WorldWideScience

Sample records for automobile navigation systems

  1. 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...

  2. Automobile active suspension system with fuzzy control

    Institute of Scientific and Technical Information of China (English)

    刘少军; 黄中华; 陈毅章

    2004-01-01

    A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a mathematical model of the active suspension system was established and simplified by linearization method. Simulation study was conducted with Matlab and three scale coefficients of fuzzy controller (ke, kec, ku) were acquired. And an experimental device was designed and produced. The results indicate that the active suspension system can achieve better vibration isolation performance than passive suspension system, the displacement amplitude of automobile body can be reduced to 55%. Fuzzy control is an effective control method for active suspension system.

  3. 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.

  4. 78 FR 68861 - Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems...

    Science.gov (United States)

    2013-11-15

    ... COMMISSION Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems... the United States after importation of certain navigation products, including GPS devices, navigation... products, including GPS devices, navigation and display systems, radar systems, navigational aids,...

  5. Personal Navigation System

    Science.gov (United States)

    2005-10-31

    GPS Satellite Simulator PC I B us PC I B us Embedded C language software TMS320VC33 DSP • Sensor I/O • Navigation Equations • Deep Integration...Simulator Test Display Simulation Controller 22 Figure 12. PNS Prototype Software System Integration Environment Embedded C language

  6. 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.

  7. 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.

  8. 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.

  9. Safety effects of navigation systems.

    NARCIS (Netherlands)

    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 exa

  10. 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.

  11. Geostar - Navigation location system

    Science.gov (United States)

    Keyser, Donald A.

    The author describes the Radiodetermination Satellite Service (RDSS). The initial phase of the RDSS provides for a unique service enabling central offices and headquarters to obtain position-location information and receive short digital messages from mobile user terminals throughout the contiguous United States, southern Canada, and northern Mexico. The system employs a spread-spectrum, CDMA modulation technique allowing multiple customers to use the system simultaneously, without preassigned coordination with fellow users. Position location is currently determined by employing an existing radio determination receiver, such as Loran-C, GPS, or Transit, in the mobile user terminal. In the early 1990s position location will be determined at a central earth station by time-differential ranging of the user terminals via two or more geostationary satellites. A brief overview of the RDSS system architecture is presented with emphasis on the user terminal and its diverse applications.

  12. Lunar roving vehicle navigation system performance review

    Science.gov (United States)

    Smith, E. C.; Mastin, W. C.

    1973-01-01

    The design and operation of the lunar roving vehicle (LRV) navigation system are briefly described. The basis for the premission LRV navigation error analysis is explained and an example included. The real time mission support operations philosophy is presented. The LRV navigation system operation and accuracy during the lunar missions are evaluated.

  13. Precision optical navigation guidance system

    Science.gov (United States)

    Starodubov, D.; McCormick, K.; Nolan, P.; Johnson, D.; Dellosa, M.; Volfson, L.; Fallahpour, A.; Willner, A.

    2016-05-01

    We present the new precision optical navigation guidance system approach that provides continuous, high quality range and bearing data to fixed wing aircraft during landing approach to an aircraft carrier. The system uses infrared optical communications to measure range between ship and aircraft with accuracy and precision better than 1 meter at ranges more than 7.5 km. The innovative receiver design measures bearing from aircraft to ship with accuracy and precision better than 0.5 mRad. The system provides real-time range and bearing updates to multiple aircraft at rates up to several kHz, and duplex data transmission between ship and aircraft.

  14. Global navigation satellite systems, inertial navigation, and integration

    CERN Document Server

    Grewal, Mohinder S; Bartone, Chris G

    2013-01-01

    An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kal

  15. 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.

  16. On credibility improvements for automotive navigation systems

    NARCIS (Netherlands)

    Schaub, Florian; Hipp, Markus; Kargl, Frank; Weber, Michael

    2012-01-01

    Automotive navigation systems are becoming ubiquitous as driver assistance systems. Vendors continuously aim to enhance route guidance by adding new features to their systems. However, we found in an analysis of current navigation systems that many share interaction weaknesses, which can damage the

  17. Airports and Navigation Aids Database System -

    Data.gov (United States)

    Department of Transportation — Airport and Navigation Aids Database System is the repository of aeronautical data related to airports, runways, lighting, NAVAID and their components, obstacles, no...

  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. Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System

    Directory of Open Access Journals (Sweden)

    Yong-Jin Yoon

    2015-03-01

    Full Text Available Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Positioning System is coupled with Inertial Navigation System to correct the errors, while Inertial Navigation System itself can be used to provide navigation solution during a Global Positioning System outage. Data from Global Positioning System and Inertial Navigation System can be integrated by extensive Kalman filtering, using loosely coupled integration architecture to provide navigation solutions. In this study, real-time low-cost loosely coupled micro-electro-mechanical system Inertial Navigation System/Global Positioning System sensors have been used for pedestrian navigation. Trial runs of Global Positioning System outages have been conducted to determine the accuracy of the system described. The micro-electro-mechanical system Inertial Navigation System/Global Positioning System can successfully project a trajectory during a Global Positioning System outage and produces a root mean square error of 9.35 m in latitude direction and 10.8 m in longitude direction. This technology is very suitable for visually impaired pedestrians.

  20. 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.

  1. Autonomous navigation system and method

    Energy Technology Data Exchange (ETDEWEB)

    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.

  2. Traffic safety effects of navigation systems

    NARCIS (Netherlands)

    Feenstra, P.J.; Hogema, J.H.; Vonk, T.

    2007-01-01

    Abstract— To investigate effects of navigation systems on traffic safety, a literature search, a damages database analysis, a user survey and an instrumented car study were conducted. This paper presents the instrumented car study to investigate the effects of a navigation system on driving behavior

  3. 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.

  4. Global navigation satellite system; Jisedai kokoho senjo system

    Energy Technology Data Exchange (ETDEWEB)

    Kawano, S.; Suga, S. [Toshiba Corp., Tokyo (Japan)

    2000-05-01

    The safety of civil aviation relies on ground navigation aids. In areas where there are no ground aids and on oceanic air routes, aircraft must depend on their own navigation system. The predicted increase in civil aviation traffic in the near future will make it difficult for current navigation aids to support navigation in all phases of flights. To avoid this problem, the International Civil Aviation Organization (ICAO) is directing the establishment of standards for the global navigation satellite system (GNSS). GNSS employs navigation satellites, such as those of the global positioning system (GPS), to provide navigation capability throughout the world. In Japan, the Electronic Navigation Research Institute, the Ministry of Transport, and the Japan civil Aviation Promotion Foundation are carrying out research on this navigation system. Toshiba has been providing experimental equipment for this research. (author)

  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. Testing the Preliminary X-33 Navigation System

    Science.gov (United States)

    Lomas, James J.; Mitchell, Daniel W.; Freestone, Todd M.; Lee, Charles; Lessman, Craig; Foster, Lee D. (Technical Monitor)

    2001-01-01

    The X-33 Reusable Launch Vehicle (RLV) must meet the demanding requirements of landing autonomously on a narrow landing strip following a flight that reaches an altitude of up to 200,000 feet and a speed in excess of Mach 9 with significant in-flight energy bleed-off maneuvers. To execute this flight regimen a highly reliable avionics system has been designed that includes three LN-100G Inertial Navigation System/Global Positioning System (INS/GPS) units as the primary navigation system for the X-33. NASA's Marshall Space Flight Center (MSFC) tested an INS/GPS system in real-time simulations to determine the ability of this navigation suite to meet the in flight and autonomous landing requirements of the X-33 RLV. A total of sixty-one open loop tests were performed to characterize the navigation accuracy of the LN-100G. Twenty-seven closed-loop tests were also performed to evaluate the performance of the X-33 Guidance, Navigation and Control (GN&C) algorithms with the real navigation hardware. These closed-loop tests were also designed to expose any integration or operational issues with the real-time X-33 vehicle simulation. Dynamic road tests of the INS/GPS were conducted by Litton to assess the performance of differential and nondifferential INS/GPS hybrid navigation solutions. The results of the simulations and road testing demonstrate that this novel solution is capable of meeting the demanding requirements of take-off, in-flight navigation, and autonomous landing of the X-33 RLV. This paper describes the test environment developed to stimulate the LN-100G and discusses the results of this test effort. This paper also presents recommendations for a navigation system suitable to an operational RLV system.

  7. Navigation System for Reusable Launch Vehicle

    OpenAIRE

    Schlotterer, Markus

    2008-01-01

    PHOENIX is a downscaled experimental vehicle to demonstrate automatic landing capabilities of future Reusable Launch Vehicles (RLVs). PHOENIX has flown in May 2004 at NEAT (North European Aerospace Test range) in Vidsel, Sweden. As the shape of the vehicle has been designed for re-entry, the dynamics are very high and almost unstable. This requires a fast and precise GNC system. This paper describes the navigation system and the navigation filter of PHOENIX. The system is introduced and the h...

  8. Global navigation system with RFID tags

    Science.gov (United States)

    Tsukiyama, Toshifumi

    2002-02-01

    A new navigation system is described for a mobile robot moving around in man-made environments such as hallways in a building. The system is based on a commercial three-wheel mobile platform with the addition of a Linux-based laptop computer, a Radio Frequency Identification (RDID) tag sensor and a vision system. At critical junctions such as the intersection of two passages the navigation system must identify the robot's location on a given map. We propose a method using RFID tags as landmarks. Each RFID tag has a unique ID number corresponding to its location on the map. The navigation system can decide the next movement (left-turn, right-turn and so on) toward a given goal based on this number. The navigation system also can automatically follow walls using the vision system. Since the equipment setup is very simple and the navigation system is easily combined with general mobile robot systems, our proposed technique would be useful for real-world robotic applications such as intelligent navigation for motorized wheelchairs.

  9. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false McClellan-Kerr Arkansas River navigation system: use, administration, and navigation. 207.275 Section 207.275 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE NAVIGATION REGULATIONS §...

  10. NFC internal: an indoor navigation system.

    Science.gov (United States)

    Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

    2015-03-27

    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. 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.

  12. Advanced Navigation System for Aircraft Applications

    Directory of Open Access Journals (Sweden)

    G. Satheesh Reddy

    2013-03-01

    Full Text Available Various forms of navigation are present in today’s world, leading from satellite based navigation to several archaic forms of navigation like star gazing. Now, lots of technologies are available to achieve this but with certain limitations. For example, FOG based navigation provides accuracy with in 0.10-100 range which is not sufficient for various military applications. Therefore, there is a need to design a system which will have better accuracy and thus requires development of ring laser gyro-based inertial systems. This paper concentrates on the aided navigation system based on ring laser gyro of 0.01 deg/hr class and GPS - GLONASS to further enhance the capability of system in terms of accuracy. The usage of such systems not only provides accurate results momentarily but it also persists for longer duration with the aid of GPS - GLONASS for applications like aircraft, ship and long range missiles. The system provides accuracy of the level of 1 Nm/hr in pure navigation and 30 m with the aid of GPS - GLONASS. Apart from this, the availability of gyro-compass and baro-inertial algorithms further enhances the system capabilities and made them self dependent to the major extent.Defence Science Journal, 2013, 63(2, pp.131-137, DOI:http://dx.doi.org/10.14429/dsj.63.4254

  13. 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.

  14. 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...

  15. 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.

  16. Effects of automobile steering characteristics on driver vehicle system dynamics in regulation tasks

    Science.gov (United States)

    Mcruer, D. T.; Klein, R.

    1975-01-01

    A regulation task which subjected the automobile to a random gust disturbance which is countered by driver control action is used to study the effects of various automobile steering characteristics on the driver/vehicle system. The experiments used a variable stability automobile specially configured to permit insertion of the simulated gust disturbance and the measurement of the driver/vehicle system characteristics. Driver/vehicle system dynamics were measured and interpreted as an effective open loop system describing function. Objective measures of system bandwidth, stability, and time delays were deduced and compared. These objective measures were supplemented by driver ratings. A tentative optimum range of vehicle dynamics for the directional regulation task was established.

  17. Navigation system for a smart wheelchair

    Institute of Scientific and Technical Information of China (English)

    BONCI Andrea; LONGHI Sauro; MONTERI(U) Andrea; VACCARINI Massimo

    2005-01-01

    Recent results on the development of a navigation system for a smart wheelchair are presented in this paper. In order to reduce the development cost, a modular solution is designed by using commercial and low cost devices. The functionalities of the tracking control system are described. Experimental results of the proposed assistive system are also presented and discussed.

  18. Research on the airborne SINS/CNS integrated navigation system assisted by BD navigation system

    Science.gov (United States)

    Xie, Mei-lin; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Yue, Peng; Deng, Xiao-guo; Huang, Wei

    2016-01-01

    When the star navigation system working during the day, the strong sky background radiation lead to a result that the detect target light is too weak, in the field of view, because of the limitation on the number of the navigation star, usually choose the single star navigation work mode. In order to improve the reliability of the airborne SINS/CNS integrated navigation system, meet the demand of the long-endurance and high precision navigation, use the tight combination way, single star patrol algorithm to get the position and attitude. There exists filtering divergence problem because of the model error and the system measurement noise is uncertain, put forward a new fuzzy adaptive kalman filtering algorithm. Adjust the size of measurement noise to prevent the filter divergence; the positioning accuracy of integrated navigation system can be improved through BeiDou satellite. Without the information of BeiDou satellite, based on the level of the virtual reference, the navigation precision of integrated navigation system can be ensured over a period of time.

  19. 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

  20. 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.

  1. The safety potential of navigation systems.

    NARCIS (Netherlands)

    Oei, H.-l.

    2002-01-01

    This study deals with the possible negative and positive effects of navigation systems on road safety. The literature shows that the human factors side is open for improvement: the design of the menu, possibility of manual programming during driving and shifting the attention of the driver from the

  2. A multimodal interaction system for navigation

    NARCIS (Netherlands)

    Hofs, Dennis; Akker, op den Rieks; Nijholt, Anton; Hondorp, Hendri; Kruijff-Korbayova, I.; Kosny, C.

    2003-01-01

    To help users find their way in a virtual theatre we developed a navigation agent. In natural language dialogue the agent assists users looking for the location of an object or room, and it shows routes between locations. The speech-based dialogue system allows users to ask questions such as “Where

  3. Fault Diagnosis of Automobile Crane Power Steering System Aided by ICP-AES

    Directory of Open Access Journals (Sweden)

    Lidan Chen

    2013-01-01

    Full Text Available The objective of this paper is to evaluate an innovative application of inductively coupled plasma atomic emission spectroscopy (ICP-AES on the fault diagnosis of automobile crane hydraulic power steering (HPS system. Contents of Fe, Cu and Al were examined by ICP-AES in the oil samples of HPS system for four different mileages of Puyuan QY50H. The mileages were 2000-9000 km, 11000-19000 km, 21000-28000 km and 32000-40000 km separately. Database of major mental contents in automobile crane HPS system of Puyuan QY50H with different mileage were calibrated. Results showed that, major mental contents were increased with the increasing of driving mileage and the normal contents laid between two trend lines. Through the determination of mental contents in HPS oil sample and further compared them with the values in their database, we could not only evaluate the wear condition of automobile crane HPS system, but also helped to diagnose the faults without dissembled the problematic vehicle. The results further indicated that, in time maintenance, high quality and low cost reparation could be realized by the application of ICP-AES technology on fault diagnosis of automobile crane power steering system.

  4. 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.

  5. SCANNING VISION SYSTEM FOR VEHICLE NAVIGATION

    Directory of Open Access Journals (Sweden)

    O. Sergiyenko

    2012-01-01

    Full Text Available The new model of the scanning vision system for vehicles is offered. The questions of creation, functioning and interaction of the system units and elements are considered. The mathematical apparatus for processing digital information inside the system and for determining distances and an-gle standard in the offered system is worked out. Expected accuracy, functioning speed, range of ac-tion, energy consumption when using the system are determined. The possible areas of the developed automatic navigation system use are offered.

  6. Lunar Navigation Determination System - LaNDS

    Science.gov (United States)

    Quinn, David; Talabac, Stephen

    2012-01-01

    A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

  7. 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...

  8. Omega Navigation System Course Book. Volume 2

    Science.gov (United States)

    1994-07-01

    GPS) - 0846 6. PCD ASSIGNMENT: None G.2.3 Hawaii 1. LETTER DESIGNATION: "C" 2. LQCATION: a. Geographic: Haiku Valley, Oahu Island, Hawaii, U.S.A. b...systems, 2-25, 12-27 inductively matching, 3-23 Haiku , 2-3, 2-11 2inertial navigation, 4-39HYDROLANT, 2-29 hard-copy coverage diagrams, 2-33 inertial

  9. The onboard control system of "Navigator" platform

    Science.gov (United States)

    Syrov, A. S.; Smirnov, V. V.; Sokolov, V. N.; Iodko, G. S.; Mischikhin, V. V.; Kosobokov, V. N.; Shatskii, M. A.; Dobrynin, D. A.

    2016-12-01

    A brief description of the design concept, structure and performance of the onboard control system (AOCS) of the "Navigator" satellite platform, on the basis of which the spacecraft "Electro-L' and "Spektr-R" are designed, is presented. The test-flight results of the AOCS attitude accuracy are given. Approaches to the further development of the onboard control equipment for advanced spacecraft are determined and presented.

  10. 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.

  11. 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.

  12. 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.

  13. A relativistic and autonomous navigation satellite system

    CERN Document Server

    Delva, Pacôme; Kostić, Uros; Carloni, Sante

    2011-01-01

    A relativistic positioning system has been proposed by Bartolom\\'e Coll in 2002. Since then, several group developed this topic with different approaches. I will present a work done in collaboration with Ljubljana University and the ESA Advanced Concepts Team. We developed a concept, Autonomous Basis of Coordinates, in order to take advantage of the full autonomy of a satellite constellation for navigation and positioning, by means of satellite inter-links. I will present the advantages of this new paradigm and a number of potential application for reference systems, geophysics and relativistic gravitation.

  14. 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.

  15. Navigational and Environmental Measurement System (NEMS)

    Science.gov (United States)

    Clem, T. D.

    1988-01-01

    The NEMS concept and design were initiated from the need to measure and record positional and environmental information during aircraft flights of developmental science research instrumentation. The unit was designed as a stand-alone system which could serve the needs of instruments whose developmental nature did not justify the cost and complexity of including these measurements within the instrument data system. Initially, the system was comprised of a Loran-C receiver and a portable IBM compatible computer recording position and time. Later, the system was interfaced with the Wallops aircraft inertial navigation system (INS), and various other sensors were supplied and shared by the Goddard science users. Real-time position mapping on video monitors was added for investigator's use and information. In 1987, the use of a Global Positioning System (GPS) receiver was included in some missions. A total configuration of the system and the various sensors which can be incorporated are shown.

  16. Design and implementation of small navigation system on land vehicle

    Science.gov (United States)

    Ma, Shuaiqi

    2013-03-01

    This paper is focused on the problem of frame loss and truncation on multi-channel universal asynchronous receiver transmitter (UART) embedded in Integrated Navigation Systems, and it contains attitude heading reference system (AHRS) and global positioning system (GPS). An advanced design based on FPGA and ARM processor is discussed in this paper, in which FPGA would be used to coordinate with each logic modules, expand UART for GPS and AHRS, resolve navigation information, and save specify data to SD card, which can reduce the delay in data receiving and resolving, while ARM is applied in the area of parameters estimation and navigation algorithms. The experiment results show that this navigation system can use UART to receive, resolve data frames and save data while ARM execute parameter estimation and navigation algorithms in real time. This integrated navigation can effectively avoid the phenomenon of data frame loss or truncation in UART receiving, and can improve the navigation precision.

  17. Navigation system for neurosurgery with PC platform.

    Science.gov (United States)

    Akatsuka, Y; Shibasaki, T; Saito, A; Kosaka, A; Matsuzaki, H; Asano, T; Furuhashi, Y

    2000-01-01

    This paper presents a navigation system for a surgical microscope and an endoscope which can be used for neurosurgery. In this system, a wireframe model of a target tumor and other significant anatomical landmarks are superimposed in real-time onto live video images taken from the microscope and the endoscope. The wireframe model is generated from a CT/MRI slice images. Overlaid images are simultaneously displayed in the same monitor using the picture-in-picture function so that the surgeon can concentrate on the single monitor during the surgery. The system measures the position and orientation of the patient using specially designed non-contact sensing devices mounted on the microscope and the endoscope. Based on this real-time measurement, the system displays other useful information about the navigation as well as the rendered wireframe. The accuracy of registration between the wireframe model and the actual live view is less than 2 mm. We tested this system in actual surgery several times, and verified its performance and effectiveness.

  18. 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

  19. Fault tolerant highly reliable inertial navigation system

    Science.gov (United States)

    Jeerage, Mahesh; Boettcher, Kevin

    This paper describes a development of failure detection and isolation (FDI) strategies for highly reliable inertial navigation systems. FDI strategies are developed based on the generalized likelihood ratio test (GLRT). A relationship between detection threshold and false alarm rate is developed in terms of the sensor parameters. A new method for correct isolation of failed sensors is presented. Evaluation of FDI performance parameters, such as false alarm rate, wrong isolation probability, and correct isolation probability, are presented. Finally a fault recovery scheme capable of correcting false isolation of good sensors is presented.

  20. GPS-Aided Gyroscope-Free Inertial Navigation Systems

    OpenAIRE

    Park, Sungsu; Tan, Chin-Woo

    2002-01-01

    A gyroscope-free inertial navigation system uses only accelerometers to compute navigation trajectories. It is a low-cost navigation system, but its output error diverges at a rate that is an order faster than that of a conventional gyroscope-based system. So integration with an external reference system, such as the Global Positioning System, is necessary for long-term navigation applications. In this pa-per, an integrated GPS and gyroscope-free INS system is designed to achieve stable long-...

  1. 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.

  2. Managing bottlenecks in manual automobile assembly systems using discrete event simulation

    Directory of Open Access Journals (Sweden)

    Dewa, M.

    2013-08-01

    Full Text Available Batch model lines are quite handy when the demand for each product is moderate. However, they are characterised by high work-in-progress inventories, lost production time when changing over models, and reduced flexibility when it comes to altering production rates as product demand changes. On the other hand, mixed model lines can offer reduced work-in-progress inventory and increased flexibility. The object of this paper is to illustrate that a manual automobile assembling system can be optimised through managing bottlenecks by ensuring high workstation utilisation, reducing queue lengths before stations and reducing station downtime. A case study from the automobile industry is used for data collection. A model is developed through the use of simulation software. The model is then verified and validated before a detailed bottleneck analysis is conducted. An operational strategy is then proposed for optimal bottleneck management. Although the paper focuses on improving automobile assembly systems in batch mode, the methodology can also be applied in single model manual and automated production lines.

  3. 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

  4. Impact of air conditioning system operation on increasing gases emissions from automobile

    Science.gov (United States)

    Burciu, S. M.; Coman, G.

    2016-08-01

    The paper presents a study concerning the influence of air conditioning system operation on the increase of gases emissions from cars. The study focuses on urban operating regimes of the automobile, regimes when the engines have low loads or are operating at idling. Are presented graphically the variations of pollution emissions (CO, CO2, HC) depending of engine speed and the load on air conditioning system. Additionally are presented, injection duration, throttle position, the mechanical power required by the compressor of air conditioning system and the refrigerant pressure variation on the discharge path, according to the stage of charging of the air conditioning system.

  5. Characterization of biological aerosol exposure risks from automobile air conditioning system.

    Science.gov (United States)

    Li, Jing; Li, Mingzhen; Shen, Fangxia; Zou, Zhuanglei; Yao, Maosheng; Wu, Chang-yu

    2013-09-17

    Although use of automobile air conditioning (AC) was shown to reduce in-vehicle particle levels, the characterization of its microbial aerosol exposure risks is lacking. Here, both AC and engine filter dust samples were collected from 30 automobiles in four different geographical locations in China. Biological contents (bacteria, fungi, and endotoxin) were studied using culturing, high-throughput gene sequence, and Limulus amebocyte lysate (LAL) methods. In-vehicle viable bioaerosol concentrations were directly monitored using an ultraviolet aerodynamic particle sizer (UVAPS) before and after use of AC for 5, 10, and 15 min. Regardless of locations, the vehicle AC filter dusts were found to be laden with high levels of bacteria (up to 26,150 CFU/mg), fungi (up to 1287 CFU/mg), and endotoxin (up to 5527 EU/mg). More than 400 unique bacterial species, including human opportunistic pathogens, were detected in the filter dusts. In addition, allergenic fungal species were also found abundant. Surprisingly, unexpected fluorescent peaks around 2.5 μm were observed during the first 5 min use of AC, which was attributed to the reaerosolization of those filter-borne microbial agents. The information obtained here can assist in minimizing or preventing the respiratory allergy or infection risk from the use of automobile AC system.

  6. Systems and Methods for Determining Inertial Navigation System Faults

    Science.gov (United States)

    Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

    2017-01-01

    An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

  7. 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.

  8. 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.

  9. 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

  10. High energy efficiency desiccant assisted automobile air-conditioner and its temperature and humidity control system

    Energy Technology Data Exchange (ETDEWEB)

    Nagaya, K. [Department of Mechanical Engineering, Gunma University Kiryu, Gunma 376-8515 (Japan)]. E-mail: nagaya@me.gunma-u.ac.jp; Senbongi, T. [Department of Mechanical Engineering, Gunma University Kiryu, Gunma 376-8515 (Japan); Li, Y. [Department of Mechanical Engineering, Gunma University Kiryu, Gunma 376-8515 (Japan); Zheng, J. [Department of Mechanical Engineering, Gunma University Kiryu, Gunma 376-8515 (Japan); Murakami, I. [Department of Mechanical Engineering, Gunma University Kiryu, Gunma 376-8515 (Japan)

    2006-10-15

    The energy efficiency is of importance in air conditioning systems for automobiles. The present article provides a new type air conditioning system for automobiles in which energy loss is small in comparison with the previous system. In the system, a desiccant is installed in the air conditioning system for controlling both temperature and humidity. The control is performed by an electromagnetic control valve, which controls an inclination of the rotating plate of a compressor. It is difficult to control both temperature and humidity precisely, because there are some delays in the control due to the time of heat exchange and that of coolant flow from the actuator (electromagnetic valve) to the evaporator. In order to have precise control, this article also presents a method of control with consideration of control delays. The energy of our system is compared with that in the previous conventional system in the same condition. It is shown that our controlled results and energy efficiency are better than those in the previous system.

  11. 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...

  12. 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...

  13. 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.

  14. 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.

  15. Urban, Indoor and Subterranean Navigation Sensors and Systems (Capteurs et systemes de navigation urbains, interieurs et souterrains)

    Science.gov (United States)

    2010-11-01

    SET-114 Urban, Indoor and Subterranean Navigation Sensors and Systems ( Capteurs et systèmes de navigation urbains, intérieurs et souterrains...SET-114 Urban, Indoor and Subterranean Navigation Sensors and Systems ( Capteurs et systèmes de navigation urbains, intérieurs et souterrains...1 2.1.3 Session 4: Simulation and Testing 2-2 2.1.4 Session 5: Military Systems and Applications 2-2 2.1.5 Session 6: Robust GNSS Integration

  16. Determination of Close Loop System Stability in Automobile Adaptive Cruise Control Systems

    Directory of Open Access Journals (Sweden)

    Owunna Ikechukwu

    2016-07-01

    Full Text Available The beginning of the 21st century sees auto makers pursuing research in advanced features like collision warning and avoidance system into their product. Automotive cruise control system has been undergoing development in EU since the PROMETHEUS programme in the late 1980’s, and has currently metamorphous into Adaptive Cruise Control (ACC technology which is presently emerging in the automotive market as a convenience function intended to reduce driver workload. Adaptive cruise control is the first of the new generation of advanced driver’s assistance devices to reach the market, which partially automates the driver’s task and bringing the drivers comfort into perspective. It allows the host vehicle to maintain a set speed and distance from preceding vehicles by a forward object detection sensor. The forward object detection sensor is the focal point of the ACC system, which determines and regulates vehicle acceleration and deceleration through a powertrain torque control system and an automatic brake control system. This study presents overview of adaptive cruise control system, operation principles and the advantages of integrating ACC system in automobiles. Also, the system must be stable for optimum performance, and stability of a close loop system which the cruise system is an example, was determined by calculating the controller gain (K1, K2, K3 and substituting into the characteristic equations. The stability of a close loop system for the values of K1, K2 and K3 when substituted into the characteristic equation produced a negative real part. To achieve stability in close loop systems, all the poles must have negative real values and this is in line with the values obtain for p1, p2 and p3. From the pole zero plots of 1 = (-7 ± 7.14, 2 = (-7± 11.60 and 3 = (-0.08 and -13.91, stability of the system was achieved

  17. The use of navigation systems in naturalistic driving.

    NARCIS (Netherlands)

    Knapper, A. Nes, C.N. van Christoph, M.W.T. Hagenzieker, M.P. & Brookhuis, K.A.

    2015-01-01

    In this study we assessed the use of portable navigation systems in everyday driving by applying in-vehicle naturalistic driving. Experienced users of navigation systems, seven female and fourteen male, were provided with a specially equipped vehicle for approximately one month. Their trips were rec

  18. The use of navigation systems in naturalistic driving

    NARCIS (Netherlands)

    Knapper, Allert; Van Nes, Nicole; Christoph, Michiel; Hagenzieker, Marjan; Brookhuis, Karel

    2016-01-01

    Objective: In this study, we assessed the use of portable navigation systems in everyday driving by applying in-vehicle naturalistic driving. Method: Experienced users of navigation systems, 7 females and 14 males, were provided with a specially equipped vehicle for approximately 1 month. Their trip

  19. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2007-01-01

    This paper studies the impact of navigation systems on traffic safety in the Netherlands. This study consists of four analyses: a literature survey, a database analysis, a user survey and an instrumented vehicle study. The results of the four sections show that navigation systems have a positive eff

  20. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2008-01-01

    This paper studies the impact of navigation systems on traffic safety in the Netherlands. This study consists of four analyses: a literature survey, a database analysis, a user survey and an instrumented vehicle study. The results of the four sections show that navigation systems have a positive eff

  1. Vibrotactile in-vehicle navigation system

    NARCIS (Netherlands)

    Erp, J.B.F. van; Veen, H.J. van

    2004-01-01

    A vibrotactile display, consisting ofeight vibrating elements or tactors mounted in a driver's seat, was tested in a driving simulator. Participants drove with visual, tactile and multimodal navigation displays through a built-up area. Workload and the reaction time to navigation messages were measu

  2. 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.

  3. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

    Directory of Open Access Journals (Sweden)

    Youngsun Kim

    2016-10-01

    Full Text Available In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient.

  4. Damping strapdown inertial navigation system based on a Kalman filter

    Science.gov (United States)

    Zhao, Lin; Li, Jiushun; Cheng, Jianhua; Hao, Yong

    2016-11-01

    A damping strapdown inertial navigation system (DSINS) can effectively suppress oscillation errors of strapdown inertial navigation systems (SINSs) and improve the navigation accuracy of SINSs. Aiming at overcoming the disadvantages of traditional damping methods, a DSINS, based on a Kalman filter (KF), is proposed in this paper. Using the measurement data of accelerometers and calculated navigation parameters during the navigation process, the expression of the observation equation is derived. The calculation process of the observation in both the internal damping state and the external damping state is presented. Finally, system oscillation errors are compensated by a KF. Simulation and test results show that, compared with traditional damping methods, the proposed method can reduce system overshoot errors and shorten the convergence time of oscillation errors effectively.

  5. 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).

  6. 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...

  7. An IR Navigation System for Pleural PDT

    Directory of Open Access Journals (Sweden)

    Timothy C Zhu

    2015-03-01

    Full Text Available 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.

  8. An IR Navigation System for Pleural PDT.

    Science.gov (United States)

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

    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 fluence 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.

  9. An excellent navigation system and experience in craniomaxillofacial navigation surgery: a double-center study.

    Science.gov (United States)

    Dai, Jiewen; Wu, Jinyang; Wang, Xudong; Yang, Xudong; Wu, Yunong; Xu, Bing; Shi, Jun; Yu, Hongbo; Cai, Min; Zhang, Wenbin; Zhang, Lei; Sun, Hao; Shen, Guofang; Zhang, Shilei

    2016-06-16

    Numerous problems regarding craniomaxillofacial navigation surgery are not well understood. In this study, we performed a double-center clinical study to quantitatively evaluate the characteristics of our navigation system and experience in craniomaxillofacial navigation surgery. Fifty-six patients with craniomaxillofacial disease were included and randomly divided into experimental (using our AccuNavi-A system) and control (using Strker system) groups to compare the surgical effects. The results revealed that the average pre-operative planning time was 32.32 mins vs 29.74 mins between the experimental and control group, respectively (p > 0.05). The average operative time was 295.61 mins vs 233.56 mins (p > 0.05). The point registration orientation accuracy was 0.83 mm vs 0.92 mm. The maximal average preoperative navigation orientation accuracy was 1.03 mm vs 1.17 mm. The maximal average persistent navigation orientation accuracy was 1.15 mm vs 0.09 mm. The maximal average navigation orientation accuracy after registration recovery was 1.15 mm vs 1.39 mm between the experimental and control group. All patients healed, and their function and profile improved. These findings demonstrate that although surgeons should consider the patients' time and monetary costs, our qualified navigation surgery system and experience could offer an accurate guide during a variety of craniomaxillofacial surgeries.

  10. Research and application of online measurement system of tire tread profile in automobile tire production

    Science.gov (United States)

    Wang, Pengyao; Chen, Xiangguang; Yang, Kai; Liu, Xuejiao

    2017-01-01

    To improve the measuring efficiency of width and thickness of tire tread in the process of automobile tire production, the actual condition for the tire production process is analyzed, and a fast online measurement system based on moving tire tread of tire specifications is established in this paper. The coordinate data of tire tread profile is acquired by 3D laser sensor, and we use C# language for programming which is an object-oriented programming language to complete the development of client program. The system with laser sensor can provide real-time display of tire tread profile and the data to require in the process of tire production. Experimental results demonstrate that the measuring precision of the system is <= 1mm, it can meet the measurement requirements of the production process, and the system has the characteristics of convenient installation and testing, system stable operation.

  11. 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...

  12. Autonomous navigation system based on GPS and magnetometer data

    Science.gov (United States)

    Julie, Thienel K. (Inventor); Richard, Harman R. (Inventor); Bar-Itzhack, Itzhack Y. (Inventor)

    2004-01-01

    This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability.

  13. 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.

  14. 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

  15. Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

    Science.gov (United States)

    Moafipoor, Shahram

    Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a

  16. 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)

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

    Directory of Open Access Journals (Sweden)

    George T. Schmidt

    2015-02-01

    Full Text Available 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 summarizes recent advances in navigation sensor technology, including GPS, inertial, and other navigation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.

  18. 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.

  19. 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...

  20. Integrated Navigation System for the Second Generation Reusable Launch Vehicle

    Science.gov (United States)

    2002-01-01

    An array of components in a laboratory at NASA's Marshall Space Flight Center (MSFC) is being tested by the Flight Mechanics Office to develop an integrated navigation system for the second generation reusable launch vehicle. The laboratory is testing Global Positioning System (GPS) components, a satellite-based location and navigation system, and Inertial Navigation System (INS) components, sensors on a vehicle that determine angular velocity and linear acceleration at various points. The GPS and INS components work together to provide a space vehicle with guidance and navigation, like the push of the OnStar button in your car assists you with directions to a specific address. The integration will enable the vehicle operating system to track where the vehicle is in space and define its trajectory. The use of INS components for navigation is not new to space technology. The Space Shuttle currently uses them. However, the Space Launch Initiative is expanding the technology to integrate GPS and INS components to allow the vehicle to better define its position and more accurately determine vehicle acceleration and velocity. This advanced technology will lower operational costs and enhance the safety of reusable launch vehicles by providing a more comprehensive navigation system with greater capabilities. In this photograph, Dr. Jason Chuang of MSFC inspects an INS component in the laboratory.

  1. 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

  2. Determination of minimum sample size for fault diagnosis of automobile hydraulic brake system using power analysis

    Directory of Open Access Journals (Sweden)

    V. Indira

    2015-03-01

    Full Text Available Hydraulic brake in automobile engineering is considered to be one of the important components. Condition monitoring and fault diagnosis of such a component is very essential for safety of passengers, vehicles and to minimize the unexpected maintenance time. Vibration based machine learning approach for condition monitoring of hydraulic brake system is gaining momentum. Training and testing the classifier are two important activities in the process of feature classification. This study proposes a systematic statistical method called power analysis to find the minimum number of samples required to train the classifier with statistical stability so as to get good classification accuracy. Descriptive statistical features have been used and the more contributing features have been selected by using C4.5 decision tree algorithm. The results of power analysis have also been verified using a decision tree algorithm namely, C4.5.

  3. 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.

  4. Architecture analysis of the simplified libration point satellite navigation system

    Science.gov (United States)

    Zhang, Lei; Xu, Bo

    2016-10-01

    The libration point satellite navigation system is a novel navigation architecture that consists of satellites located in periodic orbits around the Earth-Moon libration points. Superiorities of the proposed system lie in its autonomy and extended navigation capability, which have been proved in our previous works. Based on the candidate architectures obtained before, a detailed analysis of the simplified libration point satellite navigation system, i.e. the Earth-Moon L1,2 two-satellite constellation, is conducted in this work. Firstly, relation between orbits amplitude is derived for the candidate two-satellite constellations to ensure continuous crosslink measurements between libration point satellites. Then, with the use of a reference lunar exploration mission scenario, navigation performances of different constellation configurations are evaluated by Monte-Carlo simulations. The simulation results indicate that the amplitude and initial phase combinations of libration point orbits have direct effect on the performance of the two-satellite constellations. By using a cooperative evolutionary algorithm for configuration parameter optimization, some optimal constellations are finally obtained for the simplified navigation architecture. The results obtained in this paper may be a reference for future system design.

  5. 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

  6. 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.

  7. Conformal, Transparent Printed Antenna Developed for Communication and Navigation Systems

    Science.gov (United States)

    Lee, Richard Q.; Simons, Rainee N.

    1999-01-01

    Conformal, transparent printed antennas have advantages over conventional antennas in terms of space reuse and aesthetics. Because of their compactness and thin profile, these antennas can be mounted on video displays for efficient integration in communication systems such as palmtop computers, digital telephones, and flat-panel television displays. As an array of multiple elements, the antenna subsystem may save weight by reusing space (via vertical stacking) on photovoltaic arrays or on Earth-facing sensors. Also, the antenna could go unnoticed on automobile windshields or building windows, enabling satellite uplinks and downlinks or other emerging high-frequency communications.

  8. 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.

  9. 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.

  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. 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.

  12. 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.

  13. 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.

  14. 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.

  15. Modelling and Simulation of Pseudolite-based Navigation: A GPS-independent Radio Navigation System

    Directory of Open Access Journals (Sweden)

    Krishneshwar Tiwary

    2010-08-01

    Full Text Available The use of global positioning system (GPS for precision guidance of weapons is being questioned due to its vulnerability of jamming and spoofing for non-military code users. In this paper a novel approach is proposed for guidance of weapons where use of GPS or other civilian Satellite-based navigation system is threatened. The proposed approach is modelled and simulated using SIMULINK for realistic trajectories and scenario. The results of simulation are validated with the actual GPS data.

  16. 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.

  17. Hydrogen storage for automobiles

    Energy Technology Data Exchange (ETDEWEB)

    Strickland, G.

    1979-01-01

    Results of an analysis of hydrogen-fueled automobiles are presented as a part of a continuing study conducted by Lawrence Livermore Laboratory (LLL) on Energy Storage Systems for Automobile Propulsion. The hydrogen is stored either as a metal hydride at moderate pressure in TiFe/sub 0/ /sub 9/Mn/sub 0/ /sub 1/H/sub x/ and at low pressure in MgH/sub x/ catalyzed with 10 wt % Ni, or it is stored in hollow glass microspheres at pressures up to about 400 atm. Improved projections are given for the two hydrides, which are used in combination to take advantage of their complementary properties. In the dual-hydride case and in the microsphere case where Ti-based hydride is used for initial operation, hydrogen is consumed in an internal-combustion engine; whereas in the third case, hydrogen from Ti-based hydride is used with air in an alkaline fuel cell/Ni-Zn battery combination which powers an electric vehicle. Each system is briefly described; and the results of the vehicle analysis are compared with those for the conventional automobile and with electric vehicles powered by Pb-acid or Ni-Zn batteries. Comparisons are made on the basis of automobile weight, initial user cost, and life-cycle cost. In this report, the results are limited to those for the 5-passenger vehicle in the period 1985-1990, and are provided as probable and optimistic values.

  18. Interoperability of satellite-based augmentation systems for aircraft navigation

    Science.gov (United States)

    Dai, Donghai

    The Federal Aviation Administration (FAA) is pioneering a transformation of the national airspace system from its present ground based navigation and landing systems to a satellite based system using the Global Positioning System (GPS). To meet the critical safety-of-life aviation positioning requirements, a Satellite-Based Augmentation System (SBAS), the Wide Area Augmentation System (WAAS), is being implemented to support navigation for all phases of flight, including Category I precision approach. The system is designed to be used as a primary means of navigation, capable of meeting the Required Navigation Performance (RNP), and therefore must satisfy the accuracy, integrity, continuity and availability requirements. In recent years there has been international acceptance of Global Navigation Satellite Systems (GNSS), spurring widespread growth in the independent development of SBASs. Besides the FAA's WAAS, the European Geostationary Navigation Overlay Service System (EGNOS) and the Japan Civil Aviation Bureau's MTSAT-Satellite Augmentation System (MSAS) are also being actively developed. Although all of these SBASs can operate as stand-alone, regional systems, there is increasing interest in linking these SBASs together to reduce costs while improving service coverage. This research investigated the coverage and availability improvements due to cooperative efforts among regional SBAS networks. The primary goal was to identify the optimal interoperation strategies in terms of performance, complexity and practicality. The core algorithms associated with the most promising concepts were developed and demonstrated. Experimental verification of the most promising concepts was conducted using data collected from a joint international test between the National Satellite Test Bed (NSTB) and the EGNOS System Test Bed (ESTB). This research clearly shows that a simple switch between SBASs made by the airborne equipment is the most effective choice for achieving the

  19. 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.

  20. 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.

  1. SCANNING VISION SYSTEM FOR VEHICLE NAVIGATION

    OpenAIRE

    O. Sergiyenko

    2012-01-01

    The new model of the scanning vision system for vehicles is offered. The questions of creation, functioning and interaction of the system units and elements are considered. The mathematical apparatus for processing digital information inside the system and for determining distances and an-gle standard in the offered system is worked out. Expected accuracy, functioning speed, range of ac-tion, energy consumption when using the system are determined. The possible areas of the developed automa...

  2. A comparison of two commercial and the terminal configured vehicle area navigation systems

    Science.gov (United States)

    Knox, C. E.; Hartnell, D.

    1976-01-01

    A comparison was made of some of the more important features of two commercially available area navigation systems and the Terminal Configured Vehicle (TCV) area navigation system. Topics discussed included system design criteria, system elements, calculation of the navigation solution, and presentation of guidance information.

  3. 76 FR 22726 - Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products...

    Science.gov (United States)

    2011-04-22

    ... From the Federal Register Online via the Government Publishing Office INTERNATIONAL TRADE COMMISSION Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products... multimedia display and navigation devices and systems, components thereof, and products containing same...

  4. 77 FR 13350 - Certain Automotive GPS Navigation Systems, Components Thereof, and Products Containing Same...

    Science.gov (United States)

    2012-03-06

    ... From the Federal Register Online via the Government Publishing Office INTERNATIONAL TRADE 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...

  5. 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

  6. 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.

  7. Web API for biology with a workflow navigation system.

    Science.gov (United States)

    Kwon, Yeondae; Shigemoto, Yasumasa; Kuwana, Yoshikazu; Sugawara, Hideaki

    2009-07-01

    DNA Data Bank of Japan (DDBJ) provides Web-based systems for biological analysis, called Web APIs for biology (WABI). So far, we have developed over 20 SOAP services and several workflows that consist of a series of method invocations. In this article, we present newly developed services of WABI, that is, REST-based Web services, additional workflows and a workflow navigation system. Each Web service and workflow can be used as a complete service or a building block for programmers to construct more complex information processing systems. The workflow navigation system aims to help non-programming biologists perform analysis tasks by providing next applicable services on Web browsers according to the output of a previously selected service. With this function, users can apply multiple services consecutively only by following links without any programming or manual copy-and-paste operations on Web browsers. The listed services are determined automatically by the system referring to the dictionaries of service categories, the input/output types of services and HTML tags. WABI and the workflow navigation system are freely accessible at http://www.xml.nig.ac.jp/index.html and http://cyclamen.ddbj.nig.ac.jp/, respectively.

  8. 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.

  9. Vehicle health management for guidance, navigation and control systems

    Science.gov (United States)

    Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

    1993-01-01

    The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

  10. A magnetic-resonance-imaging-compatible remote catheter navigation system.

    Science.gov (United States)

    Tavallaei, Mohammad Ali; Thakur, Yogesh; Haider, Syed; Drangova, Maria

    2013-04-01

    A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within the bore of the magnet. While inside the scanner bore, motion accuracy was characterized during the acquisition of frequently used imaging sequences, including real-time gradient echo. The effect of the catheter navigation system on image signal-to-noise ratio (SNR) was also evaluated. The results show that the master-slave system has a maximum time delay of 41 ± 21 ms in replicating motion; an absolute value error of 2 ± 2° was measured for radial catheter motion replication over 360° and 1.0 ± 0.8 mm in axial catheter motion replication over 100 mm of travel. The worst-case SNR drop was observed to be 2.5%.

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

    Science.gov (United States)

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

    2016-07-26

    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.

  12. 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.

  13. Global positioning system pseudolite-based relative navigation.

    Energy Technology Data Exchange (ETDEWEB)

    Monda, Eric W. (University of Texas, Austin, TX)

    2004-03-01

    Though the Global Positioning System has revolutionized navigation in the modern age, it is limited in its capability for some applications because an unobstructed line of sight to a minimum of four satellites is required. One way of augmenting the system in small areas is by employing pseudolites to broadcast additional signals that can be used to improve the user's position solution. At the Navigation Systems Testing Laboratory (NSTL) at NASA's Johnson Space Center in Houston, TX, research has been underway on the use of pseudolites to perform precision relative navigation. Based on the findings of previous research done at the NSTL, the method used to process the pseudolite measurements is an extended Kalman filter of the double differenced carrier phase measurements. By employing simulations of the system, as well as processing previously collected data in a real time manner, sub-meter tracking of a moving receiver with carrier phase measurements in the extended Kalman filter appears to be possible.

  14. High accuracy autonomous navigation using the global positioning system (GPS)

    Science.gov (United States)

    Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

    1997-01-01

    The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

  15. 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.

  16. A new evaluation platform for Navigation systems

    DEFF Research Database (Denmark)

    Sejerøe, Thomas Hanefeld; Poulsen, Niels Kjølstad; Ravn, Ole

    2005-01-01

    The KALMTOOL 2 toolbox is a set of MATLAB tools for state estimation for nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three...... versions of particle filters. The toolbox requires MATLAB ver. 6, but no additional toolboxes are required....

  17. 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

  18. Advantages of Hybrid Global Navigation Satellite Systems

    Directory of Open Access Journals (Sweden)

    Asim Bilajbegović

    2007-05-01

    Full Text Available In a decision-making situation, what kind of GPS equipment to purchase, one always has a dilemma, tobuy hybrid (GPS+GLONASS or only GPS receivers? In the case of completeness of the GLONASS satellite system, this dilemma probably would not have existed. The answer to this dilemma is given in the present paper, but for the constellation of the GLONASS satellites in summer 2006 (14 satellites operational. Due to the short operational period of these satellites (for example GLONASS-M, 5 years, and not launching new ones, at this moment (February 25, 2007, only 10 satellites are operational. For the sake of research and giving answers to these questions, about 252 RTK measurements have been done using (GPS and GNSS receivers, on points with different obstructions of horizon. Besides that, initialisation time has been investigated for both systems from about 480 measurements, using rover's antenna with metal cover, during a time interval of 0.5, 2 and 5 seconds. Moreover, accuracy, firmware declared accuracy and redundancy of GPS and GNSS RTK measurements have been investigating.  

  19. 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.

  20. Improved Modeling in a Matlab-Based Navigation System

    Science.gov (United States)

    Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Larimore, Wallace E.

    1999-01-01

    An innovative approach to autonomous navigation is available for low earth orbit satellites. The system is developed in Matlab and utilizes an Extended Kalman Filter (EKF) to estimate the attitude and trajectory based on spacecraft magnetometer and gyro data. Preliminary tests of the system with real spacecraft data from the Rossi X-Ray Timing Explorer Satellite (RXTE) indicate the existence of unmodeled errors in the magnetometer data. Incorporating into the EKF a statistical model that describes the colored component of the effective measurement of the magnetic field vector could improve the accuracy of the trajectory and attitude estimates and also improve the convergence time. This model is identified as a first order Markov process. With the addition of the model, the EKF attempts to identify the non-white components of the noise allowing for more accurate estimation of the original state vector, i.e. the orbital elements and the attitude. Working in Matlab allows for easy incorporation of new models into the EKF and the resulting navigation system is generic and can easily be applied to future missions resulting in an alternative in onboard or ground-based navigation.

  1. 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.

  2. Performance analysis of visual markers for indoor navigation systems#

    Institute of Scientific and Technical Information of China (English)

    Gaetano C LA DELFA; Salvatore MONTELEONE; Vincenzo CATANIA; Juan F DE PAZ; Javier BAJO

    2016-01-01

    The massive diffusion of smartphones, the growing interest in wearable devices and the Internet of Things, and the exponential rise of location based services (LBSs) have made the problem of localization and navigation inside buildings one of the most important technological challenges of recent years. Indoor positioning systems have a huge market in the retail sector and contextual advertising;in addition, they can be fundamental to increasing the quality of life for citizens if deployed inside public buildings such as hospitals, airports, and museums. Sometimes, in emergency situations, they can make the difference between life and death. Various approaches have been proposed in the literature. Recently, thanks to the high performance of smartphones’ cameras, marker-less and marker-based computer vision approaches have been investigated. In a previous paper, we proposed a technique for indoor localization and navigation using both Bluetooth low energy (BLE) and a 2D visual marker system deployed into the fl oor. In this paper, we presented a qualitative performance evaluation of three 2D visual markers, Vuforia, ArUco marker, and AprilTag, which are suitable for real-time applications. Our analysis focused on specifi c case study of visual markers placed onto the tiles, to improve the efficiency of our indoor localization and navigation approach by choosing the best visual marker system.

  3. Exposure to hazardous volatile pollutants back diffusing from automobile exhaust systems.

    Science.gov (United States)

    Rahman, Md Mahmudur; Kim, Ki-Hyun

    2012-11-30

    As back diffusion gases from automobiles are significant sources of in-vehicular pollution, we investigated eight automobiles, five for back diffusion (driving) measurements and three for reference conditions (non-driving). To characterize the back diffusion emission conditions, seven volatile organic compounds (VOC) and four carbonyl compounds (CCs) were measured along with dilution-to-threshold (D/T) ratio. The data obtained from back diffusion measurements were examined after having been divided into three subcategories: (i) driving and non-driving, (ii) with and without automobile upgrading (sealing the inner line), and (iii) differences in CO emission levels. Among the VOCs, the concentrations of toluene (T) was found to be the highest (range: 13.6-155 ppb), while benzene (0.19-1.47 ppb) was hardly distinguishable from its ambient levels. Other VOCs (xylene, trimethylbenzene, and styrene) were generally below <1 ppb. Unlike VOCs, the concentrations (ppb) of CCs were seen at fairly enhanced levels: 30.1-95 (formaldehyde), 34.6-87.2 (acetaldehyde), 4.56-34.7 (propionaldehyde), and 3.45-68.8 (butyraldehyde). The results of our study suggest that the back diffusion phenomenon, if occurring, can deteriorate in-vehicle air, especially with the most imminent health hazards from a compound such as formaldehyde in view of its exceedance pattern over common guidelines.

  4. AUTOMATIC NAVIGATION.

    Science.gov (United States)

    NAVIGATION, REPORTS), (*CONTROL SYSTEMS, *INFORMATION THEORY), ABSTRACTS, OPTIMIZATION, DYNAMIC PROGRAMMING, GAME THEORY, NONLINEAR SYSTEMS, CORRELATION TECHNIQUES, FOURIER ANALYSIS, INTEGRAL TRANSFORMS, DEMODULATION, NAVIGATION CHARTS, PATTERN RECOGNITION, DISTRIBUTION THEORY , TIME SHARING, GRAPHICS, DIGITAL COMPUTERS, FEEDBACK, STABILITY

  5. Comfort model for automobile seat.

    Science.gov (United States)

    da Silva, Lizandra da; Bortolotti, Silvana Ligia Vincenzi; Campos, Izabel Carolina Martins; Merino, Eugenio Andrés Díaz

    2012-01-01

    Comfort on automobile seats is lived daily by thousands of drivers. Epistemologically, comfort can be understood under the theory of complexity, since it emerges from a chain of interrelationships between man and several elements of the system. This interaction process can engender extreme comfort associated to the feeling of pleasure and wellbeing or, on the other hand, lead to discomfort, normally followed by pain. This article has for purpose the development of a theoretical model that favours the comfort feature on automobile seats through the identification of its facets and indicators. For such, a theoretical study is resorted to, allowing the mapping of elements that constitute the model. The results present a comfort model on automobile seats that contemplates the (physical, psychological, object, context and environment) facets. This model is expected to contribute with the automobile industry for the development of improvements of the ergonomic project of seats to increase the comfort noticed by the users.

  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. Adaptive learning systems: Supporting navigation with customized suggestions

    Directory of Open Access Journals (Sweden)

    Sibel Somyürek

    2014-01-01

    Full Text Available The aim of this study was to share the results from an experimental research which investigate the effects of link annotations in an educational hypermedia on students’ navigation. This study was conducted through a post-test only control group design with 67 undergraduate students. The voluntary research participants were randomly assigned into the experimental and control group. The required data were collected through an academic achievement test, the Motivated Strategies for Learning Questionnaire, the Non-Linear Media Disorientation Assessment Tool, a questionnaire about users’ opinions and user logs. The findings showed that the perceived disorientation scores and revisitation rates were significantly lower for the learners who studied in the adaptive environment than those in the non-adaptive environment. It was observed that students’ non-sequential navigation in experimental group increased significantly and they followed the system's advices. 

  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. Color night vision system for ground vehicle navigation

    Science.gov (United States)

    Ali, E. A.; Qadir, H.; Kozaitis, S. P.

    2014-06-01

    Operating in a degraded visual environment due to darkness can pose a threat to navigation safety. Systems have been developed to navigate in darkness that depend upon differences between objects such as temperature or reflectivity at various wavelengths. However, adding sensors for these systems increases the complexity by adding multiple components that may create problems with alignment and calibration. An approach is needed that is passive and simple for widespread acceptance. Our approach uses a type of augmented display to show fused images from visible and thermal sensors that are continuously updated. Because the raw fused image gave an unnatural color appearance, we used a color transfer process based on a look-up table to replace the false colors with a colormap derived from a daytime reference image obtained from a public database using the GPS coordinates of the vehicle. Although the database image was not perfectly registered, we were able to produce imagery acquired at night that appeared with daylight colors. Such an approach could improve the safety of nighttime navigation.

  10. 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

  11. Exploitation of Semantic Building Model in Indoor Navigation Systems

    Science.gov (United States)

    Anjomshoaa, A.; Shayeganfar, F.; Tjoa, A. Min

    2009-04-01

    There are many types of indoor and outdoor navigation tools and methodologies available. A majority of these solutions are based on Global Positioning Systems (GPS) and instant video and image processing. These approaches are ideal for open world environments where very few information about the target location is available, but for large scale building environments such as hospitals, governmental offices, etc the end-user will need more detailed information about the surrounding context which is especially important in case of people with special needs. This paper presents a smart indoor navigation solution that is based on Semantic Web technologies and Building Information Model (BIM). The proposed solution is also aligned with Google Android's concepts to enlighten the realization of results. Keywords: IAI IFCXML, Building Information Model, Indoor Navigation, Semantic Web, Google Android, People with Special Needs 1 Introduction Built environment is a central factor in our daily life and a big portion of human life is spent inside buildings. Traditionally the buildings are documented using building maps and plans by utilization of IT tools such as computer-aided design (CAD) applications. Documenting the maps in an electronic way is already pervasive but CAD drawings do not suffice the requirements regarding effective building models that can be shared with other building-related applications such as indoor navigation systems. The navigation in built environment is not a new issue, however with the advances in emerging technologies like GPS, mobile and networked environments, and Semantic Web new solutions have been suggested to enrich the traditional building maps and convert them to smart information resources that can be reused in other applications and improve the interpretability with building inhabitants and building visitors. Other important issues that should be addressed in building navigation scenarios are location tagging and end-user communication

  12. 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.

  13. An extensive and autonomous deep space navigation system using radio pulsars

    NARCIS (Netherlands)

    Kestillä, A.A.; Engelen, S.; Gill, E.K.A.; Verhoeven, C.J.M.; Bentum, M.J.; Irahhauten, Z.

    2010-01-01

    Interstellar navigation poses significant challenges in all aspects of a spacecraft. One of them is reliable, low-cost, real-time navigation, especially when there is a considerable distance between Earth and the spacecraft in question. In this paper, a complete system for navigation using pulsar ra

  14. Dynamic Analysis of Condenser Assembly of Automobile Air Conditioning System Using CAE Tools

    Science.gov (United States)

    Singh, M.; Singh, D.; Saini, J. S.

    2013-04-01

    With the automotive air-conditioning industry aiming at higher levels of quality, cost effectiveness and a short time to market, the need for simulation is at an all time high. In the present work, the use of dynamics analysis is proposed in the simulation of the automobile air conditioning condenser assembly for the vibration loads. The condenser assembly has been analyzed using the standard testing conditions. The results revealed that the components of condenser assembly may fail due to resonance in dynamic analysis. Thereafter, the condenser assembly was optimized, resulting in a 2 % reduction in mass.

  15. CRUISE FUZZY CONTROL FOR AUTOMOBILE WITH CVT

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    To develop cruise control system of an automobile with the metal pushing V-belt type CVT, the dynamic model of automobile travelling longitudinally is established, and the fuzzy controller of control system is designed. Considering uncertainty system parameter and exterior resistance disturbances, the stability of controller is investigated by simulating. The results of its simulation show that the fuzzy controller designed has practicability.

  16. A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study.

    Directory of Open Access Journals (Sweden)

    Liang Li

    Full Text Available To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery.In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems.The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons.The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon's skills and knowledge, not as a substitute.

  17. 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.

  18. 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.

  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. 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...

  1. 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 a...

  2. How navigational guidance systems are combined in a desert ant.

    Science.gov (United States)

    Collett, Matthew

    2012-05-22

    Animals use information from multiple sources in order to navigate between goals. Ants such as Cataglyphis fortis use an odometer and a sun-based compass to provide input for path integration (PI). They also use configurations of visual features to learn both goal locations and habitual routes to the goals. Information is not combined into a unified representation but appears to be exploited by separate expert guidance systems. Visual and PI goal memories are acquired rapidly and provide the consistency for route memories to be formed. Do established route memories then suppress the guidance from PI? A series of manipulations putting PI and route memories into varying levels of conflict found that ants follow compromise trajectories. The guidance systems are therefore active together and share the control of behavior. Route memories do not suppress the other guidance systems. A simple model shows that observed patterns of control could arise from a superposition of the output commands from the guidance systems, potentially approximating Bayesian inference. These results help show how an insect's relatively simple decision-making can produce navigation that is reliable and efficient and that also adapts to changing demands.

  3. 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

  4. Novel approaches for improved performance of inertial sensors and integrated navigation systems

    OpenAIRE

    Edwan, Ezzaldeen

    2013-01-01

    Navigation is the science and art that answers the questions of knowing where you are at the current moment and where you will be in the next moment. Modern navigation systems are based mainly on satellite and inertial sensors. Inertial sensor systems are becoming very popular in navigation systems because they are self contained sensors. The goal of this research is to develop novel approaches for improving the performance of inertial sensor systems and their integration algorithms with exte...

  5. Engineering a Multimission Approach to Navigation Ground Data System Operations

    Science.gov (United States)

    Gerasimatos, Dimitrios V.; Attiyah, Ahlam A.

    2012-01-01

    The Mission Design and Navigation (MDNAV) Section at the Jet Propulsion Laboratory (JPL) supports many deep space and earth orbiting missions from formulation to end of mission operations. The requirements of these missions are met with a multimission approach to MDNAV ground data system (GDS) infrastructure capable of being shared and allocated in a seamless and consistent manner across missions. The MDNAV computing infrastructure consists of compute clusters, network attached storage, mission support area facilities, and desktop hardware. The multimission architecture allows these assets, and even personnel, to be leveraged effectively across the project lifecycle and across multiple missions simultaneously. It provides a more robust and capable infrastructure to each mission than might be possible if each constructed its own. It also enables a consistent interface and environment within which teams can conduct all mission analysis and navigation functions including: trajectory design; ephemeris generation; orbit determination; maneuver design; and entry, descent, and landing analysis. The savings of these efficiencies more than offset the costs of increased complexity and other challenges that had to be addressed: configuration management, scheduling conflicts, and competition for resources. This paper examines the benefits of the multimission MDNAV ground data system infrastructure, focusing on the hardware and software architecture. The result is an efficient, robust, scalable MDNAV ground data system capable of supporting more than a dozen active missions at once.

  6. Design and Implementation of GPS Vehicle Navigation and Guidance System

    Institute of Scientific and Technical Information of China (English)

    Bing-zhong REN; Wen-huan KONG

    2010-01-01

    -The urban traffic infomation management has become an important way of solving traffic jam of cities.With the wider use of the third generation of mobile communication(3G)networks,urban information management based on 3G will be a central issue of application.The paper designs a framework of Global Positioning System(GPS)vehicle navigating and guiding system using 3G mobile network and Global Information System(CIS)electronic map according to moving objects.It discusses moving object' s time-space attributes which will be described by a five-field and a directed graph.It analyzes the GPS mobile appararus's software functions and hardware And it improves the function of GPS mobile apparatus which provide the guiding function utilizing the shared information of traffic.The navigation based on the shortest path algorithm is been advanced to one based on the real-time traffic flow of moving objects,which help people travelling on roads mote convenietly.

  7. Adaptive Landmark-Based Navigation System Using Learning Techniques

    DEFF Research Database (Denmark)

    Zeidan, Bassel; Dasgupta, Sakyasingha; Wörgötter, Florentin

    2014-01-01

    The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal...

  8. Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000

    Directory of Open Access Journals (Sweden)

    Peter J. Zeno

    2016-01-01

    Full Text Available In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.

  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. An efficient navigation-control system for small unmanned aircraft

    Science.gov (United States)

    Girwar-Nath, Jonathan Alejandro

    Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging. This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system. In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.

  11. Aids to Navigation Service Force Mix 2000 Project. Volume 1. Development and Application of an Aids to Navigation Service Force Mix Decision Support System

    Science.gov (United States)

    1992-07-01

    Hours: 0.00 LT ANT ?: DBN ANT ?: (Database: Survey.db Report#: 6) Appendix H Page H-21 12/02/91 BUOY TENDER SUMMARY Page 22 Primary Unit: ACACIA District...2-5 2.2.4 ATON Tug Barges ........................ 2-5 2.2.5 Aids to Navigation Teams ( ANTs ) ................. 2-6 2.3 ATON SERVICES...navigation boat ANT aids to navigation team AOPS abstract of operations ATON aids to navigation ATONIS aids to navigation information system BRIDGE

  12. Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

    Science.gov (United States)

    Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.

    1997-01-01

    The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate

  13. 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.

  14. The changing world of global navigation satellite systems

    Science.gov (United States)

    Dow, John M.; Neilan, Ruth E.; Higgins, Matt; Arias, Felicitas

    The world of global navigation satellite systems (GNSS) has been changing very rapidly during the last years. New constellations are being developed in Europe (Galileo), India (IRNSS), Japan (QZNSS) and China (Compass), while both the US GPS and the Russian GLONASS programmes are engaged in very significant mediumto long-term improvements, which will make them even more valuable in the coming years to an ever wider range of civilian users. In addition, powerful regional augmentation systems are becoming (or have already become) operational, providing users with important real time information concerning the integrity of the signals being broadcast by those two systems: these include the US WAAS, the European EGNOS, the Japanese MSAS, the Indian GAGAN and others. Following a number of United Nations sponsored regional workshops, a report by an ad hoc UN "GNSS Action Team" and several preparatory meetings, the International Committee on GNSS (ICG) was established in December 2005 in Vienna, Austria. The ICG is an informal body with the main objective of promoting cooperation on matters of mutual interest related to civil satellite-based positioning, navigation, timing, and value-added services, as well as compatibility and interoperability among the GNSS systems. A further important objective is to encourage the use of GNSS to support sustainable development, particularly in the developing countries. The United Nations Office for Outer Space Affairs (UNOOSA) plays a key role in facilitating the work of the ICG. The members of the Committee are GNSS system providers, while international organisations representing users of GNSS can qualify for participation in the work of the Committee as associate members or observers. The interests of the space geodetic, mapping and timing communities are represented in particular through ICG associate membership of the IGS, IAG, FIG, IERS, while BIPM is an ICG observer. This paper will highlight the background of these developments

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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

  20. Optical flow and inertial navigation system fusion in the UAV navigation

    Science.gov (United States)

    Popov, A.; Miller, A.; Miller, B.; Stepanyan, K.

    2016-10-01

    In recent years navigation on the basis of computation of the camera path and the distance to obstacles with the aid of field of image motion velocities (i.e. optical flow, OF) became highly demanded particularly in the area of relatively small and even micro unmanned aerial vehicles (UAV). Video sequences captured by onboard camera gives the possibility of the OF calculation with the aid of relatively simple algorithms like Lucas-Kanade. The complete OF is the linear function of linear and angular velocities of the UAV which provides an additional means for the navigation parameters estimation. Such UAV navigation approach presumes that on-board camera gives the video sequence of the underlying surface images providing the information about the UAV evolutions. Navigation parameters are extracted on the basis of exact OF formulas which gives the observation process description for estimation based on Kalman filtering. One can expect the high accuracy of the estimated parameters (linear and angular velocities) because their number is substantially less than the number of measurements (practically the number of the camera pixels).

  1. A comparative analysis of area navigation systems in general aviation. M.S. Thesis

    Science.gov (United States)

    Dodge, S. M.

    1973-01-01

    Radio navigation systems which offer the capabilities of area navigation to general aviation operators are discussed. The systems considered are: (1) the VORTAC system, (2) the Loran-C system, and (3) the Differential Omega system. The inital analyses are directed toward a comparison of the systems with respect to their compliance to specified performance parameters and to the cost effectiveness of each system in relation to those specifications. Further analyses lead to the development of system cost sensitivity charts, and the employment of these charts allows conclusions to be drawn relative to the cost-effectiveness of the candidate navigation system.

  2. The rotation modulation inertial navigation system for blackout area during hypersonic reentry

    Science.gov (United States)

    Li, Jin; Zhao, Jianhui; Sha, Xiaoqiang; Li, Fan

    2016-10-01

    Navigation of Hypersonic vehicles in the radio frequency (RF) blackout area during atmospheric reentry is challenging as the vehicles can only use the inertial navigation system (INS) as autonomous navigation method in this area. In this paper, strapdown inertial navigation system (SINS) based on the Fiber Optic Gyroscope (FOG) is used for navigation in blackout area. However, without external navigation measurement, the errors of SINS caused by the FOG drift and accelerometer bias would cumulate with time and degrade navigation accuracy. To solve this problem, single axis rotation modulation along with the azimuth axis of the body frame is adopted. The Generic Hypersonic Vehicle (GHV) model designed by NASA Langley Research Center is used to build the reentry fight model which can generate navigation information for simulation. Through derivation the error equations of FOG SINS in the North-East-Down (NED) navigation frame, the principle of error compensation by rotation modulation can be well understood. The simulation results show that rotation modulation can effectively decrease the impact of inertial sensor drift and improve the navigation accuracy in blackout area.

  3. A Novel Kalman Filter with State Constraint Approach for the Integration of Multiple Pedestrian Navigation Systems

    Directory of Open Access Journals (Sweden)

    Haiyu Lan

    2015-07-01

    Full Text Available Numerous solutions/methods to solve the existing problems of pedestrian navigation/localization have been proposed in the last decade by both industrial and academic researchers. However, to date there are still major challenges for a single pedestrian navigation system (PNS to operate continuously, robustly, and seamlessly in all indoor and outdoor environments. In this paper, a novel method for pedestrian navigation approach to fuse the information from two separate PNSs is proposed. When both systems are used at the same time by a specific user, a nonlinear inequality constraint between the two systems’ navigation estimates always exists. Through exploring this constraint information, a novel filtering technique named Kalman filter with state constraint is used to diminish the positioning errors of both systems. The proposed method was tested by fusing the navigation information from two different PNSs, one is the foot-mounted inertial navigation system (INS mechanization-based system, the other PNS is a navigation device that is mounted on the user’s upper body, and adopting the pedestrian dead reckoning (PDR mechanization for navigation update. Monte Carlo simulations and real field experiments show that the proposed method for the integration of multiple PNSs could improve each PNS’ navigation performance.

  4. Disposition of camera parameters in vehicle navigation system

    Science.gov (United States)

    Yu, Houyun; Zhang, Weigong

    2010-10-01

    To resolve the calibration of onboard camera in the vehicle navigation system based on machine vision, a respective method for disposing of intrinsic and extrinsic parameters of the camera is presented. In view of that the intrinsic parameters are basically invariable during the car's moving, they can be firstly calibrated with a planar pattern as soon as the camera is installed. The installation location of onboard camera can be real-time adjusted according to the slope and vanishing point of lane lines in the picture. Then the quantity of such extrinsic parameters as direction angle, incline angle and level translation are adjusted to zero. This respective disposing method for camera parameters is applied to lane departure detection on the structural road, with which camera calibration is simplified and the measuring error due to extrinsic parameters is decreased. The correctness and feasibility of the method is proved by theoretical calculation and practical experiment.

  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. 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...

  7. A stereo camera system for autonomous maritime navigation (AMN) vehicles

    Science.gov (United States)

    Zhang, Weihong; Zhuang, Ping; Elkins, Les; Simon, Rick; Gore, David; Cogar, Jeff; Hildebrand, Kevin; Crawford, Steve; Fuller, Joe

    2009-05-01

    Spatial Integrated System (SIS), Rockville, Maryland, in collaboration with NSWC Combatant Craft Division (NSWCCD), is applying 3D imaging technology, artificial intelligence, sensor fusion, behaviors-based control, and system integration to a prototype 40 foot, high performance Research and Development Unmanned Surface Vehicle (USV). This paper focus on the developments of the stereo camera system in the USV navigation that currently consists of two high-resolution cameras and will incorporate an array of cameras in the near future. The objectives of the camera system are to re-construct 3D objects and detect them in the sea water surface. The paper reviews two critical technological components, namely camera calibration and stereo matching. In stereo matching, a comprehensive study is presented to compare the algorithmic performances resulted from the various information sources (intensity, RGB values, Gaussian gradients and Gaussian Laplacians), patching schemas (single windows, and multiple windows with same/different centers), and correlation metrics (convolution, absolute difference, and histogram). To enhance system performance, a sub-pixel edge detection technique has been introduced to address the precision requirement and a noise removal post-processing step added to eliminate noisy points from the reconstructed 3D point clouds. Finally, experimental results are reported to demonstrate the performance of the stereo camera system.

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

    Directory of Open Access Journals (Sweden)

    Juraj Machaj

    2012-01-01

    Full Text Available 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 pilot, noncommercial project; therefore it is called University Mobile Navigation System (UMNS. The navigation system can be characterized as real-time system, that is, the system operations cannot be significantly delayed. Since delay of the system depends significantly on communication platform used for map information downloading or communication with the localization server. We decided to investigate an impact of the used communication platform on the time needs for some of the functions implemented in navigation system. Measurements were performed in the real-world application. Next experiment is focused on testing of the accuracy of used indoor positioning system. Outdoor positioning accuracy is not tested because GPS is utilized in outdoor, and this system was already exhaustively investigated.

  9. 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.

  10. 汽车悬架系统建模与仿真研究%The Model Building And Simulation Of The Automobile Suspension System Reserch

    Institute of Scientific and Technical Information of China (English)

    赵海宾; 赵巍

    2016-01-01

    The automobile suspension is a multi-body system and the motion relationship among the parts is very complicated, so it brings many difficulties to compute the various characteristics with traditional methods. The Automobile suspension kinetics and dynamic simulation has been a very critical task in automobile design and development and it provides a rapid and effective method to design automobile suspension.%汽车悬架系统是一个比较复杂的多体系统,其构件之间的运动关系十分复杂,这就给使得传统的计算方法分析悬架的各种特性带来许多的困难。因此,悬架的运动学和动力学仿真分析在汽车悬架特性的研究中起着重要作用,并为悬架系统的设计和开发提供了一种先进高效快捷的方法。

  11. 汽车整车性能检测系统的设计%Design of Detection System for Automobile Performance

    Institute of Scientific and Technical Information of China (English)

    高红红; 劳奇成; 卢春霞

    2011-01-01

    为了保证汽车安全行驶和减少环境污染,需要对汽车的操纵稳定性、行驶平稳性和环保性等进行检测.该检测系统以工业计算机和插入式数据采集控制板为核心,利用网络及通信技术等实现了汽车整车性能的流水线式检测.正常情况下,可以供至少三辆车同时在线检测,且检测过程不需要辅助人员(驾驶员除外),从而减少了人为误差,提高了检测效率.%The drive stability, ride stationarity, arid environmental conservation of automobile are necessary to be tested to ensure safe traffic and reduce environmental pollution of automobiles. The industrial computer, plug-in data acquisition and control boards are the core of the detection system, and the network and communication technology are used to realize pipeline the automobiles. Normally, at least three automobiles can be tested simultaneously, and the assistant personnel (except the driver) are not needed in the test process, thus the artificial errors are reduced and the detection efficiency is improved.

  12. Towards an Automatic Ice Navigation Support System in the Arctic Sea

    Directory of Open Access Journals (Sweden)

    Xintao Liu

    2016-03-01

    Full Text Available Conventional ice navigation in the sea is manually operated by well-trained navigators, whose experiences are heavily relied upon to guarantee the ship’s safety. Despite the increasingly available ice data and information, little has been done to develop an automatic ice navigation support system to better guide ships in the sea. In this study, using the vector-formatted ice data and navigation codes in northern regions, we calculate ice numeral and divide sea area into two parts: continuous navigable area and the counterpart numerous separate unnavigable area. We generate Voronoi Diagrams for the obstacle areas and build a road network-like graph for connections in the sea. Based on such a network, we design and develop a geographic information system (GIS package to automatically compute the safest-and-shortest routes for different types of ships between origin and destination (OD pairs. A visibility tool, Isovist, is also implemented to help automatically identify safe navigable areas in emergency situations. The developed GIS package is shared online as an open source project called NavSpace, available for validation and extension, e.g., indoor navigation service. This work would promote the development of ice navigation support system and potentially enhance the safety of ice navigation in the Arctic sea.

  13. Experimental Investigation of an Automobile Air-Conditioning System using Integrated Brushless Direct Current Motor Rotary Compressor

    Directory of Open Access Journals (Sweden)

    Sukri M.F.

    2016-01-01

    Full Text Available The present study presents an experimental investigation on the effect of condenser air inlet temperature and dimensionless parameter of X on the performance of automobile air-conditioning (AAC system using integrated brushless direct current motor-rotary compressor and electronic expansion valve. The other components of AAC system are from original component of AAC system used for medium size passenger car. The experimental results showed that the increment of the condenser air inlet temperature and X caused an increase in condensing temperature, cooling capacity and compressor work, while decreasing the coefficient of performance (COP. Meanwhile, the evaporating temperature increase with the increment of condenser air inlet temperature, but decrease with decrement of X. In general, AAC system have to work at higher value of X in order to produce more cooling capacity, thereby increment in compressor work also occurs due to energy balance. However, at higher value of X, the COP of the system dropped due to dominant increase in compressor power, as opposed to a rise in cooling capacity. Due to this reason, the best operation of this compressor occurs at X = 4.96 for constant T5 (35ºC, or at T5 = 30ºC for constant X (4.96.

  14. An optical flow-based integrated navigation system inspired by insect vision.

    Science.gov (United States)

    Pan, Chao; Deng, He; Yin, Xiao Fang; Liu, Jian Guo

    2011-10-01

    Some insects use optic flow (OF) to perform their navigational tasks perfectly. Learning from insects' OF navigation strategies, this article proposes a bio-inspired integrated navigation system based on OF. The integrated navigation system is composed of an OF navigation system (OFNS) and an OF aided navigation system (OFAN). The OFNS uses a simple OF method to measure motion at each step along a path. The position information is then obtained by path integration. However, path integration leads to cumulative position errors which increase rapidly with time. To overcome this problem, the OFAN is employed to assist the OFNS in estimating and correcting these cumulative errors. The OFAN adopts an OF-based Kalman filter (KF) to continuously estimate the position errors. Moreover, based on the OF technique used in the OFNS, we develop a new OF method employed by the OFAN to generate the measurement input of the OF-based KF. As a result, both the OFNS and the OFAN in our integrated navigation system are derived from the same OF method so that they share input signals and some operations. The proposed integrated navigation system can provide accurate position information without interference from cumulative errors yet doing so with low computational effort. Simulations and comparisons have demonstrated its efficiency.

  15. 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.

  16. 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

    ... System (INS): Request for Evaluation; Equipment and Equipment Installation; Training Program; Equipment... OPERATIONS Pt. 121, App. G Appendix G to Part 121—Doppler Radar and Inertial Navigation System (INS): Request... installation—Inertial Navigation Systems (INS) or Doppler Radar System. (a) Inertial Navigation and...

  17. The open service signal in space navigation data comparison of the Global Positioning System and the BeiDou Navigation Satellite System.

    Science.gov (United States)

    Jan, Shau-Shiun; Tao, An-Lin

    2014-08-19

    More and more Global Navigation Satellite Systems (GNSSs) have been developed and are in operation. Before integrating information on various GNSSs, the differences between the various systems must be studied first. This research focuses on analyzing the navigation data differences between the Chinese BeiDou Navigation Satellite System (BDS) and the United States' Global Positioning System (GPS). In addition to explaining the impact caused by these two different coordinate and time systems, this research uses an actual open service signal in space (SIS) for both GPS and BDS to analyze their current system performance. Five data quality analysis (DQA) mechanisms are proposed in this research to validate both systems' SIS navigation data. These five DQAs evaluate the differences in ephemeris and almanac messages from both systems for stability and accuracy. After all of the DQAs, the different issues related to GPS and BDS satellite information are presented. Finally, based on these DQA results, this research provides suggested resolutions for the combined use of GPS and BDS for navigation and guidance.

  18. Accuracy of optical navigation systems for automatic head surgery: optical tracking versus optical coherence tomography

    Science.gov (United States)

    Díaz Díaz, Jesús; Riva, Mauro H.; Majdani, Omid; Ortmaier, Tobias

    2014-03-01

    The choice of a navigation system highly depends on the medical intervention and its accuracy demands. The most commonly used systems for image guided surgery (IGS) are based on optical and magnetic tracking systems. This paper compares two optical systems in terms of accuracy: state of the art triangulation-based optical tracking (OT) and optical coherence tomography (OCT). We use an experimental setup with a combined OCT and cutting laser, and an external OT. We simulate a robotic assisted surgical intervention, including planning, navigation, and processing, and compare the accuracies reached at a specific target with each navigation system.

  19. Design of a laser navigation system for the inspection robot used in substation

    Science.gov (United States)

    Zhu, Jing; Sun, Yanhe; Sun, Deli

    2017-01-01

    Aimed at the deficiency of the magnetic guide and RFID parking system used by substation inspection robot now, a laser navigation system is designed, and the system structure, the method of map building and positioning are all introduced. The system performance is tested in a 500kV substation, and the result show that the repetitive precision of navigation system is precise enough to help the robot fulfill inspection tasks.

  20. The Open Service Signal in Space Navigation Data Comparison of the Global Positioning System and the BeiDou Navigation Satellite System

    Directory of Open Access Journals (Sweden)

    Shau-Shiun Jan

    2014-08-01

    Full Text Available More and more Global Navigation Satellite Systems (GNSSs have been developed and are in operation. Before integrating information on various GNSSs, the differences between the various systems must be studied first. This research focuses on analyzing the navigation data differences between the Chinese BeiDou Navigation Satellite System (BDS and the United States’ Global Positioning System (GPS. In addition to explaining the impact caused by these two different coordinate and time systems, this research uses an actual open service signal in space (SIS for both GPS and BDS to analyze their current system performance. Five data quality analysis (DQA mechanisms are proposed in this research to validate both systems’ SIS navigation data. These five DQAs evaluate the differences in ephemeris and almanac messages from both systems for stability and accuracy. After all of the DQAs, the different issues related to GPS and BDS satellite information are presented. Finally, based on these DQA results, this research provides suggested resolutions for the combined use of GPS and BDS for navigation and guidance.

  1. 汽车企业逆向物流系统的构建和运行%Establishment and Operation of Reverse Logistics System of Automobile Enterprises

    Institute of Scientific and Technical Information of China (English)

    刘瑛; 方娜

    2015-01-01

    首先从汽车逆向物流的流程入手,分析了汽车企业逆向物流系统的构成.而后对汽车企业逆向物流系统的节点选择进行建模和实例分析.最后提出了汽车企业逆向物流系统构建和运行的策略.%In this paper, starting from the process of the automobile reverse logistics, we analyzed the composition of the reverse logistics system of the automobile enterprise, then modeled and analyzed empirically the nodal selection of the system, and at the end, proposed the strategy for the establishment and operation of the system.

  2. 汽车制动辅助系统的作用与特点分析%Analysis of the Functions and Features of Automobile Brake Assist System

    Institute of Scientific and Technical Information of China (English)

    麻友良; 程胭脂; 陈希

    2014-01-01

    Describes the existence of the problem of the automobile during emergency braking ,and the role of brake assist system and basic components.Analysis of the existing car brake assist system to produce maximum braking pressure way and characteristics.Pointed out that the ESP-based HBA will be the development direction of the automobile brake assist system.%本文阐述了汽车紧急制动时存在的问题及制动辅助系统的作用和基本组成,分析了现有的汽车制动辅助系统产生最高制动压力的方式及特点,指出基于ESP的HBA将是汽车制动辅助系统的发展方向。

  3. Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System

    Directory of Open Access Journals (Sweden)

    Han-Sol Kim

    2017-03-01

    Full Text Available In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated.

  4. 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...

  5. 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...

  6. 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...

  7. Multifunctional astronomical self-organizing system of autonomous navigation and orientation for artificial Earth satellites

    Science.gov (United States)

    Kuznetsov, V. I.; Danilova, T. V.

    2017-03-01

    We describe the methods and algorithms of a multifunctional astronomical system of the autonomous navigation and orientation for artificial Earth satellites based on the automatization of the system approach to the design and programming problems of the subject area.

  8. Navigation in GPS Denied Environments: Feature-Aided Inertial Systems

    Science.gov (United States)

    2010-03-01

    Navigation Sensors and Integration Technology ( Capteurs de navigation a faible cout et technologie d’integration) RTO-EN-SET-116(2010) 14. ABSTRACT...order of 1-2 km. Now, there are many applications that require meter or sub-meter level accuracy (such as precision agriculture). Previously, due to...sufficient for many applications . Ironically, it is in just such urban/indoor locations where many people spend most of their time. (In fact, odds

  9. 电子航海系统结构%E-navigation system architecture

    Institute of Scientific and Technical Information of China (English)

    刘浩; 刘正江

    2007-01-01

    对电子航海的三个组成部分:船载系统、岸基系统和通信链接分别进行了深入研究.结果认为,技术整合是船载系统的关键;岸基系统应包含安全、保安、应急反应、防污染和商业服务五大功能;数字全球宽带海上通信是未来的发展方向.给出了电子航海的整体系统结构图.%This paper is a study of e-navigation system architecture. Three key constituent parts of e-navigation system, namely, shipborne e-navigation system, shore e-navigation system,and communication links are examined and evaluated in detail respectively. The shipborne e-navigation system is constructed lieved that the future shore e-navigation system could be constructed with regard to its functional requirements, namely, enhanced safety, security, emergency response, environmental protection and commercial service. As to the communication links, the digital global broadband maritime communication is the point for future development. In the last, the whole e-navigation system architecture is presented.

  10. Kyphoplasty interventions using a navigation system and C-arm CT data: first clinical results

    Science.gov (United States)

    Hoheisel, Martin; Skalej, Martin; Beuing, Oliver; Bill, Ulrich; Klingenbeck-Regn, Klaus; Petzold, Ralf; Nagel, Markus H.

    2009-02-01

    This study evaluates new applications using a novel navigation system with electromagnetic (EM) tracking in clinical routine. The navigation system (iGuide CAPPA, CAS innovations, Erlangen, Germany) consists of a PC with dedicated navigation software, the AURORA tracking system (NDI, Waterloo Ontario, Canada; needles equipped with small coils in their tips for EM navigation. After patient positioning a 3D C-arm data set of the spine region of interest is acquired. The images are reconstructed and the 3D data set is directly transferred to the navigation system. Image loading and image to patient registration are performed automatically by the navigation system. For image acquisition a C-arm system with DynaCT option (AXIOM Artis, Siemens Healthcare, Forchheim, Germany) was used. As new clinical applications we performed kyphoplasty for reconstruction of collapsed vertebrae. All interventions were carried out without any complication. After a single planning scan the radiologists were able to place the needle in the designated vertebra. During needle driving 2D imaging was performed just in a few cases for control reasons. The time between planning and final needle positioning was reduced in all cases compared to conventional methods. Moreover, the number of control scans could be markedly reduced. The deviation of the needle to the planned target was less than 2 mm. The use of DynaCT images in combination with electromagnetic tracking-based navigation systems allows a precise needle positioning for kyphoplasty.

  11. Avionic Inertial and Radar Navigation Systems Career Ladder AFSC 328X4.

    Science.gov (United States)

    1984-06-01

    OR LABEL EQUIPMENT 80 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 80 N464 REMOVE OR REPLACE GENERAL PURPOSE OR NAVIGATIONAL COMPUTERS 80 G191...ISOLATE MALFUNCTIONS TO INERTIAL PLATFORMS 60 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 60 J294 ISOLATE MALFUNCTIONS TO INERTIAL COMPUTERS...COMPUTERS 72 N457 OPERATIONALLY CHECK GENERAL PURPOSE OR NAVIGATIONAL COMPUTER SYSTEMS 71 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 71 4

  12. A Knowledge-Navigation System for Dimensional Metrology.

    Science.gov (United States)

    Moncarz, Howard T

    2002-01-01

    Geometric dimensioning and tolerancing (GD&T) is a method to specify the dimensions and form of a part so that it will meet its design intent. GD&T is difficult to master for two main reasons. First, it is based on complex 3D geometric entities and relationships. Second, the geometry is associated with a large, diverse knowledge base of dimensional metrology with many interconnections. This paper describes an approach to create a dimensional metrology knowledge base that is organized around a set of key concepts and to represent those concepts as virtual objects that can be navigated with interactive, computer visualization techniques to access the associated knowledge. The approach can enable several applications. First is the application to convey the definition and meaning of GD&T over a broad range of tolerance types. Second is the application to provide a visualization of dimensional metrology knowledge within a control hierarchy of the inspection process. Third is the application to show the coverage of interoperability standards to enable industry to make decisions on standards development and harmonization efforts. A prototype system has been implemented to demonstrate the principles involved in the approach.

  13. FPGA-based real-time embedded system for RISS/GPS integrated navigation.

    Science.gov (United States)

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

    2012-01-01

    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 also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm.

  14. Overview of the Research of Automobile Energy Recovery Systems%汽车能量回收系统研究概述

    Institute of Scientific and Technical Information of China (English)

    苏玉青; 李舜酩; 王勇

    2016-01-01

    在汽车节能化发展趋势下,能量回收系统研究受到广泛关注。汽车能量回收系统当前研究热点主要集中于再生制动能量回收、馈能悬架以及发动机废热能量回收三个方面。首先对这三类汽车能量回收系统的特点与发展现状进行详细回顾;然后指出各能量回收系统的优势与待解决的关键问题;最后提出相应解决方案并对新的能量回收利用途径进行有益的探索,为今后学者的研究提供借鉴。%Due to the trend of automobile energy saving development, the vehicle energy recovery system has become more and more attractive for many automobile researchers and engineers. Recently, the research hotspots of the automobile energy recovery system mainly focus on three kinds of energy recovery systems: regenerative braking, regenerative suspension and waste energy recovery of engines. In this article, the features and the advances of the three kinds of automobile energy recovery systems were explicitly reviewed. Their advantages and key problems were stated. The corresponding solution suggestions were proposed and the new ways of energy recovery were explored. This work may provide the reference for further research.

  15. 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.

  16. Neural Network Aided Kalman Filtering For Integrated GPS/INS Navigation System

    Directory of Open Access Journals (Sweden)

    Haidong GUO

    2013-01-01

    Full Text Available Kalman filter (KF uses measurement updates to correct system states error and to limit the errors in navigation solutions. However, only when the system dynamic and measurement models are correctly defined, and the noise statistics for the process are completely known, KF can optimally estimate a system’s states. Without measurement updates, Kalman filter’s prediction diverges; therefore the performance of an integrated GPS/INS navigation system may degrade rapidly when GPS signals are unavailable. This paper presents a neural network (NN aided Kalman filtering method to improve navigation solutions of integrated GPS/INS navigation system. In the proposed loosely coupled GPS/INS navigation system, extended KF (EKF estimates the INS measurement errors, plus position, velocity and attitude errors, and provides precise navigation solutions while GPS signals are available. At the same time, multi-layer NN is trained to map the vehicle manoeuvre with INS prediction errors during each GPS epoch, which is the input of the EKF. During GPS signal blockages, the NN can be used to predict the INS errors for EKF measurement updates, and in this way to improve navigation solutions. The principle of this hybrid method and the NN design are presented. Land vehicle based field test data are processed to evaluate the performance of the proposed method.

  17. Driver-passenger collaboration as a basis for human-machine interface design for vehicle navigation systems.

    Science.gov (United States)

    Antrobus, Vicki; Burnett, Gary; Krehl, Claudia

    2017-03-01

    Human Factors concerns exist with vehicle navigation systems, particularly relating to the effects of current Human-Machine Interfaces (HMIs) on driver disengagement from the environment. A road study was conducted aiming to provide initial input for the development of intelligent HMIs for in-vehicle systems, using the traditional collaborative navigation relationship between the driver and passenger to inform future design. Sixteen drivers navigated a predefined route in the city of Coventry, UK with the assistance of an existing vehicle navigation system (SatNav), whereas a further 16 followed the navigational prompts of a passenger who had been trained along the same route. Results found that there were no significant differences in the number of navigational errors made on route for the two different methods. However, drivers utilising a collaborative navigation approach had significantly better landmark and route knowledge than their SatNav counterparts. Analysis of individual collaborative transcripts revealed the large individual differences in descriptor use by passengers and reference to environmental landmarks, illustrating the potential for the replacement of distance descriptors in vehicle navigation systems. Results are discussed in the context of future HMIs modelled on a collaborative navigation relationship. Practitioner Summary: Current navigation systems have been associated with driver environmental disengagement, this study uses an on-road approach to look at how the driver-passenger collaborative relationship and dialogue can inform future navigation HMI design. Drivers navigating with passenger assistance demonstrated enhanced landmark and route knowledge over drivers navigating with a SatNav.

  18. Testing system of automobile synchronizer based on PLC and computer%基于PLC和计算机的汽车同步器测试系统

    Institute of Scientific and Technical Information of China (English)

    王欣

    2012-01-01

    Because the synchronizers are the core part of automobile gearbox,it has important significance for the performance of both automobile and automobile gearbox.To evaluate the performance and longevity of automobile synchronizer,a PLC and computer based testing system is developed.The computer is used to complete the task of man-machine interface interaction,analysis and storage related data.The PLC is use to real-time gather data and real-time control,according to orders coming from the computer.The testing system can achieve three types of long-time and high-repeated tests and keep its operation stable and reliable.This paper presents its structure,control system design,application of PLC and control program design.%同步器是汽车变速箱的核心部件,其性能对汽车变速箱以及汽车性能的提高有着重要意义。为了评价汽车变速器中同步器的性能与寿命,相应设计了基于PLC和计算机共同控制的测试系统;计算机主要完成人机界面交互任务以及相关数据的分析与存储,PLC根据计算机命令实现数据实时采集和对整个系统的实时控制;测试系统能够进行三类长时间、高重复性的主要测试,运行稳定可靠。本文主要介绍了测试系统的组成结构、系统设计、PLC在测试系统中的应用和控制程序设计。

  19. Data Integration from GPS and Inertial Navigation Systems for Pedestrians in Urban Area

    OpenAIRE

    Krzysztof Bikonis; Jerzy Demkowicz

    2013-01-01

    The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS) is still relatively poor due to the large inertial sensor errors. The c...

  20. 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.

  1. Chrysotile asbestos exposure associated with removal of automobile exhaust systems (ca. 1945-1975) by mechanics: results of a simulation study.

    Science.gov (United States)

    Paustenbach, Dennis J; Madl, Amy K; Donovan, Ellen; Clark, Katherine; Fehling, Kurt; Lee, Terry C

    2006-03-01

    For decades, asbestos-containing gaskets were used in virtually every system that involved the transport of fluids or gases. Prior to the mid-1970s, some automobile exhaust systems contained asbestos gaskets either at flanges along the exhaust pipes or at the exhaust manifolds of the engine. A limited number of automobile mufflers were lined with asbestos paper. This paper describes a simulation study that characterized personal and bystander exposures to asbestos during the removal of automobile exhaust systems (ca. 1945-1975) containing asbestos gaskets. A total of 16 pre-1974 vehicles with old or original exhaust systems were studied. Of the 16 vehicles, 12 contained asbestos gaskets in the exhaust system and two vehicles had asbestos lining inside the muffler. A total of 82 samples (23 personal, 38 bystander, and 21 indoor background) were analyzed by Phase Contrast Microscopy (PCM) and 88 samples (25 personal, 41 bystander, and 22 indoor background) by Transmission Electron Microscopy (TEM). Only seven of 25 worker samples analyzed by TEM detected asbestos fibers and 18 were below the analytical sensitivity limit (mean 0.013 f/cc, range 0.001-0.074 f/cc). Applying the ratio of asbestos fibers:total fibers (including non-asbestos) as determined by TEM to the PCM results showed an average (1 h) adjusted PCM worker exposure of 0.018 f/cc (0.002-0.04 f/cc). The average (1 h) adjusted PCM airborne concentration for bystanders was 0.008 f/cc (range 0.0008-0.015 f/cc). Assuming a mechanic can replace four automobile single exhaust systems in 1 workday, the estimated 8-h time-weighted average (TWA) for a mechanic performing this work was 0.01 f/cc. Under a scenario where a mechanic might repeatedly conduct exhaust work, these results suggest that exposures to asbestos from work with automobile exhaust systems during the 1950s through the 1970s containing asbestos gaskets were substantially below 0.1 f/cc, the current PEL for chrysotile asbestos, and quite often were

  2. 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.

  3. 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.

  4. New vision system and navigation algorithm for an autonomous ground vehicle

    Science.gov (United States)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  5. 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.

  6. A navigation system for increasing the autonomy and the security of powered wheelchairs.

    Science.gov (United States)

    Fioretti, S; Leo, T; Longhi, S

    2000-12-01

    Assistive technology is an emerging area where some robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to substitute their missing function thus helping them to gain a level of independence at least in the activities of daily living. This paper presents the design of a navigation system and its integration with a commercial powered wheelchair. The navigation system provides the commercial wheelchair with a set of functions which increase the autonomy of elderly and people with motor disabilities. In general, a robot device must be adapted to assistive applications in such a way as to be easily managed by the user. Users, especially young ones, prefer to directly control the robotic device and this aspect of usability has to be managed without affecting the security and efficiency of the navigation module. These aspects have been considered as specifications for the navigation module of powered wheelchairs. Different autonomy levels of the navigation module and proper user interfaces have been developed. Two autonomy levels have been designed. Simple collision avoidance is also implemented in order to stop the mobile base when an obstacle is detected. The preliminary technical tests performed on the navigation system have shown satisfactory results in terms of security and response time. A modular solution for the navigation module was considered in order to simplify the adaptation of the module to different powered wheelchairs.

  7. 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...

  8. 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.

  9. 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.

  10. 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.

  11. Concept of "One Window" Data Exchange System Fulfilling the Recommendation for e-Navigation System

    Science.gov (United States)

    Filipkowski, Damian; Wawruch, Ryszard

    The implementation in maritime radio-communication of so called "One window concept" for exchange of information between a ship and a port and coastal state authorities requires designation of one contact point on shore for these purposes, e.g. harbour master or ships' monitoring or traffic control centre. In Poland, as contact points regional and local centres of the Polish National Maritime Safety System will be designated. Paper describes the proposal for system of data exchange between a ship and a shore contact point, containing definition, functions and architecture of proposed system, possible directions of information flow and levels of access, fulfilling requirements of this concept and recommendation for e-navigation system developed on the basis of the International Maritime Organization (IMO) and International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA) working papers.

  12. Design and Analysis of the Gemini Chain System in Dual Clutch Transmission of Automobile

    Institute of Scientific and Technical Information of China (English)

    CHENG Yabing; GUO Haitao; FU Zhenming; WAN Nen; LI Lei; WANG Yang

    2015-01-01

    Chain drive system is widely used in the conditions of high-speed, overload, variable speed and load. Many studies are focused on the meshing theory and wear characteristics of chain drive system, but system design, analysis, and noise characteristics of the chain drive system are weak. System design and noise characteristic are studied for a new type Gemini chain of dual-clutch automatic transmission. Based on the meshing theory of silent chain, the design parameters of the Gemini chain system are calculated and the mathematical models and dynamic analysis models of the Gemini chain system are established. Dynamic characteristics of the Gemini chain system is simulated and the contact force of plate and pin, plate and sprockets, the chain tension forces, the transmission error and the stress of plates and pins are analyzed. According to the simulation results of the Gemini chain system, the noise experiment about system is carried out. The noise values are tested at different speed and load and spectral characteristics are analyzed. The results of simulation and experimental show that the contact forces of plate and pin, plate and sprockets are smaller than the allowable stress values, the chain tension force is less than ultimate tension and transmission error is limited in 1.2%. The noise values can meet the requirements of industrial design, and it is proved that the design and analysis method of the Gemini chain system is scientific and feasible. The design and test system is built from analysis to test of Gemini chain system. This research presented will provide a corresponding theoretical guidance for the design and dynamic characteristics and noise characteristics of chain drive system.

  13. Design and analysis of the Gemini chain system in dual clutch transmission of automobile

    Science.gov (United States)

    Cheng, Yabing; Guo, Haitao; Fu, Zhenming; Wan, Nen; Li, Lei; Wang, Yang

    2015-01-01

    Chain drive system is widely used in the conditions of high-speed, overload, variable speed and load. Many studies are focused on the meshing theory and wear characteristics of chain drive system, but system design, analysis, and noise characteristics of the chain drive system are weak. System design and noise characteristic are studied for a new type Gemini chain of dual-clutch automatic transmission. Based on the meshing theory of silent chain, the design parameters of the Gemini chain system are calculated and the mathematical models and dynamic analysis models of the Gemini chain system are established. Dynamic characteristics of the Gemini chain system is simulated and the contact force of plate and pin, plate and sprockets, the chain tension forces, the transmission error and the stress of plates and pins are analyzed. According to the simulation results of the Gemini chain system, the noise experiment about system is carried out. The noise values are tested at different speed and load and spectral characteristics are analyzed. The results of simulation and experimental show that the contact forces of plate and pin, plate and sprockets are smaller than the allowable stress values, the chain tension force is less than ultimate tension and transmission error is limited in 1.2%. The noise values can meet the requirements of industrial design, and it is proved that the design and analysis method of the Gemini chain system is scientific and feasible. The design and test system is built from analysis to test of Gemini chain system. This research presented will provide a corresponding theoretical guidance for the design and dynamic characteristics and noise characteristics of chain drive system.

  14. Energy autonomous sensors in the automobile; Energieautarke Sensorik im Automobil

    Energy Technology Data Exchange (ETDEWEB)

    Kuehne, Ingo [Hochschule Heilbronn (Germany). Studiengang Energieoekologie; Schreiter, Matthias [Siemens AG, Muenchen (Germany); Li, Xiaoming [Daimler AG, Sindelfingen (Germany); Hehn, Thorsten [Hahn-Schickard-Gesellschaft fuer angewandte Forschung e.V., Freiburg (Germany). HSG-IMIT, Inst. fuer Mikro- und Informationstechnik; Thewes, Marcell; Scholl, Gerd [Helmut-Schmidt-Univ., Univ. der Bundeswehr, Hamburg (Germany); Wagner, Dieter [Continental Automotive GmbH, Regensburg (Germany); Manoli, Yiannos [Univ. Freiburg (Germany). IMTEK; Frey, Alexander [Hochschule Augsburg (Germany). Fakultaet Elektrotechnik

    2013-04-01

    A brief outline of energy autonomous sensors in the automobile is given. For this purpose the variety of sensors in today's automotive vehicles is reported. The rationale for the deployment of energy autonomous sensors is given. In addition the potential of using environmental energy and the possibilities of their energy conversion are presented. As part of the funded project ASYMOF, two pioneer applications - a tire pressure monitoring and an anti-theft alarm system - are studied and discussed.

  15. 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...

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

    Directory of Open Access Journals (Sweden)

    Christelle eRochefort

    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.

  17. Time of arrival estimation in pulsar-based navigation systems

    NARCIS (Netherlands)

    Kabakchiev, Chr.; Behar, V.; Buist, P.; Garvanov, I.; Kabakchieva, D.; Bentum, M.J.

    2015-01-01

    This paper focuses on the Time of Arrival (TOA) estimation problem related to new application of pulsar signals for airplane-based navigation. The aim of the paper is to propose and evaluate a possible algorithm for TOA estimation that consists of epoch folding, filtering, CFAR detection, crosscorre

  18. 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...

  19. A novel navigation system for maxillary positioning in orthognathic surgery: Preclinical evaluation.

    Science.gov (United States)

    Lutz, Jean-Christophe; Nicolau, Stéphane; Agnus, Vincent; Bodin, Frédéric; Wilk, Astrid; Bruant-Rodier, Catherine; Rémond, Yves; Soler, Luc

    2015-11-01

    Appropriate positioning of the maxilla is critical in orthognathic surgery. As opposed to splint-based positioning, navigation systems are versatile and appropriate in assessing the vertical dimension. Bulk and disruption to the line of sight are drawbacks of optical navigation systems. Our aim was to develop and assess a novel navigation system based on electromagnetic tracking of the maxilla, including real-time registration of head movements. Since the software interface has proved to greatly influence the accuracy of the procedure, we purposely designed and evaluated an original, user-friendly interface. A sample of 12 surgeons had to navigate the phantom osteotomized maxilla to eight given target positions using the software we have developed. Time and accuracy (translational error and angular error) were compared between a conventional and a navigated session. A questionnaire provided qualitative evaluation. Our system definitely allows a reduction in variability of time and accuracy among different operators. Accuracy was improved in all surgeons (mean terror difference = 1.11 mm, mean aerror difference = 1.32°). Operative time was decreased in trainees. Therefore, they would benefit from such a system that could also serve for educational purposes. The majority of surgeons who strongly agreed that such a navigation system would prove very helpful in complex deformities, also stated that it would be helpful in everyday orthognathic procedures.

  20. 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.

  1. SpaceNav - A high accuracy navigation system for space applications

    Science.gov (United States)

    Evers, H.-H.

    The technology of the SpaceNav-system is based on research performed by the Institute of Flight Guidance and Control at the Technical University of Braunschweig, Germany. In 1989 this institute gave the worlds first public demonstration of a fully automatic landing of an aircraft, using inertial and satellite informations exclusively. The SpaceNav device components are: Acceleration-/Gyro Sensor Package; Global Positioning System (GPS) Receiver/optional more than one; Time Reference Unit; CPU; Telemetry (optional); and Differential GPS (DGPS) Receiver (optional). The coupling of GPS receivers with inertial sensors provides an extremely accurate navigation data set in real time applications even in phases with high dynamic conditions. The update rate of this navigation information is up to 100 Hz with the same accuracy in 3D-position, velocity, acceleration, attitude and time. SpaceNav is an integrated navigation system, which operates according to the principle of combining the longterm stability and accuracy of GPS, and the high level of dynamic precision of conventional inertial navigation system (INS) strapdown systems. The system's design allows other aiding sensors e.g. GLONASS satellite navigation system, distance measuring equipment (DME), altimeter (radar and/or barometric), flux valve etc. to be connected, in order to increase the redundancy of the system. The advantage of such an upgraded system is the availability of more sensor information than necessary for a navigation solution. The resulting redundancy in range measurement allows real-time detection and identification of sensor signals that are incompatible with the other information. As a result you get Receiver Autonomous Integrity Monitoring (RAIM) as described in 'A Multi-Sensor Approach to Assuring GPS Integrity', presented by Alison Brown in the March/April 1990 issue of 'GPS World'. In this paper the author presents information about the principles of the Satellite Navigation System GPS, and

  2. A simplified satellite navigation system for an autonomous Mars roving vehicle.

    Science.gov (United States)

    Janosko, R. E.; Shen, C. N.

    1972-01-01

    The use of a retroflecting satellite and a laser rangefinder to navigate a Martian roving vehicle is considered in this paper. It is shown that a simple system can be employed to perform this task. An error analysis is performed on the navigation equations and it is shown that the error inherent in the scheme proposed can be minimized by the proper choice of measurement geometry. A nonlinear programming approach is used to minimize the navigation error subject to constraints that are due to geometric and laser requirements. The problem is solved for a particular set of laser parameters and the optimal solution is presented.

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

    Science.gov (United States)

    Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. Wayne

    1991-01-01

    This paper describes the results of an integrated navigation and pointing system software development effort sponsored by the NASA MSFC through a SBIR Phase 2 Program. The integrated Global Positioning System (GPS)/Inertial Navigation System (INS) implements an autonomous navigation filter that is reconfigurable in real-time to accommodate mission contingencies. An onboard expert system monitors the spacecraft status and reconfigures the navigation filter accordingly, to optimize the system performance. The navigation filter is a multi-mode Kalman filter to estimate the spacecraft position, velocity, and attitude. Three different GPS-based attitude determination techniques, namely, velocity vector matching, attitude vector matching, and interferometric processing, are implemented to encompass different mission contingencies. The integrated GPS/INS navigation filter will use any of these techniques depending on the mission phase and the state of the sensors. The first technique, velocity vector matching, uses the GPS velocity measurement to estimate the INS velocity errors and exploits the correlation between INS velocity and attitude errors to estimate the attitude. The second technique, attitude vector matching, uses INS gyro measurements and GPS carrier phase (integrated Doppler) measurements during a spacecraft rotation maneuver to determine the attitude. Both of these techniques require only one GPS antenna onboard to determine the spacecraft attitude. The third technique, interferometric processing, requires use of multiple GPS antennae. In order to determine 3-axis body attitude, three GPS antennae (2 no-coplanor baselines) are required.

  4. 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.

  5. 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

  6. Free-piston Stirling hydraulic engine and drive system for automobiles

    Science.gov (United States)

    Beremand, D. G.; Slaby, J. G.; Nussle, R. C.; Miao, D.

    1982-01-01

    The calculated fuel economy for an automotive free piston Stirling hydraulic engine and drive system using a pneumatic accumulator with the fuel economy of both a conventional 1980 spark ignition engine in an X body class vehicle and the estimated fuel economy of a 1984 spark ignition vehicle system are compared. The results show that the free piston Stirling hydraulic system with a two speed transmission has a combined fuel economy nearly twice that of the 1980 spark ignition engine - 21.5 versus 10.9 km/liter (50.7 versus 25.6 mpg) under comparable conditions. The fuel economy improvement over the 1984 spark ignition engine was 81 percent. The fuel economy sensitivity of the Stirling hydraulic system to system weight, number of transmission shifts, accumulator pressure ratio and maximum pressure, auxiliary power requirements, braking energy recovery, and varying vehicle performance requirements are considered. An important finding is that a multispeed transmission is not required. The penalty for a single speed versus a two speed transmission is about a 12 percent drop in combined fuel economy to 19.0 km/liter (44.7 mpg). This is still a 60 percent improvement in combined fuel economy over the projected 1984 spark ignition vehicle.

  7. Experimental determination of the navigation error of the 4-D navigation, guidance, and control systems on the NASA B-737 airplane

    Science.gov (United States)

    Knox, C. E.

    1978-01-01

    Navigation error data from these flights are presented in a format utilizing three independent axes - horizontal, vertical, and time. The navigation position estimate error term and the autopilot flight technical error term are combined to form the total navigation error in each axis. This method of error presentation allows comparisons to be made between other 2-, 3-, or 4-D navigation systems and allows experimental or theoretical determination of the navigation error terms. Position estimate error data are presented with the navigation system position estimate based on dual DME radio updates that are smoothed with inertial velocities, dual DME radio updates that are smoothed with true airspeed and magnetic heading, and inertial velocity updates only. The normal mode of navigation with dual DME updates that are smoothed with inertial velocities resulted in a mean error of 390 m with a standard deviation of 150 m in the horizontal axis; a mean error of 1.5 m low with a standard deviation of less than 11 m in the vertical axis; and a mean error as low as 252 m with a standard deviation of 123 m in the time axis.

  8. 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.

  9. 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.

  10. 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.

  11. The RMI Space Weather and Navigation Systems (SWANS) Project

    Science.gov (United States)

    Warnant, Rene; Lejeune, Sandrine; Wautelet, Gilles; Spits, Justine; Stegen, Koen; Stankov, Stan

    The SWANS (Space Weather and Navigation Systems) research and development project (http://swans.meteo.be) is an initiative of the Royal Meteorological Institute (RMI) under the auspices of the Belgian Solar-Terrestrial Centre of Excellence (STCE). The RMI SWANS objectives are: research on space weather and its effects on GNSS applications; permanent mon-itoring of the local/regional geomagnetic and ionospheric activity; and development/operation of relevant nowcast, forecast, and alert services to help professional GNSS/GALILEO users in mitigating space weather effects. Several SWANS developments have already been implemented and available for use. The K-LOGIC (Local Operational Geomagnetic Index K Calculation) system is a nowcast system based on a fully automated computer procedure for real-time digital magnetogram data acquisition, data screening, and calculating the local geomagnetic K index. Simultaneously, the planetary Kp index is estimated from solar wind measurements, thus adding to the service reliability and providing forecast capabilities as well. A novel hybrid empirical model, based on these ground-and space-based observations, has been implemented for nowcasting and forecasting the geomagnetic index, issuing also alerts whenever storm-level activity is indicated. A very important feature of the nowcast/forecast system is the strict control on the data input and processing, allowing for an immediate assessment of the output quality. The purpose of the LIEDR (Local Ionospheric Electron Density Reconstruction) system is to acquire and process data from simultaneous ground-based GNSS TEC and digital ionosonde measurements, and subsequently to deduce the vertical electron density distribution. A key module is the real-time estimation of the ionospheric slab thickness, offering additional infor-mation on the local ionospheric dynamics. The RTK (Real Time Kinematic) status mapping provides a quick look at the small-scale ionospheric effects on the RTK

  12. Error Characterization of Vision-Aided Navigation Systems

    Science.gov (United States)

    2013-03-01

    run real-world data set. The characterization of the errors iv that occur in the navigation solution will serve to validate the canon of work previously...the EKF, δpn, δvn, and δψ are all modeled as stochastic processes, the biases δab0 and δbb0 are modeled as first-order Gauss -Markov processes, and

  13. Performance analysis of MEMS based Pedestrian Navigation Systems

    OpenAIRE

    Kubrak, Damien; Macabiau, Christophe; Monnerat, Michel

    2005-01-01

    International audience; First driven by the regulation on emergency call, several methods are studied to enable the location of one user whether he is outdoors or indoors. Moreover, location based services take more and more importance, and as a consequence, the ability of providing such a location becomes a great challenge. Assisted satellite navigation solutions are investigated, but they encounter big issues in indoor environment. The main reason is the weak power of the signals to acquire...

  14. In-vehicle navigation system and map database. [Position on map determined by satellite and then use of detailed map]. Car navigation to chizu joho

    Energy Technology Data Exchange (ETDEWEB)

    Mito, K. (Sumitomo Electric Industries, Ltd., Osaka (Japan))

    1991-09-10

    Firstly, an indication is made that most functions of an in-vehicle navigation system relate to the use of a road map data, and on the conditions the map database therefor should provide depending on the intended usage. Secondly, an explanation is given on the self-contained navigation system and a combination of the self-contained navigation system and wireless navigation system to detect a position of the vehicle. In regaeds to the former, a method is introduced that the present location is estimated by means of adding the displacement vector per unit time derived from azimuth and distance sensors, and the error therefrom is cancelled by comparing it with the road map data. In regards to the latter, the wireless navigation aided by an orbital satellite and the proximity wireless navigation are described. Thirdly, functions to indicate the vehicle location on a map, retrieve and set the destination, and retrieve and indicate the facility guidance information are explained. Fourthly, a description is given on an automotive traffic information communicating system which indicates traffic information on a map and guide a recommended course to the destination. 10 refs., 7 figs., 2 tabs.

  15. Computer-assisted navigation systems for insertion of cannulated screws in femoral neck fractures: a comparison of bi-planar robot navigation with optoelectronic navigation in a Synbone hip model trial

    Institute of Scientific and Technical Information of China (English)

    WANG Jun-qiang; ZHAO Chun-peng; SU Yong-gang; ZHOU Li; HU Lei; WANG Tian-miao; WANG Man-yi

    2011-01-01

    Background Computer-assisted procedures have recently been introduced for navigated femoral neck screw placement.Currently there is little information available regarding accuracy and efficiency of the different navigated procedures.The aim of this study was to compare two fluoroscopic navigation tracking technologies,a novel bi-planar robot navigation and standardized optoelectronic navigation,versus standard freehand fluoroscopic insertion in a Synbone hip model.Methods Eighteen fixed Synbone hip models were divided into 3 groups.C-arm navigated cannulated screws (AO-ASIF,diameter 7.3 mm) were inserted using freehand targeting (control group).A novel bi-planar robot system (TINAV,GD2000) and an optoelectronic system (Stryker OTS Navigation System) were used for the navigated procedures (robot group and optoelectronic group).Accuracy was measured using radiographic evaluation including the measurement of screw parallelism and decentralization,and joint penetration.To evaluate the efficiency,the number of guidewire passes,operative time and fluoroscopic images taken were noted.Results The two computer-assisted systems provided significantly improved accuracy compared to the freehand technique.Each of the parameters,including guidewire passes and number of fluoroscopy images,was significantly lower when using the computer-assisted systems than for freehand-unguided insertion (P <0.05),but operative time was significantly shorter when using freehand-unguided insertion than for the computer-assisted systems (P <0.05).Accuracy,operative time and number of fluoroscopy images taken were similar among the two navigated groups (P >0.05),but guidewire passes in the robot group were significantly less than in the optoelectronic group (P <0.05).Conclusions Both bi-planar robot navigation and optoelectronic navigation were similarly accurate and have the potential to improve accuracy and reduce radiation for freehand fluoroscopic targeting for insertion of cannulated

  16. Developments in fuel cell systems for automotive application; Entwicklungstendenzen von Brennstoffzellensystemen fuer die Anwendung im Automobil

    Energy Technology Data Exchange (ETDEWEB)

    Treffinger, P.; Thalau, O. [DLR Deutsches Zentrum fuer Luft- und Raumfahrt e.V., Stuttgart (Germany). Inst. fuer Fahrzeugkonzepte; Friedrich, K.A. [DLR Deutsches Zentrum fuer Luft- und Raumfahrt e.V., Stuttgart (Germany). Inst. fuer Technische Thermodynamik

    2008-07-01

    In recent years, fuel cell systems for passenger cars have reached a high technological level leading to attractive vehicle concepts. It is expected that the future progress regarding power density increase will be slower. However, there are still a number of open questions, e.g. if the combination of cost targets and requested life time will be achieved. Also there is no final evidence, whether the actual operating parameters will meet customer's requirements. A progress in fundamental technology, e.g. improved electrolyte membranes, would be very beneficial for commercialisation. (orig.)

  17. 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.

  18. 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.

  19. 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%.

  20. 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.

  1. MULTI-FUNCTION VEHICLE NAVIGATION AND MONITORING SYSTEM IN URBAN AREAS

    Institute of Scientific and Technical Information of China (English)

    SHENXue-song; LIUJian-ye; SUNYong-rong; CHENWu

    2005-01-01

    A vehicle navigation and monitoring system integrated by a high precision navigation system and a vehicle black box is studied to satisfy the demand for the intelligent transportation system (ITS). Firstly, the architecture of the system is proposed. Then the integration scheme of global positioning system/dead reckoning/bluetooth beacon/map matching (GPS/DR/BB/MM) with the hluetooth assistant positioning technology, and the algorithm of the Kalman filter for the integrated GPS/DR are investigated. Finally many field trials for principle prototypes are made. Experimental results show that the proposed integrated navigation algorithm is effective and feasible, and the function of the vehicle black-box is realized.

  2. 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.

  3. Determination of the mutagenic and genotoxic potential of simulated leachate from an automobile workshop soil on eukaryotic system.

    Science.gov (United States)

    Alabi, Okunola Adenrele; Omosebi, Omotoyosi; Chizea, Ifychukwwu

    2015-07-01

    Contamination of soil and water bodies with spent engine oil and petroleum products is a serious ecological problem, primarily in the automobile workshops and garages. This has potential short and chronic adverse health risks. Information is currently scarce on the potential mutagenicity and genotoxicity of such wastes. In this study, the potential mutagenic and genotoxic effects of simulated leachate from automobile workshop soil in Sagamu, Ogun state, Nigeria, were investigated. The assays utilized were bone marrow micronucleus (MN) and chromosome aberration (CA), sperm morphology and sperm count in mice. The physicochemical analysis of the leachate was also carried out. Experiments were carried out at concentrations of 1, 5, 10, 25, 50, 75 and 100% (volume per volume; leachate:distilled water) of the leachate sample. MN analysis showed a concentration-dependent induction of micronucleated polychromatic erythrocytes across the treatment groups. In the CA test, there was concentration-dependent significant reduction in mitotic index and induction of different types of CAs. Assessment of sperm shape showed a significant increase in sperm abnormalities with significant decrease in mean sperm count in treated groups. Heavy metals analyzed in the tested sample are believed to contribute significantly to the observed genetic damage. This indicates that automobile workshop soil-simulated leachate contains potential genotoxic agents and constitutes a genetic risk in exposed human population.

  4. 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.

  5. Navigational Heads-Up Display: Will a Shipboard Augmented Electronic Navigation System Sink or Swim?

    Science.gov (United States)

    2015-03-01

    76 Table 6. Subject Video Game Practice...Interface GPS Global Positioning System HMD Head-Mounted Display HUD Heads-Up Display IP Internet Protocol IR Infrared LCD Liquid-Crystal Display...Stress Disorder SDK Software Development Kit SOG Speed over Ground SWOS Surface Warfare Officer School USD United States Dollar USNS United States

  6. Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System

    Science.gov (United States)

    2015-03-26

    their teamwork and steadfast support given in times when encouragement was needed. Lastly, thank you to my parents for their ever present rallying...Used with permission [30]. . . . . . . . . . . . . . . . 19 2.7 Digital Image Coordinate System. Used with permission [30...20 2.8 Angular field of view based on image array height (Side View

  7. 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.

  8. 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...

  9. 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.

  10. A self-calibration method for tri-axis rotational inertial navigation system

    Science.gov (United States)

    Gao, Pengyu; Li, Kui; Wang, Lei; Liu, Zengjun

    2016-11-01

    The navigation accuracy of the rotational inertial navigation system (RINS) could be greatly improved by periodically rotating the inertial measurement unit (IMU) with gimbals. However, error parameters in RINS should be effectively calibrated and compensated. In this paper, a self-calibration method is proposed for tri-axis RINS using attitude errors and velocity errors as measurements. The proposed calibration scheme is designed as three separate steps, and a certain gimbal rotates continuously in each step. All the error parameters in the RINS are calibrated when the whole scheme finishes. The separate calibration steps reduce the correlations between error parameters, and the observability of errors in this method is clear to demonstrate according to the relations between navigation errors and error parameters when gimbals rotate. Each calibration step only lasts 12 min, thus gyro drifts and accelerometers biases could be regarded as constant. The proposed calibration scheme is tested in both simulation and actual tri-axis RINS, and simulation and experimental results show that all 23 error parameters could be well estimated in tri-axis RINS. A long-term vehicle navigation experiment results show that after calibration and compensation, the navigation performance has doubled approximately, and the velocity accuracy is less than 2 m s-1 while the position accuracy is less than 1500 m, fully illustrating the significance of the proposed self-calibration method in improving the navigation performance of RINS.

  11. Preface: BeiDou Navigation Satellite System (BDS)/GNSS+: Recent progress and new applications

    Science.gov (United States)

    Jin, Shuanggen

    2017-02-01

    Nowadays, the new China's BeiDou Navigation Satellite System (BDS) has been developed well. At the end of 2016, over 23 BDS satellites were launched, including five geostationary Earth orbit (GEO) satellites, five inclined geosynchronous orbit (IGSO) satellites and nine medium Earth orbit (MEO) satellites. The current BDS service covers China and most Asia-Pacific regions with accuracy of better than 10 m in positioning, 0.2 m/s in velocity and 50 ns in timing. The BDS with global coverage will be completely established by 2020 with five GEO satellites and 30 MEO satellites. The main function of BDS is the positioning, navigation and timing (PNT) as well as short message communications. Together with the United States' GPS, Russia's GLONASS and the European Union's Galileo system as well as other regional augmentation systems, more new applications of multi-Global Navigation Satellite Systems (GNSS) will be exploited and realized in the next decades.

  12. 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

    2015-07-10

    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.

  13. Looking Good, Feeling Good – Tac Map: a navigation system for the blind

    OpenAIRE

    Chamberlain, Paul; Dieng, Patricia

    2011-01-01

    This paper describes the research and development of a navigation system for the blind that provides a tactile and visual language that can be understood by both sighted and blind users. It describes key work and issues in the development of graphical symbols and in particular the pioneering work of Neurath‟s ISOTYPES, as well as more specific communication systems for blind people. The paper focuses on the development of "TacMap‟, a navigation system for the blind. User engagement has been f...

  14. Development of in-vehicle navigation system using VICS information; VICS taio nabigeshon system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Suzuki, K.; Yamanaka, K.; Nakamura, K. [Honda Research and Development Co. Ltd., Tochigi (Japan). Tochigi Lab.

    1997-02-01

    Since the Vehicle Information and Communication System Center (VICS Center) started its operation from April, 1996, a navigation system corresponding to VISC has been developed which utilizes the information from this VISC Center and provides driver it as effective information for selecting a route. In this article, the outline of the above navigation system developed by Honda is introduced. The VICS system is composed of the functions of four domains, namely information collection, information processing and editing, information provision, and information utilization, and offers renewed information in every 5 minutes. Its telecommunication system adopts electric wave beacon, optical beacon and FM multiplex broadcast and the areas in which the information is offered are Tokyo and its surroundings, and Osaka and its surroundings, and will be expanded gradually to other areas. Regarding the in-vehicle system, a VICS receiver set is explained in detail and concerning the utilization of VICS information, the function of displaying traffic information, the function of sound and voice guidance, the function of dynamic route guidance, etc. are explained. 5 refs., 9 figs., 6 tabs.

  15. Solar Dynamics Observatory Guidance, Navigation, and Control System Overview

    Science.gov (United States)

    Morgenstern, Wendy M.; Bourkland, Kristin L.; Hsu, Oscar C.; Liu, Kuo-Chia; Mason, Paul A. C.; O'Donnell, James R., Jr.; Russo, Angela M.; Starin, Scott R.; Vess, Melissa F.

    2011-01-01

    The Solar Dynamics Observatory (SDO) was designed and built at the Goddard Space Flight Center, launched from Cape Canaveral on February 11, 2010, and reached its final geosynchronous science orbit on March 16, 2010. The purpose of SDO is to observe the Sun and continuously relay data to a dedicated ground station. SDO remains Sun-pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system (ACS) is a single-fault tolerant design. Its fully redundant attitude sensor complement includes sixteen coarse Sun sensors (CSSs), a digital Sun sensor (DSS), three two-axis inertial reference units (IRUs), and two star trackers (STs). The ACS also makes use of the four guide telescopes included as a part of one of the science instruments. Attitude actuation is performed using four reaction wheels assemblies (RWAs) and eight thrusters, with a single main engine used to provide velocity-change thrust for orbit raising. The attitude control software has five nominal control modes, three wheel-based modes and two thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. This paper details the final overall design of the SDO guidance, navigation, and control (GN&C) system and how it was used in practice during SDO launch, commissioning, and nominal operations. This overview will include the ACS control modes, attitude determination and sensor calibration, the high gain antenna (HGA) calibration, and jitter mitigation operation. The Solar Dynamics Observatory mission is part of the NASA Living With a Star program, which seeks to understand the changing Sun and its effects on the Solar System, life, and society. To this end, the SDO spacecraft carries three Sun

  16. 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.

  17. Future possibilities for energy-storage automobiles

    Energy Technology Data Exchange (ETDEWEB)

    O' Connell, L.G.

    1981-04-23

    Because of the potential threat of a future petroleum shortage, there is increased interest in developing alternative propulsion systems for automobiles, systems that will allow the nation to reduce its demand for petroleum by this part of the transportation sector. A four-year study which assessed the future of energy storage devices for use in automobile propulsion systems has been completed. Results of the energy storage device evaluation are presented. This includes projections of future device characteristics. In addition, the results of the propulsion system analysis are given. Future energy storage automobiles were conceptually designed and they are compared to each other and the baseline internal combustion engine vehicle for several levels of performance.

  18. Comparison of Human Pilot (Remote Control Systems in Multirotor Unmanned Aerial Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Zainal Rasyid Mahayuddin

    2017-02-01

    Full Text Available This paper concerns about the human pilot or remote control system in UAV navigation. Demands for Unmanned Aerial Vehicle (UAV are increasing tremendously in aviation industry and research area. UAV is a flying machine that can fly with no pilot onboard and can be controlled by ground-based operators. In this paper, a comparison was made between different proposed remote control systems and devices to navigate multirotor UAV, like hand-controllers, gestures and body postures techniques, and vision-based techniques. The overall reviews discussed in this paper have been studied in various research sources related to UAV and its navigation system. Every method has its pros and cons depends on the situation. At the end of the study, those methods will be analyzed and the best method will be chosen in term of accuracy and efficiency.

  19. 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.

  20. 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.

  1. Bioinspired polarization navigation sensor for autonomous munitions systems

    Science.gov (United States)

    Giakos, G. C.; Quang, T.; Farrahi, T.; Deshpande, A.; Narayan, C.; Shrestha, S.; Li, Y.; Agarwal, M.

    2013-05-01

    Small unmanned aerial vehicles UAVs (SUAVs), micro air vehicles (MAVs), Automated Target Recognition (ATR), and munitions guidance, require extreme operational agility and robustness which can be partially offset by efficient bioinspired imaging sensor designs capable to provide enhanced guidance, navigation and control capabilities (GNC). Bioinspired-based imaging technology can be proved useful either for long-distance surveillance of targets in a cluttered environment, or at close distances limited by space surroundings and obstructions. The purpose of this study is to explore the phenomenology of image formation by different insect eye architectures, which would directly benefit the areas of defense and security, on the following four distinct areas: a) fabrication of the bioinspired sensor b) optical architecture, c) topology, and d) artificial intelligence. The outcome of this study indicates that bioinspired imaging can impact the areas of defense and security significantly by dedicated designs fitting into different combat scenarios and applications.

  2. 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

    2015-01-01

    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 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

  3. 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.

  4. 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 on ...

  5. 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…

  6. Vehicle navigation systems as a means to reduce energy use in transportation

    Energy Technology Data Exchange (ETDEWEB)

    Karppinen, A.

    1994-12-31

    The goal of this study is to establish the basis for the assessment of the potential of vehicle navigation systems as a tool to gain a reduction in traffic energy consumption. The most promising functions of the in-vehicle systems in this respect are navigation and route guidance. Dynamic traffic management realised with modern traffic information systems and working in parallel with the dynamic route guidance systems seems to have the highest potential in the task of reducing traffic energy consumption. In the study, the fundamental ideas of vehicle navigation are discussed. Then the categorisation of Road Vehicle Communication (RVC) systems and the relevant functions of in-vehicle systems are presented as the basis for descripting various systems. Traffic assignment models are an indispensable instrument in the assessment of vehicle navigation systems in the context on energy saving. Some of the recent models are discussed briefly. Future work will concentrate on a small scale field experiment in the greater Helsinki area and the development and exploitation of a dynamic traffic assignment model to evaluate the possible energy savings in the test area

  7. 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.

  8. The Integration of GPS Navigator Device with Vehicles Tracking System for Rental Cars Firms

    OpenAIRE

    Omarah O. Alharaki; Fahad S. Alaieri; Akram M. Zeki

    2010-01-01

    The aim of this research is to integrate the GPS tracking system (tracking device and web-based application) with GPS navigator for rental cars, allowing the company to use various applications to monitor and manage the cars. This is enable the firms and customers to communicate with each other via the GPS navigator. The system should be developed by applying new features in GPS tracking application devices in vehicles. This paper also proposes new features that can be applied to the GPS Navi...

  9. 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.

  10. Test and analysis of the reaction time of the automobile pneumatic braking system%某汽车气压制动系统制动反应时间的测试及分析

    Institute of Scientific and Technical Information of China (English)

    郭伟

    2014-01-01

    The braking reaction time is one of the important performance parameters of automobile braking system, is one of the main factors influencing the automobile braking distance. This paper tested the braking reaction time of pneumatic braking system of an automobile, and analyzes its braking system performance.%汽车制动反应时间是汽车制动系统的重要性能参数之一,是影响汽车制动距离的主要因素之一。本文对某汽车气压制动系统进行制动反应时间测试,并分析其制动系统特性。

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

    Science.gov (United States)

    Ran, Changyan; Cheng, Xianghong

    2016-09-02

    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.

  12. 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.

  13. 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

  14. 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.

  15. Long-term evolution of the inclined geosynchronous orbit in Beidou Navigation Satellite System

    Science.gov (United States)

    Tang, Jingshi; Hou, Xiyun; Liu, Lin

    2017-02-01

    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. To understand the underlying dynamics that affect the BDS IGSO, we study this problem from two aspects. In this paper, we first theoretically analyze the problem using the simplified models with 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. Applying visual attention theory to transportation safety research and design: evaluation of alternative automobile rear lighting systems.

    Science.gov (United States)

    McIntyre, Scott E; Gugerty, Leo

    2014-06-01

    This field experiment takes a novel approach in applying methodologies and theories of visual search to the subject of conspicuity in automobile rear lighting. Traditional rear lighting research has not used the visual search paradigm in experimental design. It is our claim that the visual search design uniquely uncovers visual attention processes operating when drivers search the visual field that current designs fail to capture. This experiment is a validation and extension of previous simulator research on this same topic and demonstrates that detection of red automobile brake lamps will be improved if tail lamps are another color (in this test, amber) rather than the currently mandated red. Results indicate that when drivers miss brake lamp onset in low ambient light, RT and error are reduced in detecting the presence and absence of red brake lamps with multiple lead vehicles when tail lamps are not red compared to current rear lighting which mandates red tail lamps. This performance improvement is attributed to efficient visual processing that automatically segregates tail (amber) and brake (red) lamp colors into distractors and targets respectively.

  1. 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.

  2. 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.

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

    Directory of Open Access Journals (Sweden)

    Hao Lu

    2016-01-01

    Full Text Available 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.

  4. 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

  5. 基于MATLAB GUI的汽车外灯控制系统演示模型%DEMONSTRATION MODEL OF CONTROL SYSTEM FOR EXTERIOR AUTOMOBILE LIGHTING BASED ON MATLAB GUI

    Institute of Scientific and Technical Information of China (English)

    郭洪源; 许维胜; 余有灵

    2012-01-01

    This paper proposes a demonstration model of control system for exterior automobile lighting based on Matlab GUI after analysed the control pattern of exterior automobile lighting of existing electronic appliances in automobile industry, and which has been adopted at last. The Matlab software has the characteristic of good scalability, and has powerful computation function, the Matlab Guide development environment it integrates is convenient in establishing friendly man-machine interface. The application of this scheme makes the function management of exterior automobile lighting more intuitive; moreover, it facilitates the modification of control logic and function of exterior automobile lighting.%在分析现有汽车行业电子电器汽车外灯控制方式的基础上,提出一种基于Matlab GUI的汽车外灯控制系统演示模型,并最终得到应用.Matlab软件具有很好的拓展性,并且具有强大的计算功能,其集成的Matlab Guide开发环境方便建立良好的人机交互界面.该方案的应用使得汽车外灯功能管理变得更加直观,并且便于对汽车外灯控制逻辑以及功能进行修改.

  6. A Map-Matching Algorithm for GPS/DR Integrated Navigation Systems Based on Dempster-Shafer Evidence Reasoning

    Institute of Scientific and Technical Information of China (English)

    CHEN Ze-wang; YUAN Xin

    2004-01-01

    GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and the unbounded DR accumulation of errors over time make the position information with undesirable position errors. The map matching can improve the position accuracy and availability of the vehicular position system. In this paper, general principle of map matching is investigated according to segmentation and feature extraction, and a map matching algorithm based on D-S (Dempster-Shafer) evidence reasoning for GPS integrated navigation system is proposed, which can find the exact road on which a car moves. For the experiments, a car navigation system is developed with some sensors and the field test demonstrates the effectiveness and applicability of the algorithm for the car location and navigation.

  7. Error Modeling, Calibration, and Nonlinear Interpolation Compensation Method of Ring Laser Gyroscope Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Jianli Li

    2013-01-01

    Full Text Available In order to improve the precision of Strapdown Inertial Navigation System (SINS and reduce the complexity of the traditional calibration method, a novel calibration and compensation scheme is proposed. An optimization calibration method with four-direction rotations is designed to calculate all error coefficients of Ring Laser Gyroscope (RLG SINS in a series of constant temperatures. According to the actual working environment, the temperature errors of RLG SINS are compensated by a nonlinear interpolation compensation algorithm. The experimental results show that the inertial navigation errors of the proposed method are reduced.

  8. 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.

  9. A zero velocity detection algorithm using inertial sensors for pedestrian navigation systems.

    Science.gov (United States)

    Park, Sang Kyeong; Suh, Young Soo

    2010-01-01

    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.

  10. Multiangle Bistatic SAR Imaging and Fusion Based on BeiDou-2 Navigation Satellite System

    Directory of Open Access Journals (Sweden)

    Zeng Tao

    2015-01-01

    Full Text Available Bistatic Synthetic Aperture Radar (BSAR based on the Global Navigation Service System (GNSSBSAR uses navigation satellites as radar transmitters, which are low in cost. However, GNSS-BSAR images have poor resolution and low Signal-to-Noise Ratios (SNR. In this paper, a multiangle observation and data processing strategy are presented based on BeiDou-2 navigation satellite imagery, from which twenty-six BSAR images in different configurations are obtained. A region-based fusion algorithm using region of interest segmentation is proposed, and a high-quality fusion image is obtained. The results reveal that the multiangle imaging method can extend the applications of GNSS-BSAR.

  11. Navigated Pattern Laser System versus Single-Spot Laser System for Postoperative 360-Degree Laser Retinopexy

    Directory of Open Access Journals (Sweden)

    Alexei N. Kulikov

    2016-01-01

    Full Text Available Purpose. To compare three 360°-laser retinopexy (LRP approaches (using navigated pattern laser system, single-spot slit-lamp (SL laser delivery, and single-spot indirect ophthalmoscope (IO laser delivery in regard to procedure duration, procedural pain score, technical difficulties, and the ability to achieve surgical goals. Material and Methods. Eighty-six rhegmatogenous retinal detachment patients (86 eyes were included in this prospective randomized study. The mean procedural time, procedural pain score (using 4-point Verbal Rating Scale, number of laser burns, and achievement of the surgical goals were compared between three groups (pattern LRP (Navilas® laser system, 36 patients; SL-LRP, 28 patients; and IO-LRP, 22 patients. Results. In the pattern LRP group, the amount of time needed for LRP and pain level were statistically significantly lower, whereas the number of applied laser burns was higher compared to those in the SL-LRP group and in the IO-LRP group. In the pattern LRP, SL-LRP, and IO-LRP groups, surgical goals were fully achieved in 28 (77.8%, 17 (60.7%, and 13 patients (59.1%, respectively (p>0.05. Conclusion. The navigated pattern approach allows improving the treatment time and pain in postoperative 360° LRP. Moreover, 360° pattern LRP is at least as effective in achieving the surgical goal as the conventional (slit-lamp or indirect ophthalmoscope approaches with a single-spot laser.

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

    OpenAIRE

    Atia, M. M.; M. J. Korenberg; 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 ...

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

    Directory of Open Access Journals (Sweden)

    Qinglin Tian

    2015-12-01

    Full Text Available 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.

  14. Effects of the ISIS Recommender System for Navigation Support in Self-Organized Learning Networks

    NARCIS (Netherlands)

    Drachsler, Hendrik; Hummel, Hans; Van den Berg, Bert; Eshuis, Jannes; Waterink, Wim; Nadolski, Rob; Berlanga, Adriana; Boers, Nanda; Koper, Rob

    2008-01-01

    Drachsler, H., Hummel, H. G. K., Van den Berg, B., Eshuis, J., Waterink, W., Nadolski, R., Berlanga, A., Boers, N., & Koper, R. (2008). Effects of the ISIS Recommender System for Navigation Support in Self-Organized Learning Networks. In M. Kalz, R. Koper, V. Hornung-Prähauser & M. Luckmann (Eds.).

  15. Effects of the ISIS Recommender System for navigation support in self-organised Learning Networks

    NARCIS (Netherlands)

    Drachsler, Hendrik; Hummel, Hans; Van den Berg, Bert; Eshuis, Jannes; Waterink, Wim; Nadolski, Rob; Berlanga, Adriana; Boers, Nanda; Koper, Rob

    2008-01-01

    Drachsler, H., Hummel, H. G. K., Van den Berg, B., Eshuis, J., Berlanga, A., Nadolski, R., Waterink, W., Boers, N., & Koper, R. (2008). Effects of the ISIS Recommender System for navigation support in self-organized Learning Networks. Presentation at the 4th conference Edumedia Conference 2008 Self-

  16. Effects of the ISIS Recommender System for navigation support in self-organised Learning Networks

    NARCIS (Netherlands)

    Drachsler, Hendrik; Hummel, Hans; Van den Berg, Bert; Eshuis, Jannes; Waterink, Wim; Nadolski, Rob; Berlanga, Adriana; Boers, Nanda; Koper, Rob

    2009-01-01

    Drachsler, H., Hummel, H. G. K., Van den Berg, B., Eshuis, J., Waterink, W., Nadolski, R. J., Berlanga, A. J., Boers, N., & Koper, R. (2009). Effects of the ISIS Recommender System for navigation support in self-organised Learning Networks. Journal of Educational Technology and Society, 12(3), 122-1

  17. 76 FR 77939 - Proposed Provision of Navigation Services for the Next Generation Air Transportation System...

    Science.gov (United States)

    2011-12-15

    ... and aircraft advanced navigation systems. Transition to PBN for En Route, Terminal and Approach... the Airport Improvement Program (AIP) will continue as an eligible project per the authorizing statute. However, the FAA is considering programmatic changes under AIP that would favor WAAS for new...

  18. Small Area Inertial Navigation Tracking (SAINT) System for Precise Location of Buried UXO

    Science.gov (United States)

    2008-01-01

    inertial navigation tracking system (SAINT) technology integrated with an EM61-HH metal detector . The primary objective of this demonstration was to...positioning reference frame. This demonstration highlighted the integration of SAINT with a standard EM61-HH metal detector . The primary objective was to

  19. 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.

  20. 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.

  1. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  2. 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.

  3. Femur-mounted navigation system for the arthroscopic treatment of femoroacetabular impingement

    Science.gov (United States)

    Park, S. H.; Hwang, D. S.; Yoon, Y. S.

    2013-07-01

    Femoroacetabular impingement stems from an abnormal shape of the acetabulum and proximal femur. It is treated by resection of damaged soft tissue and by the shaping of bone to resemble normal features. The arthroscopic treatment of femoroacetabular impingement has many advantages, including minimal incisions, rapid recovery, and less pain. However, in some cases, revision is needed owing to the insufficient resection of damaged bone from a misreading of the surgical site. The limited view of arthroscopy is the major reason for the complications. In this research, a navigation method for the arthroscopic treatment of femoroacetabular impingement is developed. The proposed navigation system consists of femur attachable measurement device and user interface. The bone mounted measurement devices measure points on head-neck junction for registration and position of surgical instrument. User interface shows the three-dimensional model of patient's femur and surgical instrument position that is tracked by measurement device. Surgeon can know the three-dimensional anatomical structure of hip joint and surgical instrument position on surgical site using navigation system. Surface registration was used to obtain relation between patient's coordinate at the surgical site and coordinate of three-dimensional model of femur. In this research, we evaluated the proposed navigation system using plastic model bone. It is expected that the surgical tool tracking position accuracy will be less than 1 mm.

  4. Performance Evaluation Criteria and Analysis of Navigation Systems Using Inertial Measurement Unit Technology

    Science.gov (United States)

    2014-06-26

    level. The strapdown IMU mechanization relies on microelectromechanical systems ( MEMS ) technology for the accelerometer and gyroscope triads. The...every system, the outputs of the single-axis sensors that make up the accelerometer and gyroscope are used in conjunction with the navigation system...triads are stationary with respect to the IMU case; thus, the attitude is dead-reckoned numerically using the gyroscope data to provide the vehicle

  5. Anti-Jam GPS Antennas for Wearable Dismounted Soldier Navigation Systems

    Science.gov (United States)

    2016-06-01

    Jam GPS Systems 6 3. Materials and Fabrication Methods for Wearable Anti-Jam GPS Antennas 8 3.1 Textile- Integrated Antennas 9 3.2 Flexible Polymer...Element and Array Design for Anti-Jam GPS Systems The antenna element design for a CRPA is also of critical importance , particularly for a wearable...ARL-TR-7670 ● JUNE 2016 US Army Research Laboratory Anti-Jam GPS Antennas for Wearable Dismounted Soldier Navigation Systems

  6. 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

  7. Influence of the Atmospheric Refraction on the Time Delay of Signals from Global Navigation Systems for Independent Navigation of High-Orbit Space Vehicles

    Science.gov (United States)

    Sharygin, G. S.; Meshcheryakov, A. A.; Korolev, D. O.

    2016-11-01

    Excess delay time of signals from global navigation systems used for coordinate-time support of high-orbit space vehicles caused by the refraction during sliding radio-wave propagation in the Earth's atmosphere is estimated. Conclusions obtained are compared with the data of experimental analysis of observable GPS signals.

  8. 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.

  9. A Functional Description of a Digital Flight Test System for Navigation and Guidance Research in the Terminal Area

    Science.gov (United States)

    Hegarty, D. M.

    1974-01-01

    A guidance, navigation, and control system, the Simulated Shuttle Flight Test System (SS-FTS), when interfaced with existing aircraft systems, provides a research facility for studying concepts for landing the space shuttle orbiter and conventional jet aircraft. The SS-FTS, which includes a general-purpose computer, performs all computations for precisely following a prescribed approach trajectory while properly managing the vehicle energy to allow safe arrival at the runway and landing within prescribed dispersions. The system contains hardware and software provisions for navigation with several combinations of possible navigation aids that have been suggested for the shuttle. The SS-FTS can be reconfigured to study different guidance and navigation concepts by changing only the computer software, and adapted to receive different radio navigation information through minimum hardware changes. All control laws, logic, and mode interlocks reside solely in the computer software.

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

    Directory of Open Access Journals (Sweden)

    Aura Ganz

    2012-01-01

    Full Text Available 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.

  11. 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.

  12. Environmentally Benign Automobiles

    OpenAIRE

    Sperling, Daniel; Schipper, Lee; Deluchi, Mark; Wang, Quanlu

    1992-01-01

    His dream has come true. There's now more than one vehicle for every licensed driver in the United States, and other developed countries are not far behind. But has the car's success created the conditions for its own demise? Conventional wisdom of market researchers, consultants, and other experts is that the automobile and its petroleum-powered internal combustion engine will be with us for a long time and that any energy and environmental problems can be readily solved. T...

  13. A NEW SURVEY ON SELF-TUNING INTEGRATED LOW-COST GPS/INS VEHICLE NAVIGATION SYSTEM IN HARSH ENVIRONMENT

    Directory of Open Access Journals (Sweden)

    N. Navidi

    2015-08-01

    Full Text Available 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.

  14. 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.

  15. Dynamic planning of navigation determinations of airspace and missile objects in an automated flight test control system

    Science.gov (United States)

    Lovtsov, D. A.; Karpov, D. S.

    2011-12-01

    This study considers an approach to planning navigation determinations of airspace and missile objects in the course of preparing for and carrying out an active flight test in an automated flight test control system. The approach is based on special information and mathematical software. The performance indices of the navigation determination subsystem are studied. Results of simulated modeling are provided.

  16. 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.

  17. 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

  18. New Navigation System for Automatic Guided Vehicles Using an Ultrasonic Sensor Array

    Science.gov (United States)

    Tabata, Katsuhiko; Nishida, Yoshifumi; Iida, Yoshihiro; Iwai, Toshiaki

    We propose a new navigation system for Automatic Guided Vehicles (AGV) used as a carrier in the factory. The guided marker of the navigation system is composed of ultrasonic transducers instead of the traditional markers such as electromagnetic tape, light reflective tape and so on. The proposed system is available to be used not only indoors but also outdoors and adaptable to a temporary route. The ultrasonic sensor is generically susceptible to noise, so that we make the following propositions. First, a phased array of the ultrasonic sensors is employed in searching a land marker to improve the signal-to-noise ratio. Second, the specific ID with 7bits is assigned as the land marker to avoid the system errors ascribable to an ultrasonic interference. In addition, the proposed system is quite compact in virtue of the embedded technology of a microcomputer and Field Programmable Gate Array (FPGA). This paper reports the development of the proto-type system of navigation system and confirmation of its fundamental performances.

  19. Architecting the Communication and Navigation Networks for NASA's Space Exploration Systems

    Science.gov (United States)

    Bhassin, Kul B.; Putt, Chuck; Hayden, Jeffrey; Tseng, Shirley; Biswas, Abi; Kennedy, Brian; Jennings, Esther H.; Miller, Ron A.; Hudiburg, John; Miller, Dave; Jeffries, Alan; Sartwell, Tom

    2007-01-01

    NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of the missions is to grow, through a series of launches, a system of systems communication, navigation, and timing infrastructure at minimum cost while providing a network-centric infrastructure that maximizes the exploration capabilities and science return. There is a strong need to use architecting processes in the mission pre-formulation stage to describe the systems, interfaces, and interoperability needed to implement multiple space communication systems that are deployed over time, yet support interoperability with each deployment phase and with 20 years of legacy systems. In this paper we present a process for defining the architecture of the communications, navigation, and networks needed to support future space explorers with the best adaptable and evolable network-centric space exploration infrastructure. The process steps presented are: 1) Architecture decomposition, 2) Defining mission systems and their interfaces, 3) Developing the communication, navigation, networking architecture, and 4) Integrating systems, operational and technical views and viewpoints. We demonstrate the process through the architecture development of the communication network for upcoming NASA space exploration missions.

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

    Institute of Scientific and Technical Information of China (English)

    倪呈英

    2014-01-01

    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.%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。

  1. Design and Implementation of Kana-Input Navigation System for Kids based on the Cyber Assistant

    OpenAIRE

    Hiroshi Matsuda; Yoshiaki Shindo

    2004-01-01

    In Japan, it has increased the opportunity for young children to experience the personal computer in elementary schools. However, in order to use computer, many domestic barriers have confronted young children (Kids) because they cannot read difficult Kanji characters and had not learnt Roman alphabet yet. As a result, they cannot input text strings by JIS Kana keyboard. In this research, we developed Kana-Input NaVigation System for kids (KINVS) based on the Cyber Assistant System (CAS). CAS...

  2. 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.

  3. 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)...

  4. 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.

  5. Neural systems analysis of decision making during goal-directed navigation.

    Science.gov (United States)

    Penner, Marsha R; Mizumori, Sheri J Y

    2012-01-01

    The ability to make adaptive decisions during goal-directed navigation is a fundamental and highly evolved behavior that requires continual coordination of perceptions, learning and memory processes, and the planning of behaviors. Here, a neurobiological account for such coordination is provided by integrating current literatures on spatial context analysis and decision-making. This integration includes discussions of our current understanding of the role of the hippocampal system in experience-dependent navigation, how hippocampal information comes to impact midbrain and striatal decision making systems, and finally the role of the striatum in the implementation of behaviors based on recent decisions. These discussions extend across cellular to neural systems levels of analysis. Not only are key findings described, but also fundamental organizing principles within and across neural systems, as well as between neural systems functions and behavior, are emphasized. It is suggested that studying decision making during goal-directed navigation is a powerful model for studying interactive brain systems and their mediation of complex behaviors.

  6. Laboratory vehicle for air-pollution measurements with computer-controlled data acquisition and navigation system

    Energy Technology Data Exchange (ETDEWEB)

    Wevelsiep, K.; Heinze, G.; Ruesch, J. (Battelle-Institut e.V., Frankfurt am Main (Germany, F.R.))

    1979-02-01

    The technical equipment of a vehicle for air-pollution measurements is described. This vehicle allows for continuous measurements of extensive SO/sub 2/ and NO/sub 2/ gas flows in the atmosphere. This is accomplished by a correlation spectrometer, which utilizes the optical absorption that is typical of the gas under observation. The instrument operates with natural sky light. The spectrometer output signals are evaluated by a computerized measuring system. The SO/sub 2/ and NO/sub 2/ data, together with the navigational data obtained from an on-board navigation system, are temporarily stored, displayed and permanently stored on paper tape for off-line evaluation and filling. Thus this highly automated system permits countinuous measurement while the vehicle is moving. The evaluation process yields report format data.

  7. Position Estimation by Wearable Walking Navigation System for Visually Impaired with Sensor Fusion

    Science.gov (United States)

    Watanabe, Hiromi; Yamamoto, Yoshihiko; Tanzawa, Tsutomu; Kotani, Shinji

    A wearable walking navigation system without any special infrastructures has been developed to guide visually impaired. It is important to estimate a position correctly so that safe navigation can be realized. In our system, different sensor data are fused to estimate a pedestrian's position. An image processing system and a laser range finder were used to estimate the positions indoors. In this paper, we introduce the concept of “similarity” between map information and sensor data. This similarity is used to estimate the positions. Experimental results show that highly accurate position estimation can be achieved by sensor fusion. The positions in a linear passage were estimated using image processing data, and when the passage turns, the positions were estimated using LRF data.

  8. 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.

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

    Directory of Open Access Journals (Sweden)

    Miao Lingjuan

    2014-08-01

    Full Text Available 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 estimation (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 priori 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 disturbances 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.

  10. 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.

  11. Global Navigation Satellite System Multipath Mitigation Using a Wave-Absorbing Shield.

    Science.gov (United States)

    Yang, Haiyan; Yang, Xuhai; Sun, Baoqi; Su, Hang

    2016-08-22

    Code multipath is an unmanaged error source in precise global navigation satellite system (GNSS) observation processing that limits GNSS positioning accuracy. A new technique for mitigating multipath by installing a wave-absorbing shield is presented in this paper. The wave-absorbing shield was designed according to a GNSS requirement of received signals and collected measurements to achieve good performance. The wave-absorbing shield was installed at the KUN1 and SHA1 sites of the international GNSS Monitoring and Assessment System (iGMAS). Code and carrier phase measurements of three constellations were collected on the dates of the respective installations plus and minus one week. Experiments were performed in which the multipath of the measurements obtained at different elevations was mitigated to different extents after applying the wave-absorbing shield. The results of an analysis and comparison show that the multipath was mitigated by approximately 17%-36% on all available frequencies of BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), and Global Navigation Satellite System (GLONASS) satellites. The three-dimensional accuracies of BDS, GPS, and GLONASS single-point positioning (SPP) were, respectively, improved by 1.07, 0.63 and 0.49 m for the KUN1 site, and by 0.72, 0.79 and 0.73 m for the SHA1 site. Results indicate that the multipath of the original observations was mitigated by using the wave-absorbing shield.

  12. Okoliš i automobil

    Directory of Open Access Journals (Sweden)

    Nada Štrumberger

    2012-10-01

    Full Text Available Constant increase of the number of automobiles causes demand for individual materials to get on the rise, thus giving an impulse to the development of recycling logistics. Used automobiles get disassembled and individual parts which can be used as raw materials or additives get recycled. Automobile tires can be reclaimed or vulcanized. In July 1978 the environmental-friendly "Blauer Engel" or "Blue Angel" symbol was first introduced for reclaimed tires. Later, emblems were introduced for other recycled automobile pans. The awarding of the emblem is being controlled and approved by authorized institutes, because the emblem rightfully designates traffic safety.

  13. LFMCW Radar Applied in Automobile Safety Systems%一种应用于汽车安全系统的LFMCW雷达

    Institute of Scientific and Technical Information of China (English)

    李洋; 李浩; 王占平; 郭婧

    2014-01-01

    More and more automobiles are designed with forward-looking radar system at 24GHz or 77GHz. The hardware architecture of a LFMCW radar at K band is presented for measuring distance and velocity of target vehi-cles. The significance and status of studying on automobile radar are firstly reviewed; and then, the principle of LFMCW radar is analyzed on basis of mathematical model and the expression on distance and velocity is deduced;the transmitter of the radar utilizes tuning VCO, and a one-transmitting-two-receiving microstrip array antenna is designed;The data acquisition circuit and processing algorithms based on FPGA and DSP are also introduced. In the end, the calculation results prove the feasibility of radar measurements and how to improve the performance is discussed.%越来越多的汽车设计了24 GHz 或77 GHz 的前视雷达系统。本文提出了一个 K 波段的LFMCW雷达的硬件结构,用于对目标车辆距离和速度的测量。文中首先回顾了关于汽车雷达研究的意义和现状,用数学模型分析了LFMCW雷达的原理,推导了距离和速度测量的表达式;其中发射机采用了调谐VCO的方式,设计了一个一发两收的微带阵列天线,也对采用了FPGA和DSP进行数据采集和处理算法部分作了介绍;最后计算结果表明了雷达测量的可行性,并讨论了如何提高性能。

  14. Gravimetry, Relativity, and the Global Navigation Satellite Systems

    CERN Document Server

    Tarantola, Albert; Pozo, Jose Maria; Coll, Bartolome

    2009-01-01

    Relativity is an integral part of positioning systems, and this is taken into account in today's practice by applying many "relativistic corrections" to computations performed using concepts borrowed from Galilean physics. A different, fully relativistic paradigm can be developed for operating a positioning system. This implies some fundamental changes. For instance, the basic coordinates are four times (with a symmetric meaning, not three space coordinate and one time coordinate) and the satellites must have cross-link capabilities. Gravitation must, of course, be taken into account, but not using the Newtonian theory: the gravitation field is, and only is, the space-time metric. This implies that the positioning problem and the gravimetry problem can not be separated. An optimization theory can be developed that, because it is fully relativistic, does not contain any "relativistic correction". We suggest that all positioning satellite systems should be operated in this way. The first benefit of doing so wou...

  15. 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.

  16. Latency Determination and Compensation in Real-Time Gnss/ins Integrated Navigation Systems

    Science.gov (United States)

    Solomon, P. D.; Wang, J.; Rizos, C.

    2011-09-01

    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.

  17. A sensor system for the navigation of an underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Smith, R. [Univ. of Oxford (United Kingdom)]|[Silsoe Research Inst., Bedfordshire (United Kingdom); Frost, A. [Silsoe Research Inst., Bedfordshire (United Kingdom); Probert, P. [Univ. of Oxford (United Kingdom)

    1999-07-01

    A sensor system for an underwater vehicle is described. The vehicle is equipped with inclinometers, gyroscopes, a magnetometer, a pressure gauge, and a sonar system. The sensor models used for the inclinometers and gyroscopes are straightforward; however, the magnetometer can be corrupted by variations in the earth`s field caused by: external objects and internal magnetic fields. The authors show how to use inclinometer data to adjust for a limited set of external field variation. The authors also show how to calibrate the magnetometer to compensate for static and thruster-dependent internal fields. The sonar unit uses range differentials between cheap time-of-flight sonar to follow a target. This reduces signal processing since data association is only required on target acquisition, and removes the need to scan an entire landscape, which is usually slow. The gyroscopes are fused via a second indirect filter system. The vehicle attitude is represented as a quaternion; these have a low computational burden, and lack discontinuities and singularities. The simplicity of the indirect filter permits very fast update rates, so that the system may follow rapid vehicle rotations.

  18. Gyroscope-reduced inertial navigation system for flight vehicle motion estimation

    Science.gov (United States)

    Wang, Xin; Xiao, Lu

    2017-01-01

    In this paper, a novel configuration of strategically distributed accelerometer sensors with the aid of one gyro to infer a flight vehicle's angular motion is presented. The MEMS accelerometer and gyro sensors are integrated to form a gyroscope-reduced inertial measurement unit (GR-IMU). The motivation for gyro aided accelerometers array is to have direct measurements of angular rates, which is an improvement to the traditional gyroscope-free inertial system that employs only direct measurements of specific force. Some technical issues regarding error calibration in accelerometers and gyro in GR-IMU are put forward. The GR-IMU based inertial navigation system can be used to find a complete attitude solution for flight vehicle motion estimation. Results of numerical simulation are given to illustrate the effectiveness of the proposed configuration. The gyroscope-reduced inertial navigation system based on distributed accelerometer sensors can be developed into a cost effective solution for a fast reaction, MEMS based motion capture system. Future work will include the aid from external navigation references (e.g. GPS) to improve long time mission performance.

  19. 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.

  20. Navigating hybridity: investigating the dance between culture and values within the cuban national education system.

    Directory of Open Access Journals (Sweden)

    Erik Byker

    2013-12-01

    Full Text Available Hybridity is the dynamic relationship between local and global factors that push and pull on people and nations. Hybridity is deeply situated in socio-contextual factors, like cultural beliefs, education, and political systems, that aid and hinder a people’s navigation of globalized phenomena. Simply put, hybridity is how people and societies adapt to a changing world. This article examines the case of Cuba in response to hybridity. Specifically, the article’s purpose is to examine ways that the Cuban National Education System impacts how Cubans navigate the global march towards hybridity. The article reports on a focused ethnographic study of a week long education trip to Cuba during February 2013. The ethnography includes over 100 hours of data collection, including semi-structured interviews with 26 Cuban participants. The study uses Freire’s (1970 notion of “humanizing pedagogy” to analyze how the impact of the Cuban National Education System values in the context of Cuba and larger global context. The study found that three values in particular, amor, solidaridad, and conciencia de derechos y response, were deeply embedded in the Cuban National Education System and effect the way that Cubans navigate the complex hybridity that situates their island nation.

  1. Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.

    Science.gov (United States)

    Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

    2016-12-17

    Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

  2. 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.

  3. 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.

  4. 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.

  5. Vehicle tracking and navigation systems in mining operations and pulp mills

    Energy Technology Data Exchange (ETDEWEB)

    Harding, T. [Challenger Surveys and Services Ltd., Calgary, AB (Canada)

    1997-12-31

    A vehicle tracking and navigation system used on the Syncrude Aurora site north of Fort McMurray is described. A custom built computer with built in GPS and radio communication is the heart of the system which is used by the auger driver to navigate along ice roads to the auger holes. When the driver completes a hole, he updates the base computer at the Aurora office by means of a portable keypad. Data from the base computer is sent automatically via cell telephone for a near-real time update every 15 minutes to the main computer at Syncrude`s main site 28 km away. All positional data is logged daily for later playback, analysis and use in future planning and optimization of vehicle use.

  6. The ergonomics simulation and evaluation architecture for the automobile

    Science.gov (United States)

    Wu, Jianfeng; Yang, Ying; Sun, Shouqian; Liu, Tao

    2005-12-01

    The architecture of ergonomics simulation and evaluation for the automobile was described. Ergonomics analysis and evaluation is one of the most important processes in product design at present. This ergonomics simulation system based on the elements of ergonomics analysis and evaluation can provide an excellent solution to take human element into account earlier in the design phase and make proactive choices in automobile design than those traditional methods. Thinking of the characteristics of the automobile industry, this system adopted the anatomy-based and parameterized human model for Chinese, the simulation technique using motion editing and the mathematical models of ergonomics to solve real ergonomic design problems in the design phases.

  7. 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.

  8. Innovative Navigation Systems to Support Digital Geophysical Mapping

    Science.gov (United States)

    2006-02-17

    Treated No intrusive activities were undertaken nor any material handled. 3.6.4. Residuals Handling This section is not applicable. 3.6.5...The four Cs- vapour sensors were equally separated by 40cm and supported on a non-metallic frame, as shown on the right side of the photograph in Figure...acquisition system showing the four Cs vapour magnetometer sensors at the front of the array (right of photo) and the reflective prism (red cube

  9. Phased Antenna Array for Global Navigation Satellite System Signals

    Science.gov (United States)

    Turbiner, Dmitry (Inventor)

    2015-01-01

    Systems and methods for phased array antennas are described. Supports for phased array antennas can be constructed by 3D printing. The array elements and combiner network can be constructed by conducting wire. Different parameters of the antenna, like the gain and directivity, can be controlled by selection of the appropriate design, and by electrical steering. Phased array antennas may be used for radio occultation measurements.

  10. 基于蓝牙的汽车 OBD II 电控故障诊断系统%OBD-I I Electric Control Fault Diagnosis System for Automobiles Based on Bluetooth

    Institute of Scientific and Technical Information of China (English)

    吉永卿; 龚元明

    2014-01-01

    Aiming at the shortcomings of traditional handheld fault diagnosis devices for automobiles,a wireless automobile fault diagnos-tics system based on Bluetooth technology is constructed by combining Bluetooth,CAN(Controller Area Network)bus and smart phone so as to monitor and diagnose automobile faults on line.The system can meet the real-time and mobile demands of automobile diagnosis technology,and realize the wireless fault diagnosis of automobile engine OBD-II.This paper elaborates the technical scheme,system structure,communication protocols and software/hardware circuits.%针对传统手持式汽车故障诊断设备的不足,为了能够在线监测和诊断汽车故障,将蓝牙(Blue tooth)、CAN (Con-troller Area Network)总线、智能手机三者结合在一起,构建基于蓝牙技术的汽车无线故障诊断系统。该系统能满足对汽车诊断技术的实时性和移动性的需求,实现对汽车发动机 OBD II 的无线故障诊断。本文详细地描述了构建的技术方案、系统结构、通信协议和软硬件实现电路。

  11. Optical system components for navigation grade fiber optic gyroscopes

    Science.gov (United States)

    Heimann, Marcus; Liesegang, Maximilian; Arndt-Staufenbiel, Norbert; Schröder, Henning; Lang, Klaus-Dieter

    2013-10-01

    Interferometric fiber optic gyroscopes belong to the class of inertial sensors. Due to their high accuracy they are used for absolute position and rotation measurement in manned/unmanned vehicles, e.g. submarines, ground vehicles, aircraft or satellites. The important system components are the light source, the electro optical phase modulator, the optical fiber coil and the photodetector. This paper is focused on approaches to realize a stable light source and fiber coil. Superluminescent diode and erbium doped fiber laser were studied to realize an accurate and stable light source. Therefor the influence of the polarization grade of the source and the effects due to back reflections to the source were studied. During operation thermal working conditions severely affect accuracy and stability of the optical fiber coil, which is the sensor element. Thermal gradients that are applied to the fiber coil have large negative effects on the achievable system accuracy of the optic gyroscope. Therefore a way of calculating and compensating the rotation rate error of a fiber coil due to thermal change is introduced. A simplified 3 dimensional FEM of a quadrupole wound fiber coil is used to determine the build-up of thermal fields in the polarization maintaining fiber due to outside heating sources. The rotation rate error due to these sources is then calculated and compared to measurement data. A simple regression model is used to compensate the rotation rate error with temperature measurement at the outside of the fiber coil. To realize a compact and robust optical package for some of the relevant optical system components an approach based on ion exchanged waveguides in thin glass was developed. This waveguides are used to realize 1x2 and 1x4 splitter with fiber coupling interface or direct photodiode coupling.

  12. Genetic Algorithm Optimisation of a Ship Navigation System

    Directory of Open Access Journals (Sweden)

    E. Alfaro-Cid

    2001-01-01

    Full Text Available The optimisation of the PID controllers' gains for separate propulsion and heading control systems of CyberShip I, a scale model of an oil platform supply ship, using Genetic Algorithms is considered. During the initial design process both PID controllers have been manually tuned to improve their performance. However this tuning approach is a tedious and time consuming process. A solution to this problem is the use of optimisation techniques based on Genetic Algorithms to optimise the controllers' gain values. This investigation has been carried out through computer-generated simulations based on a non-linear hydrodynamic model of CyberShip I.

  13. Vision Aided Inertial Navigation System Augmented with a Coded Aperture

    Science.gov (United States)

    2011-03-24

    to the lens to allow only green light to pass through the lens system, thereby reducing any chromatic aberration . The apertures consist of chrome...coded aperture configurations. Also, a green P01 filter is added to the front of the lens to prevent chromatic aberration . To measure the ( )psf aI s...pointing vector to pixel plane coordinates n/a T C pIX Translation matrix from pixel plane coordinates to pointing vector n/a W (7] , ’ ,sJ Aberration

  14. 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.

  15. On the hazard-controllability of distance-warning systems for automobiles; Shakan kyori keiho sochi no anzensei kojodo no hyoka

    Energy Technology Data Exchange (ETDEWEB)

    Sato, Y. [Tokyo University of Mercantile Marine, Tokyo (Japan); Kato, E.; Machida, K. [Hino Motors, Ltd., Tokyo (Japan)

    1995-04-20

    A distance warning system for automobiles with the use of an infrared laser beam has been put to practical use, but the effect has not been clarified for the prevention of accidents with the system equipped. This paper reports the verification of the effect based on a deductive methodology. Accidents caused by human errors without the system equipped were classified as a primary hazard, and those caused by the malfunction or human errors with the system equipped were classified as a secondary hazard. Then, each cause and effect model was prepared on a fault tree (FT). For instance, the mechanism of occurrence of accidents was structured such that the event of a `driver`s error in maneuvering` was `dozing`(or `wrong handling` or `wrong judgment`) with the warning system `not equipped`. An evaluation was made on the frequency of the top event by quantifying each basic event and checking the minimal cut set of FT; and as a result, it was assessed that the outbreak of a rear-end collision was reduced to 1/4 to 1/6 by the equipment of the system. 9 refs., 2 figs.

  16. Wheelchair Navigation System for Disabled and Elderly People

    Science.gov (United States)

    Kim, Eun Yi

    2016-01-01

    An intelligent wheelchair (IW) system is developed in order to support safe mobility for disabled or elderly people with various impairments. The proposed IW offers two main functions: obstacle detection and avoidance, and situation recognition. First, through a combination of a vision sensor and eight ultrasonic ones, it detects diverse obstacles and produces occupancy grid maps (OGMs) that describe environmental information, including the positions and sizes of obstacles, which is then given to the learning-based algorithm. By learning the common patterns among OGMs assigned to the same directions, the IW can automatically find paths to prevent collisions with obstacles. Second, it distinguishes a situation whereby the user is standing on a sidewalk, traffic intersection, or roadway through analyzing the texture and shape of the images, which aids in preventing any accidents that would result in fatal injuries to the user, such as collisions with vehicles. From the experiments that were performed in various environments, we can prove the following: (1) the proposed system can recognize different types of outdoor places with 98.3% accuracy; and (2) it can produce paths that avoid obstacles with 92.0% accuracy. PMID:27801852

  17. Reliable Alignment in Total Knee Arthroplasty by the Use of an iPod-Based Navigation System

    Directory of Open Access Journals (Sweden)

    Paola Koenen

    2016-01-01

    Full Text Available 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.

  18. 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.

  19. Vehicle-Driver Behavioural-Responses Defined by Radio-Navigation System GPS

    Directory of Open Access Journals (Sweden)

    Rudi Čop

    2004-07-01

    Full Text Available From the very beginning of its usage the navigation systemGPS has been applied in studying the cases of the car followingbehaviour of two-vehicle platoons. The navigation receiver isused for vehicle position and speed data collections. The measurementaccuracy is to be improved by the real-time dGPScorrection-data or by additional data post-processing. For additionalmeasurement of the vehicle-to-vehicle separation, bothvehicles should be equipped with a GPS receiver. The vehicle-to-vehicle separation is calculated later on, during the datapost-processing.This paper describes the choice of the experimental setup,on the basis of the radio-navigation system GPS, which may beused for recording the data on location, speed and time. Thepresented measurement results have been attained in two steps:first, the data were collected, through the process of tracking oftwo-vehicle platoons in real life traffic-flow, and then processed.The selected mathematical model is based on the PIDcontroller in the closed-loop control system. It enables evaluationof the measurement results and assessment of the behaviouralelements of each driver.

  20. Control and navigation system for a fixed-wing unmanned aerial vehicle

    Science.gov (United States)

    Zhai, Ruiyong; Zhou, Zhaoying; Zhang, Wendong; Sang, Shengbo; Li, Pengwei

    2014-03-01

    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.

  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. 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....

  3. 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

  4. System Design and Performance Analysis on Automobile Air Conditioning System with Dual Evaporators%双蒸发器汽车空调系统设计与性能分析

    Institute of Scientific and Technical Information of China (English)

    邵世婷; 王文

    2016-01-01

    部件设计及系统匹配作为双蒸发器汽车空调系统开发最为重要的一项内容直接影响系统稳定性及制冷性能。本文按照整车冷负荷及乘员舒适性等要求,设计了一套应用于乘用车的双蒸发器汽车空调系统,通过台架试验和计算流体力学(CFD)模拟分析完成系统部件选型、匹配工作,并在整车上进行最大制冷性能测试。结果表明本系统的稳定性及制冷性能均达到了设计要求,提供了一个双蒸发器汽车空调系统设计开发的成功案例。%As the most important item of the development of dual evaporator automobile air conditioning system, the components design and the system matching can dramatically affect the stability and cooling performance of the system. Considering the cooling load of the vehicle and comfortable requirement of the passenger, a dual evaporator automobile air conditioning system is designed which can be used in SUV (Sport Utility Vehicle) and MPV (Multi-Purpose Vehicle) in this paper. The performance of the components and system are validated by bench test and CFD (Computational Fluid Dynamics) simulation, and finally tested by vehicle max pull down test. The result shows that the stability and cooling performance of this system can both meet the requirements, and this system is a quite meaningful case for the development of dual evaporator automobile air conditioning system.

  5. 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

    2016-12-01

    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.

  6. 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.

  7. 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.

  8. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

    Science.gov (United States)

    Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

    2010-03-01

    In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

  9. Design and Implementation of a Fully Autonomous UAV's Navigator Based on Omni-directional Vision System

    Directory of Open Access Journals (Sweden)

    Seyed Mohammadreza Kasaei

    2011-12-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are the subject of an increasing interest in many applications . UAVs are seeing more widespread use in military, scenic, and civilian sectors in recent years. Autonomy is one of the major advantages of these vehicles. It is then necessary to develop particular sensor in order to provide efficient navigation functions. The helicopter has been stabilized with visual information through the control loop. Omni directional vision can be a useful sensor for this propose. It can be used as the only sensor or as complementary sensor. In this paper , we propose a novel method for path planning on an UAV based on electrical potential .We are using an omni directional vision system for navigating and path planning.

  10. Adaptive Covariance Estimation Method for LiDAR-Aided Multi-Sensor Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Shifei Liu

    2015-01-01

    Full Text Available 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 extraction method is introduced, where the LiDAR intensity measurements are used, such that the random range errors and systematic errors due to surface reflectivity in LiDAR measurements are considered. The vehicle pose change is obtained from LiDAR line feature matching, and the corresponding pose change covariance is also estimated by a weighted least squares-based technique. The estimated LiDAR-based pose changes are applied as periodic updates to the Inertial Navigation System (INS in an innovative extended Kalman filter (EKF design. Besides, the influences of the environment geometry layout and line estimation error are discussed. Real experiments in indoor environment are performed to evaluate the proposed algorithm. The results showed the great consistency between the LiDAR-estimated pose change covariance and the true accuracy. Therefore, this leads to a significant improvement in the vehicle’s integrated navigation accuracy.

  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. Inertial Navigation System/Doppler Velocity Log (INS/DVL Fusion with Partial DVL Measurements

    Directory of Open Access Journals (Sweden)

    Asaf Tal

    2017-02-01

    Full Text Available The Technion autonomous underwater vehicle (TAUV is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS aided by a Doppler velocity log (DVL, magnetometer, and pressure sensor (PS. In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

  13. Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements

    Science.gov (United States)

    Tal, Asaf; Klein, Itzik; Katz, Reuven

    2017-01-01

    The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown. PMID:28241410

  14. Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements.

    Science.gov (United States)

    Tal, Asaf; Klein, Itzik; Katz, Reuven

    2017-02-22

    The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

  15. 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.

  16. 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...

  17. On-the-fly Locata/inertial navigation system integration for precise maritime application

    Science.gov (United States)

    Jiang, Wei; Li, Yong; Rizos, Chris

    2013-10-01

    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

  18. The Development of the MSL Guidance, Navigation, and Control System for Entry, Descent, and Landing

    Science.gov (United States)

    San Martin, A. Miguel; Lee, Steven W.; Wong, Edward C.

    2013-01-01

    On August 5, 2012, the Mars Science Laboratory (MSL) mission successfully delivered the Curiosity rover to its intended target. It was the most complex and ambitious landing in the history of the red planet. A key component of the landing system, the requirements for which were driven by the mission ambitious science goals, was the Guidance, Navigation, and Control (GN&C) system. This paper will describe the technical challenges of the MSL GN&C system, the resulting architecture and design needed to meet those challenges, and the development process used for its implementation and testing.

  19. Space Shuttle navigation validation

    Science.gov (United States)

    Ragsdale, A.

    The validation of the guidance, navigation, and control system of the Space Shuttle is explained. The functions of the ascent, on-board, and entry mission phases software of the navigation system are described. The common facility testing, which evaluates the simulations to be used in the navigation validation, is examined. The standard preflight analysis of the operational modes of the navigation software and the post-flight navigation analysis are explained. The conversion of the data into a useful reference frame and the use of orbit parameters in the analysis of the data are discussed. Upon entry the data received are converted to flags, ratios, and residuals in order to evaluate performance and detect errors. Various programs developed to support navigation validation are explained. A number of events that occurred with the Space Shuttle's navigation system are described.

  20. Modeling Navigation System Performance of a Satellite-Observing Star Tracker Tightly Integrated with an Inertial Measurement Unit

    Science.gov (United States)

    2015-03-26

    Hancock, R.C. Stirbl, and B. Pain. “ Active pixel sensor (APS) based star tracker ”. Aerospace Conference, 1998 IEEE, volume 1, 119–127 vol.1. 1998...Modeling Navigation System Performance of a Satellite-Observing Star Tracker Tightly Integrated with an Inertial Measurement Unit DISSERTATION Scott...Navigation System Performance of a Satellite-Observing Star Tracker Tightly Integrated with an Inertial Measurement Unit DISSERTATION Presented to the

  1. Design and implementation of automobile intelligent range-finding system based on Internet of Things%基于物联网的汽车智能测距系统的设计与实现

    Institute of Scientific and Technical Information of China (English)

    王建宇

    2015-01-01

    基于物联网进行汽车智能测距,可以实现汽车车距的准确控制,对汽车安全设计和智能防撞控制具有重要意义.传统的汽车测距系统设计方法采用多处理器接口测距方法,随着物联网中汽车节点数据增加而测距效果不好.提出基于传感节点数据融合和分布式程序控制的汽车智能测距系统设计方法.首先构建汽车智能测距系统设计的总体模型,给出基于宽带自模糊度特征提取的车辆测距算法.基于物联网的汽车智能测距系统包括了超声波雷达信号的声学基阵、测距雷达信号收发转换和功率放大器以及模拟信号预处理机这三大部分.系统具有测距数据的测量、智能测距的回波模拟、多车道数据记录分析、上位机通信、多通道可编程信号处理等功能.采用TI5000 系列DSP进行测距核心编程,实现系统硬件模块设计和软件编程设计.实验结果表明,采用该系统,具有较好的测距精度,稳定性和可靠性较好.%The automobile intelligent range-finding based on the Internet of Things can realize the accuracy control of the distance between automobiles. It is significant for the safety design and the intelligent collision avoidance control of automobiles. The traditional design method of the automobile range-finding system adopts the range-finding method of multi-processor inter-face,and the range-finding effect is getting bad with the increasing of the automobile's node data in the Internet of Things. The design method of the automobile intelligent range-finding system based on sensor node data fusion and distributed program con-trol is proposed. The overall design model of the automobile range-finding system is constructed,and the automobile range-finding algorithm based on the feature extraction of the broadband self-ambiguity is provided. The automobile intelligent range-finding system based on the Internet of Things is composed of three parts(acoustic array

  2. A UHF RFID positioning system for use in warehouse navigation by employees with cognitive disability.

    Science.gov (United States)

    Gunther, Eric J M; Sliker, Levin J; Bodine, Cathy

    2017-01-18

    Unemployment among the almost 5 million working-age adults with cognitive disabilities in the USA is a costly problem in both tax dollars and quality of life. Job coaching is an effective tool to overcome this, but the cost of job coaching services sums with every new employee or change of employment roles. There is a need for a cost-effective, automated alternative to job coaching that incurs a one-time cost and can be reused for multiple employees or roles. An effective automated job coach must be aware of its location and the location of destinations within the job site. This project presents a design and prototype of a cart-mounted indoor positioning and navigation system with necessary original software using Ultra High Frequency Radio Frequency Identification (UHF RFID). The system presented in this project for use within a warehouse setting is one component of an automated job coach to assist in the job of order filler. The system demonstrated accuracy to within 0.3 m under the correct conditions with strong potential to serve as the basis for an effective indoor navigation system to assist warehouse workers with disabilities. Implications for rehabilitation An automated job coach could improve employability of and job retention for people with cognitive disabilities. An indoor navigation system using ultra high frequency radio frequency identification was proposed with an average positioning accuracy of 0.3 m. The proposed system, in combination with a non-linear context-aware prompting system, could be used as an automated job coach for warehouse order fillers with cognitive disabilities.

  3. 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.

  4. 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

  5. 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

    2016-05-23

    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.

  6. 汽车动力总成橡胶悬置系统分析与设计%Analysis and Design of Automobile Powertrain Rubber Suspension System

    Institute of Scientific and Technical Information of China (English)

    皮连根

    2012-01-01

    论文在分析汽车动力总成悬置系统的基础上,构建悬置系统的力学模型和数学模型,对橡胶悬置系统进行优化设计,建立相关数学模型,并结合某车型的实际参数,设计橡胶悬置,通过运用MATLAB软件进行仿真和验证,证明橡胶悬置设计基本满足要求。%The paper built suspension system mechanics model and the mathematical model ,and designed rubber suspension system optimization, on the based of automobile powertrain mount system. Mathematical model is established combined with a model parameter, and designed rubber suspension by using MATLAB software to carry out the simulation and verification, proofed rubber suspension design to meet the basic requirements.

  7. Comparison of two electromagnetic navigation systems for CT-guided punctures. A phantom study

    Energy Technology Data Exchange (ETDEWEB)

    Putzer, D.; Arco, D.; Schamberger, B.; Schanda, F.; Mahlknecht, J.; Widmann, G.; Schullian, P.; Jaschke, W.; Bale, R. [Innsbruck Medical University (Austria). Dept. of Radiology

    2016-05-15

    We compared the targeting accuracy and reliability of two different electromagnetic navigation systems for manually guided punctures in a phantom. CT data sets of a gelatin filled plexiglass phantom were acquired with 1, 3, and 5 mm slice thickness. After paired-point registration of the phantom, a total of 480 navigated stereotactic needle insertions were performed manually using electromagnetic guidance with two different navigation systems (Medtronic Stealth Station: AxiEM; Philips: PercuNav). A control CT was obtained to measure the target positioning error between the planned and actual needle trajectory. Using the Philips PercuNav, the accomplished Euclidean distances were 4.42 ± 1.33 mm, 4.26 ± 1.32 mm, and 4.46 ± 1.56 mm at a slice thickness of 1, 3, and 5 mm, respectively. The mean lateral positional errors were 3.84 ± 1.59 mm, 3.84 ± 1.43 mm, and 3.81 ± 1.71 mm, respectively. Using the Medtronic Stealth Station AxiEM, the Euclidean distances were 3.86 ± 2.28 mm, 3.74 ± 2.1 mm, and 4.81 ± 2.07 mm at a slice thickness of 1, 3, and 5 mm, respectively. The mean lateral positional errors were 3.29 ± 1.52 mm, 3.16 ± 1.52 mm, and 3.93 ± 1.68 mm, respectively. Both electromagnetic navigation devices showed excellent results regarding puncture accuracy in a phantom model. The Medtronic Stealth Station AxiEM provided more accurate results in comparison to the Philips PercuNav for CT with 3 mm slice thickness. One potential benefit of electromagnetic navigation devices is the absence of visual contact between the instrument and the sensor system. Due to possible interference with metal objects, incorrect position sensing may occur. In contrast to the phantom study, patient movement including respiration has to be compensated for in the clinical setting.

  8. 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.

  9. A biologically inspired meta-control navigation system for the Psikharpax rat robot.

    Science.gov (United States)

    Caluwaerts, K; Staffa, M; N'Guyen, S; Grand, C; Dollé, L; Favre-Félix, A; Girard, B; Khamassi, M

    2012-06-01

    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.

  10. 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.

  11. Orientation in road traffic. Age-related differences using an in-vehicle navigation system and a conventional map.

    Science.gov (United States)

    Pohlmann, S; Traenkle, U

    1994-12-01

    Forty-eight drivers of different ages (35-50 years old, 61 years and older) took part in our study, which tested a marketable navigation system (TRAVELPILOT IDS). Driving and navigation performance, as well as mental workload and the acceptance of innovative technology, were investigated. A limited range of findings will be presented in this paper. The results show that older and middle-aged drivers differ in only a few aspects. Both age groups reveal comparable results in driving. However, regarding the operation of the navigation system and concerning its effectiveness, older drivers performed worse. Age-related differences being rather small, analyses revealed significant global differences between the navigation system and a common road map: usage of the TRAVELPILOT influenced driving behavior negatively with respect to traffic safety. Also, the drivers' orientation was not any better using the navigation system. Based on this experimental work and on results derived from the literature, conclusions are drawn regarding future navigation systems in general and with respect to needs of elderly drivers.

  12. 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.

  13. 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.

  14. 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

  15. Data Integration from GPS and Inertial Navigation Systems for Pedestrians in Urban Area

    Directory of Open Access Journals (Sweden)

    Krzysztof Bikonis

    2013-09-01

    Full Text Available The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS is still relatively poor due to the large inertial sensor errors. The complementary features of GPS and INS are the main reasons why integrated GPS/INS systems are becoming increasingly popular. GPS/INS systems offer a high data rate, high accuracy position and orientation that can work in all environments, particularly those where satellite availability is restricted. In the paper integration algorithm of GPS and INS systems data for pedestrians in urban area is presented. For data integration an Extended Kalman Filter (EKF algorithm is proposed. Complementary characteristics of GPS and INS with EKF can overcome the problem of huge INS drifts, GPS outages, dense multipath effect and other individual problems associated with these sensors.

  16. A navigation and control system for an autonomous rescue vehicle in the space station environment

    Science.gov (United States)

    Merkel, Lawrence

    1991-01-01

    A navigation and control system was designed and implemented for an orbital autonomous rescue vehicle envisioned to retrieve astronauts or equipment in the case that they become disengaged from the space station. The rescue vehicle, termed the Extra-Vehicular Activity Retriever (EVAR), has an on-board inertial measurement unit ahd GPS receivers for self state estimation, a laser range imager (LRI) and cameras for object state estimation, and a data link for reception of space station state information. The states of the retriever and objects (obstacles and the target object) are estimated by inertial state propagation which is corrected via measurements from the GPS, the LRI system, or the camera system. Kalman filters are utilized to perform sensor fusion and estimate the state propagation errors. Control actuation is performed by a Manned Maneuvering Unit (MMU). Phase plane control techniques are used to control the rotational and translational state of the retriever. The translational controller provides station-keeping or motion along either Clohessy-Wiltshire trajectories or straight line trajectories in the LVLH frame of any sufficiently observed object or of the space station. The software was used to successfully control a prototype EVAR on an air bearing floor facility, and a simulated EVAR operating in a simulated orbital environment. The design of the navigation system and the control system are presented. Also discussed are the hardware systems and the overall software architecture.

  17. Alternative propulsion for automobiles

    CERN Document Server

    Stan, Cornel

    2017-01-01

    The book presents – based on the most recent research and development results worldwide - the perspectives of new propulsion concepts such as electric cars with batteries and fuel cells, and furthermore plug in hybrids with conventional and alternative fuels. The propulsion concepts are evaluated based on specific power, torque characteristic, acceleration behaviour, specific fuel consumption and pollutant emissions. The alternative fuels are discussed in terms of availability, production, technical complexity of the storage on board, costs, safety and infrastructure. The book presents summarized data about vehicles with electric and hybrid propulsion. The propulsion of future cars will be marked by diversity – from compact electric city cars and range extender vehicles for suburban and rural areas up to hybrid or plug in SUV´s, Pick up´s and luxury class automobiles.

  18. Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

    Science.gov (United States)

    Lee, Allan Y.; Ely, Todd; Sostaric, Ronald; Strahan, Alan; Riedel, Joseph E.; Ingham, Mitch; Wincentsen, James; Sarani, Siamak

    2010-01-01

    Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to

  19. 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)...

  20. 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...

  1. 基于LabVIEW汽车操纵稳定性试验系统的开发%Study on automobile controllability and stability test system based on LabVIEW

    Institute of Scientific and Technical Information of China (English)

    孙泽海; 徐延海; 赵文杰

    2011-01-01

    基于当今对汽车操纵稳定性试验的灵活性、便捷性、可靠性和图形化的要求,结合GPS、AHRS及AM-2012转向力角测试仪的特点,开发了基于LabVIEW的汽车操纵稳定性试验测试系统.在介绍了操纵稳定性的重要性以及试验系统的要求的基础上,详细的介绍了该操纵稳定性试验系统的组成.并给出了数据采集、处理以及实时显示的软件流程以及相关关键技术的实现方法.最后进行了具体的实车道路试验,通过对试验数据进行分析,验证了该试验系统的可靠性和便捷性.%With the requirements of convenience,flexibility, re liability and graphics of the controlla-bility and stability test system, an automobile controllability and stability test system was developed based on Lab VIEW, combining the properties of GPS,AHRS and AM-2012 steering angle and power tester.Then the composition of the automobile controllability and stability test system was mainly introduced in detail based on the analysis of the importance of automobile controllability and stability and the request of the test system.Afterwards the software, flows for data acquisition, processing and real-time displaying were given, as well as the method of implementing relative key techniques were also given.Finally automobile road test is done, which results after analyzing prove that the system is reliable and convenient.

  2. Analysis for Effect of Steering-by-Wire System on Automobile Handling Stability%线控转向系统对汽车操纵稳定性的影响

    Institute of Scientific and Technical Information of China (English)

    于蕾艳; 金涛; 伊剑波; 鲍长勇; 郑亚军

    2014-01-01

    The dynamics model of the steering -by-wire system is established based on the MATLAB /Simulink software .Then structural parameters of its key parts such as the moment inertia , damp coefficient and stiffness of the steering motor which affect the automobile handling stability are analyzed .The automobile handling stability can be improved by designing reasonable structural parameters of the motor of the steering -by-wire system properly .%基于MATLAB/Simulink软件建立线控转向系统的动力学模型,分析线控转向系统关键部件---转向电机的转动惯量、阻尼系数、刚度等对汽车操纵稳定性的影响。合理设计线控转向系统转向电机的结构参数,可提高汽车的操纵稳定性。

  3. Design and implementation of a GPS-aided inertial navigation system for a helicopter UAV

    Science.gov (United States)

    Kastelan, David R.

    Helicopter unmanned aerial vehicles (UAVs) benefit from vertical takeoff and landing, hover, low-speed, and cruising flight capabilities. This versatility has the expense of nonlinear, unstable, and underactuated system dynamics. These challenges and numerous potential applications make the helicopter UAV an interesting testbed for nonlinear control. A platform for such development has been established in the Applied Nonlinear Controls Lab (ANCL). A miniature helicopter was augmented with a manual/autonomous takeover system and the ANCL Avionics. This payload contains a global positioning system (GPS) receiver, inertial sensors, and communications and computing hardware. Allan variance analysis of inertial sensor data enabled the derivation of a GPS-aided inertial navigation system that was implemented on the ANCL Avionics. This extended Kalman filter (EKF)-based algorithm estimates vehicle position, velocity, and attitude necessary for system identification tasks and control system feedback. Performance validation of this algorithm was demonstrated in simulation and in experimental ground and flight tests.

  4. Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle.

    Science.gov (United States)

    Jang, Jaegyu; Ahn, Woo-Guen; Seo, Seungwoo; Lee, Jang Yong; Park, Jun-Pyo

    2015-11-11

    The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality.

  5. Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle

    Directory of Open Access Journals (Sweden)

    Jaegyu Jang

    2015-11-01

    Full Text Available The Ground-based Radio Navigation System (GRNS is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo. In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services SC (special committee-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP or fluctuations in the received signal quality.

  6. An aerial–ground robotic system for navigation and obstacle mapping in large outdoor areas.

    Science.gov (United States)

    Garzón, Mario; Valente, João; Zapata, David; Barrientos, Antonio

    2013-01-21

    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.

  7. A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor.

    Science.gov (United States)

    Kanwal, Nadia; Bostanci, Erkan; Currie, Keith; Clark, Adrian F

    2015-01-01

    For a number of years, scientists have been trying to develop aids that can make visually impaired people more independent and aware of their surroundings. Computer-based automatic navigation tools are one example of this, motivated by the increasing miniaturization of electronics and the improvement in processing power and sensing capabilities. This paper presents a complete navigation system based on low cost and physically unobtrusive sensors such as a camera and an infrared sensor. The system is based around corners and depth values from Kinect's infrared sensor. Obstacles are found in images from a camera using corner detection, while input from the depth sensor provides the corresponding distance. The combination is both efficient and robust. The system not only identifies hurdles but also suggests a safe path (if available) to the left or right side and tells the user to stop, move left, or move right. The system has been tested in real time by both blindfolded and blind people at different indoor and outdoor locations, demonstrating that it operates adequately.

  8. 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.

  9. Navigating the adaptive cycle: an approach to managing the resilience of social systems

    Directory of Open Access Journals (Sweden)

    Brian D. Fath

    2015-06-01

    Full Text Available The concept of resilience continues to crescendo since the 1990s, touching on multiple fields with multiple interpretations and uses. Here, we start from its origins in systems ecology, framing the resilience concept explicitly in the adaptive cycle with the observation that resilient systems are ones that successfully navigate all stages of growth, development, collapse, and reorientation of this cycle. The model is explored in terms of the traps and pathologies that hinder this successful navigation, particularly when applied to socioeconomic organizations and decision-management situations. For example, for continuous function over the adaptive life cycle, a system needs activation energy or resources to grow, followed by adequate structure and complexity to maintain maturity. Implementation of crisis plans may avert collapse, but during catastrophe, the ability to improvise and re-orient will allow the system to emerge along a new cycle. We review the capacities, competencies, and cultures needed by these organizations, specifically, identifying that the needed resources are often cultivated in earlier stages, thus requiring consideration of the entire life cycle for success.

  10. 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.

  11. An Aerial–Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Science.gov (United States)

    Garzón, Mario; Valente, João; Zapata, David; Barrientos, Antonio

    2013-01-01

    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. PMID:23337332

  12. 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.

  13. 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.

  14. A Study of the Start-Stop System of Automobile Engine%汽车发动机启停系统的研究

    Institute of Scientific and Technical Information of China (English)

    布仁

    2013-01-01

    Due to the rapid increase of car ownership, traffic jam becomes very serious and consequently automobile exhaust has become the important factor affecting the urban air quality and oil resources consumption becomes huge. This paper mainly studies the working process of the start-stop system, which automatically cuts off the engine in stopping phase to reduce oil consumption and starts the engine automatically again when the driver is going to start thus reducing pollution and oil consumption in idle speed.%  由于汽车保有量迅速增加,拥堵十分严重,导致废气排放成为影响城市空气质量的重要因素,石油资源消耗巨大。本文主要研究启停装置工作过程,是在停车阶段自动切断发动机使油耗减少,并在驾驶员欲起步时自动再次启动发动机,减少在怠速时产生的污染物及油耗。

  15. Application of delay nitrogen spring system in stamping dies for automobiles%延时氮气弹簧在汽车冲模中的应用

    Institute of Scientific and Technical Information of China (English)

    马宝顺

    2015-01-01

    The working principle of delay nitrogen spring system and its application in stamping dies for automobiles were presented in details. The local impact of nitrogen spring on the part in the return stroke of machine tool slider is effectively controlled, in which the nitrogen spring does not springback or has just a little springback and delayed return. The application protects the product and extends the die service life.%详细介绍了延时氮气弹簧系统的工作原理及在汽车冲模中的应用,机床滑块回程时氮气弹簧对制件的局部冲击进行有效控制,使氮气弹簧不回弹或者微小回弹,延时回程,具有保护制件及延长模具使用寿命的作用。

  16. Construction of Internal Training System for Automobile Manufacturing Industry%汽车制造业内部培训体系的建设

    Institute of Scientific and Technical Information of China (English)

    甘文辉

    2016-01-01

    员工培训是企业特别是汽车制造业内企业人力资源管理的重要内容。开展员工培训是系统性的工作,企业内部实施培训体系的建设与管理,依靠企业内部力量为主,培训效果往往会更好,有利于改善员工工作质量和提高企业的业绩,也有利于员工实现自我价值。%Staff training is an imp ortant co ntent of human resource management in enterprises of automobile manufacturing industry. Staff training is a systematic work. Enterprise internal implement training system construction and management. Mainly rely on enterprise internal resource,Training effect will be better. Improve staff work quality and improving enterprise achievement, Promote staff achieve self-value.

  17. 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.

  18. 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

    2016-08-07

    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

  19. MEASURING THE EFFICIENCY OF AIR NAVIGATION SERVICES SYSTEM BY USING DEA METHOD

    Directory of Open Access Journals (Sweden)

    Mara Ćujić

    2015-03-01

    Full Text Available This paper examines the possibilities for measuring performance of current Air Navigation Services Providers (ANSPs in Europe. ANSPs are in the process of operational integration into functional air blocks (FABs tracking direction towards Single European Sky goals, but there are a lot of obstacles and air traffic management is still organized in a fragmented way. This is a reason for comparing national ANSPs. A Data Envelopment Analysis (DEA is applied as a tool for performance measurement. Effectiveness of 36 units of ANS system is measured and the limitations and benefits of this kind of performance model are presented.

  20. 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.

  1. 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.

  2. System considerations and RF front-end design for integration of satellite navigation and mobile standards

    Directory of Open Access Journals (Sweden)

    A. Miskiewicz

    2009-05-01

    Full Text Available The paper presents the challenges involved in a system design of a robust reconfigurable RF front-end for navigation and mobile standards. Receiver architecture is chosen from the point of view of inter-system interference and 130nm CMOS process characteristics. System concept covers the implementation of GPS, Galileo, UMTS, GSM and CDMA2000 using a Zero-IF architecture with reconfigurable analog and digital path. Feasibility studies of the system cover analysis of the wireless regulations and performance criteria, such as overall gain, noise figure (NF, and 1dB compression point (P1dB of the RF chain, phase noise requirements and VCO tuning range [1]. The presented chip was fabricated in 130 nm CMOS technology. System considerations are confirmed with the chip measurements of gain, noise figure, and linearity. Prospects for the future work are presented including technology shrink.

  3. 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.

  4. 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.

  5. Technical concepts for vascular electromagnetic navigated interventions: aortic in situ fenestration and transjugular intrahepatic porto-systemic shunts.

    Science.gov (United States)

    Penzkofer, Tobias; Isfort, Peter; Na, Hong-Sik; Wilkmann, Christoph; Osterhues, Sabine; Besting, Andreas; Hänisch, Christoph; Bisplinghoff, Stefan; Jansing, Johannes; von Werder, Sylvie; Gooding, Jorge; de la Fuente, Mathias; Mahnken, Andreas H; Disselhorst-Klug, Catherine; Schmitz-Rode, Thomas; Kuhl, Christiane K; Bruners, Philipp

    2014-04-01

    This work presents concepts for complex endovascular procedures using electromagnetic navigation technology (EMT). Navigation software interfacing a standard commercially available navigation system was developed, featuring registration, electromagnetic field distortion correction, breathing motion detection and gating, and state-of-the-art 3D imaging post processing. Protocols for endovascularly placed, in-situ fenestrated abdominal aortic stent grafts and an EMT guided transjugular intrahepatic portosystemic shunt (TIPSS) creation have been designed. A dedicated set of interventional devices was developed for each of the procedures: For aortic in-situ fenestration a combination of high-porosity stentgrafts, steerable catheters and electromagnetically navigated guidewires was used, for TIPSS a dual-navigated (sheath and stylet) TIPSS-device was designed and manufactured. The developed devices underwent phantom testing, in preparation for animal experiments to prove the feasibility of the approach. Once established, these systems could aid in performing these challenging interventional radiology procedures, exploiting the unique characteristics of electromagnetic navigation and solving multiple of the problems associated with these interventions being performed under X-ray fluoroscopy, such as lacking real-time 3D information or extensive exposure to ionizing radiation.

  6. Simultaneous single epoch satellite clock modelling in Global Navigation Satellite Systems

    Science.gov (United States)

    Thongtan, Thayathip

    In order to obtain high quality positions from navigation satellites, range errors have to be identified and either modelled or estimated. This thesis focuses on satellite clock errors, which are needed to be known because satellite clocks are not perfectly synchronised with navigation system time. A new approach, invented at UCL, for the simultaneous estimation, in a single epoch, of all satellite clock offsets within a Global Navigation Satellite System (GNSS) from range data collected at a large number of globally distributed ground stations is presented. The method was originally tested using only data from a limited number of GPS satellites and ground stations. In this work a total of 50 globally distributed stations and the whole GPS constellation are used in order to investigate more fully the capabilities of the method, in terms of both accuracy and reliability. A number of different estimation models have been tested. These include those with different weighting schemes, those with and without tropospheric bias parameters and those that include assumptions regarding prior knowledge of satellite orbits. In all cases conclusions have been drawn based on formal error propagation theory. Accuracy has been assessed largely through the sizes of the predicted satellite clock standard deviations and, in the case of simultaneously estimating satellite positions, their error ellipsoids. Both internal and external reliability have been assessed as these are important contributors to integrity, something that is essential for many practical applications. It has been found that the accuracy and reliability of satellite clock offsets are functions of the number of known ground station clocks and distance from them, quality of orbits and quality of range measurement. Also the introduction of tropospheric zenith delay parameters into the model reduces both accuracy and reliability by amounts depending on satellite elevation angles. (Abstract shortened by UMI.)

  7. Statistical methods for launch vehicle guidance, navigation, and control (GN&C) system design and analysis

    Science.gov (United States)

    Rose, Michael Benjamin

    A novel trajectory and attitude control and navigation analysis tool for powered ascent is developed. The tool is capable of rapid trade-space analysis and is designed to ultimately reduce turnaround time for launch vehicle design, mission planning, and redesign work. It is streamlined to quickly determine trajectory and attitude control dispersions, propellant dispersions, orbit insertion dispersions, and navigation errors and their sensitivities to sensor errors, actuator execution uncertainties, and random disturbances. The tool is developed by applying both Monte Carlo and linear covariance analysis techniques to a closed-loop, launch vehicle guidance, navigation, and control (GN&C) system. The nonlinear dynamics and flight GN&C software models of a closed-loop, six-degree-of-freedom (6-DOF), Monte Carlo simulation are formulated and developed. The nominal reference trajectory (NRT) for the proposed lunar ascent trajectory is defined and generated. The Monte Carlo truth models and GN&C algorithms are linearized about the NRT, the linear covariance equations are formulated, and the linear covariance simulation is developed. The performance of the launch vehicle GN&C system is evaluated using both Monte Carlo and linear covariance techniques and their trajectory and attitude control dispersion, propellant dispersion, orbit insertion dispersion, and navigation error results are validated and compared. Statistical results from linear covariance analysis are generally within 10% of Monte Carlo results, and in most cases the differences are less than 5%. This is an excellent result given the many complex nonlinearities that are embedded in the ascent GN&C problem. Moreover, the real value of this tool lies in its speed, where the linear covariance simulation is 1036.62 times faster than the Monte Carlo simulation. Although the application and results presented are for a lunar, single-stage-to-orbit (SSTO), ascent vehicle, the tools, techniques, and mathematical

  8. 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.

  9. Flight results of attitude matching between Space Shuttle and Inertial Upper Stage (IUS) navigation systems

    Science.gov (United States)

    Treder, Alfred J.; Meldahl, Keith L.

    The recorded histories of Shuttle/Orbiter attitude and Inertial Upper Stage (IUS) attitude have been analyzed for all joint flights of the IUS in the Orbiter. This database was studied to determine the behavior of relative alignment between the IUS and Shuttle navigation systems. It is found that the overall accuracy of physical alignment has a Shuttle Orbiter bias component less than 5 arcmin/axis and a short-term stability upper bound of 0.5 arcmin/axis, both at 1 sigma. Summaries of the experienced physical and inertial alginment offsets are shown in this paper, together with alignment variation data, illustrated with some flight histories. Also included is a table of candidate values for some error source groups in an Orbiter/IUS attitude errror model. Experience indicates that the Shuttle is much more accurate and stable as an orbiting launch platform than has so far been advertised. This information will be valuable for future Shuttle payloads, especially those (such as the Aeroassisted Flight Experiment) which carry their own inertial navigation systems, and which could update or initialize their attitude determination systems using the Shuttle as the reference.

  10. 汽车起动电机综合性能测试系统%Integrated Performance Test System for Automobile Starting Motor

    Institute of Scientific and Technical Information of China (English)

    何成平

    2013-01-01

    In order to obtain starting performance of the automobile engine system operating state,it needs to acquire,analysis parameters such as torque and rotor speed etc.A measuring system platform for integrated performance starting motor was designed combined with PLC,touch screen and Delphi,and related measurement principles.It shows experimentally that the system presented is simple,reliable,easy realized. The system can realize rapid measurements of starting motor parameters,and accurately describe the dynamic process motor starting.It can be applied to other motor performance test and analysis if a little change be made.%为了获取汽车发动机系统的起动性能,需对起动电机的转矩、转速等参数进行采集、分析。结合PLC、触摸屏及Delphi编程技术,基于相关测量原理,设计起动电机性能综合测试系统平台。试验表明,该系统精度高、简单可靠,易于实现。系统可实现起动电机参数的快速测量,准确描述电机起动的动态过程,稍作改动,可适用于其他电机的性能测试和分析。

  11. 基于AVR单片机的汽车尾气检测系统设计%Design of automobile exhaust gas detection system based on AVR

    Institute of Scientific and Technical Information of China (English)

    姚宁; 郭朝龙; 翁凌云; 葛承滨

    2014-01-01

    针对当前汽车尾气污染加重和检测标准日益完善的现状,为了弥补传统汽车尾气检测系统在测量精度、稳定性、人机操作等方面存在的不足,提出了一种基于AVR单片机的汽车尾气检测系统设计方案。系统以ATMEGA8L为核心控制器,主要由传感器模块、信号采集调理电路、A/D转换器以及显示模块等组成。实验结果表明,系统具有测量精度高、稳定可靠、人机交互性好等优点。%Nowadays the automotive exhaust pollution has been increasing and the detecting standard is increasingly sophis⁃ticated. A design scheme of an automobile exhaust detecting system based on AVR is proposed to overcome the shortage of tradi⁃tional automotive exhaust detection systems in measuring accuracy,stability and man⁃machine operation. ATMEGA8L is taken as the core controller of the system,which is composed of the sensor module,signal acquisition and conditioning circuit,A/D converter,and display module. The tested results show that the system has the advantages of high⁃accuracy,high stability,high reliability and good human⁃computer interaction.

  12. A New Algorithm for ABS/GPS Integration Based on Fuzzy-Logic in Vehicle Navigation System

    Directory of Open Access Journals (Sweden)

    Ali Amin Zadeh

    2011-10-01

    Full Text Available GPS based vehicle navigation systems have difficulties in tracking vehicles in urban canyons due to poor satellite availability. ABS (Antilock Brake System Navigation System consists of self-contained optical encoders mounted on vehicle wheels that can continuously provide accurate short-term positioning information. In this paper, a new concept regarding GPS/ABS integration, based on Fuzzy Logic is presented. The proposed algorithm is used to identify GPS position accuracy based on environment and vehicle dynamic knowledge. The GPS is used as reference during the time it is in a good condition and replaced by ABS positioning system when GPS information is unreliable. We compare our proposed algorithm with other common algorithm in real environment. Our results show that the proposed algorithm can significantly improve the stability and reliability of ABS/GPS navigation system.

  13. 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.

  14. Perceiving the Social: A Multi-Agent System to Support Human Navigation in Foreign Communities

    CERN Document Server

    Kryssanov, Victor V; Goncharenko, Igor; Ogawa, Hitoshi; 10.4018/jssci.2010101902

    2010-01-01

    This paper describes a system developed to help people explore local communities by providing navigation services in social spaces created by the community members via communication and knowledge sharing. The proposed system utilizes data of a community's social network to reconstruct the social space, which is otherwise not physically perceptible but imaginary, experiential, yet learnable. The social space is modeled with an agent network, where each agent stands for a member of the community and has knowledge about expertise and personal characteristics of some other members. An agent can gather information, using its social "connections", to find community members most suitable to communicate to in a specific situation defined by the system's user. The system then deploys its multimodal interface, which "maps" the social space onto a representation of the relevant physical space, to locate the potential interlocutors and advise the user on an efficient communication strategy for the given community.

  15. Calibration of the Multi-camera Registration System for Visual Navigation Benchmarking

    Directory of Open Access Journals (Sweden)

    Adam Schmidt

    2014-06-01

    Full Text Available This paper presents the complete calibration procedure of a multi-camera system for mobile robot motion registration. Optimization-based, purely visual methods for the estimation of the relative poses of the motion registration system cameras, as well as the relative poses of the cameras and markers placed on the mobile robot were proposed. The introduced methods were applied to the calibration of the system and the quality of the obtained results was evaluated. The obtained results compare favourably with the state of the art solutions, allowing the use of the considered motion registration system for the accurate reconstruction of the mobile robot trajectory and to register new datasets suitable for the benchmarking of indoor, visual-based navigation algorithms.

  16. Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems

    Directory of Open Access Journals (Sweden)

    Amedeo Rodi Vetrella

    2016-12-01

    Full Text Available Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS receivers and Micro-Electro-Mechanical Systems (MEMS-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

  17. 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.

  18. Rotational alignment in total knee arthroplasty: nonimage-based navigation system versus conventional technique

    Institute of Scientific and Technical Information of China (English)

    ZHANG Xian-long; ZHANG Wen; SHAO Jun-jie

    2012-01-01

    Background Proper rotational alignment during total knee arthroplasty (TKA) is important for adequate postoperative patellofemoral and tibiofemoral kinematics,as well as for achieving balanced flexion space at 90°.The effects of computer navigation-assisted total knee replacement and conventional total knee arthroplasty on rotational alignment,mechanical axis,component position and clinical outcomes were compared.Methods Two methods were used in 82 patients and the rotation of the femoral and tibial components in the transverse plane,the combined rotation of the two components,the mismatch between them,and the mechanical axis of the lower limb were analyzed.All of these parameters were measured from postoperative radiographs and computed tomography images.Functional outcomes were compared at 6 weeks and 6 months postoperatively.Results Significant differences were found between the two techniques (P <0.05) in the following parameters:average rotation of the femoral component ((1.51±3.55)° vs.(-0.63±3.04)°); combined rotation of the femoral and tibial components (2.85±4.07)° vs.(0.28±3.43)°); and mismatch between the femoral and tibial components ((1.44±4.55)° vs.(-0.43±2.86)°).Differences in the rotation of the tibial component were not statistically significant.The prevalence of outliers (malalignment >±3° intemal/external rotation) of the femoral component (31.7% vs.12.5%) and the tibial component (36.6% vs.15%) were significantly reduced when the navigation system was used (P<0.05).In addition,while patients in the navigation group had significantly better mechanical axis and functional outcomes at 6 weeks after surgery (P <0.05),there was no significant difference between the two groups (P >0.05) with respect to functional outcomes at 6 months.Conclusion The navigation system exhibited higher accuracy than the conventional technique in the transverse and coronal plane,and provided better early functional outcomes.

  19. A low-cost EEG system-based hybrid brain-computer interface for humanoid robot navigation and recognition.

    Science.gov (United States)

    Choi, Bongjae; Jo, Sungho

    2013-01-01

    This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the navigation and exploration of a humanoid robot and recognize a desired object among candidates. This study aims to demonstrate the possibility of a hybrid BCI based on a low-cost system for a realistic and complex task. It also shows that the use of a simple image processing technique, combined with BCI, can further aid in making these complex tasks simpler. An experimental scenario is proposed in which a subject remotely controls a humanoid robot in a properly sized maze. The subject sees what the surrogate robot sees through visual feedback and can navigate the surrogate robot. While navigating, the robot encounters objects located in the maze. It then recognizes if the encountered object is of interest to the subject. The subject communicates with the robot through SSVEP and ERD-based BCIs to navigate and explore with the robot, and P300-based BCI to allow the surrogate robot recognize their favorites. Using several evaluation metrics, the performances of five subjects navigating the robot were quite comparable to manual keyboard control. During object recognition mode, favorite objects were successfully selected from two to four choices. Subjects conducted humanoid navigation and recognition tasks as if they embodied the robot. Analysis of the data supports the potential usefulness of the proposed hybrid BCI system for extended applications. This work presents an important implication for the future work that a hybridization of simple BCI protocols provide extended controllability to carry out complicated tasks even with a low-cost system.

  20. Remote Synchronization Experiments for Quasi-Zenith Satellite System Using Multiple Navigation Signals as Feedback Control

    Directory of Open Access Journals (Sweden)

    Toshiaki Iwata

    2011-01-01

    Full Text Available The remote synchronization system for the onboard crystal oscillator (RESSOX is a remote control method that permits synchronization between a ground station atomic clock and Japanese quasi-zenith satellite system (QZSS crystal oscillators. To realize the RESSOX of the QZSS, the utilization of navigation signals of QZSS for feedback control is an important issue. Since QZSS transmits seven navigation signals (L1C/A, L1CP, L1CD, L2CM, L2CL, L5Q, and L5I, all combinations of these signals should be evaluated. First, the RESSOX algorithm will be introduced. Next, experimental performance will be demonstrated. If only a single signal is available, ionospheric delay should be input from external measurements. If multiple frequency signals are available, any combination, except for L2 and L5, gives good performance with synchronization error being within two nanoseconds that of RESSOX. The combination of L1CD and L5Q gives the best synchronization performance (synchronization error within 1.14 ns. Finally, in the discussion, comparisons of long-duration performance, computer simulation, and sampling number used in feedback control are considered. Although experimental results do not correspond to the simulation results, the tendencies are similar. For the overlapping Allan deviation of long duration, the stability of 1.23×10−14 at 100,160 s is obtained.

  1. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Ruonan Wu

    2016-12-01

    Full Text Available The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV. Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008, namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

  2. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

    Science.gov (United States)

    Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

    2016-12-18

    The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

  3. Vehicle self-velocimeter for navigation system based on a linear image sensor

    Science.gov (United States)

    He, Xin; Nie, Xiaoming; Zhou, Jian; Long, Xingwu

    2014-11-01

    The idea of using the method of spatial filtering velocimetry based on a linear CMOS image sensor is proposed to provide accurate velocity information for vehicle self-contained navigation system. A new method is proposed to determine the error source of the system. The image sensor is employed both as a detector and as a pair of differential spatial filters so that the system is simplified. The spatial filtering operation is fully performed in a field programmable gate array (FPGA). The approach of fast Fourier transform (FFT) is employed to obtain the power spectra of the filtered signals. Because of limited frequency resolution of FFT, a frequency spectrum correction algorithm, called energy centrobaric correction, is used to improve the frequency resolution. The velocities of the side surface of a high precision rotary table and the radiating frequencies of an LED are measured. The experimental results show that the measuring error of velocity of a rotary table is about 0.73% and the measurement uncertainty of 1000 times tests is 0.55%; the radiating frequency of an LED is measured under the condition of no imaging system, and the measurement uncertainty turns out to be within 10-5. Error sources of the system are analyzed and it is concluded that the main error source of the device is the imaging system. In a word, the velocimeter can satisfy the requirements of non-contact, real-time, high precision and high stability velocity measurement of moving surfaces and has the potential of application to vehicle self-contained navigation system.

  4. Research on laser Doppler velocimeter for vehicle self-contained inertial navigation system

    Science.gov (United States)

    Jian, Zhou; Xingwu, Long

    2010-04-01

    An idea of using laser Doppler velocimeter (LDV) to measure the velocity for the vehicle inertial navigation system was put forward. The principle of measuring its own velocity with laser Doppler technique was elaborated and reference-beam LDV was designed. Then Doppler signal was processed by tracking filter, frequency spectrum refinement and frequency spectrum correction algorithm. The result of theory and experiment showed that the reference-beam LDV solved the problem that dual-beam LDV cannot be used for measuring when the system was out of focus. Doppler signal was tracked so that signal-to-noise ratio was improved, and the accuracy of the system was enhanced by the technology of frequency spectrum refinement and correction. The measurement mean error was less than 1.5% in velocity range of 0-30 m/s.

  5. A NOVEL DESIGN OF LOW COST REAL TIME VEHICLE NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Prof.M.Kamaraju

    2010-08-01

    Full Text Available A low cost GPRS based vehicle navigation system is developed using ARM processor for real time application. The main core of the system is an embedded hardware along with Java/J2EE. The embedded device communicates with GSM network which is accessible from anywhere .This system eliminates large maintenance. In PC, Java programming is used for getting the data from serial port and given to the database (SQLSERVER.In the front end, programming code is written in J2EE.The latitudes and longitudes are received through GSM network and stored in the data base .With the help of these values the vehicle avigation can be seen on google map.

  6. A guidance and navigation system for continuous low-thrust vehicles. M.S. Thesis

    Science.gov (United States)

    Jack-Chingtse, C.

    1973-01-01

    A midcourse guidance and navigation system for continuous low thrust vehicles was developed. The equinoctial elements are the state variables. Uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time trajectory is defined; equations of motion and measurements are linearized about this trajectory. An exponential cost criterion is constructed and a linear feedback quidance law is derived. An extended Kalman filter is used for state estimation. A short mission using this system is simulated. It is indicated that this system is efficient for short missions, but longer missions require accurate trajectory and ground based measurements.

  7. A guidance and navigation system for continuous low thrust vehicles. M.S. Thesis

    Science.gov (United States)

    Tse, C. J. C.

    1973-01-01

    A midcourse guidance and navigation system for continuous low thrust vehicles is described. A set of orbit elements, known as the equinoctial elements, are selected as the state variables. The uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time nominal trajectory is defined and the equation of motion and the measurement equation are linearized about this nominal trajectory. An exponential cost criterion is constructed and a linear feedback guidance law is derived to control the thrusting direction of the engine. Using this guidance law, the vehicle will fly in a trajectory neighboring the nominal trajectory. The extended Kalman filter is used for state estimation. Finally a short mission using this system is simulated. The results indicate that this system is very efficient for short missions.

  8. In-Vehicle GPS/DR Navigation System Development and Test Results in Singapore

    Institute of Scientific and Technical Information of China (English)

    Xu Ai-gong; Ling Keck-voon; C. L. Law; Yang Dong-kai

    2003-01-01

    This paper introduces the in-car navigation system prototype development and test results under the context of Singapore. In the system, integrated GPS/DR is used for continuous vehicle positioning. A digital road network map database is built for the whole Singapore. The database is designed to support map matching, route determination, and route guidance functions. The prototype system demonstrates GPS positioning of the vehicle in real-time, tracking the vehicle onto a digital map with fix updates every one or two seconds.With the map matched vehicle location on the map, voice and/or text guidance is provide to the driver. The vehicle position can also be transferred to control centre through communication data link for the purpose of fleet management.

  9. 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...

  10. A Synthetic Aperture System Based on Backscattering Signals of Compass Navigation Satellite: Concept and Feasibility

    Directory of Open Access Journals (Sweden)

    Wang Hai-yang

    2012-06-01

    Full Text Available A concept of a bi-static geosynchronous synthetic aperture system, which is formed by reusing backscattered signals of Compass Navigation Satellite System (CNSS, is proposed. The geometric relations of a geostationary satellite of CNSS, located on a geosynchronous satellite receiver, which is illuminated by the backscattered energy of a satellite of CNSS, and a ground station is built up, and following the relations as well as principle of synthetic aperture radar, we expatiate the feasibility of the system by considering parameters such as imaging resolution, ratio of signal to noise and link budget, etc.. Besides, the potential remote sensing applications for measurement of terrain humidity, characteristics of space-time dynamics of changing of terrain surface and atmospheric characteristic, etc..

  11. A software radio approach to global navigation satellite system receiver design

    Science.gov (United States)

    Akos, Dennis Matthew

    1997-12-01

    The software radio has been described as the most significant evolution in receiver design since the development of the superheterodyne concept in 1918. The software radio design philosophy is to position an analog-to-digital converter (ADC) as close to the antenna as possible and then process the samples using a combination of software and a programmable microprocessor. There are a number of important advantages to be gained through full exploitation of the software radio concept. The most notable include: (1) The removal of analog signal processing components and their associated nonlinear, temperature-based, and age-based performance characteristics. (2) A single antenna/front-end configuration can be used to receive and demodulate a variety of radio frequency (RF) transmissions. (3) The software radio provides the ultimate simulation/testing environment. Global Navigation Satellite Systems (GNSSs) are the latest and most complex radionavigation systems in widespread use. The United States' Global Positioning System (GPS) and, to a lesser extent, the Russian Global Orbiting Navigation Satellite System (GLONASS) are being targeted for use as next generation aviation navigation systems. As a result, it is critical that a GNSS achieve the reliability and integrity necessary for use within the aerospace system. The receiver design is a key element in achieving the high standards required. This work presents the complete development of a GNSS software radio. A GNSS receiver front end has been constructed, based on the software radio design goals, and has been evaluated against the traditional design. Trade-offs associated with each implementation are presented along with experimental results. Novel bandpass sampling front end designs have been proposed, implemented and tested for the processing of multiple GNSS transmissions. Finally, every aspect of GNSS signal processing has been implemented in software from the necessary spread spectrum acquisition algorithms to

  12. 基于KPI的某汽车整车厂生产物流绩效评价体系的构建%Construction of Performance Evaluating System for Automobile Plant Based on KPI

    Institute of Scientific and Technical Information of China (English)

    肖燕; 周康渠; 贾秋红

    2012-01-01

    绩效考核作为汽车企业生产物流管理的一个重要手段,有着重要的导向作用,而汽车企业各阶层KPI指标的制定是一项复杂的系统工程.基于汽车整车厂以降低成本,提高效率为目标,提出绩效管理必须以顾客满意为导向、向社会提供产品和服务,并以此来为企业创造利润的关键绩效管理思想.主要从价值链的角度出发,根据“SMART”指导原则,通过SQDCME等KPI绩效指标对某汽车整车厂内部生产物流进行科学合理的评价与考核,从而有效提升企业的整体经营管理水平.%Performance evaluating is one of the important means for the production logistics management of automobile enterprises, and it has an important guiding rule.But the KPI indexes established at all levels is a complex systems engineering towards automobile enterprises.Because the target of automobile enterprises is to reduce cost and improve efficiency,the performance management must take customer satisfaction as the guidance and provide production and service, so the key performance management thinking is proposed here.From the view of value chain,according to the "SMART"guiding principle and the KPI performance index,such as SQDCME,the internal production logistics of some automobile enterprise are evaluated and appraised scientifically,which will promote the overall management effectively of enterprise.

  13. 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.

  14. 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.

  15. COED Transactions, Vol. X, No. 1, January 1978. Design and Simulation of an Automobile Guidance Control System.

    Science.gov (United States)

    Stefani, R. T.

    This document describes the design of an automatic guidance and control system for a passenger car. A simulation of that system is presented. Analog outputs are provided which compare human operator control to automatic control. One human control possibility is to provide the operator with sufficient feedback information that resulting performance…

  16. Sensors and sensor systems for guidance and navigation II; Proceedings of the Meeting, Orlando, FL, Apr. 22, 23, 1992

    Science.gov (United States)

    Welch, Sharon S. (Editor)

    1992-01-01

    Topics discussed in this volume include aircraft guidance and navigation, optics for visual guidance of aircraft, spacecraft and missile guidance and navigation, lidar and ladar systems, microdevices, gyroscopes, cockpit displays, and automotive displays. Papers are presented on optical processing for range and attitude determination, aircraft collision avoidance using a statistical decision theory, a scanning laser aircraft surveillance system for carrier flight operations, star sensor simulation for astroinertial guidance and navigation, autonomous millimeter-wave radar guidance systems, and a 1.32-micron long-range solid state imaging ladar. Attention is also given to a microfabricated magnetometer using Young's modulus changes in magnetoelastic materials, an integrated microgyroscope, a pulsed diode ring laser gyroscope, self-scanned polysilicon active-matrix liquid-crystal displays, the history and development of coated contrast enhancement filters for cockpit displays, and the effect of the display configuration on the attentional sampling performance.

  17. 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).

  18. 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.

  19. Optimization design about gimbal structure of high-precision autonomous celestial navigation tracking mirror system

    Science.gov (United States)

    Huang, Wei; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Zhang, Jing; Xie, Mei-lin; Yue, Peng

    2016-01-01

    High precision tracking platform of celestial navigation with control mirror servo structure form, to solve the disadvantages of big volume and rotational inertia, slow response speed, and so on. It improved the stability and tracking accuracy of platform. Due to optical sensor and mirror are installed on the middle-gimbal, stiffness and resonant frequency requirement for high. Based on the application of finite element modality analysis theory, doing Research on dynamic characteristics of the middle-gimbal, and ANSYS was used for the finite element dynamic emulator analysis. According to the result of the computer to find out the weak links of the structure, and Put forward improvement suggestions and reanalysis. The lowest resonant frequency of optimization middle-gimbal avoid the bandwidth of the platform servo mechanism, and much higher than the disturbance frequency of carrier aircraft, and reduces mechanical resonance of the framework. Reaching provides a theoretical basis for the whole machine structure optimization design of high-precision of autonomous Celestial navigation tracking mirror system.

  20. BIM-Based Indoor-Emergency-Navigation-System for Complex Buildings

    Institute of Scientific and Technical Information of China (English)

    Uwe Rueppel; Kai Marcus Stuebbe

    2008-01-01

    The imminence of terrorist activities and the necessity of the maximum possible disaster prepar-edness in the sense of indoor-navigation support have been brought to evidence by several catastrophes,e.g., the fire at Istanbul Airport in May 2006 or the terror attacks on the London Underground on July 7,2005. Since 2001 ten terror attacks have been thwarted only in Great Britain. For that reason the aim of the presented research project is to develop a solution for response and recovery to support rescuers in finding the shortest way within a public building and provide them with important information in their particular spa-tial context. Existing building information models (BIM) are used for displaying plans on mobile devices and for routing purposes. The indoor navigation system is based on wireless I_AN (WLAN), ultra-wide-band (UWB), and radio frequency identification (RFID). These technologies are described in detail and an over-view on data formats which are used to retrieve building data out of the BIM for generating routing networks is given.

  1. Drift Reduction in Pedestrian Navigation System by Exploiting Motion Constraints and Magnetic Field

    Science.gov (United States)

    Ilyas, Muhammad; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    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. PMID:27618056

  2. 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

  3. 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.

  4. Kinematic Precise Point Positioning Using Multi-Constellation Global Navigation Satellite System (GNSS Observations

    Directory of Open Access Journals (Sweden)

    Xidong Yu

    2017-01-01

    Full Text Available Multi-constellation global navigation satellite systems (GNSSs are expected to enhance the capability of precise point positioning (PPP by improving the positioning accuracy and reducing the convergence time because more satellites will be available. This paper discusses the performance of multi-constellation kinematic PPP based on a multi-constellation kinematic PPP model, Kalman filter and stochastic models. The experimental dataset was collected from the receivers on a vehicle and processed using self-developed software. A comparison of the multi-constellation kinematic PPP and real-time kinematic (RTK results revealed that the availability, positioning accuracy and convergence performance of the multi-constellation kinematic PPP were all better than those of both global positioning system (GPS-based PPP and dual-constellation PPP. Multi-constellation kinematic PPP can provide a positioning service with centimetre-level accuracy for dynamic users.

  5. Guidance, Navigation, and Control System Design in a Mass Reduction Exercise

    Science.gov (United States)

    Crain, Timothy; Begly, Michael; Jackson, Mark; Broome, Joel

    2008-01-01

    Early Orion GN&C system designs optimized for robustness, simplicity, and utilization of commercially available components. During the System Definition Review (SDR), all subsystems on Orion were asked to re-optimize with component mass and steady state power as primary design metrics. The objective was to create a mass reserve in the Orion point of departure vehicle design prior to beginning the PDR analysis cycle. The Orion GN&C subsystem team transitioned from a philosophy of absolute 2 fault tolerance for crew safety and 1 fault tolerance for mission success to an approach of 1 fault tolerance for crew safety and risk based redundancy to meet probability allocations of loss of mission and loss of crew. This paper will discuss the analyses, rationale, and end results of this activity regarding Orion navigation sensor hardware, control effectors, and trajectory design.

  6. 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...

  7. 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

  8. Automobile Driver Fingerprinting

    Directory of Open Access Journals (Sweden)

    Enev Miro

    2016-01-01

    Full Text Available Today’s automobiles leverage powerful sensors and embedded computers to optimize efficiency, safety, and driver engagement. However the complexity of possible inferences using in-car sensor data is not well understood. While we do not know of attempts by automotive manufacturers or makers of after-market components (like insurance dongles to violate privacy, a key question we ask is: could they (or their collection and later accidental leaks of data violate a driver’s privacy? In the present study, we experimentally investigate the potential to identify individuals using sensor data snippets of their natural driving behavior. More specifically we record the in-vehicle sensor data on the controllerarea- network (CAN of a typical modern vehicle (popular 2009 sedan as each of 15 participants (a performed a series of maneuvers in an isolated parking lot, and (b drove the vehicle in traffic along a defined ~ 50 mile loop through the Seattle metropolitan area. We then split the data into training and testing sets, train an ensemble of classifiers, and evaluate identification accuracy of test data queries by looking at the highest voted candidate when considering all possible one-vs-one comparisons. Our results indicate that, at least among small sets, drivers are indeed distinguishable using only incar sensors. In particular, we find that it is possible to differentiate our 15 drivers with 100% accuracy when training with all of the available sensors using 90% of driving data from each person. Furthermore, it is possible to reach high identification rates using less than 8 minutes of training data. When more training data is available it is possible to reach very high identification using only a single sensor (e.g., the brake pedal. As an extension, we also demonstrate the feasibility of performing driver identification across multiple days of data collection

  9. 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.

  10. Development of an online radiology case review system featuring interactive navigation of volumetric image datasets using advanced visualization techniques

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Hyun Kyung; Kim, Boh Kyoung; Jung, Ju Hyun; Kang, Heung Sik; Lee, Kyoung Ho [Dept. of Radiology, Seoul National University Bundang Hospital, Seongnam (Korea, Republic of); Woo, Hyun Soo [Dept. of Radiology, SMG-SNU Boramae Medical Center, Seoul (Korea, Republic of); Jo, Jae Min [Dept. of Computer Science and Engineering, Seoul National University, Seoul (Korea, Republic of); Lee, Min Hee [Dept. of Radiology, Soonchunhyang University Bucheon Hospital, Bucheon (Korea, Republic of)

    2015-11-15

    To develop an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques. Our Institutional Review Board approved the use of the patient data and waived the need for informed consent. We determined the following system requirements: volumetric navigation, accessibility, scalability, undemanding case management, trainee encouragement, and simulation of a busy practice. The system comprised a case registry server, client case review program, and commercially available cloud-based image viewing system. In the pilot test, we used 30 cases of low-dose abdomen computed tomography for the diagnosis of acute appendicitis. In each case, a trainee was required to navigate through the images and submit answers to the case questions. The trainee was then given the correct answers and key images, as well as the image dataset with annotations on the appendix. After evaluation of all cases, the system displayed the diagnostic accuracy and average review time, and the trainee was asked to reassess the failed cases. The pilot system was deployed successfully in a hands-on workshop course. We developed an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques.

  11. Accurate Compensation of Attitude Angle Error in a Dual-Axis Rotation Inertial Navigation System

    Science.gov (United States)

    Jiang, Rui; Yang, Gongliu; Zou, Rui; Wang, Jing; Li, Jing

    2017-01-01

    In the dual-axis rotation inertial navigation system (INS), besides the gyro error, accelerometer error, rolling misalignment angle error, and the gimbal angle error, the shaft swing angle and the axis non-orthogonal angle also affect the attitude accuracy. Through the analysis of the structure, we can see that the shaft swing angle and axis non-orthogonal angle will produce coning errors which cause the fluctuation of the attitude. According to the analysis of the rotation vector, it can be seen that the coning error will generate additional drift velocity along the rotating shaft, which can reduce the navigation precision of the system. In this paper, based on the establishment of the modulation average frame, the vector projection is carried out, and then the attitude conversion matrix and the attitude error matrix mainly including the shaft swing angle and axis non-orthogonal are obtained. Because the attitude angles are given under the static condition, the shaft swing angle and the axis non-orthogonal angle are estimated by the static Kalman filter (KF). This kind of KF method has been widely recognized as the standard optimal estimation tool for estimating the parameters such as coning angles (α1 , α2), initial phase angles (ϕ1,ϕ2), and the non-perpendicular angle (η). In order to carry out the system level verification, a dual axis rotation INS is designed. Through simulation and experiments, the results show that the amplitudes of the attitude angles’ variation are reduced by about 20%–30% when the shaft rotates. The attitude error equation is reasonably simplified and the calibration method is accurate enough. The attitude accuracy is further improved. PMID:28304354

  12. A robust data fusion scheme for integrated navigation systems employing fault detection methodology augmented with fuzzy adaptive filtering

    Science.gov (United States)

    Ushaq, Muhammad; Fang, Jiancheng

    2013-10-01

    Integrated navigation systems for various applications, generally employs the centralized Kalman filter (CKF) wherein all measured sensor data are communicated to a single central Kalman filter. The advantage of CKF is that there is a minimal loss of information and high precision under benign conditions. But CKF may suffer computational overloading, and poor fault tolerance. The alternative is the federated Kalman filter (FKF) wherein the local estimates can deliver optimal or suboptimal state estimate as per certain information fusion criterion. FKF has enhanced throughput and multiple level fault detection capability. The Standard CKF or FKF require that the system noise and the measurement noise are zero-mean and Gaussian. Moreover it is assumed that covariance of system and measurement noises remain constant. But if the theoretical and actual statistical features employed in Kalman filter are not compatible, the Kalman filter does not render satisfactory solutions and divergence problems also occur. To resolve such problems, in this paper, an adaptive Kalman filter scheme strengthened with fuzzy inference system (FIS) is employed to adapt the statistical features of contributing sensors, online, in the light of real system dynamics and varying measurement noises. The excessive faults are detected and isolated by employing Chi Square test method. As a case study, the presented scheme has been implemented on Strapdown Inertial Navigation System (SINS) integrated with the Celestial Navigation System (CNS), GPS and Doppler radar using FKF. Collectively the overall system can be termed as SINS/CNS/GPS/Doppler integrated navigation system. The simulation results have validated the effectiveness of the presented scheme with significantly enhanced precision, reliability and fault tolerance. Effectiveness of the scheme has been tested against simulated abnormal errors/noises during different time segments of flight. It is believed that the presented scheme can be

  13. Research on New Automobile Power Hydraulic Braking System by Vibratory Energy%新型振动能量主缸助力式汽车液压制动系统研究

    Institute of Scientific and Technical Information of China (English)

    李滟泽; 丁志华

    2013-01-01

    介绍了一种新型振动能量回收式液压减振系统,研究了一种振动能量主缸助力式汽车液压制动系统,油液在储液罐、减振器、蓄能器和制动液压元件之间循环流动.所述的振动能量助力式汽车液压制动系统能回收部分汽车的振动能量转化为液压能用于汽车助力制动,减小制动踏板力,降低驾驶疲劳度,缩短制动滞后时间,提高汽车制动安全性能.所述振动能量回收式液压减振系统申报了国家发明专利(CN102152778A),振动能量助力式汽车液压制动系统申报了国家实用新型专利(ZL 2011 20101080.1).%A new vibratory energy-recovery hydraulic damping system is introduced, and an automobile power hydraulic braking system by vibratory energy is researched. The oil is circulated between storage tank, energy accumulator, vibratum dampers and hydraulic components. The braking system can recycle some vibratory energy and convert to hydraulic energy which is used for automobile power braking system.It can reduce brake pedal force, lower fatigue of drive, shorten retardation time of braking, and enhance safety of braking. The vibratory energy-recovery hydraulic damping system has reported the national invention patent (CN102152778A), and the vibratory energy power-assisted automobile hydraulic braking system also has reported the national practical new patent(ZL 2011 2 0101080.1).

  14. 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...

  15. 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.

  16. 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.

  17. Use of global navigation satellite systems for monitoring deformations of water-development works

    Energy Technology Data Exchange (ETDEWEB)

    Kaftan, V. I. [Russian Academy of Sciences, Geophysical Center (Russian Federation); Ustinov, A. V. [JSC Institut Gidropreoekt (Russian Federation)

    2013-05-15

    The feasibility of using global radio-navigation satellite systems (GNSS) to improve functional safety of high-liability water-development works - dams at hydroelectric power plants, and, consequently, the safety of the population in the surrounding areas is examined on the basis of analysis of modern publications. Characteristics for determination of displacements and deformations with use of GNSS, and also in a complex with other types of measurements, are compared. It is demonstrated that combined monitoring of deformations of the ground surface of the region, and engineering and technical structures is required to ensure the functional safety of HPP, and reliable metrologic assurance of measurements is also required to obtain actual characteristics of the accuracy and effectiveness of GNSS observations.

  18. 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.

  19. A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system

    Science.gov (United States)

    Ge, Zhuo; Zhu, Ying; Liang, Guanhao

    2017-01-01

    To provide 3D environment information for the quadruped robot autonomous navigation system during walking through rough terrain, based on the stereo vision, a novel 3D terrain reconstruction method is presented. In order to solve the problem that images collected by stereo sensors have large regions with similar grayscale and the problem that image matching is poor at real-time performance, watershed algorithm and fuzzy c-means clustering algorithm are combined for contour extraction. Aiming at the problem of error matching, duel constraint with region matching and pixel matching is established for matching optimization. Using the stereo matching edge pixel pairs, the 3D coordinate algorithm is estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield high stereo matching ratio and reconstruct 3D scene quickly and efficiently.

  20. Dissertation of Applying Waste Gas Treatment and Heating System in Automobile Coating Workshop%浅谈废气处理及供热系统(TAR)在汽车涂装车间的运用

    Institute of Scientific and Technical Information of China (English)

    尹春梅

    2011-01-01

    介绍了废气处理及供热系统的原理、结构和流程,并结合在汽车涂装的实际应用,分析了国内废气处理及供热系统的发展趋势。%The principles,structures and processes of waste gas treatment and heating system were introduced.And the development trend of domestic waste gas treatment and heating system was analyzed combined with the practical application of automobile coatings.