity, attitude and precise relative navigation are critical capabilities for unmanned air vehicles (UAVs) to improve their autonomy...

  16. Improving capabilities of broadband differential satellite navigation systems via radio occultation technology

    Science.gov (United States)

    Myslivtsev, T. O.; Nikiforov, S. V.; Pogoreltsev, A. I.; Savochkin, P. V.; Sakhno, I. V.; Semenov, A. A.; Troitsky, B. V.

    2016-07-01

    The existent satellite system for radio occultation monitoring the Earth's neutral atmosphere and ionosphere (COSMIC) provides data to consumers in the regions with limited possibilities of constructing dense measurement networks (e.g., in the World Ocean area). A forthcoming increase of LEO small spacecrafts and the deployment of new satellite radio navigation systems will result in a pronounced increase in the efficiency of radio occultation method and its space resolution. As a result, the Space-Based Augmentation Systems (SBAS) broadband differential system will become global, or the quality of corrections delivered to single-frequency consumers of individual systems, e.g., the Augmentation and Monitoring System, will be improved. Therefore, the methods for processing and analyzing obtained radio occultation data should be improved. A simple method to reconstruct the electron density profile at radio occultation points, based on the total electron content measurement on the satellite-satellite path and the IRI-type ionospheric model has been proposed. The method needs initial information, it does not require refraction measurements, and it is free of the assumption that the ionosphere is spherically stratified in the occultation region. Verification of the proposed method based on data for 121 radio occultation cases across Europe in May 2013 demonstrated good agreement with the vertical sounding data.

  17. Vertical Navigation Control Laws and Logic for the Next Generation Air Transportation System

    Science.gov (United States)

    Hueschen, Richard M.; Khong, Thuan H.

    2013-01-01

    A vertical navigation (VNAV) outer-loop control system was developed to capture and track the vertical path segments of energy-efficient trajectories that are being developed for high-density operations in the evolving Next Generation Air Transportation System (NextGen). The VNAV control system has a speed-on-elevator control mode to pitch the aircraft for tracking a calibrated airspeed (CAS) or Mach number profile and a path control mode for tracking the VNAV altitude profile. Mode control logic was developed for engagement of either the speed or path control modes. The control system will level the aircraft to prevent it from flying through a constraint altitude. A stability analysis was performed that showed that the gain and phase margins of the VNAV control system significantly exceeded the design gain and phase margins. The system performance was assessed using a six-deg-of-freedom non-linear transport aircraft simulation and the performance is illustrated with time-history plots of recorded simulation data.

  18. Guidance, navigation, and control subsystem equipment selection algorithm using expert system methods

    Science.gov (United States)

    Allen, Cheryl L.

    1991-01-01

    Enhanced engineering tools can be obtained through the integration of expert system methodologies and existing design software. The application of these methodologies to the spacecraft design and cost model (SDCM) software provides an improved technique for the selection of hardware for unmanned spacecraft subsystem design. The knowledge engineering system (KES) expert system development tool was used to implement a smarter equipment section algorithm than that which is currently achievable through the use of a standard data base system. The guidance, navigation, and control subsystems of the SDCM software was chosen as the initial subsystem for implementation. The portions of the SDCM code which compute the selection criteria and constraints remain intact, and the expert system equipment selection algorithm is embedded within this existing code. The architecture of this new methodology is described and its implementation is reported. The project background and a brief overview of the expert system is described, and once the details of the design are characterized, an example of its implementation is demonstrated.

  19. A bronchoscopic navigation system using bronchoscope center calibration for accurate registration of electromagnetic tracker and CT volume without markers

    International Nuclear Information System (INIS)

    Purpose: Various bronchoscopic navigation systems are developed for diagnosis, staging, and treatment of lung and bronchus cancers. To construct electromagnetically navigated bronchoscopy systems, registration of preoperative images and an electromagnetic tracker must be performed. This paper proposes a new marker-free registration method, which uses the centerlines of the bronchial tree and the center of a bronchoscope tip where an electromagnetic sensor is attached, to align preoperative images and electromagnetic tracker systems. Methods: The chest computed tomography (CT) volume (preoperative images) was segmented to extract the bronchial centerlines. An electromagnetic sensor was fixed at the bronchoscope tip surface. A model was designed and printed using a 3D printer to calibrate the relationship between the fixed sensor and the bronchoscope tip center. For each sensor measurement that includes sensor position and orientation information, its corresponding bronchoscope tip center position was calculated. By minimizing the distance between each bronchoscope tip center position and the bronchial centerlines, the spatial alignment of the electromagnetic tracker system and the CT volume was determined. After obtaining the spatial alignment, an electromagnetic navigation bronchoscopy system was established to real-timely track or locate a bronchoscope inside the bronchial tree during bronchoscopic examinations. Results: The electromagnetic navigation bronchoscopy system was validated on a dynamic bronchial phantom that can simulate respiratory motion with a breath rate range of 0–10 min−1. The fiducial and target registration errors of this navigation system were evaluated. The average fiducial registration error was reduced from 8.7 to 6.6 mm. The average target registration error, which indicates all tracked or navigated bronchoscope position accuracy, was much reduced from 6.8 to 4.5 mm compared to previous registration methods. Conclusions: An

  20. A bronchoscopic navigation system using bronchoscope center calibration for accurate registration of electromagnetic tracker and CT volume without markers

    Energy Technology Data Exchange (ETDEWEB)

    Luo, Xiongbiao, E-mail: xiongbiao.luo@gmail.com [Robarts Research Institute, Western University, London, Ontario N6A 5K8 (Canada)

    2014-06-15

    Purpose: Various bronchoscopic navigation systems are developed for diagnosis, staging, and treatment of lung and bronchus cancers. To construct electromagnetically navigated bronchoscopy systems, registration of preoperative images and an electromagnetic tracker must be performed. This paper proposes a new marker-free registration method, which uses the centerlines of the bronchial tree and the center of a bronchoscope tip where an electromagnetic sensor is attached, to align preoperative images and electromagnetic tracker systems. Methods: The chest computed tomography (CT) volume (preoperative images) was segmented to extract the bronchial centerlines. An electromagnetic sensor was fixed at the bronchoscope tip surface. A model was designed and printed using a 3D printer to calibrate the relationship between the fixed sensor and the bronchoscope tip center. For each sensor measurement that includes sensor position and orientation information, its corresponding bronchoscope tip center position was calculated. By minimizing the distance between each bronchoscope tip center position and the bronchial centerlines, the spatial alignment of the electromagnetic tracker system and the CT volume was determined. After obtaining the spatial alignment, an electromagnetic navigation bronchoscopy system was established to real-timely track or locate a bronchoscope inside the bronchial tree during bronchoscopic examinations. Results: The electromagnetic navigation bronchoscopy system was validated on a dynamic bronchial phantom that can simulate respiratory motion with a breath rate range of 0–10 min{sup −1}. The fiducial and target registration errors of this navigation system were evaluated. The average fiducial registration error was reduced from 8.7 to 6.6 mm. The average target registration error, which indicates all tracked or navigated bronchoscope position accuracy, was much reduced from 6.8 to 4.5 mm compared to previous registration methods. Conclusions: An