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

International Nuclear Information System (INIS)

Aggarwal, Priyanka; Syed, Zainab; El-Sheimy, Naser

2009-01-01

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

Design, Development and Pre-Flight Testing of the Communications, Navigation, and Networking Reconfigurable Testbed (Connect) to Investigate Software Defined Radio Architecture on the International Space Station

Science.gov (United States)

Over, Ann P.; Barrett, Michael J.; Reinhart, Richard C.; Free, James M.; Cikanek, Harry A., III

2011-01-01

The Communication Navigation and Networking Reconfigurable Testbed (CoNNeCT) is a NASA-sponsored mission, which will investigate the usage of Software Defined Radios (SDRs) as a multi-function communication system for space missions. A softwaredefined radio system is a communication system in which typical components of the system (e.g., modulators) are incorporated into software. The software-defined capability allows flexibility and experimentation in different modulation, coding and other parameters to understand their effects on performance. This flexibility builds inherent redundancy and flexibility into the system for improved operational efficiency, real-time changes to space missions and enhanced reliability/redundancy. The CoNNeCT Project is a collaboration between industrial radio providers and NASA. The industrial radio providers are providing the SDRs and NASA is designing, building and testing the entire flight system. The flight system will be integrated on the Express Logistics Carrier (ELC) on the International Space Station (ISS) after launch on the H-IIB Transfer Vehicle in 2012. This paper provides an overview of the technology research objectives, payload description, design challenges and pre-flight testing results.

Portable Integrated Wireless Device Threat Assessment to Aircraft Radio Systems

Science.gov (United States)

Salud, Maria Theresa P.; Williams, Reuben A. (Technical Monitor)

2004-01-01

An assessment was conducted on multiple wireless local area network (WLAN) devices using the three wireless standards for spurious radiated emissions to determine their threat to aircraft radio navigation systems. The measurement process, data and analysis are provided for devices tested using IEEE 802.11a, IEEE 802.11b, and Bluetooth as well as data from portable laptops/tablet PCs and PDAs (grouping known as PEDs). A comparison was made between wireless LAN devices and portable electronic devices. Spurious radiated emissions were investigated in the radio frequency bands for the following aircraft systems: Instrument Landing System Localizer and Glideslope, Very High Frequency (VHF) Communication, VHF Omnidirectional Range, Traffic Collision Avoidance System, Air Traffic Control Radar Beacon System, Microwave Landing System and Global Positioning System. Since several of the contiguous navigation systems were grouped under one encompassing measurement frequency band, there were five measurement frequency bands where spurious radiated emissions data were collected for the PEDs and WLAN devices. The report also provides a comparison between emissions data and regulatory emission limit.

A Neural Path Integration Mechanism for Adaptive Vector Navigation in Autonomous Agents

DEFF Research Database (Denmark)

Goldschmidt, Dennis; Dasgupta, Sakyasingha; Wörgötter, Florentin

2015-01-01

Animals show remarkable capabilities in navigating their habitat in a fully autonomous and energy-efficient way. In many species, these capabilities rely on a process called path integration, which enables them to estimate their current location and to find their way back home after long-distance...... of autonomous agent navigation, but it also reproduces various aspects of animal navigation. Finally, we discuss how the proposed path integration mechanism may be used as a scaffold for spatial learning in terms of vector navigation.......Animals show remarkable capabilities in navigating their habitat in a fully autonomous and energy-efficient way. In many species, these capabilities rely on a process called path integration, which enables them to estimate their current location and to find their way back home after long...

MODELING OF HARDWARE AND ALGORITHMIC STRUCTURE OF MOBILE MULTIPOSITIONING RADIO RANGEFINDING NAVIGATION AND LANDING AEROSYSTEM IN ITS SPATIAL CONFIGURATION

Directory of Open Access Journals (Sweden)

Ya. V. Kondrashov

2014-01-01

Full Text Available The concept of structuring of radio equipment, mathematical and algorithmic tools to provide computing operations for determining the location of aircraft in spatial configuration of mobile (portable multipositioning radio rangefinding interrogation-reply navigation and landing system is considered in this article. The mathematical modeling of algorithms of aircraft traffic terminal control is carried out. The results of calculations of potential system performance and its analysis for compliance with international safety requirements are represented.

Indoor integrated navigation and synchronous data acquisition method for Android smartphone

Science.gov (United States)

Hu, Chunsheng; Wei, Wenjian; Qin, Shiqiao; Wang, Xingshu; Habib, Ayman; Wang, Ruisheng

2015-08-01

Smartphones are widely used at present. Most smartphones have cameras and kinds of sensors, such as gyroscope, accelerometer and magnet meter. Indoor navigation based on smartphone is very important and valuable. According to the features of the smartphone and indoor navigation, a new indoor integrated navigation method is proposed, which uses MEMS (Micro-Electro-Mechanical Systems) IMU (Inertial Measurement Unit), camera and magnet meter of smartphone. The proposed navigation method mainly involves data acquisition, camera calibration, image measurement, IMU calibration, initial alignment, strapdown integral, zero velocity update and integrated navigation. Synchronous data acquisition of the sensors (gyroscope, accelerometer and magnet meter) and the camera is the base of the indoor navigation on the smartphone. A camera data acquisition method is introduced, which uses the camera class of Android to record images and time of smartphone camera. Two kinds of sensor data acquisition methods are introduced and compared. The first method records sensor data and time with the SensorManager of Android. The second method realizes open, close, data receiving and saving functions in C language, and calls the sensor functions in Java language with JNI interface. A data acquisition software is developed with JDK (Java Development Kit), Android ADT (Android Development Tools) and NDK (Native Development Kit). The software can record camera data, sensor data and time at the same time. Data acquisition experiments have been done with the developed software and Sumsang Note 2 smartphone. The experimental results show that the first method of sensor data acquisition is convenient but lost the sensor data sometimes, the second method is much better in real-time performance and much less in data losing. A checkerboard image is recorded, and the corner points of the checkerboard are detected with the Harris method. The sensor data of gyroscope, accelerometer and magnet meter have

Graphene radio frequency receiver integrated circuit.

Science.gov (United States)

Han, Shu-Jen; Garcia, Alberto Valdes; Oida, Satoshi; Jenkins, Keith A; Haensch, Wilfried

2014-01-01

Graphene has attracted much interest as a future channel material in radio frequency electronics because of its superior electrical properties. Fabrication of a graphene integrated circuit without significantly degrading transistor performance has proven to be challenging, posing one of the major bottlenecks to compete with existing technologies. Here we present a fabrication method fully preserving graphene transistor quality, demonstrated with the implementation of a high-performance three-stage graphene integrated circuit. The circuit operates as a radio frequency receiver performing signal amplification, filtering and downconversion mixing. All circuit components are integrated into 0.6 mm(2) area and fabricated on 200 mm silicon wafers, showing the unprecedented graphene circuit complexity and silicon complementary metal-oxide-semiconductor process compatibility. The demonstrated circuit performance allow us to use graphene integrated circuit to perform practical wireless communication functions, receiving and restoring digital text transmitted on a 4.3-GHz carrier signal.

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.

Overcoming urban GPS navigation challenges through the use of MEMS inertial sensors and proper verification of navigation system performance

Science.gov (United States)

Vinande, Eric T.

This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.

Triply redundant integrated navigation and asset visibility system

Science.gov (United States)

Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

2011-11-29

Methods and apparatus are described for a navigation system. A method includes providing a global positioning system fix having a plurality of tracking parameters; providing a theater positioning system fix; monitoring the plurality of tracking parameters for predetermined conditions; and, when the predetermined conditions are met, sending a notifying signal and switching to the theater positioning system fix as a primary fix. An apparatus includes a system controller; a global positioning system receiver coupled to the system controller; a radio frequency locating receiver coupled to the system controller; and an operator interface coupled to the system controller.

Integrated Spacecraft Navigation and Communication Using Radio, Optical, and X-rays, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — This program proposes to design and evaluate novel technology of X-ray navigation for augmentation and increased capability of high data-rate spacecraft...

Nonlinear unbiased minimum-variance filter for Mars entry autonomous navigation under large uncertainties and unknown measurement bias.

Science.gov (United States)

Xiao, Mengli; Zhang, Yongbo; Fu, Huimin; Wang, Zhihua

2018-05-01

High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation. IMU/radio beacons integrated navigation is introduced in the simulation, and the result shows that with or without radio blackout, our proposed filter could achieve an accurate state estimation, much better than the conventional unscented Kalman filter, showing the ability of high-precision Mars entry navigation algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Integrated INS/GPS Navigation from a Popular Perspective

Science.gov (United States)

Omerbashich, Mensur

2002-01-01

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

6TH Saint Petersburg International Conference on Integrated Navigation Systems. (6eme Conference Internationale de Saint Petersbourg sur les Systemes de Navigation Integree)

Science.gov (United States)

1999-10-01

Kharisov V.N., Perov A.I., Boldin V.A. (editors). 1977. The global satelllite radio-navigational system 20. Wu W.-R. Target tracking with glint...the coordinates of the OP techniques for their searching and extracting in deep seas. These techniques. have yielded Researches have shown that, an OP

Integrated navigation of aerial robot for GPS and GPS-denied environment

International Nuclear Information System (INIS)

Suzuki, Satoshi; Min, Hongkyu; Nonami, Kenzo; Wada, Tetsuya

2016-01-01

In this study, novel robust navigation system for aerial robot in GPS and GPS- denied environments is proposed. Generally, the aerial robot uses position and velocity information from Global Positioning System (GPS) for guidance and control. However, GPS could not be used in several environments, for example, GPS has huge error near buildings and trees, indoor, and so on. In such GPS-denied environment, Laser Detection and Ranging (LIDER) sensor based navigation system have generally been used. However, LIDER sensor also has an weakness, and it could not be used in the open outdoor environment where GPS could be used. Therefore, it is desired to develop the integrated navigation system which is seamlessly applied to GPS and GPS-denied environments. In this paper, the integrated navigation system for aerial robot using GPS and LIDER is developed. The navigation system is designed based on Extended Kalman Filter, and the effectiveness of the developed system is verified by numerical simulation and experiment. (paper)

Space-Based Reconfigurable Software Defined Radio Test Bed Aboard International Space Station

Science.gov (United States)

Reinhart, Richard C.; Lux, James P.

2014-01-01

The National Aeronautical and Space Administration (NASA) recently launched a new software defined radio research test bed to the International Space Station. The test bed, sponsored by the Space Communications and Navigation (SCaN) Office within NASA is referred to as the SCaN Testbed. The SCaN Testbed is a highly capable communications system, composed of three software defined radios, integrated into a flight system, and mounted to the truss of the International Space Station. Software defined radios offer the future promise of in-flight reconfigurability, autonomy, and eventually cognitive operation. The adoption of software defined radios offers space missions a new way to develop and operate space transceivers for communications and navigation. Reconfigurable or software defined radios with communications and navigation functions implemented in software or VHDL (Very High Speed Hardware Description Language) provide the capability to change the functionality of the radio during development or after launch. The ability to change the operating characteristics of a radio through software once deployed to space offers the flexibility to adapt to new science opportunities, recover from anomalies within the science payload or communication system, and potentially reduce development cost and risk by adapting generic space platforms to meet specific mission requirements. The software defined radios on the SCaN Testbed are each compliant to NASA's Space Telecommunications Radio System (STRS) Architecture. The STRS Architecture is an open, non-proprietary architecture that defines interfaces for the connections between radio components. It provides an operating environment to abstract the communication waveform application from the underlying platform specific hardware such as digital-to-analog converters, analog-to-digital converters, oscillators, RF attenuators, automatic gain control circuits, FPGAs, general-purpose processors, etc. and the interconnections among

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

CERN Document Server

Noureldin, Aboelmagd; Georgy, Jacques

2013-01-01

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

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.

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.

77 FR 35426 - Certain Radio Frequency Integrated Circuits and Devices Containing Same; Institution of...

Science.gov (United States)

2012-06-13

... of certain radio frequency integrated circuits and devices containing same by reason of infringement... importation of certain radio frequency integrated circuits and devices containing same that infringe one or... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-848] Certain Radio Frequency Integrated...

Measurement Technique in Radio Frequency Interference (RFI) Study for Radio Astronomy Purposes

International Nuclear Information System (INIS)

Roslan Umar; Roslan Umar; Nor Hazmin Sabri; Zainol Abidin Ibrahim; Zamri Zainal Abidin; Asyaari Muhamad

2015-01-01

In this paper, we will review our method in making measurements of radio frequency interference (RFI) in order to investigate the sereneness of interference in selected radio interference in Malaysia and Thailand. The selected site are University of Malaya (UM), Universiti Pendidikan Sultan Idris (UPSI), Ubon (UB) and Chiang Mai (CM). The major RFI affecting radio astronomical windows below 1 GHz are electronic equipment system specifically radio navigation between 73.1 MHz and 75.2 MHz, radio broadcasting (151 MHz, 151.8 MHz and 152 MHz), aeronautical navigation (245.5 MHz, 248.7 MHz and 249 MHz and also fixed mobile at 605 MHz, 608.3 MHz, 612.2 MHz, 613.3 MHz. It is obviously showed that all sites within this region are free from interference between 320MHz and 330 MHz and is the best specific region to be considered for solar burst monitoring. We also investigate the effect of RFI on discovery of solar burst. (author)

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode.

Science.gov (United States)

Hou, Bowen; He, Zhangming; Li, Dong; Zhou, Haiyin; Wang, Jiongqi

2018-05-27

Strap-down inertial navigation system/celestial navigation system ( SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

INS integrated motion analysis for autonomous vehicle navigation

Science.gov (United States)

Roberts, Barry; Bazakos, Mike

1991-01-01

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode

Directory of Open Access Journals (Sweden)

Bowen Hou

2018-05-01

Full Text Available Strap-down inertial navigation system/celestial navigation system ( SINS/CNS integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

Directory of Open Access Journals (Sweden)

Dennis Akos

2012-03-01

Full Text Available Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF. Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments.

Science.gov (United States)

Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

2012-01-01

Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

Science.gov (United States)

Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

2012-01-01

Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. PMID:22736999

Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system

Science.gov (United States)

Nourmohammadi, Hossein; Keighobadi, Jafar

2018-01-01

Due to weak stand-alone accuracy as well as poor run-to-run stability of micro-electro mechanical system (MEMS)-based inertial sensors, special approaches are required to integrate low-cost strap-down inertial navigation system (SINS) with global positioning system (GPS), particularly in long-term applications. This paper aims to enhance long-term performance of conventional SINS/GPS navigation systems using a fuzzy adaptive integration scheme. The main concept behind the proposed adaptive integration is the good performance of attitude-heading reference system (AHRS) in low-accelerated motions and its degradation in maneuvered or accelerated motions. Depending on vehicle maneuvers, gravity-based attitude angles can be intelligently utilized to improve orientation estimation in the SINS. Knowledge-based fuzzy inference system is developed for decision-making between the AHRS and the SINS according to vehicle maneuvering conditions. Inertial measurements are the main input data of the fuzzy system to determine the maneuvering level during the vehicle motions. Accordingly, appropriate weighting coefficients are produced to combine the SINS/GPS and the AHRS, efficiently. The assessment of the proposed integrated navigation system is conducted via real data in airborne tests.

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

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

International Nuclear Information System (INIS)

Jiang, Wei; Li, Yong; Rizos, Chris

2013-01-01

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

Hardware Interface Description for the Integrated Power, Avionics, and Software (iPAS) Space Telecommunications Radio Ssystem (STRS) Radio

Science.gov (United States)

Shalkhauser, Mary Jo W.; Roche, Rigoberto

2017-01-01

The Space Telecommunications Radio System (STRS) provides a common, consistent framework for software defined radios (SDRs) to abstract the application software from the radio platform hardware. The STRS standard aims to reduce the cost and risk of using complex, configurable and reprogrammable radio systems across NASA missions. To promote the use of the STRS architecture for future NASA advanced exploration missions, NASA Glenn Research Center (GRC) developed an STRS-compliant SDR on a radio platform used by the Advance Exploration System program at the Johnson Space Center (JSC) in their Integrated Power, Avionics, and Software (iPAS) laboratory. The iPAS STRS Radio was implemented on the Reconfigurable, Intelligently-Adaptive Communication System (RIACS) platform, currently being used for radio development at JSC. The platform consists of a Xilinx ML605 Virtex-6 FPGA board, an Analog Devices FMCOMMS1-EBZ RF transceiver board, and an Embedded PC (Axiomtek eBox 620-110-FL) running the Ubuntu 12.4 operating system. Figure 1 shows the RIACS platform hardware. The result of this development is a very low cost STRS compliant platform that can be used for waveform developments for multiple applications.The purpose of this document is to describe how to develop a new waveform using the RIACS platform and the Very High Speed Integrated Circuits (VHSIC) Hardware Description Language (VHDL) FPGA wrapper code and the STRS implementation on the Axiomtek processor.

Waveform Developer's Guide for the Integrated Power, Avionics, and Software (iPAS) Space Telecommunications Radio System (STRS) Radio

Science.gov (United States)

Shalkhauser, Mary Jo W.; Roche, Rigoberto

2017-01-01

The Space Telecommunications Radio System (STRS) provides a common, consistent framework for software defined radios (SDRs) to abstract the application software from the radio platform hardware. The STRS standard aims to reduce the cost and risk of using complex, configurable and reprogrammable radio systems across NASA missions. To promote the use of the STRS architecture for future NASA advanced exploration missions, NASA Glenn Research Center (GRC) developed an STRS-compliant SDR on a radio platform used by the Advance Exploration System program at the Johnson Space Center (JSC) in their Integrated Power, Avionics, and Software (iPAS) laboratory. The iPAS STRS Radio was implemented on the Reconfigurable, Intelligently-Adaptive Communication System (RIACS) platform, currently being used for radio development at JSC. The platform consists of a Xilinx(Trademark) ML605 Virtex(Trademark)-6 FPGA board, an Analog Devices FMCOMMS1-EBZ RF transceiver board, and an Embedded PC (Axiomtek(Trademark) eBox 620-110-FL) running the Ubuntu 12.4 operating system. The result of this development is a very low cost STRS compliant platform that can be used for waveform developments for multiple applications. The purpose of this document is to describe how to develop a new waveform using the RIACS platform and the Very High Speed Integrated Circuits (VHSIC) Hardware Description Language (VHDL) FPGA wrapper code and the STRS implementation on the Axiomtek processor.

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

Science.gov (United States)

Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

2017-09-05

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

A COTS RF Optical Software Defined Radio for the Integrated Radio and Optical Communications Test Bed

Science.gov (United States)

Nappier, Jennifer M.; Zeleznikar, Daniel J.; Wroblewski, Adam C.; Tokars, Roger P.; Schoenholz, Bryan L.; Lantz, Nicholas C.

2016-01-01

The Integrated Radio and Optical Communications (iROC) project at the National Aeronautics and Space Administration (NASA) is investigating the merits of a hybrid radio frequency (RF) and optical communication system for deep space missions. In an effort to demonstrate the feasibility and advantages of a hybrid RFOptical software defined radio (SDR), a laboratory prototype was assembled from primarily commercial-off-the-shelf (COTS) hardware components. This COTS platform has been used to demonstrate simultaneous transmission of the radio and optical communications waveforms through to the physical layer (telescope and antenna). This paper details the hardware and software used in the platform and various measures of its performance. A laboratory optical receiver platform has also been assembled in order to demonstrate hybrid free space links in combination with the transmitter.

A COTS RF/Optical Software Defined Radio for the Integrated Radio and Optical Communications Test Bed

Science.gov (United States)

Nappier, Jennifer M.; Zeleznikar, Daniel J.; Wroblewski, Adam C.; Tokars, Roger P.; Schoenholz, Bryan L.; Lantz, Nicholas C.

2017-01-01

The Integrated Radio and Optical Communications (iROC) project at the National Aeronautics and Space Administration (NASA) is investigating the merits of a hybrid radio frequency (RF) and optical communication system for deep space missions. In an effort to demonstrate the feasibility and advantages of a hybrid RF/Optical software defined radio (SDR), a laboratory prototype was assembled from primarily commercial-off-the-shelf (COTS) hardware components. This COTS platform has been used to demonstrate simultaneous transmission of the radio and optical communications waveforms through to the physical layer (telescope and antenna). This paper details the hardware and software used in the platform and various measures of its performance. A laboratory optical receiver platform has also been assembled in order to demonstrate hybrid free space links in combination with the transmitter.

Indoor Navigation Design Integrated with Smart Phones and Rfid Devices

Science.gov (United States)

Ortakci, Y.; Demiral, E.; Atila, U.; Karas, I. R.

2015-10-01

High rise, complex and huge buildings in the cities are almost like a small city with their tens of floors, hundreds of corridors and rooms and passages. Due to size and complexity of these buildings, people need guidance to find their way to the destination in these buildings. In this study, a mobile application is developed to visualize pedestrian's indoor position as 3D in their smartphone and RFID Technology is used to detect the position of pedestrian. While the pedestrian is walking on his/her way on the route, smartphone will guide the pedestrian by displaying the photos of indoor environment on the route. Along the tour, an RFID (Radio-Frequency Identification) device is integrated to the system. The pedestrian will carry the RFID device during his/her tour in the building. The RFID device will send the position data to the server directly in every two seconds periodically. On the other side, the pedestrian will just select the destination point in the mobile application on smartphone and sent the destination point to the server. The shortest path from the pedestrian position to the destination point is found out by the script on the server. This script also sends the environment photo of the first node on the acquired shortest path to the client as an indoor navigation module.

PulsarPlane: a feasibility study for millisecond radio pulsar navigation

NARCIS (Netherlands)

Buist, Peter; Hesselink, Henk; Gibbs, Alex; Keuning, Michel; Gaubitch, Nikolay; Noroozi, Arash; Bentum, Marinus Jan; Verhoeven, Chris; Heusdens, Richard; Fernandes, Jorge; Kabakchiev, Hristo; Kestilä, Antti

2014-01-01

Stars have been used -in what is called celestial navigation- since thousands of years by mankind. Celestial navigation was used extensively in aviation until the 1960s, and in marine navigation until recently. It has been investigated for agriculture applications, utilized for military aircraft

A Qualitative Approach to Mobile Robot Navigation Using RFID

International Nuclear Information System (INIS)

Hossain, M; Rashid, M M; Bhuiyan, M M I; Ahmed, S; Akhtaruzzaman, M

2013-01-01

Radio Frequency Identification (RFID) system allows automatic identification of items with RFID tags using radio-waves. As the RFID tag has its unique identification number, it is also possible to detect a specific region where the RFID tag lies in. Recently it is widely been used in mobile robot navigation, localization, and mapping both in indoor and outdoor environment. This paper represents a navigation strategy for autonomous mobile robot using passive RFID system. Conventional approaches, such as landmark or dead-reckoning with excessive number of sensors, have complexities in establishing the navigation and localization process. The proposed method satisfies less complexity in navigation strategy as well as estimation of not only the position but also the orientation of the autonomous robot. In this research, polar coordinate system is adopted on the navigation surface where RFID tags are places in a grid with constant displacements. This paper also presents the performance comparisons among various grid architectures through simulation to establish a better solution of the navigation system. In addition, some stationary obstacles are introduced in the navigation environment to satisfy the viability of the navigation process of the autonomous mobile robot

An Optical Receiver Post Processing System for the Integrated Radio and Optical Communications Software Defined Radio Test Bed

Science.gov (United States)

Nappier, Jennifer M.; Tokars, Roger P.; Wroblewski, Adam C.

2016-01-01

The Integrated Radio and Optical Communications (iROC) project at the National Aeronautics and Space Administrations (NASA) Glenn Research Center is investigating the feasibility of a hybrid radio frequency (RF) and optical communication system for future deep space missions. As a part of this investigation, a test bed for a radio frequency (RF) and optical software defined radio (SDR) has been built. Receivers and modems for the NASA deep space optical waveform are not commercially available so a custom ground optical receiver system has been built. This paper documents the ground optical receiver, which is used in order to test the RF and optical SDR in a free space optical communications link.

An Optical Receiver Post-Processing System for the Integrated Radio and Optical Communications Software Defined Radio Test Bed

Science.gov (United States)

Nappier, Jennifer M.; Tokars, Roger P.; Wroblewski, Adam C.

2016-01-01

The Integrated Radio and Optical Communications (iROC) project at the National Aeronautics and Space Administration's (NASA) Glenn Research Center is investigating the feasibility of a hybrid radio frequency (RF) and optical communication system for future deep space missions. As a part of this investigation, a test bed for a radio frequency (RF) and optical software defined radio (SDR) has been built. Receivers and modems for the NASA deep space optical waveform are not commercially available so a custom ground optical receiver system has been built. This paper documents the ground optical receiver, which is used in order to test the RF and optical SDR in a free space optical communications link.

On a New Family of Kalman Filter Algorithms for Integrated Navigation

Science.gov (United States)

Mahboub, V.; Saadatseresht, M.; Ardalan, A. A.

2017-09-01

Here we present a review on a new family of Kalman filter algorithms which recently developed for integrated navigation. In particular it is useful for vision based navigation due to the type of data. Here we mainly focus on three algorithms namely weighted Total Kalman filter (WTKF), integrated Kalman filter (IKF) and constrained integrated Kalman filter (CIKF). The common characteristic of these algorithms is that they can consider the neglected random observed quantities which may appear in the dynamic model. Moreover, our approach makes use of condition equations and straightforward variance propagation rules. The WTKF algorithm can deal with problems with arbitrary weight matrixes. Both of the observation equations and system equations can be dynamic-errors-in-variables (DEIV) models in the IKF algorithms. In some problems a quadratic constraint may exist. They can be solved by CIKF algorithm. Finally, we compare four algorithms WTKF, IKF, CIKF and EKF in numerical examples.

Multi-criteria decision analysis integrated with GIS for radio ...

African Journals Online (AJOL)

Multi-criteria decision analysis integrated with GIS for radio astronomical observatory site selection in peninsular of Malaysia. R Umar, Z.Z. Abidin, Z.A. Ibrahim, M.K.A. Kamarudin, S.N. Hazmin, A Endut, H Juahir ...

Heading-vector navigation based on head-direction cells and path integration.

Science.gov (United States)

Kubie, John L; Fenton, André A

2009-05-01

Insect navigation is guided by heading vectors that are computed by path integration. Mammalian navigation models, on the other hand, are typically based on map-like place representations provided by hippocampal place cells. Such models compute optimal routes as a continuous series of locations that connect the current location to a goal. We propose a "heading-vector" model in which head-direction cells or their derivatives serve both as key elements in constructing the optimal route and as the straight-line guidance during route execution. The model is based on a memory structure termed the "shortcut matrix," which is constructed during the initial exploration of an environment when a set of shortcut vectors between sequential pairs of visited waypoint locations is stored. A mechanism is proposed for calculating and storing these vectors that relies on a hypothesized cell type termed an "accumulating head-direction cell." Following exploration, shortcut vectors connecting all pairs of waypoint locations are computed by vector arithmetic and stored in the shortcut matrix. On re-entry, when local view or place representations query the shortcut matrix with a current waypoint and goal, a shortcut trajectory is retrieved. Since the trajectory direction is in head-direction compass coordinates, navigation is accomplished by tracking the firing of head-direction cells that are tuned to the heading angle. Section 1 of the manuscript describes the properties of accumulating head-direction cells. It then shows how accumulating head-direction cells can store local vectors and perform vector arithmetic to perform path-integration-based homing. Section 2 describes the construction and use of the shortcut matrix for computing direct paths between any pair of locations that have been registered in the shortcut matrix. In the discussion, we analyze the advantages of heading-based navigation over map-based navigation. Finally, we survey behavioral evidence that nonhippocampal

PENERAPAN INTEGRATED MARKETING COMMUNICATION (IMC DI MEDIA RADIO SEGARA FM BANGKALAN

Directory of Open Access Journals (Sweden)

Ipin Rahmadi

2016-03-01

Full Text Available This study intends to reveal the facts of the application of the concept of IMCwas done by radio Segara Bangkalan.Study used the concept theory of IMCwas applied of direct marketing, sales promotion, public relations, personalselling, advertising, and media interaction, marketing which relativelyapplied to the public audience of Segara radio.This of study used a qualitative descriptive method which intends to findout the phenomenon of concerns about the research subject. In holistic anddescriptive manner in the form of words and language, the data collectionmethods in this used study documentation, techniques, observation anddirectly interviews to the field.The application of IMC was good to increase the number of radio audience inSegara, from the six concepts of IMC, advertising, public relations, personalselling, sales promotion, direct marketing, and interactive ware marketing,applied directly by radio to the public, so that produce good results againstthe Segara radio.Keywords: IMC (Integrated Marketing Communication, Media Radio,Audience

Software Defined Radio Architecture Contributions to Next Generation Space Communications

Science.gov (United States)

Kacpura, Thomas J.; Eddy, Wesley M.; Smith, Carl R.; Liebetreu, John

2015-01-01

systems, as well as those communications and navigation systems operated by international space agencies and civilian and government agencies. In this paper, we review the philosophies, technologies, architectural attributes, mission services, and communications capabilities that form the structure of candidate next-generation integrated communication architectures for space communications and navigation. A key area that this paper explores is from the development and operation of the software defined radio for the NASA Space Communications and Navigation (SCaN) Testbed currently on the International Space Station (ISS). Evaluating the lessons learned from development and operation feed back into the communications architecture. Leveraging the reconfigurability provides a change in the way that operations are done and must be considered. Quantifying the impact on the NASA Space Telecommunications Radio System (STRS) software defined radio architecture provides feedback to keep the standard useful and up to date. NASA is not the only customer of these radios. Software defined radios are developed for other applications, and taking advantage of these developments promotes an architecture that is cost effective and sustainable. Developments in the following areas such as an updated operating environment, higher data rates, networking and security can be leveraged. The ability to sustain an architecture that uses radios for multiple markets can lower costs and keep new technology infused.

An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems.

Science.gov (United States)

Feng, Kaiqiang; Li, Jie; Zhang, Xi; Zhang, Xiaoming; Shen, Chong; Cao, Huiliang; Yang, Yanyu; Liu, Jun

2018-06-12

The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algorithm named improved strong tracking seventh-degree spherical simplex-radial cubature Kalman filter (IST-7thSSRCKF) is proposed in this paper. In the proposed algorithm, the effect of process uncertainty is mitigated by using the improved strong tracking Kalman filter technique, in which the hypothesis testing method is adopted to identify the process uncertainty and the prior state estimate covariance in the CKF is further modified online according to the change in vehicle dynamics. In addition, a new seventh-degree spherical simplex-radial rule is employed to further improve the estimation accuracy of the strong tracking cubature Kalman filter. In this way, the proposed comprehensive algorithm integrates the advantage of 7thSSRCKF’s high accuracy and strong tracking filter’s strong robustness against process uncertainties. The GPS/INS integrated navigation problem with significant dynamic model errors is utilized to validate the performance of proposed IST-7thSSRCKF. Results demonstrate that the improved strong tracking cubature Kalman filter can achieve higher accuracy than the existing CKF and ST-CKF, and is more robust for the GPS/INS integrated navigation system.

Ultra-Wideband Transceiver for Integrated Communication and Relative Navigation, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The goal of this project is to develop an innovative way of using Time Modulated Ultra Wideband (TM-UWB) transceivers (radios) to provide high performance integrated...

Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

Directory of Open Access Journals (Sweden)

Yuan Xu

2014-01-01

Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking.

Science.gov (United States)

Fan, Qigao; Wu, Yaheng; Hui, Jing; Wu, Lei; Yu, Zhenzhong; Zhou, Lijuan

2014-01-01

In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

SINS/CNS Nonlinear Integrated Navigation Algorithm for Hypersonic Vehicle

Directory of Open Access Journals (Sweden)

Yong-jun Yu

2015-01-01

Full Text Available Celestial Navigation System (CNS has characteristics of accurate orientation and strong autonomy and has been widely used in Hypersonic Vehicle. Since the CNS location and orientation mainly depend upon the inertial reference that contains errors caused by gyro drifts and other error factors, traditional Strap-down Inertial Navigation System (SINS/CNS positioning algorithm setting the position error between SINS and CNS as measurement is not effective. The model of altitude azimuth, platform error angles, and horizontal position is designed, and the SINS/CNS tightly integrated algorithm is designed, in which CNS altitude azimuth is set as measurement information. GPF (Gaussian particle filter is introduced to solve the problem of nonlinear filtering. The results of simulation show that the precision of SINS/CNS algorithm which reaches 130 m using three stars is improved effectively.

An Integrated Approach to Electronic Navigation

National Research Council Canada - National Science Library

Shaw, Peter; Pettus, Bill

2001-01-01

While the Global Positioning System (GPS) is and will continue to be an excellent navigation system, it is neither flawless nor is it the only system employed in the navigation of today's seagoing warfighters...

A Review on Radio-Over-Fiber Technology-Based Integrated (Optical/Wireless) Networks

Science.gov (United States)

Rajpal, Shivika; Goyal, Rakesh

2017-06-01

In the present paper, radio-over-fiber (RoF) technology has been proposed, which is the integration of the optical and radio networks. With a high transmission capacity, comparatively low cost and low attenuation, optical fiber provides an ideal solution for accomplishing the interconnections. In addition, a radio system enables the significant mobility, flexibility and easy access. Therefore, the system integration can meet the increasing demands of subscribers for voice, data and multimedia services that require the access network to support high data rates at any time and any place inexpensively. RoF has the potentiality to the backbone of the wireless access network and it has gained significant momentum in the last decade as a potential last-mile access scheme. This paper gives the comprehensive review of RoF technology used in the communication system. Concept, applications, advantages and limitations of RoF technology are also discussed in this paper.

A hybrid data fusion method for GNSS/INS integration navigation system

Science.gov (United States)

Yang, Ling; Li, Bofeng; Shen, Yunzhong; Li, Haojun

2017-04-01

Although DGNSS is widely used and PPP-GNSS is nowadays a viable precise positioning technology option, the major disadvantage of GNSS still remains: signal blockage due to obstructions in urban and built up environments, and extreme power attenuation of the signals when operated indoors. The combination of GNSS with other sensors, such as a self-contained inertial navigation system (INS), provides an ideal position and attitude determination solution which can not only mitigate the weakness of GNSS, but also bound the INS error that otherwise would grow with time when the INS operates alone. However, the navigation accuracy provided by GNSS/INS strongly depends on the quality and geometry of the GNSS observations, the quality of the INS technology used, and the integration model applied. There are two main types of coupled schemes for integration systems: loosely coupled integration and tightly coupled integration. In loosely coupled integration, position measurements are taken from both systems and combined optimally, usually in a Kalman filter. Tightly coupled integration directly combines the raw pseudorange or carrier phase measurements of GNSS with inertial measurements in an extended Kalman filter. The latter technique improves the ability to resolve ambiguities, i.e. allows a quicker recovery from outage events such as a loss of signal under vegetation. In recent years, tightly coupled differential carrier phase GNSS/INS integration has become popular, because it has the advantage of providing accurate position information even when GPS measurements are rank-deficient in stand-alone processing and is theoretically optimal in a filtering sense, especially in urban navigation applications. However, the heavier computational burden and sensor communication usually complicate the tightly coupled integration and reduce the system efficiency, compared with the loosely coupled integration. In this paper, it has been proved that the loosely coupled and tightly

Integral luminosities of radio pulsars

Science.gov (United States)

Malov, I.; Malov, O.

The integral radio luminosities L for 311 normal pulsars and for 27 ones with the rotation period Pfalls for fast ones. The mean values of K are -3.73 and -4.85 for normal and fast pulsars, respectively. There are no changes of L with the kinematic age T = z/V, where z is the pulsar height over the Galactic plane and V = 300 km/s is its mean velocity. The correlation between L and the rate of the rotation energy losses E is detected for both pulsar groups under consideration. It is shown that L= A E^(1/3) for the whole sample. The total number of pulsars in the Galaxy and their birth rate are in agreement with data on the rate of supernova explosions.

An improved integrally formed radio frequency quadrupole

Science.gov (United States)

Abbott, S.R.

1987-10-05

An improved radio frequency quadrupole is provided having an elongate housing with an elongate central axis and top, bottom and two side walls symmetrically disposed about the axis, and vanes formed integrally with the walls, the vanes each having a cross-section at right angles to the central axis which tapers inwardly toward the axis to form electrode tips spaced from each other by predetermined distances. Each of the four walls, and the vanes integral therewith, is a separate structural element having a central lengthwise plane passing through the tip of the vane, the walls having flat mounting surfaces at right angles to and parallel to the control plane, respectively, which are butted together to position the walls and vane tips relative to each other. 4 figs.

Space Telecommunications Radio System (STRS) Architecture. Part 1; Tutorial - Overview

Science.gov (United States)

Handler, Louis M.; Briones, Janette C.; Mortensen, Dale J.; Reinhart, Richard C.

2012-01-01

Space Telecommunications Radio System (STRS) Architecture Standard provides a NASA standard for software-defined radio. STRS is being demonstrated in the Space Communications and Navigation (SCaN) Testbed formerly known as Communications, Navigation and Networking Configurable Testbed (CoNNeCT). Ground station radios communicating the SCaN testbed are also being written to comply with the STRS architecture. The STRS Architecture Tutorial Overview presents a general introduction to the STRS architecture standard developed at the NASA Glenn Research Center (GRC), addresses frequently asked questions, and clarifies methods of implementing the standard. The STRS architecture should be used as a base for many of NASA s future telecommunications technologies. The presentation will provide a basic understanding of STRS.

33 CFR 5.29 - Assignment to duty on a motorboat, yacht, aircraft, or radio station.

Science.gov (United States)

2010-07-01

..., yacht, aircraft, or radio station. 5.29 Section 5.29 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL COAST GUARD AUXILIARY § 5.29 Assignment to duty on a motorboat, yacht, aircraft, or radio station. No member of the Auxiliary shall be placed in charge of a motorboat, yacht...

NaviSE: superenhancer navigator integrating epigenomics signal algebra.

Science.gov (United States)

Ascensión, Alex M; Arrospide-Elgarresta, Mikel; Izeta, Ander; Araúzo-Bravo, Marcos J

2017-06-06

Superenhancers are crucial structural genomic elements determining cell fate, and they are also involved in the determination of several diseases, such as cancer or neurodegeneration. Although there are pipelines which use independent pieces of software to predict the presence of superenhancers from genome-wide chromatin marks or DNA-interaction protein binding sites, there is not yet an integrated software tool that processes automatically algebra combinations of raw data sequencing into a comprehensive final annotated report of predicted superenhancers. We have developed NaviSE, a user-friendly streamlined tool which performs a fully-automated parallel processing of genome-wide epigenomics data from sequencing files into a final report, built with a comprehensive set of annotated files that are navigated through a graphic user interface dynamically generated by NaviSE. NaviSE also implements an 'epigenomics signal algebra' that allows the combination of multiple activation and repression epigenomics signals. NaviSE provides an interactive chromosomal landscaping of the locations of superenhancers, which can be navigated to obtain annotated information about superenhancer signal profile, associated genes, gene ontology enrichment analysis, motifs of transcription factor binding sites enriched in superenhancers, graphs of the metrics evaluating the superenhancers quality, protein-protein interaction networks and enriched metabolic pathways among other features. We have parallelised the most time-consuming tasks achieving a reduction up to 30% for a 15 CPUs machine. We have optimized the default parameters of NaviSE to facilitate its use. NaviSE allows different entry levels of data processing, from sra-fastq files to bed files; and unifies the processing of multiple replicates. NaviSE outperforms the more time-consuming processes required in a non-integrated pipeline. Alongside its high performance, NaviSE is able to provide biological insights, predicting cell

Integrating GPS, GYRO, vehicle speed sensor, and digital map to provide accurate and real-time position in an intelligent navigation system

Science.gov (United States)

Li, Qingquan; Fang, Zhixiang; Li, Hanwu; Xiao, Hui

2005-10-01

The global positioning system (GPS) has become the most extensively used positioning and navigation tool in the world. Applications of GPS abound in surveying, mapping, transportation, agriculture, military planning, GIS, and the geosciences. However, the positional and elevation accuracy of any given GPS location is prone to error, due to a number of factors. The applications of Global Positioning System (GPS) positioning is more and more popular, especially the intelligent navigation system which relies on GPS and Dead Reckoning technology is developing quickly for future huge market in China. In this paper a practical combined positioning model of GPS/DR/MM is put forward, which integrates GPS, Gyro, Vehicle Speed Sensor (VSS) and digital navigation maps to provide accurate and real-time position for intelligent navigation system. This model is designed for automotive navigation system making use of Kalman filter to improve position and map matching veracity by means of filtering raw GPS and DR signals, and then map-matching technology is used to provide map coordinates for map displaying. In practical examples, for illustrating the validity of the model, several experiments and their results of integrated GPS/DR positioning in intelligent navigation system will be shown for the conclusion that Kalman Filter based GPS/DR integrating position approach is necessary, feasible and efficient for intelligent navigation application. Certainly, this combined positioning model, similar to other model, can not resolve all situation issues. Finally, some suggestions are given for further improving integrated GPS/DR/MM application.

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...

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.

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.

Radio Interferometric Research of Ionosphere by Signals of Space Satellites

Directory of Open Access Journals (Sweden)

Dugin N.

2013-03-01

Full Text Available Since 2012, the Radiophysical Research Institute and the Lobachevsky State University at Nizhny Novgorod, Russia and the Ventspils International Radio Astronomy Centre at Irbene, Latvia are making radio interferometric experiments on study of ionosphere parameters in a quiet (natural state of medium and research of artificial turbulence of the ionosphere, heated by the emission from the SURA facility. Remote diagnostics of the ionosphere is implemented using a method of radio sounding by signals of navigation satellites in combination with the Very Long Baseline Interferometry (VLBI method. As a result of spectral and correlation analysis, interferometric responses of the two-element (RRI–UNN and three-element (RRI–UNN–Irbene interferometers were received by observations of 12 satellites of the navigation systems GLONASS and GPS. Here the first results are reported.

Space Telecommunications Radio System STRS Cognitive Radio

Science.gov (United States)

Briones, Janette C.; Handler, Louis M.

2013-01-01

Radios today are evolving from awareness toward cognition. A software defined radio (SDR) provides the most capability for integrating autonomic decision making ability and allows the incremental evolution toward a cognitive radio. This cognitive radio technology will impact NASA space communications in areas such as spectrum utilization, interoperability, network operations, and radio resource management over a wide range of operating conditions. NASAs cognitive radio will build upon the infrastructure being developed by Space Telecommunication Radio System (STRS) SDR technology. This paper explores the feasibility of inserting cognitive capabilities in the NASA STRS architecture and the interfaces between the cognitive engine and the STRS radio. The STRS architecture defines methods that can inform the cognitive engine about the radio environment so that the cognitive engine can learn autonomously from experience, and take appropriate actions to adapt the radio operating characteristics and optimize performance.

Future Standardization of Space Telecommunications Radio System with Core Flight System

Science.gov (United States)

Briones, Janette C.; Hickey, Joseph P.; Roche, Rigoberto; Handler, Louis M.; Hall, Charles S.

2016-01-01

NASA Glenn Research Center (GRC) is integrating the NASA Space Telecommunications Radio System (STRS) Standard with the Core Flight System (cFS), an avionics software operating environment. The STRS standard provides a common, consistent framework to develop, qualify, operate and maintain complex, reconfigurable and reprogrammable radio systems. The cFS is a flexible, open architecture that features a plugand- play software executive called the Core Flight Executive (cFE), a reusable library of software components for flight and space missions and an integrated tool suite. Together, STRS and cFS create a development environment that allows for STRS compliant applications to reference the STRS application programmer interfaces (APIs) that use the cFS infrastructure. These APIs are used to standardize the communication protocols on NASAs space SDRs. The cFS-STRS Operating Environment (OE) is a portable cFS library, which adds the ability to run STRS applications on existing cFS platforms. The purpose of this paper is to discuss the cFS-STRS OE prototype, preliminary experimental results performed using the Advanced Space Radio Platform (ASRP), the GRC S- band Ground Station and the SCaN (Space Communication and Navigation) Testbed currently flying onboard the International Space Station (ISS). Additionally, this paper presents a demonstration of the Consultative Committee for Space Data Systems (CCSDS) Spacecraft Onboard Interface Services (SOIS) using electronic data sheets (EDS) inside cFE. This configuration allows for the data sheets to specify binary formats for data exchange between STRS applications. The integration of STRS with cFS leverages mission-proven platform functions and mitigates barriers to integration with future missions. This reduces flight software development time and the costs of software-defined radio (SDR) platforms. Furthermore, the combined benefits of STRS standardization with the flexibility of cFS provide an effective, reliable and

In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

Science.gov (United States)

Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

2017-06-01

Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

Saint Petersburg International Conference on Integrated Navigation Systems, (9th), Held at St. Petersburg, Russia, on 27-29 May 2002

Science.gov (United States)

2002-05-01

Dmitriev P.P., Shebshaevich V.S. Network satellite navigational systems. - M.:Radio and communication. 1982. 2. Harisov V.N., Petrov A.I., Boldin V.A...standardized LS-residuals) with a membership function which takes account of \\i- , introducing a weighting factor extracted from the elements of R and...numerical values of the blunders, we extract from the redundancy matrix R the diagonal and off-diagonal elements that correspond to the respective

Integration of Kinect and Low-Cost Gnss for Outdoor Navigation

Science.gov (United States)

Pagliaria, D.; Pinto, L.; Reguzzoni, M.; Rossi, L.

2016-06-01

Since its launch on the market, Microsoft Kinect sensor has represented a great revolution in the field of low cost navigation, especially for indoor robotic applications. In fact, this system is endowed with a depth camera, as well as a visual RGB camera, at a cost of about 200. The characteristics and the potentiality of the Kinect sensor have been widely studied for indoor applications. The second generation of this sensor has been announced to be capable of acquiring data even outdoors, under direct sunlight. The task of navigating passing from an indoor to an outdoor environment (and vice versa) is very demanding because the sensors that work properly in one environment are typically unsuitable in the other one. In this sense the Kinect could represent an interesting device allowing bridging the navigation solution between outdoor and indoor. In this work the accuracy and the field of application of the new generation of Kinect sensor have been tested outdoor, considering different lighting conditions and the reflective properties of the emitted ray on different materials. Moreover, an integrated system with a low cost GNSS receiver has been studied, with the aim of taking advantage of the GNSS positioning when the satellite visibility conditions are good enough. A kinematic test has been performed outdoor by using a Kinect sensor and a GNSS receiver and it is here presented.

A New Adaptive H-Infinity Filtering Algorithm for the GPS/INS Integrated Navigation

Science.gov (United States)

Jiang, Chen; Zhang, Shu-Bi; Zhang, Qiu-Zhao

2016-01-01

The Kalman filter is an optimal estimator with numerous applications in technology, especially in systems with Gaussian distributed noise. Moreover, the adaptive Kalman filtering algorithms, based on the Kalman filter, can control the influence of dynamic model errors. In contrast to the adaptive Kalman filtering algorithms, the H-infinity filter is able to address the interference of the stochastic model by minimization of the worst-case estimation error. In this paper, a novel adaptive H-infinity filtering algorithm, which integrates the adaptive Kalman filter and the H-infinity filter in order to perform a comprehensive filtering algorithm, is presented. In the proposed algorithm, a robust estimation method is employed to control the influence of outliers. In order to verify the proposed algorithm, experiments with real data of the Global Positioning System (GPS) and Inertial Navigation System (INS) integrated navigation, were conducted. The experimental results have shown that the proposed algorithm has multiple advantages compared to the other filtering algorithms. PMID:27999361

Integrated Marketing Communication (Imc) Green Radio 96,7 Fm Pekanbaru Dalam Membangun Brand Image Sebagai Media Berbasis Lingkungan

OpenAIRE

Marbun, Tresia Br; ", Rumyeni

2017-01-01

Integrated Marketing Communication (IMC) is the company's effort to integrate and coordinate all communication channels to deliver its message clearly, consistently and strongly influences its organization and products. Green Radio 96.7 FM Pekanbaru is the only electronic media that focuses on broadcasting news Environmental issues in Riau Province. This radio builds brand image as an environment-based media by choosing to use Integrated Marketing Communication (IMC). This study aims to find ...

Integrated Coherent Radio-over-Fiber Units for Millimeter-Wave Wireless Access

DEFF Research Database (Denmark)

Stöhr, A.; Babiel, S.; Chuenchom, M.

2015-01-01

For providing wireless access as a complementary access technology to direct optical access, supporting 1–10 Gb/s per client, we propose a novel scheme based upon the transparent integration of coherent Radio-over-Fiber (CRoF) units with next generation optical access (NGOA) networks using dense ...

Tightly coupled low cost 3D RISS/GPS integration using a mixture particle filter for vehicular navigation.

Science.gov (United States)

Georgy, Jacques; Noureldin, Aboelmagd

2011-01-01

Satellite navigation systems such as the global positioning system (GPS) are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF) was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle's odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s) even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift, which are

Tightly Coupled Low Cost 3D RISS/GPS Integration Using a Mixture Particle Filter for Vehicular Navigation

Directory of Open Access Journals (Sweden)

Jacques Georgy

2011-04-01

Full Text Available Satellite navigation systems such as the global positioning system (GPS are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF. Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D reduced inertial sensors system (RISS with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle’s odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift

Addressing the Influence of Space Weather on Airline Navigation

Science.gov (United States)

Sparks, Lawrence

2012-01-01

The advent of satellite-based augmentation systems has made it possible to navigate aircraft safely using radio signals emitted by global navigation satellite systems (GNSS) such as the Global Positioning System. As a signal propagates through the earth's ionosphere, it suffers delay that is proportional to the total electron content encountered along the raypath. Since the magnitude of this total electron content is strongly influenced by space weather, the safety and reliability of GNSS for airline navigation requires continual monitoring of the state of the ionosphere and calibration of ionospheric delay. This paper examines the impact of space weather on GNSS-based navigation and provides an overview of how the Wide Area Augmentation System protects its users from positioning error due to ionospheric disturbances

Low and Mid-Latitude Ionospheric Irregularities Studies Using TEC and Radio Scintillation Data from the CITRIS Radio Beacon Receiver in Low-Earth-Orbit

Science.gov (United States)

Siefring, C. L.; Bernhardt, P. A.; Huba, J.; Krall, J.; Roddy, P. A.

2009-12-01

Unique data on ionospheric plasma irregularities from the Naval Research Laboratory (NRL) CITRIS (Scintillation and TEC Receiver in Space) instrument will be presented. CITRIS is a multi-band receiver that recorded TEC (Total Electron Content) and radio scintillations from Low-Earth Orbit (LEO) on STPSat1. The 555+/5 km altitude 35° inclination orbit covers low and mid-latitudes. The measurements require propagation from a transmitter to a receiver through the F-region plasma. CITRIS used both 1) satellite beacons in LEO, such as the NRL CERTO (Coherent Electromagnetic Radio TOmography) beacons and 2) the global network of ground-based DORIS (Doppler Orbitography and Radiopositioning Integrated by Satellite) beacons. The TEC measurements allow for tracking of ionospheric disturbances and irregularities while the measurements of scintillations can simultaneously characterize their effects. CITRIS was operated in a complementary fashion with the C/NOFS (Communication/Navigations Outages Forecasting System) satellite during most of its first year of operations. C/NOFS carries a three-frequency 150/400/1067 MHz CERTO beacon and is dedicated to the study of Spread-F. In the case of Spread-F, ionospheric irregularities start with large scale size density gradients (100s of km) and cascade through complex processes to short scale sizes (10s of meters). It is typically the 100m-1km scale features that harm communication and navigation systems through scintillations. A multi-sensor approach is needed to completely understand this complex system, such as, the combination of CITRIS remote radio sensing and C/NOFS in-situ data. Several types of irregularities have been studied including Spread-F and the newly discovered dawn-side depletions. Comparisons with the physics based SAMI3 model are being performed to help our understanding of the morphology of the irregularities.

Relative navigation and attitude determination using a GPS/INS integrated system near the International Space Station

Science.gov (United States)

Um, Jaeyong

2001-08-01

The Space Integrated GPS/INS (SIGI) sensor is the primary navigation and attitude determination source for the International Space Station (ISS). The SIGI was successfully demonstrated on-orbit for the first time in the SIGI Orbital Attitude Readiness (SOAR) demonstration on the Space Shuttle Atlantis in May 2000. Numerous proximity operations near the ISS have been and will be performed over the lifetime of the Station. The development of an autonomous relative navigation system is needed to improve the safety and efficiency of vehicle operations near the ISS. A hardware simulation study was performed for the GPS-based relative navigation using the state vector difference approach and the interferometric approach in the absence of multipath. The interferometric approach, where the relative states are estimated directly, showed comparable results for a 1 km baseline. One of the most pressing current technical issues is the design of an autonomous relative navigation system in the proximity of the ISS, where GPS signals are blocked and maneuvers happen frequently. An integrated GPS/INS system is investigated for the possibility of a fully autonomous relative navigation system. Another application of GPS measurements is determination of the vehicle's orientation in space. This study used the SOAR experiment data to characterize the SICI's on-orbit performance for attitude determination. A cold start initialization algorithm was developed for integer ambiguity resolution in any initial orientation. The original algorithm that was used in the SIGI had an operational limitation in the integer ambiguity resolution, which was developed for terrestrial applications, and limited its effectiveness in space. The new algorithm was tested using the SOAR data and has been incorporated in the current SIGI flight software. The attitude estimation performance was examined using two different GPS/INS integration algorithms. The GPS/INS attitude solution using the SOAR data was as

Novel integrated design framework for radio frequency quadrupoles

International Nuclear Information System (INIS)

Jolly, Simon; Easton, Matthew; Lawrie, Scott; Letchford, Alan; Pozimski, Jürgen; Savage, Peter

2014-01-01

A novel design framework for Radio Frequency Quadrupoles (RFQs), developed as part of the design of the FETS RFQ, is presented. This framework integrates several previously disparate steps in the design of RFQs, including the beam dynamics design, mechanical design, electromagnetic, thermal and mechanical modelling and beam dynamics simulations. Each stage of the design process is described in detail, including the various software options and reasons for the final software suite selected. Results are given for each of these steps, describing how each stage affects the overall design process, with an emphasis on the resulting design choices for the FETS RFQ

Fourth Integrated Communications, Navigation, and Surveillance (ICNS) Conference and Workshop 2004: Conclusions and Recommendations

Science.gov (United States)

Phillips, Brent; Swanda, Ronald L.; Lewis, Michael S.; Kenagy, Randy; Donahue, George; Homans, Al; Kerczewski, Robert; Pozesky, Marty

2004-01-01

The NASA Glenn Research Center organized and hosted the Fourth Integrated Communications, Navigation, and Surveillance (ICNS) Technologies Conference and Workshop, which took place April 26-30, 2004 at the Hyatt Fair Lakes Hotel in Fairfax, Virginia. This fourth conference of the annual series followed the very successful first ICNS Conference (May 1-3, 2001 in Cleveland, Ohio), second ICNS conference (April 29-May 2, 2002 in Vienna, Virginia), and third ICNS conference (May 19-22, 2003 in Annapolis, Maryland). The purpose of the Fourth ICNS Conference was to assemble government, industry and academic communities performing research and development for advanced digital communications, surveillance and navigation systems and associated applications supporting the national and global air transportation systems to: 1) Understand current efforts and recent results in near- and far-term R&D and technology demonstration; 2) Identify integrated digital communications, navigation and surveillance R&D requirements necessary for a safe, secure and reliable, high-capacity, advanced air transportation system; 3) Provide a forum for fostering collaboration and coordination; and 4) Discuss critical issues and develop recommendations to achieve the future integrated CNS vision for national and global air transportation. The workshop attracted 316 attendees from government, industry and academia to address these purposes through technical presentations, breakout sessions, and individual and group discussions during the workshop and after-hours events, and included 16 international attendees. An Executive Committee consisting of representatives of several key segments of the aviation community concerned with CNS issues met on the day following the workshop to consider the primary outcomes and recommendations of the workshop. This report presents an overview of the conference, workshop breakout session results, and the findings of the Executive Committee.

INTEGRATION OF DISTRIBUTED INERTIAL NAVIGATION SYSTEMS BUILT AROUND FIBER-OPTIC AND MICROELECTROMECHANICAL SENSORS

Directory of Open Access Journals (Sweden)

A. V. Chernodarov

2017-01-01

Full Text Available The current state of airborne measuring-and-computing complexes (MCCs is characterized by the inclusion of distributed strapdown inertial navigation systems (SINSs as components of these complexes. This is associated with the necessity of the provision of navigational support not only for aircraft (Acft, but also for airborne Earth surface surveillance systems in which the SINSs are included as components. Among such systems are radar systems, video monitors, laser scanners (lidars, and other surveillance devices. At the same time, when the DSINSs are united into a single structure, new functional possibilities for such integrated navigation systems appear, namely: redundancy and mutual support of SINSs, and also an increase in MCC information reliability on this basis; mutual monitoring and mutual diagnosis of SINSs; optimization of DSINS structure for providing the required accuracy of navigation and attitude control under severe conditions of Acft operation. Such conditions are connected with Acft maneuvering, with a loss of the signals of satellite navigation systems (SNSs. The purpose of this paper is to study the capabilities of DSINS which are built around fiberoptic and micromechanical sensors when they are united into a closely connected information-measuring structure. In the solution of the problem formulated above, an object-oriented modular technology for the creation of integrated navigation systems was taken as a basis. The use of such a technology has permitted us to realize the new functional possibilities of the DSINSs, and also to take into account the following features of the construction and functioning of DSINSs as components of MCCs: need for mutual information exchange among DSINS modules via an MCC airborne top-level computing system; synchronization of measuring-and-computing procedures that are realized in the DSINS. In addition, due to restrictions on overall dimensions and weight, SINSs of surveillance systems are

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

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.

Establishing a Near Term Lunar Farside Gravity Model via Inexpensive Add-on Navigation Payload

Science.gov (United States)

Folta, David; Mesarch, Michael; Miller, Ronald; Bell, David; Jedrey, Tom; Butman, Stanley; Asmar, Sami

2007-01-01

The Space Communications and Navigation, Constellation Integration Project (SCIP) is tasked with defining, developing, deploying and operating an evolving multi-decade communications and navigation (C/N) infrastructure including services and subsystems that will support both robotic and human exploration activities at the Moon. This paper discusses an early far side gravitational mapping service and related telecom subsystem that uses an existing spacecraft (WIND) and the Lunar Reconnaissance Orbiter (LRO) to collect data that would address several needs of the SCIP. An important aspect of such an endeavor is to vastly improve the current lunar gravity model while demonstrating the navigation and stationkeeping of a relay spacecraft. We describe a gravity data acquisition activity and the trajectory design of the relay orbit in an Earth-Moon L2 co-linear libration orbit. Several phases of the transfer from an Earth-Sun to the Earth-Moon region are discussed along with transfers within the Earth-Moon system. We describe a proposed, but not integrated, add-on to LRO scheduled to be launched in October of 2008. LRO provided a real host spacecraft against which we designed the science payload and mission activities. From a strategic standpoint, LRO was a very exciting first flight opportunity for gravity science data collection. Gravity Science data collection requires the use of one or more low altitude lunar polar orbiters. Variations in the lunar gravity field will cause measurable variations in the orbit of a low altitude lunar orbiter. The primary means to capture these induced motions is to monitor the Doppler shift of a radio signal to or from the low altitude spacecraft, given that the signal is referenced to a stable frequency reference. For the lunar far side, a secondary orbiting radio signal platform is required. We provide an in-depth look at link margins, trajectory design, and hardware implications. Our approach posed minimum risk to a host mission while

Integrated Common Radio Resource Management with Spectrum Aggregation over Non-Contiguous Frequency Bands

DEFF Research Database (Denmark)

Cabral, Orlando; Meucci, Filippo; Mihovska, Albena D.

2011-01-01

This paper proposes an integrated Common Radio Resource Management (iCRRM). The iCRRM performs classic CRRM functionalities jointly with Spectrum Aggregation (SA), being able to switch users between non-contiguous frequency bands. The SA scheduling is obtained with an optimised General Multi...

RADIO WITHOUT A LISTENER: "MAYAK"

Directory of Open Access Journals (Sweden)

Bysko Maxim V.

2017-12-01

Full Text Available The singularity of this article is that it is entirely based on a critical analysis of only one live musical radio program on the Mayak radio station and dedicated to the life and work of the famous British composer Andrew Lloyd Webber. In principle, the article can be considered a scientific review of the media product. Based on his analysis, the author comes to the paradoxical conclusion that the presence of a listener becomes unnecessary for modern broadcasting. This is stated by many principles of the conduct of the air, presented in the radio program, where all the information load is placed on the guest in the studio, where there is no preparatory work of the DJs, where their inability to navigate the genres of journalism violates communication norms and colloquial ethics, where an obvious deconstructive approach to the material offered for the listener. In addition, the phenomenon of being the DJs in the radio studio exclusively "for themselves" is emphasized by the sound design of the radio program, which runs counter to the logic of auditory perception (for example, the sequence of jingles, as well as the incompetent selection of musical material, which undoubtedly repels professional radio listeners-musicians.

Optical detection of radio waves through a nanomechanical transducer

DEFF Research Database (Denmark)

Bagci, T.; Simonsen, A.; Schmid, Silvan

2014-01-01

Low-loss transmission and sensitive recovery of weak radio-frequency and microwave signals is a ubiquitous challenge, crucial in radio astronomy, medical imaging, navigation, and classical and quantum communication. Efficient up-conversion of radio-frequency signals to an optical carrier would...... strong coupling between the voltage fluctuations in a radio-frequency resonance circuit and the membrane's displacement, which is simultaneously coupled to light reflected off its surface. The radio-frequency signals are detected as an optical phase shift with quantum-limited sensitivity....... The corresponding half-wave voltage is in the microvolt range, orders of magnitude less than that of standard optical modulators. The noise of the transducer--beyond the measured 800 pV Hz-1/2 Johnson noise of the resonant circuit--consists of the quantum noise of light and thermal fluctuations of the membrane...

Observability during planetary approach navigation

Science.gov (United States)

Bishop, Robert H.; Burkhart, P. Daniel; Thurman, Sam W.

1993-01-01

The objective of the research is to develop an analytic technique to predict the relative navigation capability of different Earth-based radio navigation measurements. In particular, the problem is to determine the relative ability of geocentric range and Doppler measurements to detect the effects of the target planet gravitational attraction on the spacecraft during the planetary approach and near-encounter mission phases. A complete solution to the two-dimensional problem has been developed. Relatively simple analytic formulas are obtained for range and Doppler measurements which describe the observability content of the measurement data along the approach trajectories. An observability measure is defined which is based on the observability matrix for nonlinear systems. The results show good agreement between the analytic observability analysis and the computational batch processing method.

Reconfigurable EVA Radio with Built-In Navigation Capability, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Intelligent Automation, Inc. and its sub-contractor, Purdue University, propose to develop a power-efficient miniaturized reconfigurable EVA radio system with...

On the integrated continuum radio spectrum of supernova remnant W44 (G34.7-0.4: New insights from Planck

Directory of Open Access Journals (Sweden)

Onić D.

2015-01-01

Full Text Available In this paper, the integrated continuum radio spectrum of supernova remnant (SNR W44 was analyzed up to 70 GHz, testing the different emission models that can be responsible for its particular shape. The observations by the Planck space telescope made it possible to analyze the high frequency part of radio emission from SNRs. Although the quality of radio continuum spectrum (a high scatter of data points at same frequencies prevents us to make definite conclusions, the possibility of spinning dust emission detection towards this remnant is emphasized. In addition, a concave-down feature, due to synchrotron losses, can not be definitely dismissed by the present knowledge of the integrated radio continuum spectrum of this SNR. [Projekat Ministarstva nauke Republike Srbije, br. 176005: Emission Nebulae: Structure and Evolution

14 CFR 121.420 - Flight navigators: Initial and transition ground training.

Science.gov (United States)

2010-01-01

... type airplane: (1) Limitations on climb, cruise, and descent speeds. (2) Each item of navigational equipment installed including appropriate radio, radar, and other electronic equipment. (3) Airplane..., DEPARTMENT OF TRANSPORTATION (CONTINUED) AIR CARRIERS AND OPERATORS FOR COMPENSATION OR HIRE: CERTIFICATION...

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm.

Science.gov (United States)

Gao, Yanbin; Liu, Shifei; Atia, Mohamed M; Noureldin, Aboelmagd

2015-09-15

This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.

GNSS-based receiver autonomous integrity monitoring for aircraft navigation

NARCIS (Netherlands)

Imparato, D.

2016-01-01

Nowadays, GNSS-based navigation is moving more and more to critical applications. Global Navigation Satellite Systems (GNSS), which in the past used to be represented by the American GPS and the Russian GLONASS are now growing in number and performance. The European systemGalileo and the Chinese

A State-of-the-Art Survey of Indoor Positioning and Navigation Systems and Technologies

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Wilson Sakpere

2017-12-01

Full Text Available The research and use of positioning and navigation technologies outdoors has seen a steady and exponential growth. Based on this success, there have been attempts to implement these technologies indoors, leading to numerous studies. Most of the algorithms, techniques and technologies used have been implemented outdoors. However, how they fare indoors is different altogether. Thus, several technologies have been proposed and implemented to improve positioning and navigation indoors. Among them are Infrared (IR, Ultrasound, Audible Sound, Magnetic, Optical and Vision, Radio Frequency (RF, Visible Light, Pedestrian Dead Reckoning (PDR/Inertial Navigation System (INS and Hybrid. The RF technologies include Bluetooth, Ultra-wideband (UWB, Wireless Sensor Network (WSN, Wireless Local Area Network (WLAN, Radio-Frequency Identification (RFID and Near Field Communication (NFC. In addition, positioning techniques applied in indoor positioning systems include the signal properties and positioning algorithms. The prevalent signal properties are Angle of Arrival (AOA, Time of Arrival (TOA, Time Difference of Arrival (TDOA and Received Signal Strength Indication (RSSI, while the positioning algorithms are Triangulation, Trilateration, Proximity and Scene Analysis/ Fingerprinting. This paper presents a state-of-the-art survey of indoor positioning and navigation systems and technologies, and their use in various scenarios. It analyses distinct positioning technology metrics such as accuracy, complexity, cost, privacy, scalability and usability. This paper has profound implications for future studies of positioning and navigation.

Inertial navigation without accelerometers

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Boehm, M.

The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

Radio-location of mobile stations in third generation networks

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Milan Manojle Šunjevarić

2013-06-01

Full Text Available Mobile station localization in mobile networks started with simple methods (e.g. Cell-ID method which required only slight modifications of network infrastructures. Principally, it was about network localization by which a localization service became available to all types of mobile phones. Due to low precision, the initiated development of more sophisticated methods has not been finished yet. Among the advanced location-based methods are those based on the measurement of location parameters in the time domain. In this paper the general consideration of radio location methods in 3G (UMTS radio networks is presented. The use of time based measurement methods was analysed in detail. Due to the limited article length, the use of other locating methods in 3G networks (based on power measurements, on radio direction measurement, and on cells identification – Cell ID and global positioning system - GPS are not described. Introduction Mobile station localization within modern cellular networks increases the level of user security and opens wide opportunities for commercial operators who provide this service. The major obstacle for the implementation of this service, which also prevents its practical usage, is the modification of the existing network infrastructure. In general, depending on the infrastructure used, positioning methods can be divided into two groups: integrated and independent. Integrated methods are primarily created for communication networks. A possibility to locate users represents just an additional service within a radio network. Independent methods are totally detached from the communication network in which the user whose location is being determined is. Radio location methods Determining the location of a mobile radio station is performed by determining the intersection of two or more lines of position. These lines represent the position of the set of points at which the mobile station may be located. These lines can be: (a

The digital sport radio.

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Hilario José ROMERO BEJARANO

2014-07-01

Full Text Available Radio has been immersed in recent years in a phase of technological integration and business of multimedia, as well as diversification of systems and channels for broadcasting. In addition, Internet has been consolidated as the platform of digital radio that more has evolved as a result of its continued expansion. However, the merger radio-Internet must be understood as a new form of communication, and not solely as a new complementary medium. In this context, it is of great interest to analyze that transformations in the way of reception, contents, languages, programs and schedules, has brought with it for the radio that integration. To this end is taken as main reference the sports areas, a key aspect and broadly representative of the current broadcasting landscape.

Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging

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Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

2016-01-01

Study Design. A cadaveric laboratory study. Objective. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Summary of Background Data. Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. Methods. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. Results. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. Conclusion. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. Level of Evidence: N/A PMID:27513166

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

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Smalling, Kyle M.; Eure, Kenneth W.

2015-01-01

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

The Space Geodesy Project and Radio Frequency Interference Characterization and Mitigation

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Lawrence, Hilliard M.; Beaudoin, C.; Corey, B. E.; Tourain, C. L.; Petrachenko, B.; Dickey, John

2013-01-01

The Space Geodesy Project (SGP) development by NASA is an effort to co-locate the four international geodetic techniques Satellite Laser Ranging (SLR) and Lunar Laser Ranging (LLR), Very Long Baseline Interferometry (VLBI), Global Navigation Satellite System (GNSS), and Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) into one tightly referenced campus and coordinated reference frame analysis. The SGP requirement locates these stations within a small area to maintain line-of-sight and frequent automated survey known as the vector tie system. This causes a direct conflict with the new broadband VLBI technique. Broadband means 2-14 GHz, and RFI susceptibility at -80 dBW or higher due to sensitive RF components in the front end of the radio receiver.

The effect of solar radio bursts on the GNSS radio occultation signals

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Yue, Xinan; Schreiner, William S.; Kuo, Ying-Hwa; Zhao, Biqiang; Wan, Weixing; Ren, Zhipeng; Liu, Libo; Wei, Yong; Lei, Jiuhou; Solomon, Stan; Rocken, Christian

2013-09-01

radio burst (SRB) is the radio wave emission after a solar flare, covering a broad frequency range, originated from the Sun's atmosphere. During the SRB occurrence, some specific frequency radio wave could interfere with the Global Navigation Satellite System (GNSS) signals and therefore disturb the received signals. In this study, the low Earth orbit- (LEO-) based high-resolution GNSS radio occultation (RO) signals from multiple satellites (COSMIC, CHAMP, GRACE, SAC-C, Metop-A, and TerraSAR-X) processed in University Corporation for Atmospheric Research (UCAR) were first used to evaluate the effect of SRB on the RO technique. The radio solar telescope network (RSTN) observed radio flux was used to represent SRB occurrence. An extreme case during 6 December 2006 and statistical analysis during April 2006 to September 2012 were studied. The LEO RO signals show frequent loss of lock (LOL), simultaneous decrease on L1 and L2 signal-to-noise ratio (SNR) globally during daytime, small-scale perturbations of SNR, and decreased successful retrieval percentage (SRP) for both ionospheric and atmospheric occultations during SRB occurrence. A potential harmonic band interference was identified. Either decreased data volume or data quality will influence weather prediction, climate study, and space weather monitoring by using RO data during SRB time. Statistically, the SRP of ionospheric and atmospheric occultation retrieval shows ~4% and ~13% decrease, respectively, while the SNR of L1 and L2 show ~5.7% and ~11.7% decrease, respectively. A threshold value of ~1807 SFU of 1415 MHz frequency, which can result in observable GNSS SNR decrease, was derived based on our statistical analysis.

77 FR 67833 - Certain Radio Frequency Integrated Circuits and Devices Containing Same; Notice of Commission...

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2012-11-14

... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-848] Certain Radio Frequency Integrated Circuits and Devices Containing Same; Notice of Commission Determination Not To Review an Initial Determination Terminating the Investigation in its Entirety AGENCY: U.S. International Trade Commission. ACTION...

Refraction of Radio Waves on the Radio-Occultation Satellite-to-Satellite Paths as a Characteristic of the Atmospheric State

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Matyugov, S. S.; Yakovlev, O. I.; Pavelyev, A. G.; Pavelyev, A. A.; Anufriev, V. A.

2017-10-01

We present the results of analyzing the radio-wave refractive characteristics measured on the radio-occultation paths between the GPS navigation satellites and the FORMOSAT-3 research satellites in the central region of the European territory of Russia in 2007-2013. The diurnal, seasonal, and annual variations in the refraction angle at altitudes of 2 to 25 km are discussed. It is shown that the refraction angle can be used as an independent characteristic of the atmospheric state and its long-term variation trends. Diurnal and nocturnal variations in the refraction angle in the winter and summer seasons are analyzed. Trends in the atmospheric refraction variations over seven years are discussed.

Development of a prototype real-time automated filter for operational deep space navigation

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Masters, W. C.; Pollmeier, V. M.

1994-01-01

Operational deep space navigation has been in the past, and is currently, performed using systems whose architecture requires constant human supervision and intervention. A prototype for a system which allows relatively automated processing of radio metric data received in near real-time from NASA's Deep Space Network (DSN) without any redesign of the existing operational data flow has been developed. This system can allow for more rapid response as well as much reduced staffing to support mission navigation operations.

HARDWARE AND ALGORITHMIC STRUCTURE OF MULTIPOSITION RADIO RANGEFINDING NAVIGATION AND LANDING AERO-SYSTEM

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Yaroslav Kondrashov

2011-03-01

Full Text Available Abstract. The principles of formation of the structure and functioning algorithms are developed andpresented for multipositioning radio rangefinding land-based system which identifies the location ofcommuter aircrafts in the vertical and horizontal planes by the method of three ranges without usingaltimeter.Keywords: aircraft, commuter airlines, aeronavigation, landing, airborne radio ranging equipment,operation algorithms.

Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

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Yuan Xu

2013-11-01

Full Text Available In order to reduce the estimated errors of the inertial navigation system (INS/Wireless sensor network (WSN-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS utilizing inertial measuring units (IMUs and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

Ballistic Aspects of Feasibility for Prospective Satellite Navigation Technologies

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L. N. Lysenko

2015-01-01

Full Text Available When modeling the operating processes of ballistics and navigation support it is expedient to make decomposition of the general problem of coordinate-time and navigation support into the typical options of its engineering implementation.As the satellite navigation technologies the paper considers inter-satellite measurement and autonomous navigation mode of differential correction. It also assesses the possibility of their application to improve the accuracy of navigation determinations.Technologies using inter-satellite measurement tools such as GLONASS / GPS equipment, equipment of inter-satellite radio link, astro-optical space based devices are an independent class of navigation technologies.However, each of these options has both advantages and disadvantages that affect the eva luation of the appropriateness and feasibility of their use.The paper separately considers the problem of increasing survivability of space systems and conservation of ground control complex due to introduction of requirements to ensure the independent functioning of spacecraft and application of technologies of ballistics and navigation support, supposing to involve minimum means of automated ground control complex for these purposes.Currently, there is a completely developed theory of autonomous navigation based on astronomical positional gauges, which are used as onboard optical sensors of orientation and stabilization systems.To date, the differential navigation mode is, virtually, the only approach that can allow the olution of tasks in terms of increased accuracy, but with some restrictions.The implementation of differential mode of treatment is carried out through the creation of differential subsystems of the satellite navigation systems. These subsystems are usually divided into wide-range, regional and local ones.Analysis of ballistic aspects to implement discussed navigation technologies allowed us to identify constraints for improving accuracy to define

Integrating uncertainty propagation in GNSS radio occultation retrieval: from excess phase to atmospheric bending angle profiles

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Schwarz, Jakob; Kirchengast, Gottfried; Schwaerz, Marc

2018-05-01

Global Navigation Satellite System (GNSS) radio occultation (RO) observations are highly accurate, long-term stable data sets and are globally available as a continuous record from 2001. Essential climate variables for the thermodynamic state of the free atmosphere - such as pressure, temperature, and tropospheric water vapor profiles (involving background information) - can be derived from these records, which therefore have the potential to serve as climate benchmark data. However, to exploit this potential, atmospheric profile retrievals need to be very accurate and the remaining uncertainties quantified and traced throughout the retrieval chain from raw observations to essential climate variables. The new Reference Occultation Processing System (rOPS) at the Wegener Center aims to deliver such an accurate RO retrieval chain with integrated uncertainty propagation. Here we introduce and demonstrate the algorithms implemented in the rOPS for uncertainty propagation from excess phase to atmospheric bending angle profiles, for estimated systematic and random uncertainties, including vertical error correlations and resolution estimates. We estimated systematic uncertainty profiles with the same operators as used for the basic state profiles retrieval. The random uncertainty is traced through covariance propagation and validated using Monte Carlo ensemble methods. The algorithm performance is demonstrated using test day ensembles of simulated data as well as real RO event data from the satellite missions CHAllenging Minisatellite Payload (CHAMP); Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC); and Meteorological Operational Satellite A (MetOp). The results of the Monte Carlo validation show that our covariance propagation delivers correct uncertainty quantification from excess phase to bending angle profiles. The results from the real RO event ensembles demonstrate that the new uncertainty estimation chain performs robustly. Together

Navigation studies based on the ubiquitous positioning technologies

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Ye, Lei; Mi, Weijie; Wang, Defeng

2007-11-01

This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

Sea Turtles Geolocalization in the Indian Ocean: An Over Sea Radio Channel framework integrating a trilateration technique

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Guegan, Loic; Murad, Nour Mohammad; Bonhommeau, Sylvain

2018-03-01

This paper deals with the modeling of the over sea radio channel and aims to establish sea turtles localization off the coast of Reunion Island, and also on Europa Island in the Mozambique Channel. In order to model this radio channel, a framework measurement protocol is proposed. The over sea measured channel is integrated to the localization algorithm to estimate the turtle trajectory based on Power of Arrival (PoA) technique compared to GPS localization. Moreover, cross correlation tool is used to characterize the over sea propagation channel. First measurement of the radio channel on the Reunion Island coast combine to the POA algorithm show an error of 18 m for 45% of the approximated points.

The Performance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination

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Jhen-Kai Liao

2013-08-01

Full Text Available The integration of an Inertial Navigation System (INS and the Global Positioning System (GPS is common in mobile mapping and navigation applications to seamlessly determine the position, velocity, and orientation of the mobile platform. In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale factors and drift. However, the GPS receiver may produce abnormal pseudo-range errors mainly caused by ionospheric delay, tropospheric delay and the multipath effect. These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC and tightly coupled (TC schemes. Conventional tightly coupled INS/GPS integration schemes apply the Klobuchar model and the Hopfield model to reduce pseudo-range delays caused by ionospheric delay and tropospheric delay, respectively, but do not address the multipath problem. However, the multipath effect (from reflected GPS signals affects the position error far more significantly in a consumer-grade GPS receiver than in an expensive, geodetic-grade GPS receiver. To avoid this problem, a new integrated INS/GPS architecture is proposed. The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively. To verify the effectiveness of the proposed method, field tests with various scenarios are conducted and the results are compared with a reliable reference system.

Fusion of navigational data in River Information Services

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Kazimierski, W.

2009-04-01

. Their main advantage over AIS is total independence from tracked target's facilities. For example, wrong indications of ship's GPS would affect AIS accuracy, but wouldn't have any impact on values estimated by radar. In addition to this in many times update rate for AIS data is longer than for radar. Thus, it can be noticed, that efficient tracking system introduced in RIS shall use both AIS receivers (based on satellite derived positions), and independent radar and camera sensors. This will however cause determining at least two different set of information about positions and movement parameters of targets. Doubled or multiplied vectors for single target are unacceptable, due to safety of navigation and traffic management. Hence the need of data fusion in RIS is obvious. The main goal is to develop unambiguous, clear and reliable information about ships' position and movement for all users in the system. Data fusion itself is not a new problem in maritime navigation. There are systems of Integrated Bridge on sea-going ships, which use information coming out from different sources. However the possibilities of integration of navigational information in the aspect of inland navigation, especially in River Information Services, still needs to be thoroughly surveyed. It is quite useful for simplifying the deduction, to introduce two data fusion levels. First of them is being done on board of the vessel. Its aim is to integrate all information coming from different sensors in the so called Integrated Navigational System. The other task of this fusion is to estimate reliable information about other objects based on AIS and radar. The second level is the integration of AIS, radar and closed-circuit television (CCTV) carried out in coastal station in order to determine Tactical and Strategic Traffic Image. The navigational information in RIS itself can be divided into two main groups. The first one is called static data and contains al basic information related to ship itself

The integrated radio continuum spectrum of M33 - Evidence for free-free absorption by cool ionized gas

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Israel, F. P.; Mahoney, M. J.; Howarth, N.

1992-01-01

We present measurements of the integrated radio continuum flux density of M33 at frequencies between 22 and 610 MHz and discuss the radio continuum spectrum of M33 between 22 MHz and 10 GHz. This spectrum has a turnover between 500 and 900 MHz, depending on the steepness of the high frequency radio spectrum of M33. Below 500 MHz the spectrum is relatively flat. We discuss possible mechanisms to explain this spectral shape and consider efficient free-free absorption of nonthermal emission by a cool (not greater than 1000 K) ionized gas to be a very likely possibility. The surface filling factor of both the nonthermal and the thermal material appears to be small (of order 0.001), which could be explained by magnetic field/density fluctuations in the M 33 interstellar medium. We briefly speculate on the possible presence of a nuclear radio source with a steep spectrum.

Characterization of a Prototype Radio Frequency Space Environment Path Emulator for Evaluating Spacecraft Ranging Hardware

Science.gov (United States)

Mitchell, Jason W.; Baldwin, Philip J.; Kurichh, Rishi; Naasz, Bo J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility is evolving as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, have expanded to include S-band Radio Frequency (RF) modems for interspacecraft communication and ranging. To enable realistic simulations that require RF ranging sensors for relative navigation, a mechanism is needed to buffer the RF signals exchanged between spacecraft that accurately emulates the dynamic environment through which the RF signals travel, including the effects of the medium, moving platforms, and radiated power. The Path Emulator for Radio Frequency Signals (PERFS), currently under development at NASA GSFC, provides this capability. The function and performance of a prototype device are presented.

Biologically inspired autonomous agent navigation using an integrated polarization analyzing CMOS image sensor

NARCIS (Netherlands)

Sarkaer, M.; San Segundo Bello, D.; Van Hoof, C.; Theuwissen, A.

2010-01-01

The navigational strategies of insects using skylight polarization are interesting for applications in autonomous agent navigation because they rely on very little information for navigation. A polarization navigation sensor using the Stokes parameters to determine the orientation is presented. The

Compact autonomous navigation system (CANS)

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Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles

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Liu, Yahui; Fan, Xiaoqian; Lv, Chen; Wu, Jian; Li, Liang; Ding, Dawei

2018-02-01

Information fusion method of INS/GPS navigation system based on filtering technology is a research focus at present. In order to improve the precision of navigation information, a navigation technology based on Adaptive Kalman Filter with attenuation factor is proposed to restrain noise in this paper. The algorithm continuously updates the measurement noise variance and processes noise variance of the system by collecting the estimated and measured values, and this method can suppress white noise. Because a measured value closer to the current time would more accurately reflect the characteristics of the noise, an attenuation factor is introduced to increase the weight of the current value, in order to deal with the noise variance caused by environment disturbance. To validate the effectiveness of the proposed algorithm, a series of road tests are carried out in urban environment. The GPS and IMU data of the experiments were collected and processed by dSPACE and MATLAB/Simulink. Based on the test results, the accuracy of the proposed algorithm is 20% higher than that of a traditional Adaptive Kalman Filter. It also shows that the precision of the integrated navigation can be improved due to the reduction of the influence of environment noise.

Integrated radio continuum spectra of galaxies

Energy Technology Data Exchange (ETDEWEB)

Marvil, Joshua; Owen, Frazer [National Radio Astronomy Observatory, 1003 Lopezville Rd, Socorro, NM 87801 (United States); Eilek, Jean, E-mail: josh.marvil@csiro.au [New Mexico Tech, Socorro, NM 87801 (United States)

2015-01-01

We investigate the spectral shape of the total continuum radiation, between 74 MHz and 5 GHz (400-6 cm in wavelength), for a large sample of bright galaxies. We take advantage of the overlapping survey coverage of the VLA Low-Frequency Sky Survey, the Westerbork Northern Sky Survey, the NRAO VLA Sky Survey, and the Green Bank 6 cm Survey to achieve significantly better resolution, sensitivity, and sample size compared to prior efforts of this nature. For our sample of 250 bright galaxies we measure a mean spectral index, α, of –0.69 between 1.4 and 4.85 GHz, –0.55 between 325 MHz and 1.4 GHz, and –0.45 between 74 and 325 MHz, which amounts to a detection of curvature in the mean spectrum. The magnitude of this curvature is approximately Δα = –0.2 per logarithmic frequency decade when fit with a generalized function having constant curvature. No trend in low-frequency spectral flattening versus galaxy inclination is evident in our data, suggesting that free-free absorption is not a satisfying explanation for the observed curvature. The ratio of thermal to non-thermal emission is estimated through two independent methods: (1) using the IRAS far-IR fluxes and (2) with the value of the total spectral index. Method (1) results in a distribution of 1.4 GHz thermal fractions of 9% ± 3%, which is consistent with previous studies, while method (2) produces a mean 1.4 GHz thermal fraction of 51% with dispersion 26%. The highly implausible values produced by method (2) indicate that the sum of typical power-law thermal and non-thermal components is not a viable model for the total spectral index between 325 and 1.4 GHz. An investigation into relationships between spectral index, infrared-derived quantities, and additional source properties reveals that galaxies with high radio luminosity in our sample are found to have, on average, a flatter radio spectral index, and early types tend to have excess radio emission when compared to the radio-infrared ratio of later

Autonomous GPS/INS navigation experiment for Space Transfer Vehicle

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

1993-01-01

An experiment to validate the concept of developing an autonomous integrated spacecraft navigation system using on board Global Positioning System (GPS) and Inertial Navigation System (INS) measurements is described. The feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e. improvement in position, velocity and attitude information, was previously demonstrated. An important aspect of this research is the automatic real time reconfiguration capability of the system designed to respond to changes in a spacecraft mission under the control of an expert system.

GAUSS Market Analysis for Integrated Satellite Communication and Navigation Location Based services

Science.gov (United States)

Di Fazio, Antonella; Dricot, Fabienne; Tata, Francesco

2003-07-01

The demand for mobile information services coupled with positioning technologies for delivering value- added services that depend on a user's location has rapidly increased during last years. In particular, services and applications related with improved mobility safety and transport efficiency look very attractive.Solutions for location services vary in respect of positioning accuracy and the technical infrastructure required, and the associated investment in terminals and networks. From the analysis of the state-of-the art, it comes that various technologies are currently available on the European market, while mobile industry is gearing up to launch a wide variety of location services like tracking, alarming and locating.Nevertheless, when addressing safety of life as well as security applications, severe hurdles have to be posed in the light of existing technologies. Existing navigation (e.g. GPS) and communication systems are not able to completely satisfy the needs and requirements of safety-of-life-critical applications. As a matter of fact, the GPS system's main weaknesses today is its lack of integrity, which means its inability to warn users of a malfunction in a reasonable time, while the other positioning techniques do not provide satisfactory accuracy as well, and terrestrial communication networks are not capable to cope with stringent requirement in terms of service reliability and coverage.In this context, GAUSS proposes an innovative satellite-based solution using novel technology and effective tools for addressing mobility challenges in a cost efficient manner, improving safety and effectiveness.GAUSS (Galileo And UMTS Synergetic System) is a Research and Technological Development project co- funded by European Commission, within the frame of the 5th IST Programme. The project lasted two years, and it was successfully completed in November 2002. GAUSS key concept is the integration of Satellite Navigation GNSS and UMTS communication technology, to

Global navigation satellite systems performance analysis and augmentation strategies in aviation

Science.gov (United States)

Sabatini, Roberto; Moore, Terry; Ramasamy, Subramanian

2017-11-01

In an era of significant air traffic expansion characterized by a rising congestion of the radiofrequency spectrum and a widespread introduction of Unmanned Aircraft Systems (UAS), Global Navigation Satellite Systems (GNSS) are being exposed to a variety of threats including signal interferences, adverse propagation effects and challenging platform-satellite relative dynamics. Thus, there is a need to characterize GNSS signal degradations and assess the effects of interfering sources on the performance of avionics GNSS receivers and augmentation systems used for an increasing number of mission-essential and safety-critical aviation tasks (e.g., experimental flight testing, flight inspection/certification of ground-based radio navigation aids, wide area navigation and precision approach). GNSS signal deteriorations typically occur due to antenna obscuration caused by natural and man-made obstructions present in the environment (e.g., elevated terrain and tall buildings when flying at low altitude) or by the aircraft itself during manoeuvring (e.g., aircraft wings and empennage masking the on-board GNSS antenna), ionospheric scintillation, Doppler shift, multipath, jamming and spurious satellite transmissions. Anyone of these phenomena can result in partial to total loss of tracking and possible tracking errors, depending on the severity of the effect and the receiver characteristics. After designing GNSS performance threats, the various augmentation strategies adopted in the Communication, Navigation, Surveillance/Air Traffic Management and Avionics (CNS + A) context are addressed in detail. GNSS augmentation can take many forms but all strategies share the same fundamental principle of providing supplementary information whose objective is improving the performance and/or trustworthiness of the system. Hence it is of paramount importance to consider the synergies offered by different augmentation strategies including Space Based Augmentation System (SBAS), Ground

Miniature EVA Software Defined Radio

Science.gov (United States)

Pozhidaev, Aleksey

2012-01-01

As NASA embarks upon developing the Next-Generation Extra Vehicular Activity (EVA) Radio for deep space exploration, the demands on EVA battery life will substantially increase. The number of modes and frequency bands required will continue to grow in order to enable efficient and complex multi-mode operations including communications, navigation, and tracking applications. Whether conducting astronaut excursions, communicating to soldiers, or first responders responding to emergency hazards, NASA has developed an innovative, affordable, miniaturized, power-efficient software defined radio that offers unprecedented power-efficient flexibility. This lightweight, programmable, S-band, multi-service, frequency- agile EVA software defined radio (SDR) supports data, telemetry, voice, and both standard and high-definition video. Features include a modular design, an easily scalable architecture, and the EVA SDR allows for both stationary and mobile battery powered handheld operations. Currently, the radio is equipped with an S-band RF section. However, its scalable architecture can accommodate multiple RF sections simultaneously to cover multiple frequency bands. The EVA SDR also supports multiple network protocols. It currently implements a Hybrid Mesh Network based on the 802.11s open standard protocol. The radio targets RF channel data rates up to 20 Mbps and can be equipped with a real-time operating system (RTOS) that can be switched off for power-aware applications. The EVA SDR's modular design permits implementation of the same hardware at all Network Nodes concept. This approach assures the portability of the same software into any radio in the system. It also brings several benefits to the entire system including reducing system maintenance, system complexity, and development cost.

Medical technology integration: CT, angiography, imaging-capable OR-table, navigation and robotics in a multifunctional sterile suite.

Science.gov (United States)

Jacob, A L; Regazzoni, P; Bilecen, D; Rasmus, M; Huegli, R W; Messmer, P

2007-01-01

Technology integration is an enabling technological prerequisite to achieve a major breakthrough in sophisticated intra-operative imaging, navigation and robotics in minimally invasive and/or emergency diagnosis and therapy. Without a high degree of integration and reliability comparable to that achieved in the aircraft industry image guidance in its different facets will not ultimately succeed. As of today technology integration in the field of image-guidance is close to nonexistent. Technology integration requires inter-departmental integration of human and financial resources and of medical processes in a dialectic way. This expanded techno-socio-economic integration has profound consequences for the administration and working conditions in hospitals. At the university hospital of Basel, Switzerland, a multimodality multifunction sterile suite was put into operation after a substantial pre-run. We report the lessons learned during our venture into the world of medical technology integration and describe new possibilities for similar integration projects in the future.

Autonomous GPS/INS navigation experiment for Space Transfer Vehicle (STV)

Science.gov (United States)

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

1991-01-01

An experiment to validate the concept of developing an autonomous integrated spacecraft navigation system using on board Global Positioning System (GPS) and Inertial Navigation System (INS) measurements is described. The feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e. improvement in position, velocity and attitude information, was previously demonstrated. An important aspect of this research is the automatic real time reconfiguration capability of the system designed to respond to changes in a spacecraft mission under the control of an expert system.

Wireless Phone Threat Assessment for Aircraft Communication and Navigation Radios

Science.gov (United States)

Nguyens, T. X.; Koppen, S. V.; Smith, L. J.; Williams, R. A.; Salud, M. T.

2005-01-01

Emissions in aircraft communication and navigation bands are measured for the latest generation of wireless phones. The two wireless technologies considered, GSM/GPRS and CDMA2000, are the latest available to general consumers in the U.S. A base-station simulator is used to control the phones. The measurements are conducted using reverberation chambers, and the results are compared against FCC and aircraft installed equipment emission limits. The results are also compared against baseline emissions from laptop computers and personal digital assistant devices that are currently allowed to operate on aircraft.

PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION

Directory of Open Access Journals (Sweden)

H. A. Mohamed

2015-08-01

Full Text Available Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK, and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS signal outage.

Performance Characteristic Mems-Based IMUs for UAVs Navigation

Science.gov (United States)

Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.

2015-08-01

Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

Ontology-centric integration and navigation of the dengue literature.

Science.gov (United States)

Rajapakse, Menaka; Kanagasabai, Rajaraman; Ang, Wee Tiong; Veeramani, Anitha; Schreiber, Mark J; Baker, Christopher J O

2008-10-01

Uninhibited access to the unstructured information distributed across the web and in scientific literature databases continues to be beyond the reach of scientists and health professionals. To address this challenge we have developed a literature driven, ontology-centric navigation infrastructure consisting of a content acquisition engine, a domain-specific ontology (in OWL-DL) and an ontology instantiation pipeline delivering sentences derived by domain-specific text mining. A visual query tool for reasoning over A-box instances in the populated ontology is presented and used to build conceptual queries that can be issued to the knowledgebase. We have deployed this generic infrastructure to facilitate data integration and knowledge sharing in the domain of dengue, which is one of the most prevalent viral diseases that continue to infect millions of people in the tropical and subtropical regions annually. Using our unique methodology we illustrate simplified search and discovery on dengue information derived from distributed resources and aggregated according to dengue ontology. Furthermore we apply data mining to the instantiated ontology to elucidate trends in the mentions of dengue serotypes in scientific abstracts since 1974.

Cyber security with radio frequency interferences mitigation study for satellite systems

Science.gov (United States)

Wang, Gang; Wei, Sixiao; Chen, Genshe; Tian, Xin; Shen, Dan; Pham, Khanh; Nguyen, Tien M.; Blasch, Erik

2016-05-01

Satellite systems including the Global Navigation Satellite System (GNSS) and the satellite communications (SATCOM) system provide great convenience and utility to human life including emergency response, wide area efficient communications, and effective transportation. Elements of satellite systems incorporate technologies such as navigation with the global positioning system (GPS), satellite digital video broadcasting, and information transmission with a very small aperture terminal (VSAT), etc. The satellite systems importance is growing in prominence with end users' requirement for globally high data rate transmissions; the cost reduction of launching satellites; development of smaller sized satellites including cubesat, nanosat, picosat, and femtosat; and integrating internet services with satellite networks. However, with the promising benefits, challenges remain to fully develop secure and robust satellite systems with pervasive computing and communications. In this paper, we investigate both cyber security and radio frequency (RF) interferences mitigation for satellite systems, and demonstrate that they are not isolated. The action space for both cyber security and RF interferences are firstly summarized for satellite systems, based on which the mitigation schemes for both cyber security and RF interferences are given. A multi-layered satellite systems structure is provided with cross-layer design considering multi-path routing and channel coding, to provide great security and diversity gains for secure and robust satellite systems.

Amblypygids: Model Organisms for the Study of Arthropod Navigation Mechanisms in Complex Environments?

Directory of Open Access Journals (Sweden)

Daniel D Wiegmann

2016-03-01

Full Text Available Navigation is an ideal behavioral model for the study of sensory system integration and the neural substrates associated with complex behavior. For this broader purpose, however, it may be profitable to develop new model systems that are both tractable and sufficiently complex to ensure that information derived from a single sensory modality and path integration are inadequate to locate a goal. Here, we discuss some recent discoveries related to navigation by amblypygids, nocturnal arachnids that inhabit the tropics and sub-tropics. Nocturnal displacement experiments under the cover of a tropical rainforest reveal that these animals possess navigational abilities that are reminiscent, albeit on a smaller spatial scale, of true-navigating vertebrates. Specialized legs, called antenniform legs, which possess hundreds of olfactory and tactile sensory hairs, and vision appear to be involved. These animals also have enormous mushroom bodies, higher-order brain regions that, in insects, integrate contextual cues and may be involved in spatial memory. In amblypygids, the complexity of a nocturnal rainforest may impose navigational challenges that favor the integration of information derived from multimodal cues. Moreover, the movement of these animals is easily studied in the laboratory and putative neural integration sites of sensory information can be manipulated. Thus, amblypygids could serve as a model system for the discovery of neural substrates associated with a unique and potentially sophisticated navigational capability. The diversity of habitats in which amblypygids are found also offers an opportunity for comparative studies of sensory integration and ecological selection pressures on navigation mechanisms.

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. In...... hexapod robots. As a result, it allows the robots to successfully learn to navigate to distal goals in complex environments.......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....... Inspired by this, we develop an adaptive landmark-based navigation system based on sequential reinforcement learning. In addition, correlation-based learning is also integrated into the system to improve learning performance. The proposed system has been applied to simulated simple wheeled and more complex...

Real-time in situ three-dimensional integral videography and surgical navigation using augmented reality: a pilot study

Science.gov (United States)

Suenaga, Hideyuki; Hoang Tran, Huy; Liao, Hongen; Masamune, Ken; Dohi, Takeyoshi; Hoshi, Kazuto; Mori, Yoshiyuki; Takato, Tsuyoshi

2013-01-01

To evaluate the feasibility and accuracy of a three-dimensional augmented reality system incorporating integral videography for imaging oral and maxillofacial regions, based on preoperative computed tomography data. Three-dimensional surface models of the jawbones, based on the computed tomography data, were used to create the integral videography images of a subject's maxillofacial area. The three-dimensional augmented reality system (integral videography display, computed tomography, a position tracker and a computer) was used to generate a three-dimensional overlay that was projected on the surgical site via a half-silvered mirror. Thereafter, a feasibility study was performed on a volunteer. The accuracy of this system was verified on a solid model while simulating bone resection. Positional registration was attained by identifying and tracking the patient/surgical instrument's position. Thus, integral videography images of jawbones, teeth and the surgical tool were superimposed in the correct position. Stereoscopic images viewed from various angles were accurately displayed. Change in the viewing angle did not negatively affect the surgeon's ability to simultaneously observe the three-dimensional images and the patient, without special glasses. The difference in three-dimensional position of each measuring point on the solid model and augmented reality navigation was almost negligible (augmented reality system was highly accurate and effective for surgical navigation and for overlaying a three-dimensional computed tomography image on a patient's surgical area, enabling the surgeon to understand the positional relationship between the preoperative image and the actual surgical site, with the naked eye. PMID:23703710

A 10-gram Microflyer for Vision-based Indoor Navigation

OpenAIRE

Zufferey, Jean-Christophe; Klaptocz, Adam; Beyeler, Antoine; Nicoud, Jean-Daniel; Floreano, Dario

2006-01-01

We aim at developing ultralight autonomous microflyers capable of navigating within houses or small built environments. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for airspeed regulation and collision avoidance. This microflyer is equipped with two tiny camera modules, two rate gyroscopes, an anemometer, a small microcontroller, and a Bluetooth radio module. In-flight tests are carried out ...

A Neurocomputational Model of Goal-Directed Navigation in Insect-Inspired Artificial Agents.

Science.gov (United States)

Goldschmidt, Dennis; Manoonpong, Poramate; Dasgupta, Sakyasingha

2017-01-01

Despite their small size, insect brains are able to produce robust and efficient navigation in complex environments. Specifically in social insects, such as ants and bees, these navigational capabilities are guided by orientation directing vectors generated by a process called path integration. During this process, they integrate compass and odometric cues to estimate their current location as a vector, called the home vector for guiding them back home on a straight path. They further acquire and retrieve path integration-based vector memories globally to the nest or based on visual landmarks. Although existing computational models reproduced similar behaviors, a neurocomputational model of vector navigation including the acquisition of vector representations has not been described before. Here we present a model of neural mechanisms in a modular closed-loop control-enabling vector navigation in artificial agents. The model consists of a path integration mechanism, reward-modulated global learning, random search, and action selection. The path integration mechanism integrates compass and odometric cues to compute a vectorial representation of the agent's current location as neural activity patterns in circular arrays. A reward-modulated learning rule enables the acquisition of vector memories by associating the local food reward with the path integration state. A motor output is computed based on the combination of vector memories and random exploration. In simulation, we show that the neural mechanisms enable robust homing and localization, even in the presence of external sensory noise. The proposed learning rules lead to goal-directed navigation and route formation performed under realistic conditions. Consequently, we provide a novel approach for vector learning and navigation in a simulated, situated agent linking behavioral observations to their possible underlying neural substrates.

Integrating uncertainty propagation in GNSS radio occultation retrieval: from excess phase to atmospheric bending angle profiles

Directory of Open Access Journals (Sweden)

J. Schwarz

2018-05-01

Full Text Available Global Navigation Satellite System (GNSS radio occultation (RO observations are highly accurate, long-term stable data sets and are globally available as a continuous record from 2001. Essential climate variables for the thermodynamic state of the free atmosphere – such as pressure, temperature, and tropospheric water vapor profiles (involving background information – can be derived from these records, which therefore have the potential to serve as climate benchmark data. However, to exploit this potential, atmospheric profile retrievals need to be very accurate and the remaining uncertainties quantified and traced throughout the retrieval chain from raw observations to essential climate variables. The new Reference Occultation Processing System (rOPS at the Wegener Center aims to deliver such an accurate RO retrieval chain with integrated uncertainty propagation. Here we introduce and demonstrate the algorithms implemented in the rOPS for uncertainty propagation from excess phase to atmospheric bending angle profiles, for estimated systematic and random uncertainties, including vertical error correlations and resolution estimates. We estimated systematic uncertainty profiles with the same operators as used for the basic state profiles retrieval. The random uncertainty is traced through covariance propagation and validated using Monte Carlo ensemble methods. The algorithm performance is demonstrated using test day ensembles of simulated data as well as real RO event data from the satellite missions CHAllenging Minisatellite Payload (CHAMP; Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC; and Meteorological Operational Satellite A (MetOp. The results of the Monte Carlo validation show that our covariance propagation delivers correct uncertainty quantification from excess phase to bending angle profiles. The results from the real RO event ensembles demonstrate that the new uncertainty estimation chain performs

Passive Thermal Design Approach for the Space Communications and Navigation (SCaN) Testbed Experiment on the International Space Station (ISS)

Science.gov (United States)

Siamidis, John; Yuko, Jim

2014-01-01

The Space Communications and Navigation (SCaN) Program Office at NASA Headquarters oversees all of NASAs space communications activities. SCaN manages and directs the ground-based facilities and services provided by the Deep Space Network (DSN), Near Earth Network (NEN), and the Space Network (SN). Through the SCaN Program Office, NASA GRC developed a Software Defined Radio (SDR) testbed experiment (SCaN testbed experiment) for use on the International Space Station (ISS). It is comprised of three different SDR radios, the Jet Propulsion Laboratory (JPL) radio, Harris Corporation radio, and the General Dynamics Corporation radio. The SCaN testbed experiment provides an on-orbit, adaptable, SDR Space Telecommunications Radio System (STRS) - based facility to conduct a suite of experiments to advance the Software Defined Radio, Space Telecommunications Radio Systems (STRS) standards, reduce risk (Technology Readiness Level (TRL) advancement) for candidate Constellation future space flight hardware software, and demonstrate space communication links critical to future NASA exploration missions. The SCaN testbed project provides NASA, industry, other Government agencies, and academic partners the opportunity to develop and field communications, navigation, and networking technologies in the laboratory and space environment based on reconfigurable, software defined radio platforms and the STRS Architecture.The SCaN testbed is resident on the P3 Express Logistics Carrier (ELC) on the exterior truss of the International Space Station (ISS). The SCaN testbed payload launched on the Japanese Aerospace Exploration Agency (JAXA) H-II Transfer Vehicle (HTV) and was installed on the ISS P3 ELC located on the inboard RAM P3 site. The daily operations and testing are managed out of NASA GRC in the Telescience Support Center (TSC).

Navigation Signal Disturbances by Multipath Propagation - Scaled Measurements with a Universal Channel Sounder Architecture

Science.gov (United States)

Geise, Robert; Neubauer, Bjoern; Zimmer, Georg

2015-11-01

The performance of navigation systems is always reduced by unwanted multipath propagation. This is especially of practical importance for airborne navigation systems like the instrument landing system (ILS) or the VHF omni directional radio range (VOR). Nevertheless, the quantitative analysis of corresponding, potentially harmful multipath propagation disturbances is very difficult due to the large parameter space. Experimentally difficulties arise due to very expensive, real scale measurement campaigns and numerical simulation techniques still have shortcomings which are briefly discussed. In this contribution a new universal approach is introduced on how to measure very flexibly multipath propagation effects for arbitrary navigation systems using a channel sounder architecture in a scaled measurement environment. Two relevant scenarios of multipath propagation and the impact on navigation signals are presented. The first describes disturbances of the ILS due to large taxiing aircraft. The other example shows the influence of rotating wind turbines on the VOR.

GPS and Galileo Developments on Board the International Space Station With the Space Communications and Navigation (SCaN) Testbed

Science.gov (United States)

Pozzobon, Oscar; Fantinato, Samuele; Dalla Chiara, Andrea; Gamba, Giovanni; Crisci, Massimo; Giordana, Pietro; Enderle, Werner; Chelmins, David; Sands, Obed S.; Clapper, Carolyn J.;

Interfacing Space Communications and Navigation Network Simulation with Distributed System Integration Laboratories (DSIL)

Science.gov (United States)

Jennings, Esther H.; Nguyen, Sam P.; Wang, Shin-Ywan; Woo, Simon S.

2008-01-01

NASA's planned Lunar missions will involve multiple NASA centers where each participating center has a specific role and specialization. In this vision, the Constellation program (CxP)'s Distributed System Integration Laboratories (DSIL) architecture consist of multiple System Integration Labs (SILs), with simulators, emulators, testlabs and control centers interacting with each other over a broadband network to perform test and verification for mission scenarios. To support the end-to-end simulation and emulation effort of NASA' exploration initiatives, different NASA centers are interconnected to participate in distributed simulations. Currently, DSIL has interconnections among the following NASA centers: Johnson Space Center (JSC), Kennedy Space Center (KSC), Marshall Space Flight Center (MSFC) and Jet Propulsion Laboratory (JPL). Through interconnections and interactions among different NASA centers, critical resources and data can be shared, while independent simulations can be performed simultaneously at different NASA locations, to effectively utilize the simulation and emulation capabilities at each center. Furthermore, the development of DSIL can maximally leverage the existing project simulation and testing plans. In this work, we describe the specific role and development activities at JPL for Space Communications and Navigation Network (SCaN) simulator using the Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) tool to simulate communications effects among mission assets. Using MACHETE, different space network configurations among spacecrafts and ground systems of various parameter sets can be simulated. Data that is necessary for tracking, navigation, and guidance of spacecrafts such as Crew Exploration Vehicle (CEV), Crew Launch Vehicle (CLV), and Lunar Relay Satellite (LRS) and orbit calculation data are disseminated to different NASA centers and updated periodically using the High Level Architecture (HLA). In

Functional screen printed radio frequency identification tags on flexible substrates, facilitating low-cost and integrated point-of-care diagnostics

CSIR Research Space (South Africa)

Smith, Suzanne

2018-05-01

Full Text Available This work explores the practical functionality of ultra-high frequency (UHF) radio frequency identification (RFID) tags screen printed onto various low-cost, flexible substrates. The need for integrated and automated low-cost point...

Golf cart prototype development and navigation simulation using ROS and Gazebo

Directory of Open Access Journals (Sweden)

Shimchik Ilya

2016-01-01

Full Text Available This paper presents our approach to development of an autonomous golf cart, which will navigate in inaccessible by regular vehicles private areas. For this purpose, we have built a virtual golf course terrain and golf cart model in Gazebo, selected and modernized ROS-based packages in order to use them with Ackermann steering vehicle simulation. To verify our simulation and algorithms, we navigated the golf cart model from one golf hole to another within a virtual 3D golf course. For the real world algorithms’ verification, we developed a small-size vehicle prototype based on Traxxas radio-controlled car model, which is equipped with an on-board controller and sensors. The autonomous navigation of Traxxas-based vehicle prototype has been tested in indoor environment, where it utilized sensory data about environment and vehicle states, and performed localization, optimal trajectory computation and dynamic obstacles’ recognition with adjusting the route in real time.

GPS navigation algorithms for Autonomous Airborne Refueling of Unmanned Air Vehicles

Science.gov (United States)

Khanafseh, Samer Mahmoud

Unmanned Air Vehicles (UAVs) have recently generated great interest because of their potential to perform hazardous missions without risking loss of life. If autonomous airborne refueling is possible for UAVs, mission range and endurance will be greatly enhanced. However, concerns about UAV-tanker proximity, dynamic mobility and safety demand that the relative navigation system meets stringent requirements on accuracy, integrity, and continuity. In response, this research focuses on developing high-performance GPS-based navigation architectures for Autonomous Airborne Refueling (AAR) of UAVs. The AAR mission is unique because of the potentially severe sky blockage introduced by the tanker. To address this issue, a high-fidelity dynamic sky blockage model was developed and experimentally validated. In addition, robust carrier phase differential GPS navigation algorithms were derived, including a new method for high-integrity reacquisition of carrier cycle ambiguities for recently-blocked satellites. In order to evaluate navigation performance, world-wide global availability and sensitivity covariance analyses were conducted. The new navigation algorithms were shown to be sufficient for turn-free scenarios, but improvement in performance was necessary to meet the difficult requirements for a general refueling mission with banked turns. Therefore, several innovative methods were pursued to enhance navigation performance. First, a new theoretical approach was developed to quantify the position-domain integrity risk in cycle ambiguity resolution problems. A mechanism to implement this method with partially-fixed cycle ambiguity vectors was derived, and it was used to define tight upper bounds on AAR navigation integrity risk. A second method, where a new algorithm for optimal fusion of measurements from multiple antennas was developed, was used to improve satellite coverage in poor visibility environments such as in AAR. Finally, methods for using data-link extracted

A 6.45 μW Self-Powered SoC With Integrated Energy-Harvesting Power Management and ULP Asymmetric Radios for Portable Biomedical Systems.

Science.gov (United States)

Roy, Abhishek; Klinefelter, Alicia; Yahya, Farah B; Chen, Xing; Gonzalez-Guerrero, Luisa Patricia; Lukas, Christopher J; Kamakshi, Divya Akella; Boley, James; Craig, Kyle; Faisal, Muhammad; Oh, Seunghyun; Roberts, Nathan E; Shakhsheer, Yousef; Shrivastava, Aatmesh; Vasudevan, Dilip P; Wentzloff, David D; Calhoun, Benton H

2015-12-01

This paper presents a batteryless system-on-chip (SoC) that operates off energy harvested from indoor solar cells and/or thermoelectric generators (TEGs) on the body. Fabricated in a commercial 0.13 μW process, this SoC sensing platform consists of an integrated energy harvesting and power management unit (EH-PMU) with maximum power point tracking, multiple sensing modalities, programmable core and a low power microcontroller with several hardware accelerators to enable energy-efficient digital signal processing, ultra-low-power (ULP) asymmetric radios for wireless transmission, and a 100 nW wake-up radio. The EH-PMU achieves a peak end-to-end efficiency of 75% delivering power to a 100 μA load. In an example motion detection application, the SoC reads data from an accelerometer through SPI, processes it, and sends it over the radio. The SPI and digital processing consume only 2.27 μW, while the integrated radio consumes 4.18 μW when transmitting at 187.5 kbps for a total of 6.45 μW.

Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation.

Science.gov (United States)

Wang, Hubiao; Wu, Lin; Chai, Hua; Bao, Lifeng; Wang, Yong

2017-12-20

An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1' × 1' marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N ( u , σ 2 ) with varying mean u and noise variance σ 2 . Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ 2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1-2 mGal accuracy) and the reference map (resolution 1' × 1'; accuracy 3-8 mGal), location accuracy of IGNS was up to reach ~1.0-3.0 n miles in the South China Sea.

Image navigation as a means to expand the boundaries of fluorescence-guided surgery.

Science.gov (United States)

Brouwer, Oscar R; Buckle, Tessa; Bunschoten, Anton; Kuil, Joeri; Vahrmeijer, Alexander L; Wendler, Thomas; Valdés-Olmos, Renato A; van der Poel, Henk G; van Leeuwen, Fijs W B

2012-05-21

Hybrid tracers that are both radioactive and fluorescent help extend the use of fluorescence-guided surgery to deeper structures. Such hybrid tracers facilitate preoperative surgical planning using (3D) scintigraphic images and enable synchronous intraoperative radio- and fluorescence guidance. Nevertheless, we previously found that improved orientation during laparoscopic surgery remains desirable. Here we illustrate how intraoperative navigation based on optical tracking of a fluorescence endoscope may help further improve the accuracy of hybrid surgical guidance. After feeding SPECT/CT images with an optical fiducial as a reference target to the navigation system, optical tracking could be used to position the tip of the fluorescence endoscope relative to the preoperative 3D imaging data. This hybrid navigation approach allowed us to accurately identify marker seeds in a phantom setup. The multispectral nature of the fluorescence endoscope enabled stepwise visualization of the two clinically approved fluorescent dyes, fluorescein and indocyanine green. In addition, the approach was used to navigate toward the prostate in a patient undergoing robot-assisted prostatectomy. Navigation of the tracked fluorescence endoscope toward the target identified on SPECT/CT resulted in real-time gradual visualization of the fluorescent signal in the prostate, thus providing an intraoperative confirmation of the navigation accuracy.

Recent progress in satellite radio beacon studies with particular emphasis on the ATS-6 radio beacon experiment

International Nuclear Information System (INIS)

Davies, K.

1980-01-01

In May 1974 a new era in satellite radio beacon studies of the ionosphere opened with the ATS-6 Radio Beacon Experiment. The history of radio beacon studies up to that time is reviewed briefly and the particular features of the ATS-6 beacon are discussed together with the basic theory required to interpret the measurements. The main emphasis is on the ATS-6 beacon experiment but other beacon data are discussed which provide the necessary background. The diurnal and seasonal variations of the total electron content and the plasmaspheric content are presented for the U.S.A. and Europe. In winter the plasmaspheric content over the Western Hemisphere maximizes at night while in Europe and the Pacific it appears to peak near noon. This is thought to be caused by flow of plasma from the local and conjugate ionospheres. Night maxima of total electron content are found showing that they do not arise from depletions of the plasmaspheric content. The plasmaspheric content is highly sensitive to solar-terrestrial disturbance, it reaches a minimum on the third day of a storm and may take between 10 and 20 days of partial filling and emptying to recover. Travelling disturbances in U.S.A., Europe, and India show similarities of speeds but not of direction. Beacon observations of micropulsations in total content, tropospheric fluctuations and Fresnel diffraction by intense ionospheric irregularities are discussed together with radio wave scintillations and some applications of beacon radio data to communications and navigation. (orig.)

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

Integrated reconfigurable multiple-input–multiple-output antenna system with an ultra-wideband sensing antenna for cognitive radio platforms

KAUST Repository

Hussain, Rifaqat

2015-06-18

© The Institution of Engineering and Technology 2015. A compact, novel multi-mode, multi-band frequency reconfigurable multiple-input-multiple-output (MIMO) antenna system, integrated with ultra-wideband (UWB) sensing antenna, is presented. The developed model can be used as a complete antenna platform for cognitive radio applications. The antenna system is developed on a single substrate area of dimensions 65 × 120 mm². The proposed sensing antenna is used to cover a wide range of frequency bands from 710 to 3600 MHz. The frequency reconfigurable dual-element MIMO antenna is integrated with P-type, intrinsic, N-type (PIN) diodes for frequency agility. Different modes of selection are used for the MIMO antenna system reconfigurability to support different wireless system standards. The proposed MIMO antenna configuration is used to cover various frequency bands from 755 to 3450 MHz. The complete system comprising the multi-band reconfigurable MIMO antennas and UWB sensing antenna for cognitive radio applications is proposed with a compact form factor.

Cognitive Radio for Smart Grid with Security Considerations

Directory of Open Access Journals (Sweden)

Khaled Shuaib

2016-04-01

Full Text Available In this paper, we investigate how Cognitive Radio as a means of communication can be utilized to serve a smart grid deployment end to end, from a home area network to power generation. We show how Cognitive Radio can be mapped to integrate the possible different communication networks within a smart grid large scale deployment. In addition, various applications in smart grid are defined and discussed showing how Cognitive Radio can be used to fulfill their communication requirements. Moreover, information security issues pertained to the use of Cognitive Radio in a smart grid environment at different levels and layers are discussed and mitigation techniques are suggested. Finally, the well-known Role-Based Access Control (RBAC is integrated with the Cognitive Radio part of a smart grid communication network to protect against unauthorized access to customer’s data and to the network at large.

Miniaturized GPS/MEMS IMU integrated board

Science.gov (United States)

Lin, Ching-Fang (Inventor)

2012-01-01

This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.

VISION-AIDED CONTEXT-AWARE FRAMEWORK FOR PERSONAL NAVIGATION SERVICES

Directory of Open Access Journals (Sweden)

S. Saeedi

2012-07-01

Full Text Available The ubiquity of mobile devices (such as smartphones and tablet-PCs has encouraged the use of location-based services (LBS that are relevant to the current location and context of a mobile user. The main challenge of LBS is to find a pervasive and accurate personal navigation system (PNS in different situations of a mobile user. In this paper, we propose a method of personal navigation for pedestrians that allows a user to freely move in outdoor environments. This system aims at detection of the context information which is useful for improving personal navigation. The context information for a PNS consists of user activity modes (e.g. walking, stationary, driving, and etc. and the mobile device orientation and placement with respect to the user. After detecting the context information, a low-cost integrated positioning algorithm has been employed to estimate pedestrian navigation parameters. The method is based on the integration of the relative user’s motion (changes of velocity and heading angle estimation based on the video image matching and absolute position information provided by GPS. A Kalman filter (KF has been used to improve the navigation solution when the user is walking and the phone is in his/her hand. The Experimental results demonstrate the capabilities of this method for outdoor personal navigation systems.

Analysis of time in establishing synchronization radio communication system with expanded spectrum conditions for communication with mobile robots

Science.gov (United States)

Latinovic, T. S.; Kalabic, S. B.; Barz, C. R.; Petrica, P. Paul; Pop-Vădean, A.

2018-01-01

This paper analyzes the influence of the Doppler Effect on the length of time to establish synchronization pseudorandom sequences in radio communications systems with an expanded spectrum. Also, this paper explores the possibility of using secure wireless communication for modular robots. Wireless communication could be used for local and global communication. We analyzed a radio communication system integrator, including the two effects of the Doppler signal on the duration of establishing synchronization of the received and locally generated pseudorandom sequence. The effects of the impact of the variability of the phase were analyzed between the said sequences and correspondence of the phases of these signals with the interval of time of acquisition of received sequences. An analysis of these impacts is essential in the transmission of signal and protection of the transfer of information in the communication systems with an expanded range (telecommunications, mobile telephony, Global Navigation Satellite System GNSS, and wireless communication). Results show that wireless communication can provide a safety approach for communication with mobile robots.

GEOREFERENCING IN GNSS-CHALLENGED ENVIRONMENT: INTEGRATING UWB AND IMU TECHNOLOGIES

Directory of Open Access Journals (Sweden)

C. K. Toth

2017-05-01

Full Text Available Acquiring geospatial data in GNSS compromised environments remains a problem in mapping and positioning in general. Urban canyons, heavily vegetated areas, indoor environments represent different levels of GNSS signal availability from weak to no signal reception. Even outdoors, with multiple GNSS systems, with an ever-increasing number of satellites, there are many situations with limited or no access to GNSS signals. Independent navigation sensors, such as IMU can provide high-data rate information but their initial accuracy degrades quickly, as the measurement data drift over time unless positioning fixes are provided from another source. At The Ohio State University’s Satellite Positioning and Inertial Navigation (SPIN Laboratory, as one feasible solution, Ultra- Wideband (UWB radio units are used to aid positioning and navigating in GNSS compromised environments, including indoor and outdoor scenarios. Here we report about experiences obtained with georeferencing a pushcart based sensor system under canopied areas. The positioning system is based on UWB and IMU sensor integration, and provides sensor platform orientation for an electromagnetic inference (EMI sensor. Performance evaluation results are provided for various test scenarios, confirming acceptable results for applications where high accuracy is not required.

Laboratory experiments in mobile robot navigation

International Nuclear Information System (INIS)

Kar, Asim; Pal, Prabir K.

1997-01-01

Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

Geomagnetic storm effects on GPS based navigation

Directory of Open Access Journals (Sweden)

P. V. S. Rama Rao

2009-05-01

Full Text Available The energetic events on the sun, solar wind and subsequent effects on the Earth's geomagnetic field and upper atmosphere (ionosphere comprise space weather. Modern navigation systems that use radio-wave signals, reflecting from or propagating through the ionosphere as a means of determining range or distance, are vulnerable to a variety of effects that can degrade the performance of the navigational systems. In particular, the Global Positioning System (GPS that uses a constellation of earth orbiting satellites are affected due to the space weather phenomena.

Studies made during two successive geomagnetic storms that occurred during the period from 8 to 12 November 2004, have clearly revealed the adverse affects on the GPS range delay as inferred from the Total Electron Content (TEC measurements made from a chain of seven dual frequency GPS receivers installed in the Indian sector. Significant increases in TEC at the Equatorial Ionization anomaly crest region are observed, resulting in increased range delay during the periods of the storm activity. Further, the storm time rapid changes occurring in TEC resulted in a number of phase slips in the GPS signal compared to those on quiet days. These phase slips often result in the loss of lock of the GPS receivers, similar to those that occur during strong(>10 dB L-band scintillation events, adversely affecting the GPS based navigation.

Multi-rover navigation on the lunar surface

Science.gov (United States)

Dabrowski, Borys; Banaszkiewicz, Marek

2008-07-01

The paper presents a method of determination an accurate position of a target (rover, immobile sensor, astronaut) on surface of the Moon or other celestial body devoid of navigation infrastructure (like Global Positioning System), by using a group of self-calibrating rovers, which serves as mobile reference points. The rovers are equipped with low-precision clocks synchronized by external broadcasting signal, to measure the moments of receiving radio signals sent by localized target. Based on the registered times, distances between transmitter and receivers installed on beacons are calculated. Each rover determines and corrects its own absolute position and orientation by using odometry navigation and measurements of relative distances and angles to other mobile reference points. Accuracy of navigation has been improved by the use of a calibration algorithm based on the extended Kalman filter, which uses internal encoder readings as inputs and relative measurements of distances and orientations between beacons as feedback information. The key idea in obtaining reliable values of absolute position and orientation of beacons is to first calibrate one of the rovers, using the remaining ones as reference points and then allow the whole group to move together and calibrate all the rovers in-motion. We consider a number of cases, in which basic modeling parameters such as terrain roughness, formation size and shape as well as availability of distance and angle measurements are varied.

Development of Fast Error Compensation Algorithm for Integrated Inertial-Satellite Navigation System of Small-size Unmanned Aerial Vehicles in Complex Environment

Directory of Open Access Journals (Sweden)

A. V. Fomichev

2015-01-01

Full Text Available In accordance with the structural features of small-size unmanned aerial vehicle (UAV, and considering the feasibility of this project, the article studies an integrated inertial-satellite navigation system (INS. The INS algorithm development is based on the method of indirect filtration and principle of loosely coupled combination of output data on UAV positions and velocity. Data on position and velocity are provided from the strapdown inertial navigation system (SINS and satellite navigation system (GPS. A difference between the output flows of measuring data on position and velocity provided from the SINS and GPS is used to evaluate SINS errors by means of the basic algorithm of Kalman filtering. Then the outputs of SINS are revised. The INS possesses the following advantages: a simpler mathematical model of Kalman filtering, high reliability, two independently operating navigation systems, and high redundancy of available navigation information.But in case of loosely coupled scheme, INS can meet the challenge of high precision and reliability of navigation only when the SINS and GPS operating conditions are normal all the time. The proposed INS is used with UAV moving in complex environment due to obstacles available, severe natural climatic conditions, etc. This case expects that it is impossible for UAV to receive successful GPS-signals frequently. In order to solve this problem, was developed an algorithm for rapid compensation for errors of INS information, which could effectively solve the problem of failure of the navigation system in case there are no GPS-signals .Since it is almost impossible to obtain the data of the real trajectory in practice, in the course of simulation in accordance with the kinematic model of the UAV and the complex environment of the terrain, the flight path generator is used to produce the flight path. The errors of positions and velocities are considered as an indicator of the INS effectiveness. The results

A Discussion on e-Navigation and Implementation in Turkey

Directory of Open Access Journals (Sweden)

Y.V. Aydogdu

2014-03-01

Full Text Available Electronic navigation, which has great important for ship management, has taken a step with technological improvements. In the result of these enhancements, new systems appeared as well as existing systems and these systems began to be integrated each other or used data of obtaining from the others like that AIS, Radar, ECDIS etc. All these and likely future systems have been put together under the roof of enhanced navigation (e-navigation is defined by organizations such as International Maritime Organization (IMO, International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA, General Lighthouse Authority (GLA etc. Especially IALA guidelines serve as model future applications in Turkish waterways. In this study aim to redefine e-navigation concept based on maritime safety awareness, maritime service portfolio (MSC 85/26 and discuss possible applications.

Granger causal connectivity dissociates navigation networks that subserve allocentric and egocentric path integration.

Science.gov (United States)

Lin, Chin-Teng; Chiu, Te-Cheng; Wang, Yu-Kai; Chuang, Chun-Hsiang; Gramann, Klaus

2018-01-15

Studies on spatial navigation demonstrate a significant role of the retrosplenial complex (RSC) in the transformation of egocentric and allocentric information into complementary spatial reference frames (SRFs). The tight anatomical connections of the RSC with a wide range of other cortical regions processing spatial information support its vital role within the human navigation network. To better understand how different areas of the navigational network interact, we investigated the dynamic causal interactions of brain regions involved in solving a virtual navigation task. EEG signals were decomposed by independent component analysis (ICA) and subsequently examined for information flow between clusters of independent components (ICs) using direct short-time directed transfer function (sdDTF). The results revealed information flow between the anterior cingulate cortex and the left prefrontal cortex in the theta (4-7 Hz) frequency band and between the prefrontal, motor, parietal, and occipital cortices as well as the RSC in the alpha (8-13 Hz) frequency band. When participants prefered to use distinct reference frames (egocentric vs. allocentric) during navigation was considered, a dominant occipito-parieto-RSC network was identified in allocentric navigators. These results are in line with the assumption that the RSC, parietal, and occipital cortices are involved in transforming egocentric visual-spatial information into an allocentric reference frame. Moreover, the RSC demonstrated the strongest causal flow during changes in orientation, suggesting that this structure directly provides information on heading changes in humans. Copyright © 2017 Elsevier B.V. All rights reserved.

Optical detection of radio waves through a nanomechanical transducer

DEFF Research Database (Denmark)

Bagci, Tolga; Simonsen, A; Schmid, Silvan

2013-01-01

Low-loss transmission and sensitive recovery of weak radio-frequency (rf) and microwave signals is an ubiquitous technological challenge, crucial in fields as diverse as radio astronomy, medical imaging, navigation and communication, including those of quantum states. Efficient upconversion of rf-signals...... to an optical carrier would allow transmitting them via optical fibers instead of copper wires dramatically reducing losses, and give access to the mature toolbox of quantum optical techniques, routinely enabling quantum-limited signal detection. Research in the field of cavity optomechanics [1, 2] has shown...... reflected off its metallized surface. The circuit acts as an antenna; the voltage signals it induces are detected as an optical phase shift with quantum-limited sensitivity. The corresponding half-wave voltage is in the microvolt range, orders of magnitude below that of standard optical modulators...

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

Needle and catheter navigation using electromagnetic tracking for computer-assisted C-arm CT interventions

Science.gov (United States)

Nagel, Markus; Hoheisel, Martin; Petzold, Ralf; Kalender, Willi A.; Krause, Ulrich H. W.

2007-03-01

Integrated solutions for navigation systems with CT, MR or US systems become more and more popular for medical products. Such solutions improve the medical workflow, reduce hardware, space and costs requirements. The purpose of our project was to develop a new electromagnetic navigation system for interventional radiology which is integrated into C-arm CT systems. The application is focused on minimally invasive percutaneous interventions performed under local anaesthesia. Together with a vacuum-based patient immobilization device and newly developed navigation tools (needles, panels) we developed a safe and fully automatic navigation system. The radiologist can directly start with navigated interventions after loading images without any prior user interaction. The complete system is adapted to the requirements of the radiologist and to the clinical workflow. For evaluation of the navigation system we performed different phantom studies and achieved an average accuracy of better than 2.0 mm.

Systems Engineering Approach to Develop Guidance, Navigation and Control Algorithms for Unmanned Ground Vehicle

Science.gov (United States)

2016-09-01

Global Positioning System HNA hybrid navigation algorithm HRI human-robot interface IED Improvised Explosive Device IMU inertial measurement unit...Potential Field Method R&D research and development RDT&E Research, development, test and evaluation RF radiofrequency RGB red, green and blue ROE...were radiofrequency (RF) controlled and pneumatically actuated upon receiving the wireless commands from the radio operator. The pairing of such an

The Navigation Guide—Evidence-Based Medicine Meets Environmental Health: Integration of Animal and Human Evidence for PFOA Effects on Fetal Growth

Science.gov (United States)

Koustas, Erica; Sutton, Patrice; Johnson, Paula I.; Atchley, Dylan S.; Sen, Saunak; Robinson, Karen A.; Axelrad, Daniel A.; Woodruff, Tracey J.

2014-01-01

Background: The Navigation Guide is a novel systematic review method to synthesize scientific evidence and reach strength of evidence conclusions for environmental health decision making. Objective: Our aim was to integrate scientific findings from human and nonhuman studies to determine the overall strength of evidence for the question “Does developmental exposure to perfluorooctanoic acid (PFOA) affect fetal growth in humans?” Methods: We developed and applied prespecified criteria to systematically and transparently a) rate the quality of the scientific evidence as “high,” “moderate,” or “low”; b) rate the strength of the human and nonhuman evidence separately as “sufficient,” “limited,” “moderate,” or “evidence of lack of toxicity”; and c) integrate the strength of the human and nonhuman evidence ratings into a strength of the evidence conclusion. Results: We identified 18 epidemiology studies and 21 animal toxicology studies relevant to our study question. We rated both the human and nonhuman mammalian evidence as “moderate” quality and “sufficient” strength. Integration of these evidence ratings produced a final strength of evidence rating in which review authors concluded that PFOA is “known to be toxic” to human reproduction and development based on sufficient evidence of decreased fetal growth in both human and nonhuman mammalian species. Conclusion: We concluded that developmental exposure to PFOA adversely affects human health based on sufficient evidence of decreased fetal growth in both human and nonhuman mammalian species. The results of this case study demonstrate the application of a systematic and transparent methodology, via the Navigation Guide, for reaching strength of evidence conclusions in environmental health. Citation: Lam J, Koustas E, Sutton P, Johnson PI, Atchley DS, Sen S, Robinson KA, Axelrad DA, Woodruff TJ. 2014. The Navigation Guide—evidence-based medicine meets environmental health

Towards Safe Navigation by Formalizing Navigation Rules

Directory of Open Access Journals (Sweden)

Arne Kreutzmann

2013-06-01

Full Text Available One crucial aspect of safe navigation is to obey all navigation regulations applicable, in particular the collision regulations issued by the International Maritime Organization (IMO Colregs. Therefore, decision support systems for navigation need to respect Colregs and this feature should be verifiably correct. We tackle compliancy of navigation regulations from a perspective of software verification. One common approach is to use formal logic, but it requires to bridge a wide gap between navigation concepts and simple logic. We introduce a novel domain specification language based on a spatio-temporal logic that allows us to overcome this gap. We are able to capture complex navigation concepts in an easily comprehensible representation that can direcly be utilized by various bridge systems and that allows for software verification.

Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI

Directory of Open Access Journals (Sweden)

Baoxin Hu

2012-09-01

Full Text Available Despite its popularity, the development of an embedded real-time multisensor kinematic positioning and navigation system discourages many researchers and developers due to its complicated hardware environment setup and time consuming device driver development. To address these issues, this paper proposed a multisensor kinematic positioning and navigation system built on Linux with Real Time Application Interface (RTAI, which can be constructed in a fast and economical manner upon popular hardware platforms. The authors designed, developed, evaluated and validated the application of Linux/RTAI in the proposed system for the integration of the low cost MEMS IMU and OEM GPS sensors. The developed system with Linux/RTAI as the core of a direct geo-referencing system provides not only an excellent hard real-time performance but also the conveniences for sensor hardware integration and real-time software development. A software framework is proposed in this paper for a universal kinematic positioning and navigation system with loosely-coupled integration architecture. In addition, general strategies of sensor time synchronization in a multisensor system are also discussed. The success of the loosely-coupled GPS-aided inertial navigation Kalman filter is represented via post-processed solutions from road tests.

Zero-Power Radio Device.

Energy Technology Data Exchange (ETDEWEB)

Brocato, Robert W. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2018-02-01

This report describes an unpowered radio receiver capable of detecting and responding to weak signals transmit ted from comparatively long distances . This radio receiver offers key advantages over a short range zero - power radio receiver previously described in SAND2004 - 4610, A Zero - Power Radio Receiver . The device described here can be fabricated as an integrated circuit for use in portable wireless devices, as a wake - up circuit, or a s a stand - alone receiver operating in conjunction with identification decoders or other electroni cs. It builds on key sub - components developed at Sandia National Laboratories over many years. It uses surface acoustic wave (SAW) filter technology. It uses custom component design to enable the efficient use of small aperture antennas. This device uses a key component, the pyroelectric demodulator , covered by Sandia owned U.S. Patent 7397301, Pyroelectric Demodulating Detector [1] . This device is also described in Sandia owned U.S. Patent 97266446, Zero Power Receiver [2].

Reconfigurable radio-frequency arbitrary waveforms synthesized in a silicon photonic chip.

Science.gov (United States)

Wang, Jian; Shen, Hao; Fan, Li; Wu, Rui; Niu, Ben; Varghese, Leo T; Xuan, Yi; Leaird, Daniel E; Wang, Xi; Gan, Fuwan; Weiner, Andrew M; Qi, Minghao

2015-01-12

Photonic methods of radio-frequency waveform generation and processing can provide performance advantages and flexibility over electronic methods due to the ultrawide bandwidth offered by the optical carriers. However, bulk optics implementations suffer from the lack of integration and slow reconfiguration speed. Here we propose an architecture of integrated photonic radio-frequency generation and processing and implement it on a silicon chip fabricated in a semiconductor manufacturing foundry. Our device can generate programmable radio-frequency bursts or continuous waveforms with only the light source, electrical drives/controls and detectors being off-chip. It modulates an individual pulse in a radio-frequency burst within 4 ns, achieving a reconfiguration speed three orders of magnitude faster than thermal tuning. The on-chip optical delay elements offer an integrated approach to accurately manipulating individual radio-frequency waveform features without constraints set by the speed and timing jitter of electronics, and should find applications ranging from high-speed wireless to defence electronics.

X-Ray Detection and Processing Models for Spacecraft Navigation and Timing

Science.gov (United States)

Sheikh, Suneel; Hanson, John

2013-01-01

The current primary method of deepspace navigation is the NASA Deep Space Network (DSN). High-performance navigation is achieved using Delta Differential One-Way Range techniques that utilize simultaneous observations from multiple DSN sites, and incorporate observations of quasars near the line-of-sight to a spacecraft in order to improve the range and angle measurement accuracies. Over the past four decades, x-ray astronomers have identified a number of xray pulsars with pulsed emissions having stabilities comparable to atomic clocks. The x-ray pulsar-based navigation and time determination (XNAV) system uses phase measurements from these sources to establish autonomously the position of the detector, and thus the spacecraft, relative to a known reference frame, much as the Global Positioning System (GPS) uses phase measurements from radio signals from several satellites to establish the position of the user relative to an Earth-centered fixed frame of reference. While a GPS receiver uses an antenna to detect the radio signals, XNAV uses a detector array to capture the individual xray photons from the x-ray pulsars. The navigation solution relies on detailed xray source models, signal processing, navigation and timing algorithms, and analytical tools that form the basis of an autonomous XNAV system. Through previous XNAV development efforts, some techniques have been established to utilize a pulsar pulse time-of-arrival (TOA) measurement to correct a position estimate. One well-studied approach, based upon Kalman filter methods, optimally adjusts a dynamic orbit propagation solution based upon the offset in measured and predicted pulse TOA. In this delta position estimator scheme, previously estimated values of spacecraft position and velocity are utilized from an onboard orbit propagator. Using these estimated values, the detected arrival times at the spacecraft of pulses from a pulsar are compared to the predicted arrival times defined by the pulsar s pulse

Assimilation of GNSS radio occultation observations in GRAPES

Science.gov (United States)

Liu, Y.; Xue, J.

2014-07-01

This paper reviews the development of the global navigation satellite system (GNSS) radio occultation (RO) observations assimilation in the Global/Regional Assimilation and PrEdiction System (GRAPES) of China Meteorological Administration, including the choice of data to assimilate, the data quality control, the observation operator, the tuning of observation error, and the results of the observation impact experiments. The results indicate that RO data have a significantly positive effect on analysis and forecast at all ranges in GRAPES not only in the Southern Hemisphere where conventional observations are lacking but also in the Northern Hemisphere where data are rich. It is noted that a relatively simple assimilation and forecast system in which only the conventional and RO observation are assimilated still has analysis and forecast skill even after nine months integration, and the analysis difference between both hemispheres is gradually reduced with height when compared with NCEP (National Centers for Enviromental Prediction) analysis. Finally, as a result of the new onboard payload of the Chinese FengYun-3 (FY-3) satellites, the research status of the RO of FY-3 satellites is also presented.

Reconfigurable Ultra-Low Power Miniaturized EVA Radio, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — EVA radio is an important integral part of lunar missions and beyond. To minimize power consumption and mass of an EVA radio, innovative solutions are needed for the...

An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

Science.gov (United States)

Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

2016-01-28

In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.

Visual navigation using edge curve matching for pinpoint planetary landing

Science.gov (United States)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

Spectrum access and management for cognitive radio networks

CERN Document Server

2017-01-01

This book presents cutting-edge research contributions that address various aspects of network design, optimization, implementation, and application of cognitive radio technologies. It demonstrates how to make better utilization of the available spectrum, cognitive radios and spectrum access to achieve effective spectrum sharing between licensed and unlicensed users. The book provides academics and researchers essential information on current developments and future trends in cognitive radios for possible integration with the upcoming 5G networks. In addition, it includes a brief introduction to cognitive radio networks for newcomers to the field.

Surgical navigation with QR codes

Directory of Open Access Journals (Sweden)

Katanacho Manuel

2016-09-01

Full Text Available The presented work is an alternative to established measurement systems in surgical navigation. The system is based on camera based tracking of QR code markers. The application uses a single video camera, integrated in a surgical lamp, that captures the QR markers attached to surgical instruments and to the patient.

SLS Block 1-B and Exploration Upper Stage Navigation System Design

Science.gov (United States)

Oliver, T. Emerson; Park, Thomas B.; Smith, Austin; Anzalone, Evan; Bernard, Bill; Strickland, Dennis; Geohagan, Kevin; Green, Melissa; Leggett, Jarred

2018-01-01

The SLS Block 1B vehicle is planned to extend NASA's heavy lift capability beyond the initial SLS Block 1 vehicle. The most noticeable change for this vehicle from SLS Block 1 is the swapping of the upper stage from the Interim Cryogenic Propulsion stage (ICPS), a modified Delta IV upper stage, to the more capable Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability and execute more demanding missions so must the SLS Integrated Navigation System to support those missions. The SLS Block 1 vehicle carries two independent navigation systems. The responsibility of the two systems is delineated between ascent and upper stage flight. The Block 1 navigation system is responsible for the phase of flight between the launch pad and insertion into Low-Earth Orbit (LEO). The upper stage system assumes the mission from LEO to payload separation. For the Block 1B vehicle, the two functions are combined into a single system intended to navigate from ground to payload insertion. Both are responsible for self-disposal once payload delivery is achieved. The evolution of the navigation hardware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1-B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1-B vehicle navigation system is designed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. This is measured in terms of payload impact and stage disposal requirements. Additionally, the Block 1-B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and Fault Detection, Isolation, and Recovery (FDIR) logic. The preliminary Block 1B integrated navigation system design is presented along with the challenges associated with

Curved Radio Spectra of Weak Cluster Shocks

Science.gov (United States)

Kang, Hyesung; Ryu, Dongsu

2015-08-01

In order to understand certain observed features of arc-like giant radio relics such as the rareness, uniform surface brightness, and curved integrated spectra, we explore a diffusive shock acceleration (DSA) model for radio relics in which a spherical shock impinges on a magnetized cloud containing fossil relativistic electrons. Toward this end, we perform DSA simulations of spherical shocks with the parameters relevant for the Sausage radio relic in cluster CIZA J2242.8+5301, and calculate the ensuing radio synchrotron emission from re-accelerated electrons. Three types of fossil electron populations are considered: a delta-function like population with the shock injection momentum, a power-law distribution, and a power law with an exponential cutoff. The surface brightness profile of the radio-emitting postshock region and the volume-integrated radio spectrum are calculated and compared with observations. We find that the observed width of the Sausage relic can be explained reasonably well by shocks with speed {u}{{s}}˜ 3× {10}3 {km} {{{s}}}-1 and sonic Mach number {M}{{s}}˜ 3. These shocks produce curved radio spectra that steepen gradually over (0.1-10){ν }{br} with a break frequency {ν }{br}˜ 1 GHz if the duration of electron acceleration is ˜60-80 Myr. However, the abrupt increase in the spectral index above ˜1.5 GHz observed in the Sausage relic seems to indicate that additional physical processes, other than radiative losses, operate for electrons with {γ }{{e}}≳ {10}4.

Ionosphere-related products for communication and navigation

Science.gov (United States)

Tobiska, W.; Schunk, R. W.; Sojka, J. J.; Carlson, H. C.; Gardner, L. C.; Scherliess, L.; Zhu, L.

2011-12-01

Space weather's effects upon the near-Earth environment are due to dynamic changes in the energy transfer processes from the Sun's photons, particles, and fields. Of the space environment domains that are affected by space weather, the ionosphere is the key region that affects communication and navigation systems. The Utah State University (USU) Space Weather Center (SWC) is developing and producing commercial space weather applications. A key system-level component for providing timely information about the effects of space weather is the Global Assimilation of Ionospheric Measurements (GAIM) system. GAIM, operated by SWC, improves real-time communication and navigation systems by continuously ingesting up to 10,000 slant TEC measurements every 15-minutes from approximately 500 stations. Ionosonde data from several dozen global stations is ingested every 15 minutes to improve the vertical profiles within GAIM. The global, CONUS, Europe, Asia, South America, and other regional sectors are run with a 15-minute cadence. These operational runs enable SWC to calculate and report the global radio high frequency (HF) signal strengths and near vertical incidence skywave (NVIS) maps used by amateur radio operators and emergency responders, especially during the Japan Great Earthquake and tsunami recovery period. SWC has established its first fully commercial enterprise called Q-up as a result of this activity. GPS uncertainty maps are produced by SWC to improve single-frequency GPS applications. SWC also provides the space weather smartphone app called SpaceWx for iPhone, iPad, iPod, and Android for professional users and public space weather education. SpaceWx displays the real-time solar, heliosphere, magnetosphere, thermosphere, and ionosphere drivers to changes in the total electron content, for example, as well as global NVIS maps. We describe upcoming improvements for moving space weather information through automated systems into final derivative products.

A real-time GNSS-R system based on software-defined radio and graphics processing units

Science.gov (United States)

Hobiger, Thomas; Amagai, Jun; Aida, Masanori; Narita, Hideki

2012-04-01

Reflected signals of the Global Navigation Satellite System (GNSS) from the sea or land surface can be utilized to deduce and monitor physical and geophysical parameters of the reflecting area. Unlike most other remote sensing techniques, GNSS-Reflectometry (GNSS-R) operates as a passive radar that takes advantage from the increasing number of navigation satellites that broadcast their L-band signals. Thereby, most of the GNSS-R receiver architectures are based on dedicated hardware solutions. Software-defined radio (SDR) technology has advanced in the recent years and enabled signal processing in real-time, which makes it an ideal candidate for the realization of a flexible GNSS-R system. Additionally, modern commodity graphic cards, which offer massive parallel computing performances, allow to handle the whole signal processing chain without interfering with the PC's CPU. Thus, this paper describes a GNSS-R system which has been developed on the principles of software-defined radio supported by General Purpose Graphics Processing Units (GPGPUs), and presents results from initial field tests which confirm the anticipated capability of the system.

CPM Signals for Satellite Navigation in the S and C Bands.

Science.gov (United States)

Xue, Rui; Sun, Yanbo; Zhao, Danfeng

2015-06-05

Frequency allocations in the L band suitable for global navigation satellite system (GNSS) services are getting crowded and system providers face an ever tougher job when they try to bring in new signals and services while maintaining radio frequency compatibility. With the successive opening of the S and C bands to GNSS service, the multi-band combined navigation is predicted to become a key technology for future high-precision positioning navigation systems, and a single modulation scheme satisfying the requirements in each band is a promising solution for reducing user terminal complexity. A universal modulation scheme based on the continuous phase modulation (CPM) family suitable for the above bands' demands is proposed. Moreover, this paper has put forward two specific CPM signals for the S and C bands, respectively. Then the proposed modulation schemes, together with existing candidates, are comprehensively evaluated. Simulation results show that the proposed CPM signals can not only satisfy the constraint condition of compatibility in different bands well and reduce user terminal complexity, but also provide superior performance in terms of tracking accuracy, multi-path mitigation and anti-jamming compared to other candidate modulation schemes.

Navigating trade-offs in land-use planning: integrating human well-being into objective setting

Directory of Open Access Journals (Sweden)

Vanessa M. Adams

2014-12-01

Full Text Available There is an increasing demand for development of natural resources, which can be accompanied by environmental degradation. Planning for multiple land uses requires navigating trade-offs between social, economic, and environmental outcomes arising from different possible futures. To explore these trade-offs, we use the Daly River catchment, in Australia's Northern Territory, as a case study. The catchment contains areas of priority for both conservation and development. In response to the challenge of navigating the required trade-offs, the Daly River Management Advisory Committee (DRMAC initiated a land-use plan for the region. Both development and conservation of natural resources in the catchment will affect human well-being and the long-term provisioning of ecosystem services in diverse ways. To understand some of these impacts, an innovative engagement process was designed to elicit the relative importance of key factors to residents' well-being. The process identified 19 well-being factors grouped into four domains: biodiversity, socio-cultural, recreational, and commercial. Overall, the highest-ranked well-being factors were in the social-cultural and biodiversity domains while commercial values were ranked the least important. Respondents reported low satisfaction with commercial factors as well, noting concerns over environmental impacts from existing developments and sustainability of future developments. We identified differences in the reported importance values for several types of stakeholders, most notably between indigenous respondents and those employed in the agricultural sectors. Indigenous respondents placed greater importance on biodiversity and socio-cultural factors. Agricultural respondents placed greater importance on commercial factors. The outcomes of our engagement were integrated into DRMAC's process of objective-setting to ensure that objectives for each domain were included in land-use planning. Our results can also

Shape Perception and Navigation in Blind Adults

Science.gov (United States)

Gori, Monica; Cappagli, Giulia; Baud-Bovy, Gabriel; Finocchietti, Sara

2017-01-01

Different sensory systems interact to generate a representation of space and to navigate. Vision plays a critical role in the representation of space development. During navigation, vision is integrated with auditory and mobility cues. In blind individuals, visual experience is not available and navigation therefore lacks this important sensory signal. In blind individuals, compensatory mechanisms can be adopted to improve spatial and navigation skills. On the other hand, the limitations of these compensatory mechanisms are not completely clear. Both enhanced and impaired reliance on auditory cues in blind individuals have been reported. Here, we develop a new paradigm to test both auditory perception and navigation skills in blind and sighted individuals and to investigate the effect that visual experience has on the ability to reproduce simple and complex paths. During the navigation task, early blind, late blind and sighted individuals were required first to listen to an audio shape and then to recognize and reproduce it by walking. After each audio shape was presented, a static sound was played and the participants were asked to reach it. Movements were recorded with a motion tracking system. Our results show three main impairments specific to early blind individuals. The first is the tendency to compress the shapes reproduced during navigation. The second is the difficulty to recognize complex audio stimuli, and finally, the third is the difficulty in reproducing the desired shape: early blind participants occasionally reported perceiving a square but they actually reproduced a circle during the navigation task. We discuss these results in terms of compromised spatial reference frames due to lack of visual input during the early period of development. PMID:28144226

Design and testing of a multi-sensor pedestrian location and navigation platform.

Science.gov (United States)

Morrison, Aiden; Renaudin, Valérie; Bancroft, Jared B; Lachapelle, Gérard

2012-01-01

Navigation and location technologies are continually advancing, allowing ever higher accuracies and operation under ever more challenging conditions. The development of such technologies requires the rapid evaluation of a large number of sensors and related utilization strategies. The integration of Global Navigation Satellite Systems (GNSSs) such as the Global Positioning System (GPS) with accelerometers, gyros, barometers, magnetometers and other sensors is allowing for novel applications, but is hindered by the difficulties to test and compare integrated solutions using multiple sensor sets. In order to achieve compatibility and flexibility in terms of multiple sensors, an advanced adaptable platform is required. This paper describes the design and testing of the NavCube, a multi-sensor navigation, location and timing platform. The system provides a research tool for pedestrian navigation, location and body motion analysis in an unobtrusive form factor that enables in situ data collections with minimal gait and posture impact. Testing and examples of applications of the NavCube are provided.

Interaction of Harsh Weather Operation and Collision Avoidance in Autonomous Navigation

Directory of Open Access Journals (Sweden)

Hans-Christoph Burmeister

2015-03-01

Full Text Available Taking into account the autonomous navigation system design and today’s state of the art navigation with regards to weather and collision avoidance this paper presents the architecture of the integrated approach, its links to existing rules and regulations and the test scenarios. These demonstrate how safe and efficient navigation of autonomous vessels can be achieved by showing the module's interaction and validating the feasibility of the approach. These analyses will be based on historical traffic data sets as well as simulation results.

Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging: A Spine Cadaveric Feasibility and Accuracy Study.

Science.gov (United States)

Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

2016-11-01

A cadaveric laboratory study. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. N/A.

Intraoperative computed tomography with integrated navigation system in spinal stabilizations.

Science.gov (United States)

Zausinger, Stefan; Scheder, Ben; Uhl, Eberhard; Heigl, Thomas; Morhard, Dominik; Tonn, Joerg-Christian

2009-12-15

STUDY DESIGN.: A prospective interventional case-series study plus a retrospective analysis of historical patients for comparison of data. OBJECTIVE.: To evaluate workflow, feasibility, and clinical outcome of navigated stabilization procedures with data acquisition by intraoperative computed tomography. SUMMARY OF BACKGROUND DATA.: Routine fluoroscopy to assess pedicle screw placement is not consistently reliable. Our hypothesis was that image-guided spinal navigation using an intraoperative CT-scanner can improve the safety and precision of spinal stabilization surgery. METHODS.: CT data of 94 patients (thoracolumbar [n = 66], C1/2 [n = 12], cervicothoracic instability [n = 16]) were acquired after positioning the patient in the final surgical position. A sliding gantry 40-slice CT was used for image acquisition. Data were imported to a frameless infrared-based neuronavigation workstation. Intraoperative CT was obtained to assess the accuracy of instrumentation and, if necessary, the extent of decompression. All patients were clinically evaluated by Odom-criteria after surgery and after 3 months. RESULTS.: Computed accuracy of the navigation system reached /=2 mm without persistent neurologic or vascular damage in 20/414 screws (4.8%) leading to immediate correction of 10 screws (2.4%). Control-iCT changed the course of surgery in 8 cases (8.5% of all patients). The overall revision rate was 8.5% (4 wound revisions, 2 CSF fistulas, and 2 epidural hematomas). There was no reoperation due to implant malposition. According to Odom-criteria all patients experienced a clinical improvement. A retrospective analysis of 182 patients with navigated thoracolumbar transpedicular stabilizations in the preiCT era revealed an overall revision rate of 10.4% with 4.4% of patients requiring screw revision. CONCLUSION.: Intraoperative CT in combination with neuronavigation provides high accuracy of screw placement and thus safety for patients undergoing spinal stabilization

A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults

OpenAIRE

Rui Sun; Qi Cheng; Guanyu Wang; Washington Yotto Ochieng

2017-01-01

The use of Unmanned Aerial Vehicles (UAVs) has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs’ flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS)-based approach is presented for the detection of on-board navigation sensor faults in ...

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

2017-11-01

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.

Intraoperative CT with integrated navigation system in spinal neurosurgery

International Nuclear Information System (INIS)

Zausinger, S.; Heigl, T.; Scheder, B.; Schnell, O.; Tonn, J.C.; Uhl, E.; Morhard, D.

2007-01-01

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

Radio Club more than just a bunch of Hams

OpenAIRE

Kuska, Dale

1997-01-01

Students here at NPS spend most of their free time with their noses stuck in school books. Many, however, somehow find spare time to participate in extracurricular hobbies and activities. Amateur radio is one of these hobbies. Radio or "ham" operators enjoy a wealth of possibilities, including recreation, as well as being an integral unit in public events and emergency services. The NPS Amateur Radio Club takes full advantage of these possibilities.

Reconfigurable, Cognitive Software-Defined Radio

Science.gov (United States)

Bhat, Arvind

2015-01-01

Software-defined radio (SDR) technology allows radios to be reconfigured to perform different communication functions without using multiple radios to accomplish each task. Intelligent Automation, Inc., has developed SDR platforms that switch adaptively between different operation modes. The innovation works by modifying both transmit waveforms and receiver signal processing tasks. In Phase I of the project, the company developed SDR cognitive capabilities, including adaptive modulation and coding (AMC), automatic modulation recognition (AMR), and spectrum sensing. In Phase II, these capabilities were integrated into SDR platforms. The reconfigurable transceiver design employs high-speed field-programmable gate arrays, enabling multimode operation and scalable architecture. Designs are based on commercial off-the-shelf (COTS) components and are modular in nature, making it easier to upgrade individual components rather than redesigning the entire SDR platform as technology advances.

WAYS OF NAVIGATION SYSTEMS DEVELOPMENT WITHIN THE IMPLEMENTATION OF THE CNS/ATM CONCEPT

Directory of Open Access Journals (Sweden)

Igor A. Chekhov

2017-01-01

Full Text Available The general development principles of the civil aviation air navigation systems for the next years according to the concept of International Civil Aviation Organization (IСAO CNS/ATM are stated in the article. It was reflected in the Global air navigation plan of IСAO accepted in 2013. The author considered the structure of block modernization of aviation system directed to optimization according to four main characteristics, such as: operations at the airports; systems and data interoperable on a global scale; optimum capacity and flexible flight routes, and also effective trajectories of flight. At the same time the main attention in the plan is paid to questions of the performance based navigation (PBN, the basic theses of which lean on four main units that make the concept of PBN. The possible ways of the specified blocks implementation taking into account features of the Russian Federation airspace use are considered in this paper. On the basis of the carried-out analysis conclusions are drawn on gradual transition from the RNAV navigation specifications to the RNP specifications, on increase in accuracy of navigation by modernization of ground radio navigational aids, both on a flight route and airspace of airfield area, on need of continuing the development of inexact calling schemes, using GNSS, with the subsequent transition to schemes of exact landing approaches by means of functional additions to GLONASS – GBAS and SBAS, also on the need of opportunities research in the domestic system SBAS (SDKM for the increase in accuracy of navigation at various stages of flight. At the same time, standard instrument routes of arrival and departure (SID/STAR have to be carried out in the mode of constant climb or continuous descent.

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...

SEXTANT X-Ray Pulsar Navigation Demonstration: Initial On-Orbit Results

Science.gov (United States)

Mitchell, Jason W.; Winternitz, Luke B.; Hassouneh, Munther A.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wolf, Michael T.; Kerr, Matthew; Wood, Kent S.;

Street navigation using visual information on mobile phones

DEFF Research Database (Denmark)

Nguyen, Phuong Giang; Andersen, Hans Jørgen; Høilund, Carsten

2010-01-01

Applications with street navigation have been recently introduced on mobile phone devices. A major part of existing systems use integrated GPS as input for indicating the location. However, these systems often fail or make abrupt shifts in urban environment due to occlusion of satellites....... Furthermore, they only give the position of a person and not the object of his attention, which is just as important for localization based services. In this paper we introduce a system using mobile phones built-in cameras for navigation and localization using visual information in accordance with the way we...

MULTI-FREQUENCY STUDIES OF RADIO RELICS IN THE GALAXY CLUSTERS A4038, A1664, AND A786

Energy Technology Data Exchange (ETDEWEB)

Kale, Ruta; Dwarakanath, K. S., E-mail: ruta@iucaa.ernet.in [Raman Research Institute, C. V. Raman Avenue, Sadashivanagar, Bangalore 560 080 (India)

2012-01-01

We present a multi-frequency study of radio relics associated with the galaxy clusters A4038, A1664, and A786. Radio images, integrated spectra, spectral index maps, and fits to the integrated spectra in the framework of the adiabatic compression model are presented. Images of the relic in A4038 at 150, 240, and 606 MHz with the Giant Meterwave Radio Telescope have revealed extended ultra-steep spectrum ({alpha} {approx} -1.8 to -2.7) emission of extent 210 Multiplication-Sign 80 kpc{sup 2}. The model of passively evolving radio lobes compressed by a shock fits the integrated spectrum best. The relic with a circular morphology at the outskirts of the cluster A1664 has an integrated spectral index of {approx} - 1.10 {+-} 0.06 and is best fit by the model of radio lobes lurking for {approx}4 Multiplication-Sign 10{sup 7} yr. The relic near A786 has a curved spectrum and is best fit by a model of radio lobes lurking for {approx}3 Multiplication-Sign 10{sup 7} yr. At 4.7 GHz, a compact radio source, possibly the progenitor of the A786 relic, is detected near the center of the radio relic. The A786 radio relic is thus likely a lurking radio galaxy rather than a site of cosmological shock as has been considered in earlier studies.

Empowering file-based radio production through media asset management systems

Science.gov (United States)

Muylaert, Bjorn; Beckers, Tom

2006-10-01

In recent years, IT-based production and archiving of media has matured to a level which enables broadcasters to switch over from tape- or CD-based to file-based workflows for the production of their radio and television programs. This technology is essential for the future of broadcasters as it provides the flexibility and speed of execution the customer demands by enabling, among others, concurrent access and production, faster than real-time ingest, edit during ingest, centrally managed annotation and quality preservation of media. In terms of automation of program production, the radio department is the most advanced within the VRT, the Flemish broadcaster. Since a couple of years ago, the radio department has been working with digital equipment and producing its programs mainly on standard IT equipment. Historically, the shift from analogue to digital based production has been a step by step process initiated and coordinated by each radio station separately, resulting in a multitude of tools and metadata collections, some of them developed in-house, lacking integration. To make matters worse, each of those stations adopted a slightly different production methodology. The planned introduction of a company-wide Media Asset Management System allows a coordinated overhaul to a unified production architecture. Benefits include the centralized ingest and annotation of audio material and the uniform, integrated (in terms of IT infrastructure) workflow model. Needless to say, the ingest strategy, metadata management and integration with radio production systems play a major role in the level of success of any improvement effort. This paper presents a data model for audio-specific concepts relevant to radio production. It includes an investigation of ingest techniques and strategies. Cooperation with external, professional production tools is demonstrated through a use-case scenario: the integration of an existing, multi-track editing tool with a commercially available

Development of a Radio Frequency Space Environment Path Emulator for Evaluating Spacecraft Ranging Hardware

Science.gov (United States)

Mitchell, Jason W.; Baldwin, Philip J.; Kurichh, Rishi; Naasz, Bo J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility is evolving as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation and. control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, have expanded to include S-band Radio Frequency (RF) modems for inter-spacecraft communication and ranging. To enable realistic simulations that require RF ranging sensors for relative navigation, a mechanism is needed to buffer the RF signals exchanged between spacecraft that accurately emulates the dynamic environment through which the RF signals travel, including the effects of medium, moving platforms, and radiated power. The Path Emulator for RF Signals (PERFS), currently under development at NASA GSFC, provides this capability. The function and performance of a prototype device are presented.

CONTROL OF AIRCRAFT TRAJECTORIES IN THE CONDITIONS OF THE NAVIGATION SESSION OPTIMIZATION AT AUTOMATIC DEPENDENT SURVEILLANCE

Directory of Open Access Journals (Sweden)

V. V. Erokhin

2015-01-01

Full Text Available Algorithms of determination of coordinates of the aircraft in the integrated system of navigation and optimum control of a trajectory are considered. Results of researches of parameters of a navigation session and precision characteristics of an assessment of location showed that application of optimum control of a trajectory allowув to increase the accuracy of navigation definitions in case of incomplete constellation of navigation satellites.

La digitalización de la radio deportiva

Directory of Open Access Journals (Sweden)

Romero Bejarano, Hilario José

2011-12-01

Full Text Available En español: La radio se ha visto sumergida en los últimos años en una fase de integración tecnológica y empresarial de carácter multimedia, así como de diversificación de sistemas y canales de difusión. Asimismo, Internet se ha ido consolidando como la plataforma de radio digital que más ha evolucionado como consecuencia de su constante expansión. No obstante, la fusión radio-Internet hay que entenderla como una nueva forma de comunicación y no exclusivamente como un soporte exclusivamente complementario. En este contexto resulta de gran interés analizar qué transformaciones en cuanto al modo de recepción, contenidos, lenguajes, programas y programaciones, ha traído consigo para la radio dicha integración. Con este fin se toma como principal referencia los espacios deportivos, aspecto clave y de gran representatividad del actual panorama radiofónico. In english: Radio has been immersed in recent years in a phase of technological integration and business of multimedia, as well as diversification of systems and channels for broadcasting. In addition, Internet has been consolidated as the platform of digital radio that more has evolved as a result of its continued expansion. However, the merger radio-Internet must be understood as a new form of communication, and not solely as a new complementary medium. In this context, it is of great interest to analyze that transformations in the way of reception, contents, languages, programs and schedules, has brought with it for the radio that integration. To this end is taken as main reference the sports areas, a key aspect and broadly representative of the current broadcasting landscape.

Improving Canada's Marine Navigation System through e-Navigation

Directory of Open Access Journals (Sweden)

Daniel Breton

2016-06-01

The conclusion proposed is that on-going work with key partners and stakeholders can be used as the primary mechanism to identify e-Navigation related innovation and needs, and to prioritize next steps. Moving forward in Canada, implementation of new e-navigation services will continue to be stakeholder driven, and used to drive improvements to Canada's marine navigation system.

Crosslink Radio Occultation for the Remote Sensing of Planetary Atmospheres

Science.gov (United States)

Mannucci, A. J.; Ao, C. O.; Asmar, S.; Edwards, C. D.; Kahan, D. S.; Paik, M.; Pi, X.; Williamson, W.

2015-12-01

Radio occultation utilizing deep space telecommunication signals has been used with great success in the profiling of planetary atmospheres and ionospheres since the 1960s. A shortcoming of this technique, however, is the limited temporal and spatial sampling that it provides. We consider a different approach where radio occultation measurements are taken between two spacecraft orbiting an extra-terrestrial body. Such "crosslink" radio occultations between the Global Positioning System satellites and low-earth orbiting spacecraft have been routinely acquired to provide global observations of the Earth's atmosphere and ionosphere that are used for weather forecast, climate analysis, and space weather applications. The feasibility of applying this concept to other planets has recently been demonstrated for the first time, where crosslink occultation measurements have been acquired between the Mars Odyssey and Mars Reconnaissance Orbiter spacecraft. These measurements leverage the proximity link telecommunication payloads on each orbiter, which are nominally used to provide relay communication and navigation services to Mars landers and rovers. In this presentation, we will describe the Mars crosslink experiments and the corresponding data analysis in detail. In addition, we will discuss how the crosslink occultation concepts can be effectively applied in future space exploration missions.

Navigating on handheld displays: Dynamic versus Static Keyhole Navigation

NARCIS (Netherlands)

Mehra, S.; Werkhoven, P.; Worring, M.

2006-01-01

Handheld displays leave little space for the visualization and navigation of spatial layouts representing rich information spaces. The most common navigation method for handheld displays is static peephole navigation: The peephole is static and we move the spatial layout behind it (scrolling). A

Celestial Navigation on the Surface of Mars

Science.gov (United States)

Malay, Benjamin P.

2001-05-01

A simple, accurate, and autonomous method of finding position on the surface of Mars currently does not exist. The goal of this project is to develop a celestial navigation process that will fix a position on Mars with 100-meter accuracy. This method requires knowing the position of the stars and planets referenced to the Martian surface with one arcsecond accuracy. This information is contained in an ephemeris known as the Aeronautical Almanac (from Ares, the god of war) . Naval Observatory Vector Astrometry Subroutines (NOVAS) form the basis of the code used to generate the almanac. Planetary position data come the JPL DE405 Planetary Ephemeris. The theoretical accuracy of the almanac is determined mathematically and compared with the Ephemeris for Physical Observations of Mars contained in the Astronautical Almanac. A preliminary design of an autonomous celestial navigation system is presented. Recommendations of how to integrate celestial navigation into NASA=s current Mars exploration program are also discussed. This project is a useful and much-needed first step towards establishing celestial navigation as a practical way to find position on the surface of Mars.

Integrated software health management for aerospace guidance, navigation, and control systems: A probabilistic reasoning approach

Science.gov (United States)

Mbaya, Timmy

Embedded Aerospace Systems have to perform safety and mission critical operations in a real-time environment where timing and functional correctness are extremely important. Guidance, Navigation, and Control (GN&C) systems substantially rely on complex software interfacing with hardware in real-time; any faults in software or hardware, or their interaction could result in fatal consequences. Integrated Software Health Management (ISWHM) provides an approach for detection and diagnosis of software failures while the software is in operation. The ISWHM approach is based on probabilistic modeling of software and hardware sensors using a Bayesian network. To meet memory and timing constraints of real-time embedded execution, the Bayesian network is compiled into an Arithmetic Circuit, which is used for on-line monitoring. This type of system monitoring, using an ISWHM, provides automated reasoning capabilities that compute diagnoses in a timely manner when failures occur. This reasoning capability enables time-critical mitigating decisions and relieves the human agent from the time-consuming and arduous task of foraging through a multitude of isolated---and often contradictory---diagnosis data. For the purpose of demonstrating the relevance of ISWHM, modeling and reasoning is performed on a simple simulated aerospace system running on a real-time operating system emulator, the OSEK/Trampoline platform. Models for a small satellite and an F-16 fighter jet GN&C (Guidance, Navigation, and Control) system have been implemented. Analysis of the ISWHM is then performed by injecting faults and analyzing the ISWHM's diagnoses.

Design of ultra-low power impulse radios

CERN Document Server

Apsel, Alyssa; Dokania, Rajeev

2014-01-01

This book covers the fundamental principles behind the design of ultra-low power radios and how they can form networks to facilitate a variety of applications within healthcare and environmental monitoring, since they may operate for years off a small battery or even harvest energy from the environment. These radios are distinct from conventional radios in that they must operate with very constrained resources and low overhead.  This book provides a thorough discussion of the challenges associated with designing radios with such constrained resources, as well as fundamental design concepts and practical approaches to implementing working designs.  Coverage includes integrated circuit design, timing and control considerations, fundamental theory behind low power and time domain operation, and network/communication protocol considerations.   • Enables detailed understanding of the design space for ultra-low power radio; • Provides detailed discussion and examples of the design of a practical low power ...

Seventy Years of Radio Science, Technology, Standards, and Measurement at the National Bureau of Standards

Science.gov (United States)

Gillmor, C. Stewart

This large volume describes all the forms of radio research done at the National Bureau of Standards (now, National Institute of Standards and Technology) from its founding in 1901 until about 1980. The volume truly reflects its subtitle; it describes in great detail research in radio propagation and all its connections with geophysics and geospace, but also radio as instrument for discovery and application in meteorology, navigation, and in standards of measurement and testing in electronics.The book is a bit unwieldy and some of its chapters will be of most interest to former NBS employees. For example, there is a lengthy chapter on the transfer of radio research work from Washington, D.C, to Boulder, Colo., in the early 1950s, complete with photostat of the quit claim deed to NBS from the Boulder Chamber of Commerce. On the other hand, radio research developed and flourished in this country in the early days at industrial (Bell Telephone, General Electric, Westinghouse) and government (NBS, Naval Research Laboratory) labs more than in academia, and it is very interesting to learn how the labs interacted and to read details of the organizational structure. I can attest personally to the great difficulties in locating materials concerning radio history. While we have numerous volumes devoted to certain popular radio heroes, little is available concerning government radio pioneers such as L. W. Austin, who directed the U.S. Navy's radio research for many years while situated physically at the Bureau of Standards, or J. H. Dellinger, long-time chief of the Radio Section and head spokesman on radio for the U.S. government until the 1930s.

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

Science.gov (United States)

Truong, S. H.

1999-01-01

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

The isotropic radio background revisited

Energy Technology Data Exchange (ETDEWEB)

Fornengo, Nicolao; Regis, Marco [Dipartimento di Fisica Teorica, Università di Torino, via P. Giuria 1, I–10125 Torino (Italy); Lineros, Roberto A. [Instituto de Física Corpuscular – CSIC/U. Valencia, Parc Científic, calle Catedrático José Beltrán, 2, E-46980 Paterna (Spain); Taoso, Marco, E-mail: fornengo@to.infn.it, E-mail: rlineros@ific.uv.es, E-mail: regis@to.infn.it, E-mail: taoso@cea.fr [Institut de Physique Théorique, CEA/Saclay, F-91191 Gif-sur-Yvette Cédex (France)

2014-04-01

We present an extensive analysis on the determination of the isotropic radio background. We consider six different radio maps, ranging from 22 MHz to 2.3 GHz and covering a large fraction of the sky. The large scale emission is modeled as a linear combination of an isotropic component plus the Galactic synchrotron radiation and thermal bremsstrahlung. Point-like and extended sources are either masked or accounted for by means of a template. We find a robust estimate of the isotropic radio background, with limited scatter among different Galactic models. The level of the isotropic background lies significantly above the contribution obtained by integrating the number counts of observed extragalactic sources. Since the isotropic component dominates at high latitudes, thus making the profile of the total emission flat, a Galactic origin for such excess appears unlikely. We conclude that, unless a systematic offset is present in the maps, and provided that our current understanding of the Galactic synchrotron emission is reasonable, extragalactic sources well below the current experimental threshold seem to account for the majority of the brightness of the extragalactic radio sky.

The isotropic radio background revisited

International Nuclear Information System (INIS)

Fornengo, Nicolao; Regis, Marco; Lineros, Roberto A.; Taoso, Marco

2014-01-01

We present an extensive analysis on the determination of the isotropic radio background. We consider six different radio maps, ranging from 22 MHz to 2.3 GHz and covering a large fraction of the sky. The large scale emission is modeled as a linear combination of an isotropic component plus the Galactic synchrotron radiation and thermal bremsstrahlung. Point-like and extended sources are either masked or accounted for by means of a template. We find a robust estimate of the isotropic radio background, with limited scatter among different Galactic models. The level of the isotropic background lies significantly above the contribution obtained by integrating the number counts of observed extragalactic sources. Since the isotropic component dominates at high latitudes, thus making the profile of the total emission flat, a Galactic origin for such excess appears unlikely. We conclude that, unless a systematic offset is present in the maps, and provided that our current understanding of the Galactic synchrotron emission is reasonable, extragalactic sources well below the current experimental threshold seem to account for the majority of the brightness of the extragalactic radio sky

N V Pushkov Institute of Terrestrial Magnetism, Ionosphere and Radio Wave Propagation of the Russian Academy of Sciences (IZMIRAN) yesterday, today, tomorrow

International Nuclear Information System (INIS)

Kuznetsov, V D

2015-01-01

This paper describes the basic and applied research rationale for the organization of IZMIRAN and provides insight into the 75 years of the Institute's activities and development. Historically, early magnetic measurements in Russia were developed largely to meet the Navy's navigation needs and were, more generally, stimulated by the Peter the Great decrees and by the foundation of the St. Petersburg Academy of Sciences in 1724. The paper examines the roles of the early Academicians in developing geomagnetism and making magnetic measurements a common practice in Russia. The need for stable radio communications prompted ionospheric and radio wave propagation research. The advent of the space era and the 1957–1958 International Geophysical Year Project greatly impacted the development of IZMIRAN and spurred the creation of a number of geophysical research institutes throughout the country. Currently, the research topics at IZMIRAN range widely from geomagnetism to solar-terrestrial physics to the ionosphere and radio wave propagation, and its primary application areas are the study and forecast of space weather, an increasingly important determining factor in ever-expanding ground- and space-based technologies (space navigation and communications, space activities, etc.). (conferences and symposia)

Tracking and Navigation of Future NASA Spacecraft with the Square Kilometer Array

Science.gov (United States)

Resch, G. M.; Jones, D. L.; Connally, M. J.; Weinreb, S.; Preston, R. A.

2001-12-01

The international radio astronomy community is currently working on the design of an array of small radio antennas with a total collecting area of one square kilometer - more than a hundred times that of the largest existing (100-m) steerable antennas. An array of this size would provide obvious advantages for high data rate telemetry reception and for spacecraft navigation. Among these advantages are a two-orders-of-magnitude increase in sensitivity for telemetry downlink, flexible sub-arraying to track multiple spacecraft simultaneously, increased reliability through the use of large numbers of identical array elements, very accurate real-time angular spacecraft tracking, and a dramatic reduction in cost per unit area. NASA missions in many disciplines, including planetary science, would benefit from this increased ground-based tracking capability. The science return from planned missions could be increased, and opportunities for less expensive or completely new kinds of missions would be created.

Deliverable D.8.4. Social data visualization and navigation services -3rd Year Update-

NARCIS (Netherlands)

Bitter-Rijpkema, Marlies; Brouns, Francis; Drachsler, Hendrik; Fazeli, Soude; Sanchez-Alonso, Salvador; Rajabi, Enayat; Kolovou, Lamprini

2015-01-01

Within the Open Discovery Space our study (T.8.4) focused on ”Enhanced Social Data Visualization & Navigation Services. This deliverable provides the prototype report regarding the deployment of adapted visualization and navigation services to be integrated in the ODS Social Data Management Layer.

Ultra-low-power short-range radios

CERN Document Server

Chandrakasan, Anantha

2015-01-01

This book explores the design of ultra-low-power radio-frequency integrated circuits (RFICs), with communication distances ranging from a few centimeters to a few meters. Such radios have unique challenges compared to longer-range, higher-powered systems. As a result, many different applications are covered, ranging from body-area networks to transcutaneous implant communications and Internet-of-Things devices. A mix of introductory and cutting-edge design techniques and architectures which facilitate each of these applications are discussed in detail. Specifically, this book covers:.

INFORMATION AS AN ELEMENT OF THE NAVIGATION DECISIONMAKING PROCESS

Directory of Open Access Journals (Sweden)

Andrzej BANACHOWICZ

2016-09-01

Full Text Available The operation of vehicles (watercraft, aircraft, land-based, spacecraft, unmanned requires the use of navigation systems for their control. These systems can be characterized by varying degrees of complexity and technological advancement. However, each system has sources of information about the state (position of the navigating object, state of the environment in which the object is moving and the task to be accomplished. These components are integrated by the decision-maker (human or automated, who/which makes and implements decisions adjusted to current conditions

Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System

Science.gov (United States)

2015-03-26

THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones, Capt, USAF AFIT-ENG-MS-15-M-020 DEPARTMENT...Government and is not subject to copyright protection in the United States. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH...DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones

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.

The Navigation Guide - evidence-based medicine meets environmental health: integration of animal and human evidence for PFOA effects on fetal growth.

Science.gov (United States)

Lam, Juleen; Koustas, Erica; Sutton, Patrice; Johnson, Paula I; Atchley, Dylan S; Sen, Saunak; Robinson, Karen A; Axelrad, Daniel A; Woodruff, Tracey J

2014-10-01

The Navigation Guide is a novel systematic review method to synthesize scientific evidence and reach strength of evidence conclusions for environmental health decision making. Our aim was to integrate scientific findings from human and nonhuman studies to determine the overall strength of evidence for the question "Does developmental exposure to perfluorooctanoic acid (PFOA) affect fetal growth in humans?" We developed and applied prespecified criteria to systematically and transparently a) rate the quality of the scientific evidence as "high," "moderate," or "low"; b) rate the strength of the human and nonhuman evidence separately as "sufficient," "limited," "moderate," or "evidence of lack of toxicity"; and c) integrate the strength of the human and nonhuman evidence ratings into a strength of the evidence conclusion. We identified 18 epidemiology studies and 21 animal toxicology studies relevant to our study question. We rated both the human and nonhuman mammalian evidence as "moderate" quality and "sufficient" strength. Integration of these evidence ratings produced a final strength of evidence rating in which review authors concluded that PFOA is "known to be toxic" to human reproduction and development based on sufficient evidence of decreased fetal growth in both human and nonhuman mammalian species. We concluded that developmental exposure to PFOA adversely affects human health based on sufficient evidence of decreased fetal growth in both human and nonhuman mammalian species. The results of this case study demonstrate the application of a systematic and transparent methodology, via the Navigation Guide, for reaching strength of evidence conclusions in environmental health.

Deep sea AUV navigation using multiple acoustic beacons

Science.gov (United States)

Ji, Da-xiong; Song, Wei; Zhao, Hong-yu; Liu, Jian

2016-04-01

Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.

Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

DEFF Research Database (Denmark)

Zhao, Bo; Blanke, Mogens; Skjetne, Roger

2012-01-01

This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied...... particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate...

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. Copyright © 2011. Published by Elsevier Ltd.

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.

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.

10 GHz Standing-Wave Coplanar Stripline on LiNbO3 Crystal for Radio to Optical-Wave Conversion

Science.gov (United States)

Darwis, F.; Wijayanto, Y. N.; Setiawan, A.; Mahmudin, D.; Rahman, A. N.; Daud, P.

2018-04-01

Recently, X-band radar systems are used widely for surveillance and navigation applications. Especially in archipelago or maritime country, the surveillance/navigation radar systems are required to monitoring critical areas and managing marine traffic. Accurate detection and fast analysis should be improved furthermore to provide security and safety condition. Therefore, several radar systems should be installed in many places to coverage the critical areas within radar networks. The radar network can be connected using optical fibers since it has extremely low propagation loss with optical-wave to carry-out the radar-wave. One important component in the scenario is a radio to optical-wave conversion component. In this paper, we report a 10 GHz radio to optical-wave conversion component using standing-wave coplanar stripline (CPS) on LiNbO3 optical crystal as the substrate. The standing-wave CPS electrodes with narrow slot are arranged in an array structure. An optical waveguide is located close to the narrow slot. The CPS electrodes were analysed using electromagnetic analysis software for 10 GHz operational frequency. Responses for slot width and electrode length variation are reported. As results, return loss of -14.580 dB and -19.517 dB are obtained for single and array CPS electrodes respectively. Optimization of the designed radio to optical-wave conversion devices was also done.

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

Finding Home: Landmark Ambiguity in Human Navigation

Directory of Open Access Journals (Sweden)

Simon Jetzschke

2017-07-01

Full Text Available Memories of places often include landmark cues, i.e., information provided by the spatial arrangement of distinct objects with respect to the target location. To study how humans combine landmark information for navigation, we conducted two experiments: To this end, participants were either provided with auditory landmarks while walking in a large sports hall or with visual landmarks while walking on a virtual-reality treadmill setup. We found that participants cannot reliably locate their home position due to ambiguities in the spatial arrangement when only one or two uniform landmarks provide cues with respect to the target. With three visual landmarks that look alike, the task is solved without ambiguity, while audio landmarks need to play three unique sounds for a similar performance. This reduction in ambiguity through integration of landmark information from 1, 2, and 3 landmarks is well modeled using a probabilistic approach based on maximum likelihood estimation. Unlike any deterministic model of human navigation (based e.g., on distance or angle information, this probabilistic model predicted both the precision and accuracy of the human homing performance. To further examine how landmark cues are integrated we introduced systematic conflicts in the visual landmark configuration between training of the home position and tests of the homing performance. The participants integrated the spatial information from each landmark near-optimally to reduce spatial variability. When the conflict becomes big, this integration breaks down and precision is sacrificed for accuracy. That is, participants return again closer to the home position, because they start ignoring the deviant third landmark. Relying on two instead of three landmarks, however, goes along with responses that are scattered over a larger area, thus leading to higher variability. To model the breakdown of integration with increasing conflict, the probabilistic model based on a

METHODS AND MEANS OF MEASURING THE COORDINATES OF AIRCRAFTS BY TIME DELAY OF SIGNALS IN MULTIPOSITIONING RADIO RANGEFINDING AERONAVIGATION AND LANDING SYSTEMS

Directory of Open Access Journals (Sweden)

Ya. V. Kondrashov

2014-01-01

Full Text Available The principles of operation of radio range finding interrogation-reply system to provide navigational and landing operations of aircraft are considered. A precise method of measuring of time delays of signals for determining the location of aircraft with high accuracy is proposed.

Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles

Directory of Open Access Journals (Sweden)

Jamal Atman

2016-09-01

Full Text Available Micro Air Vehicles (MAVs equipped with various sensors are able to carry out autonomous flights. However, the self-localization of autonomous agents is mostly dependent on Global Navigation Satellite Systems (GNSS. In order to provide an accurate navigation solution in absence of GNSS signals, this article presents a hybrid sensor. The hybrid sensor is a deep integration of a monocular camera and a 2D laser rangefinder so that the motion of the MAV is estimated. This realization is expected to be more flexible in terms of environments compared to laser-scan-matching approaches. The estimated ego-motion is then integrated in the MAV’s navigation system. However, first, the knowledge about the pose between both sensors is obtained by proposing an improved calibration method. For both calibration and ego-motion estimation, 3D-to-2D correspondences are used and the Perspective-3-Point (P3P problem is solved. Moreover, the covariance estimation of the relative motion is presented. The experiments show very accurate calibration and navigation results.

Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles.

Science.gov (United States)

Atman, Jamal; Popp, Manuel; Ruppelt, Jan; Trommer, Gert F

2016-09-16

Micro Air Vehicles (MAVs) equipped with various sensors are able to carry out autonomous flights. However, the self-localization of autonomous agents is mostly dependent on Global Navigation Satellite Systems (GNSS). In order to provide an accurate navigation solution in absence of GNSS signals, this article presents a hybrid sensor. The hybrid sensor is a deep integration of a monocular camera and a 2D laser rangefinder so that the motion of the MAV is estimated. This realization is expected to be more flexible in terms of environments compared to laser-scan-matching approaches. The estimated ego-motion is then integrated in the MAV's navigation system. However, first, the knowledge about the pose between both sensors is obtained by proposing an improved calibration method. For both calibration and ego-motion estimation, 3D-to-2D correspondences are used and the Perspective-3-Point (P3P) problem is solved. Moreover, the covariance estimation of the relative motion is presented. The experiments show very accurate calibration and navigation results.

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

Science.gov (United States)

Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes

2015-12-24

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.

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.

Radio listening habits of pupils of Nomadic Pastoralists and Migrant ...

African Journals Online (AJOL)

The need to integrate Nigeria with other nations in the world that have achieved landmark results in Interactive Radio Instruction (IRI) innovation necessitated this study on radio listening habits of pupils of nomadic pastoralists and migrant fisherfolks in Nigeria. The study was carried out in four pastoralists' states of Borno, ...

Integration of a 3D perspective view in the navigation display: featuring pilot's mental model

Science.gov (United States)

Ebrecht, L.; Schmerwitz, S.

2015-05-01

Synthetic vision systems (SVS) appear as spreading technology in the avionic domain. Several studies prove enhanced situational awareness when using synthetic vision. Since the introduction of synthetic vision a steady change and evolution started concerning the primary flight display (PFD) and the navigation display (ND). The main improvements of the ND comprise the representation of colored ground proximity warning systems (EGPWS), weather radar, and TCAS information. Synthetic vision seems to offer high potential to further enhance cockpit display systems. Especially, concerning the current trend having a 3D perspective view in a SVS-PFD while leaving the navigational content as well as methods of interaction unchanged the question arouses if and how the gap between both displays might evolve to a serious problem. This issue becomes important in relation to the transition and combination of strategic and tactical flight guidance. Hence, pros and cons of 2D and 3D views generally as well as the gap between the egocentric perspective 3D view of the PFD and the exocentric 2D top and side view of the ND will be discussed. Further a concept for the integration of a 3D perspective view, i.e., bird's eye view, in synthetic vision ND will be presented. The combination of 2D and 3D views in the ND enables a better correlation of the ND and the PFD. Additionally, this supports the building of pilot's mental model. The authors believe it will improve the situational and spatial awareness. It might prove to further raise the safety margin when operating in mountainous areas.

A repeating fast radio burst.

Science.gov (United States)

Spitler, L G; Scholz, P; Hessels, J W T; Bogdanov, S; Brazier, A; Camilo, F; Chatterjee, S; Cordes, J M; Crawford, F; Deneva, J; Ferdman, R D; Freire, P C C; Kaspi, V M; Lazarus, P; Lynch, R; Madsen, E C; McLaughlin, M A; Patel, C; Ransom, S M; Seymour, A; Stairs, I H; Stappers, B W; van Leeuwen, J; Zhu, W W

2016-03-10

Fast radio bursts are millisecond-duration astronomical radio pulses of unknown physical origin that appear to come from extragalactic distances. Previous follow-up observations have failed to find additional bursts at the same dispersion measure (that is, the integrated column density of free electrons between source and telescope) and sky position as the original detections. The apparent non-repeating nature of these bursts has led to the suggestion that they originate in cataclysmic events. Here we report observations of ten additional bursts from the direction of the fast radio burst FRB 121102. These bursts have dispersion measures and sky positions consistent with the original burst. This unambiguously identifies FRB 121102 as repeating and demonstrates that its source survives the energetic events that cause the bursts. Additionally, the bursts from FRB 121102 show a wide range of spectral shapes that appear to be predominantly intrinsic to the source and which vary on timescales of minutes or less. Although there may be multiple physical origins for the population of fast radio bursts, these repeat bursts with high dispersion measure and variable spectra specifically seen from the direction of FRB 121102 support an origin in a young, highly magnetized, extragalactic neutron star.

Mass Determination of Pluto and Charon from New Horizon REX Radio Science Observations

Science.gov (United States)

Paetzold, Martin; Andert, T. P.; Tyler, G.; Bird, M. K.; Hinson, D. P.; Linscott, I. R.

2013-10-01

The anticipated 14 July 2015 New Horizons fly-through of the Pluto system provides the first opportunity to determine both the total system mass and the individual masses of Pluto and Charon by direct observation. This will be accomplished by use of: i) two-way Doppler radio frequency tracking data during intervals along the fly-in and -out trajectory, and ii) one-way uplink Doppler frequency recorded by the on-board radio science instrument, REX, during the day of closest approaches to Pluto and Charon. Continuous tracking is not feasible as a result of pointing sharing with the instruments during the encounter phase. Needed radio tracking will be obtained during time slots shared with i) two-way Doppler tracking for navigation, ii) 'plasma rolls' with the spacecraft antenna pointing to Earth, and iii) during the ingress and egress phases of the occultations. Simulations of the NH encounter indicate the potential accuracies of the combined and individual mass determinations of Pluto and Charon in the order of 0.1%.

First clinical experience with extended planning and navigation in an interventional MRI unit; Erste klinische Erfahrungen mit einer erweiterten Eingriffsplanung und Navigation am interventionellen MRT

Energy Technology Data Exchange (ETDEWEB)

Moche, M.; Schneider, J.P.; Schulz, T.; Voerkel, C.; Kahn, T.; Busse, H. [Klinik und Poliklinik fuer Diagnostische Radiologie, Universitaetsklinikum Leipzig (Germany); Schmitgen, A.; Bublat, M. [Fraunhofer-Inst. fuer Angewandte Informationstechnik, St. Augustin (Germany); Trantakis, C. [Klinik und Poliklinik fuer Neurochirurgie, Universitaetsklinikum Leipzig (Germany); Bennek, J. [Klinik und Poliklinik fuer Kinderchirurgie, Univ. Leipzig (Germany)

2004-07-01

Purpose: To present an advanced concept for patient-based navigation and to report on our first clinical experience with interventions in the cranium, of soft-tissue structures (breast, liver) and in the musculoskeletal system. Materials and Methods: A PC-based navigation system was integrated into an existing interventional MRI environment. Intraoperatively acquired 3D data were used for interventional planning. The information content of these reference data was increased by integration of additional image modalities (e. g., fMRI, CT) and by color display of areas with early contrast media enhancement. Within 18 months, the system was used in 123 patients undergoing interventions in different anatomic regions (brain: 64, paranasal sinus: 9, breast: 20, liver: 17, bone: 9, muscle: 4). The mean duration of 64 brain interventions was compared that of 36 procedures using the scanner's standard navigation. Results: In contrast with the continuous scanning mode of the MR system (0.25 fps), the higher quality as well as the real time display (4 fps) of the MR images reconstructed from the 3D reference data allowed adequate hand-eye coordination. With our system, patient movement and tissue shifts could be immediately detected intraoperatively, and, in contrast to the standard procedure, navigation safely resumed after updating the reference data. The navigation system was characterized by good stability, efficient system integration and easy usability. Despite additional working steps still to be optimized, the duration of the image-guided brain tumor resections was not significantly longer. (orig.) [German] Ziel: Vorstellung eines erweiterten Konzepts zur patientenbasierten Navigation sowie erste klinische Bewertung der durchgefuehrten Massnahmen im Kopf, Weichteil- und muskuloskeletalen Bereich. Material und Methode: Ein PC-basiertes Navigationssystem wurde in eine vorhandene interventionelle MRT-Umgebung integriert. Intraoperativ akquirierte 3-D

Benefits of Combined GPS/GLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation

Directory of Open Access Journals (Sweden)

Giovanni Pugliano

2012-04-01

Full Text Available The integration of Global Navigation Satellite Systems (GNSS with Inertial Navigation Systems (INS has been very actively researched for many years due to the complementary nature of the two systems. In particular, during the last few years the integration with micro-electromechanical system (MEMS inertial measurement units (IMUs has been investigated. In fact, recent advances in MEMS technology have made possible the development of a new generation of low cost inertial sensors characterized by small size and light weight, which represents an attractive option for mass-market applications such as vehicular and pedestrian navigation. However, whereas there has been much interest in the integration of GPS with a MEMS-based INS, few research studies have been conducted on expanding this application to the revitalized GLONASS system. This paper looks at the benefits of adding GLONASS to existing GPS/INS(MEMS systems using loose and tight integration strategies. The relative benefits of various constraints are also assessed. Results show that when satellite visibility is poor (approximately 50% solution availability the benefits of GLONASS are only seen with tight integration algorithms. For more benign environments, a loosely coupled GPS/GLONASS/INS system offers performance comparable to that of a tightly coupled GPS/INS system, but with reduced complexity and development time.

Benefits of combined GPS/GLONASS with low-cost MEMS IMUs for vehicular urban navigation.

Science.gov (United States)

Angrisano, Antonio; Petovello, Mark; Pugliano, Giovanni

2012-01-01

The integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) has been very actively researched for many years due to the complementary nature of the two systems. In particular, during the last few years the integration with micro-electromechanical system (MEMS) inertial measurement units (IMUs) has been investigated. In fact, recent advances in MEMS technology have made possible the development of a new generation of low cost inertial sensors characterized by small size and light weight, which represents an attractive option for mass-market applications such as vehicular and pedestrian navigation. However, whereas there has been much interest in the integration of GPS with a MEMS-based INS, few research studies have been conducted on expanding this application to the revitalized GLONASS system. This paper looks at the benefits of adding GLONASS to existing GPS/INS(MEMS) systems using loose and tight integration strategies. The relative benefits of various constraints are also assessed. Results show that when satellite visibility is poor (approximately 50% solution availability) the benefits of GLONASS are only seen with tight integration algorithms. For more benign environments, a loosely coupled GPS/GLONASS/INS system offers performance comparable to that of a tightly coupled GPS/INS system, but with reduced complexity and development time.

33 CFR 2.36 - Navigable waters of the United States, navigable waters, and territorial waters.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigable waters of the United States, navigable waters, and territorial waters. 2.36 Section 2.36 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL JURISDICTION Jurisdictional Terms § 2.36 Navigable waters...

Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

Science.gov (United States)

Kuwata, Yoshiaki (Inventor); Wolf, Michael T. (Inventor); Zarzhitsky, Dimitri V. (Inventor); Aghazarian, Hrand (Inventor); Huntsberger, Terrance L. (Inventor); Howard, Andrew B. (Inventor)

2014-01-01

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

Test Bed for Safety Assessment of New e-Navigation Systems

Directory of Open Access Journals (Sweden)

Axel Hahn

2014-12-01

Full Text Available New e-navigation strains require new technologies, new infrastructures and new organizational structures on bridge, on shore as well as in the cloud. Suitable engineering and safety/risk assessment methods facilitate these efforts. Understanding maritime transportation as a sociotechnical system allows the application of system-engineering methods. Formal, simulation based and in situ verification and validation of e-navigation technologies are important methods to obtain system safety and reliability. The modelling and simulation toolset HAGGIS provides methods for system specification and formal risk analysis. It provides a modelling framework for processes, fault trees and generic hazard specification and a physical world and maritime traffic simulation system. HAGGIS is accompanied by the physical test bed LABSKAUS which implements a physical test bed. The test bed provides reference ports and waterways in combination with an experimental Vessel Traffic Services (VTS system and a mobile integrated bridge: This enables in situ experiments for technological evaluation, testing, ground research and demonstration. This paper describes an integrated seamless approach for developing new e-navigation technologies starting with simulation based assessment and ending in physical real world demonstrations

The effect of navigational expertise on wayfinding in new environments.

Science.gov (United States)

Woollett, Katherine; Maguire, Eleanor A

2010-12-01

Becoming proficient at navigation in urban environments is something that we all aspire to. Here we asked whether being an expert at wayfinding in one environment has any effect on learning new spatial layouts. Licensed London taxi drivers are among the most proficient urban navigators, training for many years to find their way around a complex and irregularly-laid out city. We first tested how well they could learn the layout of an unfamiliar town compared with a group of non-taxi drivers. Second, we investigated how effectively taxi drivers could integrate a new district into their existing spatial representation of London. We found that taxi drivers were significantly better than control participants at executing routes through the new town, and representing it at a map-like survey level. However, the benefits of navigational expertise were not universal. Compared with their performance in the new town, taxi drivers were significantly poorer at learning the layout of a new area that had to be integrated with their existing knowledge of London. We consider reasons for this picture of facilitation and limitation, in particular drawing parallels with how knowledge acquisition occurs in the context of expertise in general.

IMPELEMENTASI SISTEM PEMANTAUAN OBJEK BERGERAK DENGAN MEMANFAATKAN FREKUENSI RADIO MENGGUNAKAN GPS (GLOBAL POSITIONING SYSTEM)

OpenAIRE

Budi Triandi

2010-01-01

GPS was developed by the United States Department of Defense as a reliable means for accurate navigation. The system provides highly accurate position and velocity information and precise time on a continuous global basis to an unlimited number of properly equipped users. By using combined GPS receiver and microcontroller together with radio system, we can design a monitoring system for our vehicles and display the result on the computer. This system consists of a master module that transmits...

FeltRadio – Experiencing Community-generated WiFi Activities

DEFF Research Database (Denmark)

Fritsch, Jonas; Gronvall, Erik

2016-01-01

FeltRadio is a portable technology for sensing WiFi through sensorial augmentation and Electric Muscle Stimulation (EMS). The technology enables its wearer to sensorially engage with the radio waves and WiFi activities that have become an integrated part of our everyday lives. The sensorial...... engagement changes people’s experience of WiFi activities, and allows them to participate in wireless communication infrastructures in novel ways. This is both an immediately embodied activity as it is a new form of social awareness. In this paper, we briefly present the FeltRadio technology and show how...

The Radio JOVE Project - Shoestring Radio Astronomy

Science.gov (United States)

Thieman, J.; Flagg, R.; Greenman, W.; Higgins, C.; Reyes, F.; Sky, J.

2010-01-01

Radio JOVE is an education and outreach project intended to give students and other interested individuals hands-on experience in learning radio astronomy. They can do this through building a radio telescope from a relatively inexpensive kit that includes the parts for a receiver and an antenna as well as software for a computer chart recorder emulator (Radio Skypipe) and other reference materials

Emerging technologies in healthcare: navigating risks, evaluating rewards.

Science.gov (United States)

McGrady, Elizabeth; Conger, Sue; Blanke, Sandra; Landry, Brett J L

2010-01-01

The purpose of this prescriptive research is to help decision makers become better informed about three technologies emerging in the healthcare arena by providing a basic description of the technology and describing their current applications, future healthcare deployment, potential risks, and related managerial issues. Two of the technologies, radio frequency identification (RFID) and global positioning systems (GPS), are currently available to healthcare organizations and appear capable of decreasing cost but may require significant initial investment and have disruptive potential. The third technology, nanotechnology, has limited current use but may revolutionize both the delivery of medicine and hospital infrastructure management. With cautious attention to managerial issues and meticulous attention to implementation details, healthcare organizations that can successfully navigate the coming technologically driven paradigm shifts will emerge more resilient organizations.

Intraoperative computed tomography with an integrated navigation system in stabilization surgery for complex craniovertebral junction malformation.

Science.gov (United States)

Yu, Xinguang; Li, Lianfeng; Wang, Peng; Yin, Yiheng; Bu, Bo; Zhou, Dingbiao

2014-07-01

This study was designed to report our preliminary experience with stabilization procedures for complex craniovertebral junction malformation (CVJM) using intraoperative computed tomography (iCT) with an integrated neuronavigation system (NNS). To evaluate the workflow, feasibility and clinical outcome of stabilization procedures using iCT image-guided navigation for complex CVJM. The stabilization procedures in CVJM are complex because of the area's intricate geometry and bony structures, its critical relationship to neurovascular structures and the intricate biomechanical issues involved. A sliding gantry 40-slice computed tomography scanner was installed in a preexisting operating room. The images were transferred directly from the scanner to the NNS using an automated registration system. On the basis of the analysis of intraoperative computed tomographic images, 23 cases (11 males, 12 females) with complicated CVJM underwent navigated stabilization procedures to allow more control over screw placement. The age of these patients were 19-52 years (mean: 33.5 y). We performed C1-C2 transarticular screw fixation in 6 patients to produce atlantoaxial arthrodesis with better reliability. Because of a high-riding transverse foramen on at least 1 side of the C2 vertebra and an anomalous vertebral artery position, 7 patients underwent C1 lateral mass and C2 pedicle screw fixation. Ten additional patients were treated with individualized occipitocervical fixation surgery from the hypoplasia of C1 or constraints due to C2 bone structure. In total, 108 screws were inserted into 23 patients using navigational assistance. The screws comprised 20 C1 lateral mass screws, 26 C2, 14 C3, or 4 C4 pedicle screws, 32 occipital screws, and 12 C1-C2 transarticular screws. There were no vascular or neural complications except for pedicle perforations that were detected in 2 (1.9%) patients and were corrected intraoperatively without any persistent nerves or vessel damage. The overall

77 FR 42637 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Corrections

Science.gov (United States)

2012-07-20

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 84 and 115 [Docket No. USCG-2012-0306] RIN 1625-AB86 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments...), the Coast Guard published a final rule entitled ``Navigation and Navigable Waters; Technical...

MONTE: the next generation of mission design and navigation software

Science.gov (United States)

Evans, Scott; Taber, William; Drain, Theodore; Smith, Jonathon; Wu, Hsi-Cheng; Guevara, Michelle; Sunseri, Richard; Evans, James

2018-03-01

The Mission analysis, Operations and Navigation Toolkit Environment (MONTE) (Sunseri et al. in NASA Tech Briefs 36(9), 2012) is an astrodynamic toolkit produced by the Mission Design and Navigation Software Group at the Jet Propulsion Laboratory. It provides a single integrated environment for all phases of deep space and Earth orbiting missions. Capabilities include: trajectory optimization and analysis, operational orbit determination, flight path control, and 2D/3D visualization. MONTE is presented to the user as an importable Python language module. This allows a simple but powerful user interface via CLUI or script. In addition, the Python interface allows MONTE to be used seamlessly with other canonical scientific programming tools such as SciPy, NumPy, and Matplotlib. MONTE is the prime operational orbit determination software for all JPL navigated missions.

Considerations for the Next Revision of NASA's Space Telecommunications Radio System Architecture

Science.gov (United States)

Johnson, Sandra K.; Handler, Louis M.; Briones, Janette C.

2016-01-01

Development of NASA's Software Defined Radio architecture, the Space Telecommunication Radio System (STRS), was initiated in 2004 with a goal of reducing the cost, risk and schedule when implementing Software Defined Radios (SDR) for National Aeronautics and Space Administration (NASA) space missions. Since STRS was first flown in 2012 on three Software Defined Radios on the Space Communication and Navigation (SCaN) Testbed, only minor changes have been made to the architecture. Multiple entities have since implemented the architecture and provided significant feedback for consideration for the next revision of the standard. The focus for the first set of updates to the architecture is items that enhance application portability. Items that require modifications to existing applications before migrating to the updated architecture will only be considered if there is compelling reasons to make the change. The significant suggestions that were further evaluated for consideration include expanding and clarifying the timing Application Programming Interfaces (APIs), improving handle name and identification (ID) definitions and use, and multiple items related to implementation of STRS Devices. In addition to ideas suggested while implementing STRS, SDR technology has evolved significantly and this impact to the architecture needs to be considered. These include incorporating cognitive concepts - learning from past decisions and making new decisions that the radio can act upon. SDRs are also being developed that do not contain a General Purpose Module - which is currently required for the platform to be STRS compliant. The purpose of this paper is to discuss the comments received, provide a summary of the evaluation considerations, and examine planned dispositions.

Navigating Instructional Dialectics: Empirical Exploration of Paradox in Teaching

Science.gov (United States)

Thompson, Blair; Rudick, C. Kyle; Kerssen-Griep, Jeff; Golsan, Kathryn

2018-01-01

Navigating contradiction represents an integral part of the teaching process. While educational literature has discussed the paradoxes that teachers experience in the classroom, minimal empirical research has analyzed the strategies teachers employ to address these paradoxes. Using relational dialectics as a theoretical framework for understanding…

Image-guided navigation system for placing dental implants.

Science.gov (United States)

Casap, Nardy; Wexler, Alon; Lustmann, Joshua

2004-10-01

Navigation-guided surgery has recently been introduced into various surgical disciplines, including oral and maxillofacial surgery. Since the advent of dental implants, dental computed tomography (CT) scans have been used as a diagnostic tool for preoperative planning, but not as part of the surgical phase. This article explains the principles of computer-assisted surgery and describes the use of a computer-guided navigation system in dental implantology. The system uses preoperative dental CT scans for planning and as an integral part of the surgical procedure. This system allows continuous intraoperative coordination of the implantation phase with the preoperative plan, optimizing the accuracy of implant surgery. Deviations from the planned location of the implants are minimal. Several cases are discussed.

The use of x-ray pulsar-based navigation method for interplanetary flight

Science.gov (United States)

Yang, Bo; Guo, Xingcan; Yang, Yong

2009-07-01

As interplanetary missions are increasingly complex, the existing unique mature interplanetary navigation method mainly based on radiometric tracking techniques of Deep Space Network can not meet the rising demands of autonomous real-time navigation. This paper studied the applications for interplanetary flights of a new navigation technology under rapid development-the X-ray pulsar-based navigation for spacecraft (XPNAV), and valued its performance with a computer simulation. The XPNAV is an excellent autonomous real-time navigation method, and can provide comprehensive navigation information, including position, velocity, attitude, attitude rate and time. In the paper the fundamental principles and time transformation of the XPNAV were analyzed, and then the Delta-correction XPNAV blending the vehicles' trajectory dynamics with the pulse time-of-arrival differences at nominal and estimated spacecraft locations within an Unscented Kalman Filter (UKF) was discussed with a background mission of Mars Pathfinder during the heliocentric transferring orbit. The XPNAV has an intractable problem of integer pulse phase cycle ambiguities similar to the GPS carrier phase navigation. This article innovatively proposed the non-ambiguity assumption approach based on an analysis of the search space array method to resolve pulse phase cycle ambiguities between the nominal position and estimated position of the spacecraft. The simulation results show that the search space array method are computationally intensive and require long processing time when the position errors are large, and the non-ambiguity assumption method can solve ambiguity problem quickly and reliably. It is deemed that autonomous real-time integrated navigation system of the XPNAV blending with DSN, celestial navigation, inertial navigation and so on will be the development direction of interplanetary flight navigation system in the future.

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

Radio astronomy

Energy Technology Data Exchange (ETDEWEB)

Nagnibeda, V.G.

1981-01-01

The history of radio astronomical observations at the Astronomical Observatory of Leningrad State University is reviewed. Various facilities are described, and methods and instruments used are discussed. Some results are summarized for radio observations of the sun, including observations of local sources of solar radio emission, the absolute solar radio flux, and radio emission from filaments and prominences.

True navigation and magnetic maps in spiny lobsters.

Science.gov (United States)

Boles, Larry C; Lohmann, Kenneth J

2003-01-02

Animals are capable of true navigation if, after displacement to a location where they have never been, they can determine their position relative to a goal without relying on familiar surroundings, cues that emanate from the destination, or information collected during the outward journey. So far, only a few animals, all vertebrates, have been shown to possess true navigation. Those few invertebrates that have been carefully studied return to target areas using path integration, landmark recognition, compass orientation and other mechanisms that cannot compensate for displacements into unfamiliar territory. Here we report, however, that the spiny lobster Panulirus argus oriented reliably towards a capture site when displaced 12-37 km to unfamiliar locations, even when deprived of all known orientation cues en route. Little is known about how lobsters and other animals determine position during true navigation. To test the hypothesis that lobsters derive positional information from the Earth's magnetic field, lobsters were exposed to fields replicating those that exist at specific locations in their environment. Lobsters tested in a field north of the capture site oriented themselves southwards, whereas those tested in a field south of the capture site oriented themselves northwards. These results imply that true navigation in spiny lobsters, and perhaps in other animals, is based on a magnetic map sense.

Energetic Performance of Service-oriented Multi-radio Networks: Issues and Perspectives

OpenAIRE

Caporuscio , Mauro; Charlet , Damien; Issarny , Valérie; Navarra , Alfredo

2006-01-01

Wireless devices now hold multiple radio interfaces, allowing to switch from one network to another according to required connectivity and related quality. Still, the selection of the best radio interface for a specific connection is under the responsibility of the end-user in most cases. Integrated multi-radio network management so as to improve the overall performance of the network(s) has led to a number of research efforts over the last few years. However, several challenges remain due to...

A RADIO-LOUD MAGNETAR IN X-RAY QUIESCENCE

International Nuclear Information System (INIS)

Levin, Lina; Bailes, Matthew; Bhat, N. D. Ramesh; Burke-Spolaor, Sarah; Van Straten, Willem; Bates, Samuel; Kramer, Michael; Stappers, Ben; Burgay, Marta; D'Amico, Nichi; Milia, Sabrina; Possenti, Andrea; Johnston, Simon; Keith, Michael; Rea, Nanda

2010-01-01

As part of a survey for radio pulsars with the Parkes 64 m telescope, we have discovered PSR J1622-4950, a pulsar with a 4.3 s rotation period. Follow-up observations show that the pulsar has the highest inferred surface magnetic field of the known radio pulsars (B ∼3 x 10 14 G), and it exhibits significant timing noise and appears to have an inverted spectrum. Unlike the vast majority of the known pulsar population, PSR J1622-4950 appears to switch off for many hundreds of days and even in its on-state exhibits extreme variability in its flux density. Furthermore, the integrated pulse profile changes shape with epoch. All of these properties are remarkably similar to the only two magnetars previously known to emit radio pulsations. The position of PSR J1622-4950 is coincident with an X-ray source that, unlike the other radio pulsating magnetars, was found to be in quiescence. We conclude that our newly discovered pulsar is a magnetar-the first to be discovered via its radio emission.

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.

Navigation capabilities of mid-cost GNSS/INS vs. smartphone analysis and comparison in urban navigation scenarios

OpenAIRE

Martí, Luis; García, Jesús; Molina, José M.

2014-01-01

Proceedings of: 17th International Conference on Information Fusion (FUSION 2014): Salamanca, Spain 7-10 July 2014. High accuracy navigation usually require expensive sensors and/or its careful integration into a complex and finely tuned system. Smartphones pack a high number of sensors in a portable format, becoming a source of low-quality information with a high heterogeneity and redundancy. This work compares pure GNSS/INS capabilities on both types of platform, and discuss the weakness...

An improved particle filter and its application to an INS/GPS integrated navigation system in a serious noisy scenario

International Nuclear Information System (INIS)

Wang, Xuemei; Ni, Wenbo

2016-01-01

For loosely coupled INS/GPS integrated navigation systems with low-cost and low-accuracy microelectromechanical device inertial sensors, in order to obtain enough accuracy, a full-state nonlinear dynamic model rather than a linearized error model is much more preferable. Particle filters are particularly for nonlinear and non-Gaussian situations, but typical bootstrap particle filters (BPFs) and some improved particle filters (IPFs) such as auxiliary particle filters (APFs) and Gaussian particle filters (GPFs) cannot solve the mismatch between the importance function and the likelihood function very well. The predicted particles propagated through inertial navigation equations cannot be scattered with certainty within the effective range of current observation when there are large drift errors of the inertial sensors. Therefore, the current observation cannot play the correction role well and these particle filters are invalid to some extent. The proposed IPF firstly estimates the corresponding state bias errors according to the current observation and then corrects the bias errors of the predicted particles before determining the weights and resampling the particles. Simulations and practical experiments both show that the proposed IPF can effectively solve the mismatch between the importance function and the likelihood function of a BPF and compensate the accumulated errors of INSs very well. It has great robustness in a serious noisy scenario. (paper)

Radio Tracking Fish with Small Unmanned Aircraft Systems (sUAS).

Science.gov (United States)

Dahlgren, R. P.; Anderson, K. R.; Hanson, L.; Pinsker, E. A.; Jonsson, J.; Chapman, D. C.; Witten, D. M.; O'Connor, K. A.

2017-12-01

Tracking radio tagged fish by boat or on foot in riverine systems is difficult and time consuming, particularly in large braided island complexes, shallow wetlands, and rocky reaches. Invasive Asian carp are commonly found in these hard to reach areas, but their near-surface feeding behavior makes radio tracking possible. To identify new methods of fish tracking that could same time and money, this study tested the feasibility of tracking Asian carp with Small Unmanned Aerial Systems (sUAS) in areas generally inaccessible to traditional tracking equipment. The U.S. Geological Survey worked with NanoElectromagnetics LLC and WWR Development to create and integrate a lightweight custom radio receiver, directional antenna, and accompanying software into a sUAS platform. The receiver includes independent GPS, software defined radio, and compass. The NASA Ames Research Center (ARC) completed payload integration, electromagnetic-interference and airworthiness testing, and provided a DJI Matrice 600 sUAS for this study. Additionally, ARC provided subject matter experts, airworthiness and flight readiness evaluation, and flight test facilities during preparation; and a pilot, range safety officer, and aircraft engineer during field deployment. Results demonstrate that this custom sUAS and sensor combination can detect radio tags at 100m above ground level and at horizontal ranges of 100m and 300m, with operators in either onshore or offshore locations. With this combination of sUAS and radio receiver, fish can be tracked in areas previously inaccessible and during flooding, providing new insights into riverine fish movement and habitat utilization.

An Integrated Assessment of Progress in Robotic Perception and Semantic Navigation

Science.gov (United States)

2015-09-01

Navigation by Craig Lennon, Barry Bodt, Marshal Childers, Jean Oh, Arne Suppe, Luis Navarro-Serment, Robert Dean, Terrence Keegan , Chip Diberardino...Directorate, ARL Jean Oh, Arne Suppe, and Luis Navarro-Serment National Robotics Engineering Center, Pittsburgh, PA Robert Dean, Terrence Keegan ...AUTHOR(S) Craig Lennon, Barry Bodt, Marshal Childers, Jean Oh, Arne Suppe, Luis Navarro-Serment, Robert Dean, Terrence Keegan , Chip Diberardino

Survey of computer vision technology for UVA navigation

Science.gov (United States)

Xie, Bo; Fan, Xiang; Li, Sijian

2017-11-01

Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are

GPS/MEMS IMU/Microprocessor Board for Navigation

Science.gov (United States)

Gender, Thomas K.; Chow, James; Ott, William E.

2009-01-01

A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

Sensors integration for smartphone navigation: performances and future challenges

Science.gov (United States)

Aicardi, I.; Dabove, P.; Lingua, A.; Piras, M.

2014-08-01

Nowadays the modern smartphones include several sensors which are usually adopted in geomatic application, as digital camera, GNSS (Global Navigation Satellite System) receivers, inertial platform, RFID and Wi-Fi systems. In this paper the authors would like to testing the performances of internal sensors (Inertial Measurement Unit, IMU) of three modern smartphones (Samsung GalaxyS4, Samsung GalaxyS5 and iPhone4) compared to external mass-market IMU platform in order to verify their accuracy levels, in terms of positioning. Moreover, the Image Based Navigation (IBN) approach is also investigated: this approach can be very useful in hard-urban environment or for indoor positioning, as alternative to GNSS positioning. IBN allows to obtain a sub-metrical accuracy, but a special database of georeferenced images (Image DataBase, IDB) is needed, moreover it is necessary to use dedicated algorithm to resizing the images which are collected by smartphone, in order to share it with the server where is stored the IDB. Moreover, it is necessary to characterize smartphone camera lens in terms of focal length and lens distortions. The authors have developed an innovative method with respect to those available today, which has been tested in a covered area, adopting a special support where all sensors under testing have been installed. Geomatic instrument have been used to define the reference trajectory, with purpose to compare this one, with the path obtained with IBN solution. First results leads to have an horizontal and vertical accuracies better than 60 cm, respect to the reference trajectories. IBN method, sensors, test and result will be described in the paper.

Visual navigation in insects: coupling of egocentric and geocentric information

Science.gov (United States)

Wehner; Michel; Antonsen

1996-01-01

Social hymenopterans such as bees and ants are central-place foragers; they regularly depart from and return to fixed positions in their environment. In returning to the starting point of their foraging excursion or to any other point, they could resort to two fundamentally different ways of navigation by using either egocentric or geocentric systems of reference. In the first case, they would rely on information continuously collected en route (path integration, dead reckoning), i.e. integrate all angles steered and all distances covered into a mean home vector. In the second case, they are expected, at least by some authors, to use a map-based system of navigation, i.e. to obtain positional information by virtue of the spatial position they occupy within a larger environmental framework. In bees and ants, path integration employing a skylight compass is the predominant mechanism of navigation, but geocentred landmark-based information is used as well. This information is obtained while the animal is dead-reckoning and, hence, added to the vector course. For example, the image of the horizon skyline surrounding the nest entrance is retinotopically stored while the animal approaches the goal along its vector course. As shown in desert ants (genus Cataglyphis), there is neither interocular nor intraocular transfer of landmark information. Furthermore, this retinotopically fixed, and hence egocentred, neural snapshot is linked to an external (geocentred) system of reference. In this way, geocentred information might more and more complement and potentially even supersede the egocentred information provided by the path-integration system. In competition experiments, however, Cataglyphis never frees itself of its homeward-bound vector - its safety-line, so to speak - by which it is always linked to home. Vector information can also be transferred to a longer-lasting (higher-order) memory. There is no need to invoke the concept of the mental analogue of a topographic

Recent Successes and Future Plans for NASA's Space Communications and Navigation Testbed on the International Space Station

Science.gov (United States)

Reinhart, Richard C.; Sankovic, John M.; Johnson, Sandra K.; Lux, James P.; Chelmins, David T.

2014-01-01

Flexible and extensible space communications architectures and technology are essential to enable future space exploration and science activities. NASA has championed the development of the Space Telecommunications Radio System (STRS) software defined radio (SDR) standard and the application of SDR technology to reduce the costs and risks of using SDRs for space missions, and has developed an on-orbit testbed to validate these capabilities. The Space Communications and Navigation (SCaN) Testbed (previously known as the Communications, Navigation, and Networking reConfigurable Testbed (CoNNeCT)) is advancing SDR, on-board networking, and navigation technologies by conducting space experiments aboard the International Space Station. During its first year(s) on-orbit, the SCaN Testbed has achieved considerable accomplishments to better understand SDRs and their applications. The SDR platforms and software waveforms on each SDR have over 1500 hours of operation and are performing as designed. The Ka-band SDR on the SCaN Testbed is NASAs first space Ka-band transceiver and is NASA's first Ka-band mission using the Space Network. This has provided exciting opportunities to operate at Ka-band and assist with on-orbit tests of NASA newest Tracking and Data Relay Satellites (TDRS). During its first year, SCaN Testbed completed its first on-orbit SDR reconfigurations. SDR reconfigurations occur when implementing new waveforms on an SDR. SDR reconfigurations allow a radio to change minor parameters, such as data rate, or complete functionality. New waveforms which provide new capability and are reusable across different missions provide long term value for reconfigurable platforms such as SDRs. The STRS Standard provides guidelines for new waveform development by third parties. Waveform development by organizations other than the platform provider offers NASA the ability to develop waveforms itself and reduce its dependence and costs on the platform developer. Each of these

Computer-assisted navigational surgery enhances safety in dental implantology.

Science.gov (United States)

Ng, F C; Ho, K H; Wexler, A

2005-06-01

Dental implants are increasingly used to restore missing dentition. These titanium implants are surgically installed in the edentulous alveolar ridge and allowed to osteointegrate with the bone during the healing phase. After osseo-integration, the implant is loaded with a prosthesis to replace the missing tooth. Conventional implant treatment planning uses study models, wax-ups and panoramic x-rays to prefabricate surgical stent to guide the preparation of the implant site. The drilling into the alveolar ridge is invariably a "blind" procedure as the part of the drill in bone is not visible. Stereotactic systems were first introduced into neurosurgery in 1986. Since then, computer-assisted navigational technology has brought major advances to neuro-, midface and orthopaedic surgeries, and more recently, to implant placement. This paper illustrates the use of real-time computer-guided navigational technology in enhancing safety in implant surgical procedures. Real-time computer-guided navigational technology enhances accuracy and precision of the surgical procedure, minimises complications and facilitates surgery in challenging anatomical locations.

Determination of UAV position using high accuracy navigation platform

Directory of Open Access Journals (Sweden)

Ireneusz Kubicki

2016-07-01

Full Text Available The choice of navigation system for mini UAV is very important because of its application and exploitation, particularly when the installed on it a synthetic aperture radar requires highly precise information about an object’s position. The presented exemplary solution of such a system draws attention to the possible problems associated with the use of appropriate technology, sensors, and devices or with a complete navigation system. The position and spatial orientation errors of the measurement platform influence on the obtained SAR imaging. Both, turbulences and maneuvers performed during flight cause the changes in the position of the airborne object resulting in deterioration or lack of images from SAR. Consequently, it is necessary to perform operations for reducing or eliminating the impact of the sensors’ errors on the UAV position accuracy. You need to look for compromise solutions between newer better technologies and in the field of software. Keywords: navigation systems, unmanned aerial vehicles, sensors integration

Juvenile Osprey Navigation during Trans-Oceanic Migration.

Directory of Open Access Journals (Sweden)

Travis W Horton

Full Text Available To compensate for drift, an animal migrating through air or sea must be able to navigate. Although some species of bird, fish, insect, mammal, and reptile are capable of drift compensation, our understanding of the spatial reference frame, and associated coordinate space, in which these navigational behaviors occur remains limited. Using high resolution satellite-monitored GPS track data, we show that juvenile ospreys (Pandion haliaetus are capable of non-stop constant course movements over open ocean spanning distances in excess of 1500 km despite the perturbing effects of winds and the lack of obvious landmarks. These results are best explained by extreme navigational precision in an exogenous spatio-temporal reference frame, such as positional orientation relative to Earth's magnetic field and pacing relative to an exogenous mechanism of keeping time. Given the age (<1 year-old of these birds and knowledge of their hatching site locations, we were able to transform Enhanced Magnetic Model coordinate locations such that the origin of the magnetic coordinate space corresponded with each bird's nest. Our analyses show that trans-oceanic juvenile osprey movements are consistent with bicoordinate positional orientation in transformed magnetic coordinate or geographic space. Through integration of movement and meteorological data, we propose a new theoretical framework, chord and clock navigation, capable of explaining the precise spatial orientation and temporal pacing performed by juvenile ospreys during their long-distance migrations over open ocean.

Radio stars

International Nuclear Information System (INIS)

Hjellming, R.M.

1976-01-01

Any discussion of the radio emission from stars should begin by emphasizing certain unique problems. First of all, one must clarify a semantic confusion introduced into radio astronomy in the late 1950's when most new radio sources were described as radio stars. All of these early 'radio stars' were eventually identified with other galactic and extra-galactic objects. The study of true radio stars, where the radio emission is produced in the atmosphere of a star, began only in the 1960's. Most of the work on the subject has, in fact, been carried out in only the last few years. Because the real information about radio stars is quite new, it is not surprising that major aspects of the subject are not at all understood. For this reason this paper is organized mainly around three questions: what is the available observational information; what physical processes seem to be involved; and what working hypotheses look potentially fruitful. (Auth.)

Space Launch Systems Block 1B Preliminary Navigation System Design

Science.gov (United States)

Oliver, T. Emerson; Park, Thomas; Anzalone, Evan; Smith, Austin; Strickland, Dennis; Patrick, Sean

2018-01-01

NASA is currently building the Space Launch Systems (SLS) Block 1 launch vehicle for the Exploration Mission 1 (EM-1) test flight. In parallel, NASA is also designing the Block 1B launch vehicle. The Block 1B vehicle is an evolution of the Block 1 vehicle and extends the capability of the NASA launch vehicle. This evolution replaces the Interim Cryogenic Propulsive Stage (ICPS) with the Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability, increased robustness for manned missions, and the capability to execute more demanding missions so must the SLS Integrated Navigation System evolved to support those missions. This paper describes the preliminary navigation systems design for the SLS Block 1B vehicle. The evolution of the navigation hard-ware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1B vehicle navigation system is de-signed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. Additionally, the Block 1B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and robust algorithm design, including Fault Detection, Isolation, and Recovery (FDIR) logic.

GEROS-ISS: GNSS REflectometry, Radio Occultation and Scatterometry onboard the International Space Station

DEFF Research Database (Denmark)

Wickert, Jens; Cardellach, Estel; Bandeiras, Jorge

2016-01-01

GEROS-ISS stands for GNSS REflectometry, radio occultation, and scatterometry onboard the International Space Station (ISS). It is a scientific experiment, successfully proposed to the European Space Agency in 2011. The experiment as the name indicates will be conducted on the ISS. The main focus...... of GEROS-ISS is the dedicated use of signals from the currently available Global Navigation Satellite Systems (GNSS) in L-band for remote sensing of the Earth with a focus to study climate change. Prime mission objectives are the determination of the altimetric sea surface height of the oceans...

Navigation in diagnosis and therapy

International Nuclear Information System (INIS)

Vannier, Michael W.; Haller, John W.

1999-01-01

Image-guided navigation for surgery and other therapeutic interventions has grown in importance in recent years. During image-guided navigation a target is detected, localized and characterized for diagnosis and therapy. Thus, images are used to select, plan, guide and evaluate therapy, thereby reducing invasiveness and improving outcomes. A shift from traditional open surgery to less-invasive image-guided surgery will continue to impact the surgical marketplace. Increases in the speed and capacity of computers and computer networks have enabled image-guided interventions. Key elements in image navigation systems are pre-operative 3D imaging (or real-time image acquisition), a graphical display and interactive input devices, such as surgical instruments with light emitting diodes (LEDs). CT and MRI, 3D imaging devices, are commonplace today and 3D images are useful in complex interventions such as radiation oncology and surgery. For example, integrated surgical imaging workstations can be used for frameless stereotaxy during neurosurgical interventions. In addition, imaging systems are being expanded to include decision aids in diagnosis and treatment. Electronic atlases, such as Voxel Man or others derived from the Visible Human Project, combine a set of image data with non-image knowledge such as anatomic labels. Robot assistants and magnetic guidance technology are being developed for minimally invasive surgery and other therapeutic interventions. Major progress is expected at the interface between the disciplines of radiology and surgery where imaging, intervention and informatics converge

33 CFR 66.05-100 - Designation of navigable waters as State waters for private aids to navigation.

Science.gov (United States)

2010-07-01

... as State waters for private aids to navigation. 66.05-100 Section 66.05-100 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-100 Designation of navigable waters as State waters for private aids to...

Navigation outside of the box: what the lab can learn from the field and what the field can learn from the lab.

Science.gov (United States)

Jacobs, Lucia F; Menzel, Randolf

2014-01-01

Space is continuous. But the communities of researchers that study the cognitive map in non-humans are strangely divided, with debate over its existence found among behaviorists but not neuroscientists. To reconcile this and other debates within the field of navigation, we return to the concept of the parallel map theory, derived from data on hippocampal function in laboratory rodents. Here the cognitive map is redefined as the integrated map, which is a construction of dual mechanisms, one based on directional cues (bearing map) and the other on positional cues (sketch map). We propose that the dual navigational mechanisms of pigeons, the navigational map and the familiar area map, could be homologous to these mammalian parallel maps; this has implications for both research paradigms. Moreover, this has implications for the lab. To create a bearing map (and hence integrated map) from extended cues requires self-movement over a large enough space to sample and model these cues at a high resolution. Thus a navigator must be able to move freely to map extended cues; only then should the weighted hierarchy of available navigation mechanisms shift in favor of the integrated map. Because of the paucity of extended cues in the lab, the flexible solutions allowed by the integrated map should be rare, despite abundant neurophysiological evidence for the existence of the machinery needed to encode and map extended cues through voluntary movement. Not only do animals need to map extended cues but they must also have sufficient information processing capacity. This may require a specific ontogeny, in which the navigator's nervous system is exposed to naturally complex spatial contingencies, a circumstance that occurs rarely, if ever, in the lab. For example, free-ranging, flying animals must process more extended cues than walking animals and for this reason alone, the integrated map strategy may be found more reliably in some species. By taking concepts from ethology and the

A 60-GHz energy harvesting module with on-chip antenna and switch for co-integration with ULP radios in 65-nm CMOS with fully wireless mm-wave power transfer measurement

NARCIS (Netherlands)

Gao, H.; Matters - Kammerer, M.; Harpe, P.J.A.; Milosevic, D.; Roermund, van A.H.M.; Linnartz, J.P.M.G.; Baltus, P.G.M.

2014-01-01

In this paper the architecture and performance of a co-integrated 60 GHz on-chip wireless energy harvester and ultra-low power (ULP) radio in 65-nm CMOS are discussed. Integration of an on-chip antenna with wireless power receiver and wireless data transfer module is the crucial next step to achieve

Navigation Problems in Blind-to-Blind Pedestrians Tele-assistance Navigation

OpenAIRE

Balata , Jan; Mikovec , Zdenek; Maly , Ivo

2015-01-01

International audience; We raise a question whether it is possible to build a large-scale navigation system for blind pedestrians where a blind person navigates another blind person remotely by mobile phone. We have conducted an experiment, in which we observed blind people navigating each other in a city center in 19 sessions. We focused on problems in the navigator’s attempts to direct the traveler to the destination. We observed 96 problems in total, classified them on the basis of the typ...

BioRadioTransmitter: a self-powered wireless glucose-sensing system.

Science.gov (United States)

Hanashi, Takuya; Yamazaki, Tomohiko; Tsugawa, Wakako; Ikebukuro, Kazunori; Sode, Koji

2011-09-01

Although an enzyme fuel cell can be utilized as a glucose sensor, the output power generated is too low to power a device such as a currently available transmitter and operating system, and an external power source is required for operating an enzyme-fuel-cell-based biosensing system. We proposed a novel biosensor that we named BioCapacitor, in which a capacitor serves as a transducer. In this study, we constructed a new BioCapacitor-based system with an added radio-transmitter circuit and a miniaturized enzyme fuel cell. A miniaturized direct-electron-transfer-type compartmentless enzyme fuel cell was constructed with flavin adenine dinucleotide-dependent glucose dehydrogenase complex-based anode and a bilirubin-oxidase-based cathode. For construction of a BioRadioTransmitter wireless sensing system, a capacitor, an ultra-low-voltage charge-pump-integrated circuit, and Hartley oscillator circuit were connected to the miniaturized enzyme fuel cell. A radio-receiver circuit, comprising two field-effect transistors and a coil as an antenna, was used to amplify the signal generated from the biofuel cells. Radio wave signals generated by the BioRadioTransmitter were received, amplified, and converted from alternate to direct current by the radio receiver. When the capacitor discharges in the presence of glucose, the BioRadioTransmitter generates a radio wave, which is monitored by a radio receiver connected wirelessly to the sensing device. Magnitude of the radio wave transmission frequency change observed at the radio receiver was correlated to glucose concentration in the fuel cells. We constructed a stand-alone, self-powered, wireless glucose-sensing system called a BioRadioTransmitter by using a radio transmitter in which the radio wave transmission frequency changes with the glucose concentration in the fuel cell. The BioRadioTransmitter is a significant advance toward construction of an implantable continuous glucose monitor. © 2011 Diabetes Technology Society.

Radio Engineering System of Short-Range Navigation. RSBN-2. Part I. (Radioteknicheskaya Sistema Blizhney Navigatsii RSBN-2)

Science.gov (United States)

1977-02-09

RANGE NAVIGATION. RSBN-2 By: Ye. M. Yakovlev, A. N. Kleplkov, et al. English pages: 706 source: Radlotekhnlcheskaya Sistema Bllzhney Navigatsli...L4 and the grid of tube L5 (6N8S) limits grid m^^mammm^m^^^f.^^ rn .„ | -.,, ..S^JTv i tOC = 77050017 PAGE ^ I current©. |: *■ «a—m

Extirpation of a cranial lesion radio guided by scintigraphy and intraoperative detection

International Nuclear Information System (INIS)

Concha Julio, Enrique; Basuri, Luciano; Otayza, Felipe; Neubauer, Sonia; Mena, Ismael; Arteaga, Maria Paz

2005-01-01

A skull lesion may be difficult to localize, specially a small one that is not evident on the external surface. In this paper, we describe the localization and extirpation aided by intraoperative radio guidance of a 2 cm lesion compromising the internal aspect of the posterior temporal bone. The radiological expression of this lesion was poor, both on the plain radiograph's and on the computed tomography, making the intraoperative radiology and the navigation aided by computed tomography useless. The lesion was extirpated in block and the skull repaired. The biopsy confirmed a Paget's disease. There were not surgical complications (au)

Absolute Navigation Performance of the Orion Exploration Fight Test 1

Science.gov (United States)

Zanetti, Renato; Holt, Greg; Gay, Robert; D'Souza, Christopher; Sud, Jastesh

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 stress the system by placing the un-crewed vehicle on a high-energy parabolic trajectory replicating conditions similar to those that would be experienced when returning from an asteroid or a lunar mission. Unique challenges associated with designing the navigation system for EFT-1 are presented with an emphasis on how redundancy and robustness influenced the architecture. Two Inertial Measurement Units (IMUs), one GPS receiver and three barometric altimeters (BALTs) comprise the navigation sensor suite. The sensor data is multiplexed using conventional integration techniques and the state estimate is refined by the GPS pseudorange and deltarange measurements in an Extended Kalman Filter (EKF) that employs UDU factorization. The performance of the navigation system during flight is presented to substantiate the design.

Bridging IMO e-Navigation Policy and Offshore Oil and Gas Operations through Geospatial Standards

Directory of Open Access Journals (Sweden)

Filipe Modesto Da Rocha

2016-04-01

Full Text Available In offshore industry activities, the suitable onboard provision of assets location and geospatial marine information during operations is essential. Currently, most companies use its own data structures, resulting in incompatibility between processes. In order to promote the data exchange, oil and gas industry associations have pursued initiatives to standardize spatial information. In turn, the IMO - International Maritime Organization - started the implementation of e-Navigation policy, which is the standardization of technologies and protocols applied to maritime information and navigation. This paper shows relationship and integration points between maritime activities of oil and gas industry and e-Navigation technologies and processes, highlighting geospatial information. This paper also preludes out an initiative for a suitable product specification for the offshore oil and gas industry, compliant with e-Navigation and IHO S-100 international standards.

Radio stars

International Nuclear Information System (INIS)

Hjellming, R.M.; Gibson, D.M.

1985-01-01

Studies of stellar radio emission became an important field of research in the 1970's and have now expanded to become a major area of radio astronomy with the advent of new instruments such as the Very Large Array in New Mexico and transcontinental telescope arrays. This volume contains papers from the workshop on stellar continuum radio astronomy held in Boulder, Colorado, and is the first book on the rapidly expanding field of radio emission from stars and stellar systems. Subjects covered include the observational and theoretical aspects of stellar winds from both hot and cool stars, radio flares from active double star systems and red dwarf stars, bipolar flows from star-forming regions, and the radio emission from X-ray binaries. (orig.)

IRAS observations of radio-quiet and radio-loud quasars

Science.gov (United States)

Neugebauer, G.; Soifer, B. T.; Miley, G.; Habing, H. J.; Young, E.; Low, F. J.; Beichman, C. A.; Clegg, P. E.; Harris, S.; Rowan-Robinson, M.

1984-01-01

Observations from 12 to 100 microns are presented of two radio-quiet and three radio-loud quasars. Over this wavelength range, all five have grossly similar continuum energy distributions. The continua of the radio-loud quasars are consistent with synchrotron radiation. There is an indication, however, of excess 100 micron emission in the two radio-quiet quasars.

Radio stars observed in the LAMOST spectral survey

Science.gov (United States)

Zhang, Li-Yun; Yue, Qiang; Lu, Hong-Peng; Han, Xian-Ming L.; Zhang, Yong; Shi, Jian-Rong; Wang, Yue-Fei; Hou, Yong-Hui; Zi-Huang, Cao

2017-09-01

Radio stars have attracted astronomers’ attention for several decades. To better understand the physics behind stellar radio emissions, it is important to study their optical behaviors. The LAMOST survey provides a large database for researching stellar spectroscopic properties of radio stars. In this work, we concentrate on their spectroscopic properties and infer physical properties from their spectra, such as stellar activity and variability. We mined big data from the LAMOST spectral survey Data Release 2 (DR2), published on 2016 June 30, by cross-matching them with radio stars from FIRST and other surveys. We obtained 783 good stellar spectra with high signal to noise ratio for 659 stars. The criteria for selection were positional coincidence within 1.5‧‧ and LAMOST objects classified as stars. We calculated the equivalent widths (EWs) of the Ca ii H&K, Hδ, Hγ, Hβ, Hα and Ca ii IRT lines by integrating the line profiles. Using the EWs of the Hα line, we detected 147 active stellar spectra of 89 objects having emissions above the Hα continuum. There were also 36 objects with repeated spectra, 28 of which showed chromospheric activity variability. Furthermore, we found 14 radio stars emitting noticeably in the Ca ii IRT lines. The low value of the EW8542/EW8498 ratio for these 14 radio stars possibly alludes to chromospheric plage regions.

EnEx-RANGE - Robust autonomous Acoustic Navigation in Glacial icE

Science.gov (United States)

Heinen, Dirk; Eliseev, Dmitry; Henke, Christoph; Jeschke, Sabina; Linder, Peter; Reuter, Sebastian; Schönitz, Sebastian; Scholz, Franziska; Weinstock, Lars Steffen; Wickmann, Stefan; Wiebusch, Christopher; Zierke, Simon

2017-03-01

Within the Enceladus Explorer Initiative of the DLR Space Administration navigation technologies for a future space mission are in development. Those technologies are the basis for the search for extraterrestrial life on the Saturn moon Enceladus. An autonomous melting probe, the EnEx probe, aims to extract a liquid sample from a water reservoir below the icy crust. A first EnEx probe was developed and demonstrated in a terrestrial scenario at the Bloodfalls, Taylor Glacier, Antarctica in November 2014. To enable navigation in glacier ice two acoustic systems were integrated into the probe in addition to conventional navigation technologies. The first acoustic system determines the position of the probe during the run based on propagation times of acoustic signals from emitters at reference positions at the glacier surface to receivers in the probe. The second system provides information about the forefield of the probe. It is based on sonographic principles with phased array technology integrated in the probe's melting head. Information about obstacles or sampling regions in the probe's forefield can be acquired. The development of both systems is now continued in the project EnEx-RANGE. The emitters of the localization system are replaced by a network of intelligent acoustic enabled melting probes. These localize each other by means of acoustic signals and create the reference system for the EnEx probe. This presentation includes the discussion of the intelligent acoustic network, the acoustic navigation systems of the EnEx probe and results of terrestrial tests.

Space Weather Action Plan Solar Radio Burst Phase 1 Benchmarks and the Steps to Phase 2

Science.gov (United States)

Biesecker, D. A.; White, S. M.; Gopalswamy, N.; Black, C.; Love, J. J.; Pierson, J.

2017-12-01

Solar radio bursts, when at the right frequency and when strong enough, can interfere with radar, communication, and tracking signals. In severe cases, radio bursts can inhibit the successful use of radio communications and disrupt a wide range of systems that are reliant on Position, Navigation, and Timing services on timescales ranging from minutes to hours across wide areas on the dayside of Earth. The White House's Space Weather Action Plan asked for solar radio burst intensity benchmarks for an event occurrence frequency of 1 in 100 years and also a theoretical maximum intensity benchmark. The benchmark team has developed preliminary (phase 1) benchmarks for the VHF (30-300 MHz), UHF (300-3000 MHz), GPS (1176-1602 MHz), F10.7 (2800 MHz), and Microwave (4000-20000) bands. The preliminary benchmarks were derived based on previously published work. Limitations in the published work will be addressed in phase 2 of the benchmark process. In addition, deriving theoretical maxima requires additional work, where it is even possible to, in order to meet the Action Plan objectives. In this presentation, we will present the phase 1 benchmarks, the basis used to derive them, and the limitations of that work. We will also discuss the work that needs to be done to complete the phase 2 benchmarks.

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.

Control algorithms for autonomous robot navigation

International Nuclear Information System (INIS)

Jorgensen, C.C.

1985-01-01

This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

A 10.7 MHz CMOS SC radio IF filter using orthogonal hardware modulation

NARCIS (Netherlands)

Quinn, P.J.; Hartingsveldt, van K.; Roermund, van A.H.M.

2000-01-01

FM radio receivers require an IF filter for channel selection, customarily set at an IF center frequency of 10.7 MHz. Up until now, the limitations of integrated radio selectivity filters in terms of power dissipation, dynamic range, and cost are such that it is still required to use an external

Integrated navigation and control software system for MRI-guided robotic prostate interventions.

Science.gov (United States)

Tokuda, Junichi; Fischer, Gregory S; DiMaio, Simon P; Gobbi, David G; Csoma, Csaba; Mewes, Philip W; Fichtinger, Gabor; Tempany, Clare M; Hata, Nobuhiko

2010-01-01

A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. Copyright 2009 Elsevier Ltd. All rights reserved.

Integrated navigation and control software system for MRI-guided robotic prostate interventions

Science.gov (United States)

Tokuda, Junichi; Fischer, Gregory S.; DiMaio, Simon P.; Gobbi, David G.; Csoma, Csaba; Mewes, Philip W.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

2010-01-01

A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called “workphases” that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. PMID:19699057

The Global Positioning System--Direction for the Future [and] GPS Technology and Agriculture.

Science.gov (United States)

Edmondson, Paul R.; Ginsburg, Alan

1996-01-01

Edmondson introduces a satellite-based radio navigation, positioning, and timing system that can be integrated into a variety of curriculum areas. Ginsburg describes how the global positioning system brings far-reaching benefits for crop growers and the environment. (Author)

In silico Interrogation of Insect Central Complex Suggests Computational Roles for the Ellipsoid Body in Spatial Navigation

Directory of Open Access Journals (Sweden)

Vincenzo G. Fiore

2017-08-01

Full Text Available The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed

In silico Interrogation of Insect Central Complex Suggests Computational Roles for the Ellipsoid Body in Spatial Navigation.

Science.gov (United States)

Fiore, Vincenzo G; Kottler, Benjamin; Gu, Xiaosi; Hirth, Frank

2017-01-01

The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed computational features

Miniature Inertial and Augmentation Sensors for Integrated Inertial/GPS Based Navigation Applications

Science.gov (United States)

2010-03-01

Magnetometer (Ref [23]) Until miniature atomic magnetometers transition from laboratory demonstration units to a mass produced product, fluxgate ...and/or magnetoresistive designs are a better suited magnetometer technology for a miniature navigation system. Figure 8 below shows the basic fluxgate ...is required to resolve magnetic field orientation. Fig 8. Fluxgate Magnetometer Schematic The PNI Sensor Corporation (Santa Rosa, CA

A Leapfrog Navigation System

Science.gov (United States)

Opshaug, Guttorm Ringstad

There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position

Using Radio Irregularity for Increasing Residential Energy Awareness

Directory of Open Access Journals (Sweden)

A. Miljković

2012-06-01

Full Text Available Radio irregularity phenomenon is often considered as a shortcoming of wireless networks. In this paper, the method of using radio irregularity as an efficient human presence detection sensor in smart homes is presented. The method is mainly based on monitoring variations of the received signal strength indicator (RSSI within the messages used for the communication between wireless smart power outlets. The radio signals used for the inter-outlets communication can be absorbed, diffracted or reflected by objects in their propagation paths. When a human enters the existing radio communication field, the variation of the signal strength at the receiver is even more expressed. Based on the detected changes and compared to the initial thresholds set during the initialization phase, the system detects human presence. The proposed solution increases user awareness and automates the power control in households, with the primary goal to contribute in residential energy savings. Compared to conventional sensor networks, this approach preserves the sensorial intelligence, simplicity and low installation costs, without the need for additional sensors integration.

The importance of Radio Quiet Zone (RQZ) for radio astronomy

Science.gov (United States)

Umar, Roslan; Abidin, Zamri Zainal; Ibrahim, Zainol Abidin

2013-05-01

Most of radio observatories are located in isolated areas. Since radio sources from the universe is very weak, astronomer need to avoid radio frequency interference (RFI) from active spectrum users and radio noise produced by human made (telecommunication, mobile phone, microwave user and many more. There are many observatories around the world are surrounded by a Radio Quiet Zone (RQZ), which is it was set up using public or state laws. A Radio Quiet Zone normally consists of two areas: an exclusive area in which totally radio emissions are forbidden, with restrictions for residents and business developments, and a larger (radius up to 100 km above) coordination area where the power of radio transmission limits to threshold levels. Geographical Information System (GIS) can be used as a powerful tool in mapping large areas with varying RQZ profiles. In this paper, we report the initial testing of the usage of this system in order to identify the areas were suitable for Radio Quiet Zone. Among the important parameters used to develop the database for our GIS are population density, information on TV and telecommunication (mobile phones) transmitters, road networks (highway), and contour shielding. We will also use other information gathered from on-site RFI level measurements on selected 'best' areas generated by the GIS. The intention is to find the best site for the purpose of establishing first radio quiet zones for radio telescope in Malaysia.

Optimal motion planning using navigation measure

Science.gov (United States)

Vaidya, Umesh

2018-05-01

We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

The excess radio background and fast radio transients

International Nuclear Information System (INIS)

Kehayias, John; Kephart, Thomas W.; Weiler, Thomas J.

2015-01-01

In the last few years ARCADE 2, combined with older experiments, has detected an additional radio background, measured as a temperature and ranging in frequency from 22 MHz to 10 GHz, not accounted for by known radio sources and the cosmic microwave background. One type of source which has not been considered in the radio background is that of fast transients (those with event times much less than the observing time). We present a simple estimate, and a more detailed calculation, for the contribution of radio transients to the diffuse background. As a timely example, we estimate the contribution from the recently-discovered fast radio bursts (FRBs). Although their contribution is likely 6 or 7 orders of magnitude too small (though there are large uncertainties in FRB parameters) to account for the ARCADE 2 excess, our development is general and so can be applied to any fast transient sources, discovered or yet to be discovered. We estimate parameter values necessary for transient sources to noticeably contribute to the radio background

From COST 271 to 296 EU actions on ionospheric monitoring and modelling for terrestrial and Earth space radio systems

Science.gov (United States)

Zolesi, B.; Cander, Lj. R.; Altadill, D.

The ionospheric community has long been aware that co-operative research on an international basis is essential to deal with temporal and spatial changes in the ionosphere that influence the performance of terrestrial and Earth-space radio systems. The EU COST (Co-operation in the field of Scientific and Technical Research) 271 Action on "Effects of the Upper Atmosphere on Terrestrial and Earth-space Communications" has had during the period of October 2000-August 2004 the following main objectives: (1) to evaluate the influence of upper atmospheric conditions on terrestrial and Earth-space communications, (2) to develop methods and techniques to improve ionospheric models over Europe for telecommunication and navigation applications and (3) to transfer the results to the appropriate radiocommunication study groups of the International Telecommunication Union (ITU-R) and other national and international organizations dealing with the modern communication systems. At the beginning of 2005 the new 296 Action in the COST Telecommunications, Information Science and Technology domain on "Mitigation of Ionospheric Effects on Radio Systems (MIERS)" was approved for the period 2005-2009. The main objectives of the MIERS are: (a) to support and enhanced the existing European facilities for historical and real-time digital ionospheric data collection and exchange; (b) to develop an integrated approach to ionospheric modelling, create the mechanism needed to ingest processed data into models, extend and develop suitable mitigation models and define the protocols needed to link models together; and (c) to strengthen the areas of expertise that already exist by stimulating closer cooperation between scientists and users, focusing the scope of all the previous COST ionospheric related studies to the mitigation of ionospheric effects on radio systems. This paper summarises briefly how the major objectives of the COST271 Action have been achieved and what are the most important

Unified Simulation and Analysis Framework for Deep Space Navigation Design

Science.gov (United States)

Anzalone, Evan; Chuang, Jason; Olsen, Carrie

2013-01-01

As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.

Navigation and Robotics in Spinal Surgery: Where Are We Now?

Science.gov (United States)

Overley, Samuel C; Cho, Samuel K; Mehta, Ankit I; Arnold, Paul M

2017-03-01

Spine surgery has experienced much technological innovation over the past several decades. The field has seen advancements in operative techniques, implants and biologics, and equipment such as computer-assisted navigation and surgical robotics. With the arrival of real-time image guidance and navigation capabilities along with the computing ability to process and reconstruct these data into an interactive three-dimensional spinal "map", so too have the applications of surgical robotic technology. While spinal robotics and navigation represent promising potential for improving modern spinal surgery, it remains paramount to demonstrate its superiority as compared to traditional techniques prior to assimilation of its use amongst surgeons.The applications for intraoperative navigation and image-guided robotics have expanded to surgical resection of spinal column and intradural tumors, revision procedures on arthrodesed spines, and deformity cases with distorted anatomy. Additionally, these platforms may mitigate much of the harmful radiation exposure in minimally invasive surgery to which the patient, surgeon, and ancillary operating room staff are subjected.Spine surgery relies upon meticulous fine motor skills to manipulate neural elements and a steady hand while doing so, often exploiting small working corridors utilizing exposures that minimize collateral damage. Additionally, the procedures may be long and arduous, predisposing the surgeon to both mental and physical fatigue. In light of these characteristics, spine surgery may actually be an ideal candidate for the integration of navigation and robotic-assisted procedures.With this paper, we aim to critically evaluate the current literature and explore the options available for intraoperative navigation and robotic-assisted spine surgery. Copyright © 2016 by the Congress of Neurological Surgeons.

A New Generation of Telecommunications for Mars: The Reconfigurable Software Radio

Science.gov (United States)

Adams, J.; Horne, W.

2000-01-01

Telecommunications is a critical component for any mission at Mars as it is an enabling function that provides connectivity back to Earth and provides a means for conducting science. New developments in telecommunications, specifically in software - configurable radios, expand the possible approaches for science missions at Mars. These radios provide a flexible and re-configurable platform that can evolve with the mission and that provide an integrated approach to communications and science data processing. Deep space telecommunication faces challenges not normally faced by terrestrial and near-earth communications. Radiation, thermal, highly constrained mass, volume, packaging and reliability all are significant issues. Additionally, once the spacecraft leaves earth, there is no way to go out and upgrade or replace radio components. The reconfigurable software radio is an effort to provide not only a product that is immediately usable in the harsh space environment but also to develop a radio that will stay current as the years pass and technologies evolve.

Implementation of a mobile base with evasion of obstacles using ROS navigation

International Nuclear Information System (INIS)

Arauz Villegas, Carolina

2013-01-01

A mobile base is implemented with evasion of obstacles using ROS Navigation. The simulation of that mobile base is performed with the 2D Stage simulator, firstly; and once understanded the operation of Navigation has proceeded to build the mobile base. The mobile base has had two DC motors, an Asus Xtion sensor, a netbook and a stm32f4-discovery microcontroller. ROS in the netbook was installed and then serial communication over USB was achieved between the netbook and the microcontroller. The microcontroller has received the velocity data sent by move_base of navigation through that communication and sends the odometry data back. A PWM control is implemented for the driving and for the speed of the motors having a control PI for the cycle of work of the same. The encoder interface of the microcontroller was used for the data acquisition of odometry. The communication between ROS and the mobile base was integrated to the navigation, which has allowed to generate mapping, location and move safely from a starting point to a point of arrival sending speed messages. (author) [es

Building X-ray pulsar timing model without the use of radio parameters

Science.gov (United States)

Sun, Hai-feng; Sun, Xiong; Fang, Hai-yan; Shen, Li-rong; Cong, Shao-peng; Liu, Yan-ming; Li, Xiao-ping; Bao, Wei-min

2018-02-01

This paper develops a timing solution for the X-ray pulsar timing model without the use of the initial radio model parameters. First, we address the problem of phase ambiguities for the pre-fit residuals in the construction of pulsar timing model. To improve the estimation accuracy of the pulse time of arrival (TOA), we have deduced the general form of test statistics in Fourier transform, and discussed their estimation performances. Meanwhile, a fast maximum likelihood (FML) technique is presented to estimate the pulse TOA, which outperforms cross correlation (CC) estimator and exhibits a performance comparable with maximum likelihood (ML) estimator in spite of a much less reduced computational complexity. Depending on the strategy of the difference minimum of pre-fit residuals, we present an effective forced phase-connected technique to achieve initial model parameters. Then, we use the observations with the Rossi X-Ray Timing Explorer (RXTE) and X-ray pulsar navigation-I (XPNAV-1) satellites for experimental studies, and discuss main differences for the root mean square (RMS) residuals calculated with the X-ray and radio ephemerides. Finally, a chi-square value (CSV) of pulse profiles is presented as a complementary indicator to the RMS residuals for evaluating the model parameters. The results show that the proposed timing solution is valid and effective, and the obtained model parameters can be a reasonable alternative to the radio ephemeris.

The Effect of Solar Radiation on Radio Signal for Radio Astronomy Purposes

International Nuclear Information System (INIS)

Nor Hazmin Sabri; Atiq Wahidah Azlan; Roslan Umar; Roslan Umar; Shahirah Syafa Sulan; Zainol Abidin Ibrahim; Wan Zul Adli Wan Mokhtar

2015-01-01

Radio astronomy is a subfields of astronomy which is discovers the celestial objects at radio frequencies. Observation in radio astronomy is conducted using single antenna or array of antennas, known as radio telescope. Other than that, radio astronomy also holds an advantage over other alternatives to optical astronomy due to its capability of observing from the ground level. In this study, the effect of solar radiation that contributes the Radio Frequency Interferences (RFI) is reviewed. The low RFI level is required to set up the radio telescope for radio astronomy observation. The effect of solar radiation on radio signal was investigated by determining the RFI pattern using spectrum analyzer. The solar radiation data was obtained from weather station located at KUSZA Observatory, East Coast Environmental Research Institute (ESERI), UniSZA. We can conclude that the solar radiation factor give the minimum significant effect to radio signal. (author)

THE METHODS FOR ESTIMATING REGIONAL PROFESSIONAL MOBILE RADIO MARKET POTENTIAL

Directory of Open Access Journals (Sweden)

Y.À. Korobeynikov

2008-12-01

Full Text Available The paper represents the author’s methods of estimating regional professional mobile radio market potential, that belongs to high-tech b2b markets. These methods take into consideration such market peculiarities as great range and complexity of products, technological constraints and infrastructure development for the technological systems operation. The paper gives an estimation of professional mobile radio potential in Perm region. This estimation is already used by one of the systems integrator for its strategy development.

ULTRA STEEP SPECTRUM RADIO SOURCES IN THE LOCKMAN HOLE: SERVS IDENTIFICATIONS AND REDSHIFT DISTRIBUTION AT THE FAINTEST RADIO FLUXES

Energy Technology Data Exchange (ETDEWEB)

Afonso, J.; Bizzocchi, L.; Grossi, M.; Messias, H.; Fernandes, C. A. C. [Observatorio Astronomico de Lisboa, Faculdade de Ciencias, Universidade de Lisboa, Tapada da Ajuda, 1349-018 Lisbon (Portugal); Ibar, E.; Ivison, R. J. [UK Astronomy Technology Centre, Royal Observatory, Edinburgh EH9 3HJ (United Kingdom); Simpson, C. [Astrophysics Research Institute, Liverpool John Moores University, Twelve Quays House, Egerton Wharf, Birkenhead CH41 1LD (United Kingdom); Chapman, S.; Gonzalez-Solares, E. [Institute of Astronomy, University of Cambridge, Madingley Road, Cambridge CB3 0HA (United Kingdom); Jarvis, M. J. [Centre for Astrophysics, Science and Technology Research Institute, University of Hertfordshire, Hatfield, Herts AL10 9AB (United Kingdom); Rottgering, H. [Leiden Observatory, Leiden University, Oort Gebouw, P.O. Box 9513, 2300 RA Leiden (Netherlands); Norris, R. P. [CSIRO Astronomy and Space Science, P.O. Box 76, Epping, NSW 1710 (Australia); Dunlop, J.; Best, P. [SUPA, Institute for Astronomy, University of Edinburgh, Blackford Hill, Edinburgh EH9 3HJ (United Kingdom); Pforr, J. [Institute of Cosmology and Gravitation, University of Portsmouth, Dennis Sciama Building, Burnaby Road, Portsmouth PO1 3FX (United Kingdom); Vaccari, M. [Department of Astronomy, University of Padova, vicolo Osservatorio 3, 35122 Padova (Italy); Seymour, N. [Mullard Space Science Laboratory, UCL, Holmbury St Mary, Dorking, Surrey RH5 6NT (United Kingdom); Farrah, D. [Astronomy Centre, Department of Physics and Astronomy, University of Sussex, Brighton BN1 9QH (United Kingdom); Huang, J.-S., E-mail: jafonso@oal.ul.pt [Department of Astrophysics, Oxford University, Keble Road, Oxford OX1 3RH (United Kingdom); and others

2011-12-20

Ultra steep spectrum (USS) radio sources have been successfully used to select powerful radio sources at high redshifts (z {approx}> 2). Typically restricted to large-sky surveys and relatively bright radio flux densities, it has gradually become possible to extend the USS search to sub-mJy levels, thanks to the recent appearance of sensitive low-frequency radio facilities. Here a first detailed analysis of the nature of the faintest USS sources is presented. By using Giant Metrewave Radio Telescope and Very Large Array radio observations of the Lockman Hole at 610 MHz and 1.4 GHz, a sample of 58 USS sources, with 610 MHz integrated fluxes above 100 {mu}Jy, is assembled. Deep infrared data at 3.6 and 4.5 {mu}m from the Spitzer Extragalactic Representative Volume Survey (SERVS) are used to reliably identify counterparts for 48 (83%) of these sources, showing an average total magnitude of [3.6]{sub AB} = 19.8 mag. Spectroscopic redshifts for 14 USS sources, together with photometric redshift estimates, improved by the use of the deep SERVS data, for a further 19 objects, show redshifts ranging from z = 0.1 to z = 2.8, peaking at z {approx} 0.6 and tailing off at high redshifts. The remaining 25 USS sources, with no redshift estimate, include the faintest [3.6] magnitudes, with 10 sources undetected at 3.6 and 4.5 {mu}m (typically [3.6] {approx}> 22-23 mag from local measurements), which suggests the likely existence of higher redshifts among the sub-mJy USS population. The comparison with the Square Kilometre Array Design Studies Simulated Skies models indicates that Fanaroff-Riley type I radio sources and radio-quiet active galactic nuclei may constitute the bulk of the faintest USS population, and raises the possibility that the high efficiency of the USS technique for the selection of high-redshift sources remains even at the sub-mJy level.

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.

Conceptual Design of Haptic-Feedback Navigation Device for Individuals with Alzheimer's Disease.

Science.gov (United States)

Che Me, Rosalam; Biamonti, Alessandro; Mohd Saad, Mohd Rashid

2015-01-01

Wayfinding ability in older adults with Alzheimer's disease (AD) is progressively impaired due to ageing and deterioration of cognitive domains. Usually, the sense of direction is deteriorated as visuospatial and spatial cognition are associated with the sensory acuity. Therefore, navigation systems that support only visual interactions may not be appropriate in case of AD. This paper presents a concept of wearable navigation device that integrates the haptic-feedback technology to facilitate the wayfinding of individuals with AD. The system provides the simplest instructions; left/right using haptic signals, as to avoid users' distraction during navigation. The advantages of haptic/tactile modality for wayfinding purpose based on several significant studies are presented. As preliminary assessment, a survey is conducted to understand the potential of this design concept in terms of (1) acceptability, (2) practicality, (3) wearability, and (4) environmental settings. Results indicate that the concept is highly acceptable and commercially implementable. A working prototype will be developed based on the results of the preliminary assessment. Introducing a new method of navigation should be followed by continuous practices for familiarization purpose. Improved navigability allows the good performance of activities of daily living (ADLs) hence maintain the good quality of life in older adults with AD.

Optimizing MR imaging-guided navigation for focused ultrasound interventions in the brain

Science.gov (United States)

Werner, B.; Martin, E.; Bauer, R.; O'Gorman, R.

2017-03-01

MR imaging during transcranial MR imaging-guided Focused Ultrasound surgery (tcMRIgFUS) is challenging due to the complex ultrasound transducer setup and the water bolus used for acoustic coupling. Achievable image quality in the tcMRIgFUS setup using the standard body coil is significantly inferior to current neuroradiologic standards. As a consequence, MR image guidance for precise navigation in functional neurosurgical interventions using tcMRIgFUS is basically limited to the acquisition of MR coordinates of salient landmarks such as the anterior and posterior commissure for aligning a stereotactic atlas. Here, we show how improved MR image quality provided by a custom built MR coil and optimized MR imaging sequences can support imaging-guided navigation for functional tcMRIgFUS neurosurgery by visualizing anatomical landmarks that can be integrated into the navigation process to accommodate for patient specific anatomy.

Lunar Navigation Architecture Design Considerations

Science.gov (United States)

D'Souza, Christopher; Getchius, Joel; Holt, Greg; Moreau, Michael

2009-01-01

The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).

E-navigation Services for Non-SOLAS Ships

Directory of Open Access Journals (Sweden)

Kwang An

2016-06-01

Full Text Available It is clearly understood that the main benefits of e-navigation are improved safety and better protection of the environment through the promotion of standards of navigational system and a reduction in human error. In order to meet the expectations on the benefit of e-navigation, e-navigation services should be more focused on non-SOLAS ships. The purpose of this paper is to present necessary e-navigation services for non-SOLAS ships in order to prevent marine accidents in Korean coastal waters. To meet the objectives of the study, an examination on the present navigation and communication system for non-SOLAS ships was performed. Based on the IMO's e-navigation Strategy Implementation Plan (SIP and Korea's national SIP for e-navigation, future trends for the development and implementation of e-navigation were discussed. Consequently, Electronic Navigational Chart (ENC download and ENC up-date service, ENC streaming service, route support service and communication support service based on Maritime Cloud were presented as essential e-navigation services for non-SOLAS ships. This study will help for the planning and designing of the Korean e-navigation system. It is expected that the further researches on the navigation support systems based on e-navigation will be carried out in order to implement the essential e-navigation services for non-SOLAS ships.

En route position and time control of aircraft using Kalman filtering of radio aid data

Science.gov (United States)

Mcgee, L. A.; Christensen, J. V.

1973-01-01

Fixed-time-of-arrival (FTA) guidance and navigation is investigated as a possible technique capable of operation within much more stringent en route separation standards and offering significant advantages in safety, higher traffic densities, and improved scheduling reliability, both en route and in the terminal areas. This study investigated the application of FTA guidance previously used in spacecraft guidance. These FTA guidance techniques have been modified and are employed to compute the velocity corrections necessary to return an aircraft to a specified great-circle reference path in order to exercise en route time and position control throughout the entire flight. The necessary position and velocity estimates to accomplish this task are provided by Kalman filtering of data from Loran-C, VORTAC/TACAN, Doppler radar, radio or barometric altitude,and altitude rate. The guidance and navigation system was evaluated using a digital simulation of the cruise phase of supersonic and subsonic flights between San Francisco and New York City, and between New York City and London.

Integrated marketing communications paradigm in digital environment: The five pillars of integration

Directory of Open Access Journals (Sweden)

Rakić Beba

2014-01-01

Full Text Available This paper is focused on the paradigm of integrated marketing communications (IMC in digital environment. The integration is analysed through five aspects. First, integration in terms of media; it means that IMC are performed through the mix of traditional media (print - newspapers, magazines; radio; television; direct-response media - telephone, direct mail, catalogue marketing; billboards; other 'specific media': product - especially brand, packaging; price; place; people; process; physical evidence; traditional/offline consumers - WOM communications and digital media ( the Internet; mobile phones and other mobile devices; digital newspapers and magazines through the Internet and mobile devices; digital radio; digital TV; digital consumers - digital WOM communications. Second, integration in terms of communication methods, it means that IMC are a mix of traditional promotion (advertising, personal selling, public relations & publicity, direct marketing, sales promotion, digital communications/interactions (Internet communications, mobile communications, communications via digital radio and TV and WOM communications/interactions (offline and online. Third, integration in terms of time of communications and possibilities for interaction, it means that IMC are a mix of traditionalstatic communications ('monologue' towards the target audience and dynamic communications ('dialogue' in real time. Fourth, integration in terms of actors, it means that IMC are a mix of communications initiated both by consumers (WOM communications - offline and online/e/digital and organizations. Fifth, integration in terms of content creation, it means that IMC are a mix of communications based on consumer generated content and marketing content (created by organisations.

A Vision/Inertia Integrated Positioning Method Using Position and Orientation Matching

Directory of Open Access Journals (Sweden)

Xiaoyue Zhang

2017-01-01

Full Text Available A vision/inertia integrated positioning method using position and orientation matching which can be adopted on intelligent vehicle such as automated guided vehicle (AGV and mobile robot is proposed in this work. The method is introduced firstly. Landmarks are placed into the navigation field and camera and inertial measurement unit (IMU are installed on the vehicle. Vision processor calculates the azimuth and position information from the pictures which include artificial landmarks with the known direction and position. Inertial navigation system (INS calculates the azimuth and position of vehicle in real time and the calculated pixel position of landmark can be computed from the INS output position. Then the needed mathematical models are established and integrated navigation is implemented by Kalman filter with the observation of azimuth and the calculated pixel position of landmark. Navigation errors and IMU errors are estimated and compensated in real time so that high precision navigation results can be got. Finally, simulation and test are performed, respectively. Both simulation and test results prove that this vision/inertia integrated positioning method using position and orientation matching has feasibility and it can achieve centimeter-level autonomic continuous navigation.

Discovery of a radio nebula around PSR J0855-4644

Science.gov (United States)

Maitra, C.; Roy, S.; Acero, F.; Gupta, Y.

2018-03-01

We report the discovery of a diffuse radio emission around PSR J0855-4644 using an upgraded GMRT (uGMRT) observation at 1.35 GHz. The radio emission is spatially coincident with the diffuse X-ray pulsar wind nebula (PWN) seen with XMM-Newton but is much larger in extent compared to the compact axisymmetric PWN seen with Chandra. The morphology of the emission, with a bright partial ring-like structure and two faint tail-like features strongly resembles a bow shock nebula, and indicates a velocity of 100 km/s through the ambient medium. We conclude that the emission is most likely to be associated with the radio PWN of PSR J0855-4644. From the integrated flux density, we estimate the energetics of the PWN.

Indoor navigation by image recognition

Science.gov (United States)

Choi, Io Teng; Leong, Chi Chong; Hong, Ka Wo; Pun, Chi-Man

2017-07-01

With the progress of smartphones hardware, it is simple on smartphone using image recognition technique such as face detection. In addition, indoor navigation system development is much slower than outdoor navigation system. Hence, this research proves a usage of image recognition technique for navigation in indoor environment. In this paper, we introduced an indoor navigation application that uses the indoor environment features to locate user's location and a route calculating algorithm to generate an appropriate path for user. The application is implemented on Android smartphone rather than iPhone. Yet, the application design can also be applied on iOS because the design is implemented without using special features only for Android. We found that digital navigation system provides better and clearer location information than paper map. Also, the indoor environment is ideal for Image recognition processing. Hence, the results motivate us to design an indoor navigation system using image recognition.

Introduction to solar radio astronomy and radio physics

International Nuclear Information System (INIS)

Krueger, A.

1979-01-01

A systematic summary is presented of the work done during the last thirty years in the field of solar radio astronomy from the standpoint of general solar physics. Instrumental aspects, observations and theory are covered. A brief introduction is given to the matter consisting of the history of solar radio astronomy and some fundamentals of astronomy and solar physics are outlined. Some topics of the instrumental background of solar radio astronomy and the main results of observations are presented. The elements of a theoretical interpretation of solar radio observations are reported and a synthesis of both observation and theory contributing to a general picture of solar and solar-terrestrial physics is outlined. (C.F./Auth)

Introduction to the Navigation Team: Johnson Space Center EG6 Internship

Science.gov (United States)

Gualdoni, Matthew

2017-01-01

The EG6 navigation team at NASA Johnson Space Center, like any team of engineers, interacts with the engineering process from beginning to end; from exploring solutions to a problem, to prototyping and studying the implementations, all the way to polishing and verifying a final flight-ready design. This summer, I was privileged enough to gain exposure to each of these processes, while also getting to truly experience working within a team of engineers. My summer can be broken up into three projects: i) Initial study and prototyping: investigating a manual navigation method that can be utilized onboard Orion in the event of catastrophic failure of navigation systems; ii) Finalizing and verifying code: altering a software routine to improve its robustness and reliability, as well as designing unit tests to verify its performance; and iii) Development of testing equipment: assisting in developing and integrating of a high-fidelity testbed to verify the performance of software and hardware.

Navigation Lights - 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...

Impact of cognitive radio on radio astronomy

NARCIS (Netherlands)

Bentum, Marinus Jan; Boonstra, A.J.; Baan, W.A.

2010-01-01

The introduction of new communication techniques requires an increase in the efficiency of spectrum usage. Cognitive radio is one of the new techniques that fosters spectrum efficiency by using unoccupied frequency spectrum for communications. However, cognitive radio will increase the transmission

Surface navigation on Mars with a Navigation Satellite

Science.gov (United States)

Vijayaraghavan, A.; Thurman, Sam W.; Kahn, Robert D.; Hastrup, Rolf C.

Radiometric navigation data from the Deep Space Network (DSN) stations on the earth to transponders and other surface elements such as rovers and landers on Mars, can determine their positions to only within a kilometer in inertial space. The positional error is mostly in the z-component of the surface element parallel to the Martian spin-axis. However, with Doppler and differenced-Doppler data from a Navigation Satellite in orbit around Mars to two or more of such transponders on the planetary surface, their positions can be determined to within 15 meters (or 20 meters for one-way Doppler beacons on Mars) in inertial space. In this case, the transponders (or other vehicles) on Mars need not even be capable of directly communicating to the earth. When the Navigation Satellite data is complemented by radiometric observations from the DSN stations also, directly to the surface elements on Mars, their positions can be determined to within 3 meters in inertial space. The relative positions of such surface elements on Mars (relative to one another) in Mars-fixed coordinates, however, can be determined to within 5 meters from simply range and Doppler data from the DSN stations to the surface elements. These results are obtained from covariance studies assuming X-band data noise levels and data-arcs not exceeding 10 days. They are significant in the planning and deployment of a Mars-based navigation network necessary to support real-time operations during critical phases of manned exploration of Mars.

La radio en África. Una radio para el desarrollo

Directory of Open Access Journals (Sweden)

Jean-Paul Lafrance

2015-01-01

Full Text Available La radio de tipo comunitario, tal como la conocemos en Norteamérica y Europa (no-comercial, no-estatal y particípatíva, no existe en Africa. Sin embargo, la situación histórica y el contexto socio-político particulares de Africa han precedido la instauración de una radio que, dentro del marco del presente estudio, nos ha resultado interesante. Se trata de la radio educativa rural. Aunque enmarcada dentro del molde estatal de regímenes que en su mayoría son dictaduras, la radio rural africana, al igual que las radios de tipo comunitario, utiliza la radio con otros fines además de los convencionales. En este caso, la radio es un instrumento al servicio del desarrollo, por no decir al servicio del campesino, en una relación con éste último que probablemente dejará cada vez más de ser uni-direccional. La experiencia africana nos proporcionará en esta perspectiva nuevos elementos de reflexión en lo que respecta al rol de la radio dentro de la comunidad y sobre las condiciones incluso del éxito o no-éxito de la participación popular.

Giant Metrewave Radio Telescope Observations of Head–Tail Radio Galaxies

Energy Technology Data Exchange (ETDEWEB)

Sebastian, Biny; Lal, Dharam V.; Rao, A. Pramesh, E-mail: biny@ncra.tifr.res.in [National Center for Radio Astrophysics—Tata Institute of Fundamental Research Post Box 3, Ganeshkhind P.O., Pune 41007 (India)

2017-10-01

We present results from a study of seven large known head–tail radio galaxies based on observations using the Giant Metrewave Radio Telescope at 240 and 610 MHz. These observations are used to study the radio morphologies and distribution of the spectral indices across the sources. The overall morphology of the radio tails of these sources is suggestive of random motions of the optical host around the cluster potential. The presence of multiple bends and wiggles in several head–tail sources is possibly due to the precessing radio jets. We find steepening of the spectral index along the radio tails. The prevailing equipartition magnetic field also decreases along the radio tails of these sources. These steepening trends are attributed to the synchrotron aging of plasma toward the ends of the tails. The dynamical ages of these sample sources have been estimated to be ∼10{sup 8} yr, which is a factor of six more than the age estimates from the radiative losses due to synchrotron cooling.

A Radio Astronomy Science Education Partnership - GAVRT and Radio JOVE

Science.gov (United States)

Higgins, C. A.; Thieman, J. R.; Bunnell, K.; Soholt, G.

2009-12-01

The planet Jupiter provides an excellent subject to educate, engage, and inspire students and teachers to learn science. The Goldstone Apple-Valley Radio Telescope (GAVRT) program (http://www.lewiscenter.org/gavrt) and The Radio JOVE project (http://radiojove.gsfc.nasa.gov) each have a long history of allowing students and teachers to interact with scientists and real radio telescopes. The upcoming Juno mission to Jupiter (2011 launch) allows both GAVRT and Radio JOVE to combine efforts and engage with the NASA Juno mission, thus increasing the excitement and learning potential for teachers, students, and the general public. Teachers can attend workshops for training to operate a 34-meter radio telescope and/or build their own simple radio telescope, both of which can be used directly in the classroom. We will overview some classroom activities and highlight some teacher-student experiences. In addition, we will update our efforts on greater Web-based control of the radio telescopes, as well as highlight our upcoming workshops to allow better access for teachers in different parts of the Country.

Duty-cycle and energetics of remnant radio-loud AGN

Science.gov (United States)

Turner, Ross J.

2018-05-01

Deriving the energetics of remnant and restarted active galactic nuclei (AGNs) is much more challenging than for active sources due to the complexity in accurately determining the time since the nucleus switched-off. I resolve this problem using a new approach that combines spectral ageing and dynamical models to tightly constrain the energetics and duty-cycles of dying sources. Fitting the shape of the integrated radio spectrum yields the fraction of the source age the nucleus is active; this, in addition to the flux density, source size, axis ratio, and properties of the host environment, provides a constraint on dynamical models describing the remnant radio source. This technique is used to derive the intrinsic properties of the well-studied remnant radio source B2 0924+30. This object is found to spend 50_{-12}^{+14} Myr in the active phase and a further 28_{-5}^{+6} Myr in the quiescent phase, have a jet kinetic power of 3.6_{-1.7}^{+3.0}× 10^{37} W, and a lobe magnetic field strength below equipartition at the 8σ level. The integrated spectra of restarted and intermittent radio sources are found to yield a `steep-shallow' shape when the previous outburst occurred within 100 Myr. The duty-cycle of B2 0924+30 is hence constrained to be δ < 0.15 by fitting the shortest time to the previous comparable outburst that does not appreciably modify the remnant spectrum. The time-averaged feedback energy imparted by AGNs into their host galaxy environments can in this manner be quantified.

Activities of the International Radio Medical Centre (C.I.R.M.) in Rome during the last five years (1996-2000). Centro Internazionale Radio Medico.

Science.gov (United States)

Amenta, F; Dauri, A

2001-01-01

This paper reviews medical activity provided from 1996 to 2000 by the International Radio Medical Centre (Centro Internazionale Radio Medico, C.I.R.M.). C.I.R.M. is a non-profit organization headquartered in Rome and providing freely telemedical advice to ships flying of any flag navigating on all seas of the world, to civil airplanes and to small Italian islands. From 1996 to 2000 C.I.R.M. has assisted 4,982 patients, 4,686 of which (94%) on board ships, 85 on airplanes and 206 on small Italian islands. More than 65% of requests of telemedical advice received by C.I.R.M. were from non-Italian ships. This indicates the really international nature of C.I.R.M.'s activity. The largest number of medical requests come from the Atlantic Ocean, followed by the Mediterranean sea, Indian Ocean and Pacific Ocean. In terms of pathologies assisted, accidents took the first place, followed as main pathologies by gastrointestinal disorders, cardiovascular pathologies, respiratory disorders, infectious and parasitic diseases and nervous system complaints. Analysis of the outcome of C.I.R.M.'s medical activity showed that more than 50% of patients assisted were recovered or improved while assisted by the Centre.

Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation

Science.gov (United States)

2012-09-13

odometry, SICK laser scanning unit ( Lidar ), Inertial Measurement Unit (IMU) and ultrasonic distance measurement system (Figure 32). The Lidar , IMU...2010, July) GPS world. [Online]. http://www.gpsworld.com/tech-talk- blog/gnss-independent-navigation-solution-using-integrated- lidar -data-11378 [4...Milford, David McKinnon, Michael Warren, Gordon Wyeth, and Ben Upcroft, "Feature-based Visual Odometry and Featureless Place Recognition for SLAM in

An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

Directory of Open Access Journals (Sweden)

Xiaoji Niu

2017-01-01

Full Text Available Multisensors (LiDAR/IMU/CAMERA integrated Simultaneous Location and Mapping (SLAM technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms. In this paper, an online Extended Kalman Filter (EKF integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV indoor navigation system is introduced. Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF. Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building. Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.

Semiotic resources for navigation

DEFF Research Database (Denmark)

Due, Brian Lystgaard; Lange, Simon Bierring

2018-01-01

This paper describes two typical semiotic resources blind people use when navigating in urban areas. Everyone makes use of a variety of interpretive semiotic resources and senses when navigating. For sighted individuals, this especially involves sight. Blind people, however, must rely on everything...... else than sight, thereby substituting sight with other modalities and distributing the navigational work to other semiotic resources. Based on a large corpus of fieldwork among blind people in Denmark, undertaking observations, interviews, and video recordings of their naturally occurring practices...... of walking and navigating, this paper shows how two prototypical types of semiotic resources function as helpful cognitive extensions: the guide dog and the white cane. This paper takes its theoretical and methodological perspective from EMCA multimodal interaction analysis....

Amateur Planetary Radio Data Archived for Science and Education: Radio Jove

Science.gov (United States)

Thieman, J.; Cecconi, B.; Sky, J.; Garcia, L. N.; King, T. A.; Higgins, C. A.; Fung, S. F.

2015-12-01

The Radio Jove Project is a hands-on educational activity in which students, teachers, and the general public build simple radio telescopes, usually from a kit, to observe single frequency decameter wavelength radio emissions from Jupiter, the Sun, the galaxy, and the Earth usually with simple dipole antennas. Some of the amateur observers have upgraded their receivers to spectrographs and their antennas have become more sophisticated as well. The data records compare favorably to more sophisticated professional radio telescopes such as the Long Wavelength Array (LWA) and the Nancay Decametric Array. Since these data are often carefully calibrated and recorded around the clock in widely scattered locations they represent a valuable database useful not only to amateur radio astronomers but to the professional science community as well. Some interesting phenomena have been noted in the data that are of interest to the professionals familiar with such records. The continuous monitoring of radio emissions from Jupiter could serve as useful "ground truth" data during the coming Juno mission's radio observations of Jupiter. Radio Jove has long maintained an archive for thousands of Radio Jove observations, but the database was intended for use by the Radio Jove participants only. Now, increased scientific interest in the use of these data has resulted in several proposals to translate the data into a science community data format standard and store the data in professional archives. Progress is being made in translating Radio Jove data to the Common Data Format (CDF) and also in generating new observations in that format as well. Metadata describing the Radio Jove data would follow the Space Physics Archive Search and Extract (SPASE) standard. The proposed archive to be used for long term preservation would be the Planetary Data System (PDS). Data sharing would be achieved through the PDS and the Paris Astronomical Data Centre (PADC) and the Virtual Wave Observatory (VWO

La radio digital

Directory of Open Access Journals (Sweden)

Carlos Eduardo Cortés S.

2015-01-01

Full Text Available La radio digital es un producto de la llamada convergencia digital. Las nuevas tecnologías interconectadas permiten la aparición de nuevos modos de audiencia y la implementación de herramientas versátiles. Habla del problema de los estándares, de la radio satelital, la radio digital terrestre, las radios internacionales, la interactividad.

Spectrum management and radio resource management considering cognitive radio systems

NARCIS (Netherlands)

Haartsen, J.C.; Wieweg, Lasse; Huschke, Jörg

2005-01-01

International fora and some national administrations define a cognitive radio (CR) as a pioneering radio communication system that would be capable of altering and adapting its transmitter and receiver parameters based on communication and the exchange of information with related detectable radio

33 CFR 401.54 - Interference with navigation aids.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Interference with navigation aids. 401.54 Section 401.54 Navigation and Navigable Waters SAINT LAWRENCE SEAWAY DEVELOPMENT CORPORATION... with navigation aids. (a) Aids to navigation shall not be interfered with or used as moorings. (b) No...

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.

STORM IN A {sup T}EACUP{sup :} A RADIO-QUIET QUASAR WITH ≈10 kpc RADIO-EMITTING BUBBLES AND EXTREME GAS KINEMATICS

Energy Technology Data Exchange (ETDEWEB)

Harrison, C. M.; Thomson, A. P.; Alexander, D. M.; Edge, A. C.; Hogan, M. T.; Swinbank, A. M. [Department of Physics, Durham University, South Road, Durham DH1 3LE (United Kingdom); Bauer, F. E. [Instituto de Astrofísica, Facultad de Física, Pontifica Universidad Católica de Chile, 306, Santiago 22 (Chile); Mullaney, J. R., E-mail: c.m.harrison@mail.com [Department of Physics and Astronomy, University of Sheffield, Sheffield S7 3RH (United Kingdom)

2015-02-10

We present multi-frequency (1-8 GHz) Very Large Array data, combined with VIsible MultiObject Spectrograph integral field unit data and Hubble Space Telescope imaging, of a z = 0.085 radio-quiet type 2 quasar (with L {sub 1.4} {sub GHz} ≈ 5 × 10{sup 23} W Hz{sup –1} and L {sub AGN} ≈ 2 × 10{sup 45} erg s{sup –1}). Due to the morphology of its emission-line region, the target (J1430+1339) has been referred to as the ''Teacup'' active galactic nucleus (AGN) in the literature. We identify ''bubbles'' of radio emission that are extended ≈10-12 kpc to both the east and west of the nucleus. The edge of the brighter eastern bubble is co-spatial with an arc of luminous ionized gas. We also show that the ''Teacup'' AGN hosts a compact radio structure, located ≈0.8 kpc from the core position, at the base of the eastern bubble. This radio structure is co-spatial with an ionized outflow with an observed velocity of v = –740 km s{sup –1}. This is likely to correspond to a jet, or possibly a quasar wind, interacting with the interstellar medium at this position. The large-scale radio bubbles appear to be inflated by the central AGN, which indicates that the AGN can also interact with the gas on ≳ 10 kpc scales. Our study highlights that even when a quasar is formally ''radio-quiet'' the radio emission can be extremely effective for observing the effects of AGN feedback.

A Ka-Band Celestial Reference Frame with Applications to Deep Space Navigation

Science.gov (United States)

Jacobs, Christopher S.; Clark, J. Eric; Garcia-Miro, Cristina; Horiuchi, Shinji; Sotuela, Ioana

2011-01-01

The Ka-band radio spectrum is now being used for a wide variety of applications. This paper highlights the use of Ka-band as a frequency for precise deep space navigation based on a set of reference beacons provided by extragalactic quasars which emit broadband noise at Ka-band. This quasar-based celestial reference frame is constructed using X/Ka-band (8.4/32 GHz) from fifty-five 24-hour sessions with the Deep Space Network antennas in California, Australia, and Spain. We report on observations which have detected 464 sources covering the full 24 hours of Right Ascension and declinations down to -45 deg. Comparison of this X/Ka-band frame to the international standard S/X-band (2.3/8.4 GHz) ICRF2 shows wRMS agreement of approximately 200 micro-arcsec in alpha cos(delta) and approximately 300 micro-arcsec in delta. There is evidence for systematic errors at the 100 micro-arcsec level. Known errors include limited SNR, lack of instrumental phase calibration, tropospheric refraction mis-modeling, and limited southern geometry. The motivation for extending the celestial reference frame to frequencies above 8 GHz is to access more compact source morphology for improved frame stability and to support spacecraft navigation for Ka-band based NASA missions.

Scalable and Hybrid Radio Resource Management for Future Wireless Networks

DEFF Research Database (Denmark)

Mino, E.; Luo, Jijun; Tragos, E.

2007-01-01

The concept of ubiquitous and scalable system is applied in the IST WINNER II [1] project to deliver optimum performance for different deployment scenarios, from local area to wide area wireless networks. The integration in a unique radio system of a cellular and local area type networks supposes...... a great advantage for the final user and for the operator, compared with the current situation, with disconnected systems, usually with different subscriptions, radio interfaces and terminals. To be a ubiquitous wireless system, the IST project WINNER II has defined three system modes. This contribution...

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

Directory of Open Access Journals (Sweden)

Jian Tang

2015-07-01

Full Text Available 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.

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.

Sensor fusion for mobile robot navigation

International Nuclear Information System (INIS)

Kam, M.; Zhu, X.; Kalata, P.

1997-01-01

The authors review techniques for sensor fusion in robot navigation, emphasizing algorithms for self-location. These find use when the sensor suite of a mobile robot comprises several different sensors, some complementary and some redundant. Integrating the sensor readings, the robot seeks to accomplish tasks such as constructing a map of its environment, locating itself in that map, and recognizing objects that should be avoided or sought. The review describes integration techniques in two categories: low-level fusion is used for direct integration of sensory data, resulting in parameter and state estimates; high-level fusion is used for indirect integration of sensory data in hierarchical architectures, through command arbitration and integration of control signals suggested by different modules. The review provides an arsenal of tools for addressing this (rather ill-posed) problem in machine intelligence, including Kalman filtering, rule-based techniques, behavior based algorithms and approaches that borrow from information theory, Dempster-Shafer reasoning, fuzzy logic and neural networks. It points to several further-research needs, including: robustness of decision rules; simultaneous consideration of self-location, motion planning, motion control and vehicle dynamics; the effect of sensor placement and attention focusing on sensor fusion; and adaptation of techniques from biological sensor fusion

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.

Emergency Navigation without an Infrastructure

Directory of Open Access Journals (Sweden)

Erol Gelenbe

2014-08-01

Full Text Available Emergency navigation systems for buildings and other built environments, such as sport arenas or shopping centres, typically rely on simple sensor networks to detect emergencies and, then, provide automatic signs to direct the evacuees. The major drawbacks of such static wireless sensor network (WSN-based emergency navigation systems are the very limited computing capacity, which makes adaptivity very difficult, and the restricted battery power, due to the low cost of sensor nodes for unattended operation. If static wireless sensor networks and cloud-computing can be integrated, then intensive computations that are needed to determine optimal evacuation routes in the presence of time-varying hazards can be offloaded to the cloud, but the disadvantages of limited battery life-time at the client side, as well as the high likelihood of system malfunction during an emergency still remain. By making use of the powerful sensing ability of smart phones, which are increasingly ubiquitous, this paper presents a cloud-enabled indoor emergency navigation framework to direct evacuees in a coordinated fashion and to improve the reliability and resilience for both communication and localization. By combining social potential fields (SPF and a cognitive packet network (CPN-based algorithm, evacuees are guided to exits in dynamic loose clusters. Rather than relying on a conventional telecommunications infrastructure, we suggest an ad hoc cognitive packet network (AHCPN-based protocol to adaptively search optimal communication routes between portable devices and the network egress nodes that provide access to cloud servers, in a manner that spares the remaining battery power of smart phones and minimizes the time latency. Experimental results through detailed simulations indicate that smart human motion and smart network management can increase the survival rate of evacuees and reduce the number of drained smart phones in an evacuation process.

Emergency navigation without an infrastructure.

Science.gov (United States)

Gelenbe, Erol; Bi, Huibo

2014-08-18

Emergency navigation systems for buildings and other built environments, such as sport arenas or shopping centres, typically rely on simple sensor networks to detect emergencies and, then, provide automatic signs to direct the evacuees. The major drawbacks of such static wireless sensor network (WSN)-based emergency navigation systems are the very limited computing capacity, which makes adaptivity very difficult, and the restricted battery power, due to the low cost of sensor nodes for unattended operation. If static wireless sensor networks and cloud-computing can be integrated, then intensive computations that are needed to determine optimal evacuation routes in the presence of time-varying hazards can be offloaded to the cloud, but the disadvantages of limited battery life-time at the client side, as well as the high likelihood of system malfunction during an emergency still remain. By making use of the powerful sensing ability of smart phones, which are increasingly ubiquitous, this paper presents a cloud-enabled indoor emergency navigation framework to direct evacuees in a coordinated fashion and to improve the reliability and resilience for both communication and localization. By combining social potential fields (SPF) and a cognitive packet network (CPN)-based algorithm, evacuees are guided to exits in dynamic loose clusters. Rather than relying on a conventional telecommunications infrastructure, we suggest an ad hoc cognitive packet network (AHCPN)-based protocol to adaptively search optimal communication routes between portable devices and the network egress nodes that provide access to cloud servers, in a manner that spares the remaining battery power of smart phones and minimizes the time latency. Experimental results through detailed simulations indicate that smart human motion and smart network management can increase the survival rate of evacuees and reduce the number of drained smart phones in an evacuation process.

REVISITING SCALING RELATIONS FOR GIANT RADIO HALOS IN GALAXY CLUSTERS

Energy Technology Data Exchange (ETDEWEB)

Cassano, R.; Brunetti, G.; Venturi, T.; Kale, R. [INAF/IRA, via Gobetti 101, I-40129 Bologna (Italy); Ettori, S. [INAF/Osservatorio Astronomico di Bologna, via Ranzani 1, I-40127 Bologna (Italy); Giacintucci, S. [Department of Astronomy, University of Maryland, College Park, MD 20742-2421 (United States); Pratt, G. W. [Laboratoire AIM, IRFU/Service dAstrophysique-CEA/DSM-CNRS-Université Paris Diderot, Bât. 709, CEA-Saclay, F-91191 Gif-sur-Yvette Cedex (France); Dolag, K. [University Observatory Munich, Scheinerstr. 1, D-81679 Munich (Germany); Markevitch, M. [Astrophysics Science Division, NASA/Goddard Space Flight Center, Greenbelt, MD 20771 (United States)

2013-11-10

Many galaxy clusters host megaparsec-scale radio halos, generated by ultrarelativistic electrons in the magnetized intracluster medium. Correlations between the synchrotron power of radio halos and the thermal properties of the hosting clusters were established in the last decade, including the connection between the presence of a halo and cluster mergers. The X-ray luminosity and redshift-limited Extended GMRT Radio Halo Survey provides a rich and unique dataset for statistical studies of the halos. We uniformly analyze the radio and X-ray data for the GMRT cluster sample, and use the new Planck Sunyaev-Zel'dovich (SZ) catalog to revisit the correlations between the power of radio halos and the thermal properties of galaxy clusters. We find that the radio power at 1.4 GHz scales with the cluster X-ray (0.1-2.4 keV) luminosity computed within R{sub 500} as P{sub 1.4}∼L{sup 2.1±0.2}{sub 500}. Our bigger and more homogenous sample confirms that the X-ray luminous (L{sub 500} > 5 × 10{sup 44} erg s{sup –1}) clusters branch into two populations—radio halos lie on the correlation, while clusters without radio halos have their radio upper limits well below that correlation. This bimodality remains if we excise cool cores from the X-ray luminosities. We also find that P{sub 1.4} scales with the cluster integrated SZ signal within R{sub 500}, measured by Planck, as P{sub 1.4}∼Y{sup 2.05±0.28}{sub 500}, in line with previous findings. However, contrary to previous studies that were limited by incompleteness and small sample size, we find that 'SZ-luminous' Y{sub 500} > 6 × 10{sup –5} Mpc{sup 2} clusters show a bimodal behavior for the presence of radio halos, similar to that in the radio-X-ray diagram. Bimodality of both correlations can be traced to clusters dynamics, with radio halos found exclusively in merging clusters. These results confirm the key role of mergers for the origin of giant radio halos, suggesting that they trigger the

Senior radio listeners

DEFF Research Database (Denmark)

Blaakilde, Anne Leonora

Radiobroadcasting and the hardware materialization of radio have during the 20th century changed significantly, which means that senior radio listeners have travelled along with this evolution from large, impressive radio furnitures to DAB and small, wireless, mobile devices, and from grave...... and solemn radio voices to lightharted, laughing and chatting speakers. Senior radio listerners have experienced the development and refinements of technique, content and genres. It is now expected of all media users that they are capable of crossing media, combining, juggling and jumping between various...... media platforms, not the least when listening to radio. The elder generation is no exception from this. Recently, for instance, the Danish public broadcast DR has carried out an exodus of programmes targeted for the senior segment. These programmes are removed from regular FM and sent to DAB receivers...

The radio spectral energy distribution of infrared-faint radio sources

Science.gov (United States)

Herzog, A.; Norris, R. P.; Middelberg, E.; Seymour, N.; Spitler, L. R.; Emonts, B. H. C.; Franzen, T. M. O.; Hunstead, R.; Intema, H. T.; Marvil, J.; Parker, Q. A.; Sirothia, S. K.; Hurley-Walker, N.; Bell, M.; Bernardi, G.; Bowman, J. D.; Briggs, F.; Cappallo, R. J.; Callingham, J. R.; Deshpande, A. A.; Dwarakanath, K. S.; For, B.-Q.; Greenhill, L. J.; Hancock, P.; Hazelton, B. J.; Hindson, L.; Johnston-Hollitt, M.; Kapińska, A. D.; Kaplan, D. L.; Lenc, E.; Lonsdale, C. J.; McKinley, B.; McWhirter, S. R.; Mitchell, D. A.; Morales, M. F.; Morgan, E.; Morgan, J.; Oberoi, D.; Offringa, A.; Ord, S. M.; Prabu, T.; Procopio, P.; Udaya Shankar, N.; Srivani, K. S.; Staveley-Smith, L.; Subrahmanyan, R.; Tingay, S. J.; Wayth, R. B.; Webster, R. L.; Williams, A.; Williams, C. L.; Wu, C.; Zheng, Q.; Bannister, K. W.; Chippendale, A. P.; Harvey-Smith, L.; Heywood, I.; Indermuehle, B.; Popping, A.; Sault, R. J.; Whiting, M. T.

2016-10-01

Context. Infrared-faint radio sources (IFRS) are a class of radio-loud (RL) active galactic nuclei (AGN) at high redshifts (z ≥ 1.7) that are characterised by their relative infrared faintness, resulting in enormous radio-to-infrared flux density ratios of up to several thousand. Aims: Because of their optical and infrared faintness, it is very challenging to study IFRS at these wavelengths. However, IFRS are relatively bright in the radio regime with 1.4 GHz flux densities of a few to a few tens of mJy. Therefore, the radio regime is the most promising wavelength regime in which to constrain their nature. We aim to test the hypothesis that IFRS are young AGN, particularly GHz peaked-spectrum (GPS) and compact steep-spectrum (CSS) sources that have a low frequency turnover. Methods: We use the rich radio data set available for the Australia Telescope Large Area Survey fields, covering the frequency range between 150 MHz and 34 GHz with up to 19 wavebands from different telescopes, and build radio spectral energy distributions (SEDs) for 34 IFRS. We then study the radio properties of this class of object with respect to turnover, spectral index, and behaviour towards higher frequencies. We also present the highest-frequency radio observations of an IFRS, observed with the Plateau de Bure Interferometer at 105 GHz, and model the multi-wavelength and radio-far-infrared SED of this source. Results: We find IFRS usually follow single power laws down to observed frequencies of around 150 MHz. Mostly, the radio SEDs are steep (α IFRS show statistically significantly steeper radio SEDs than the broader RL AGN population. Our analysis reveals that the fractions of GPS and CSS sources in the population of IFRS are consistent with the fractions in the broader RL AGN population. We find that at least % of IFRS contain young AGN, although the fraction might be significantly higher as suggested by the steep SEDs and the compact morphology of IFRS. The detailed multi

The radio universe

International Nuclear Information System (INIS)

Worvill, R.

1977-01-01

Elementary description of the development of radioastronomy, radio waves from the sun and planets, the use of radio telescopes and the detection of nebulae, supernova, radio galaxies and quasars is presented. A brief glossary of terms is included. (UK)

The radio continuum-star formation rate relation in WSRT sings galaxies

International Nuclear Information System (INIS)

Heesen, Volker; Brinks, Elias; Leroy, Adam K.; Heald, George; Braun, Robert; Bigiel, Frank; Beck, Rainer

2014-01-01

We present a study of the spatially resolved radio continuum-star formation rate (RC-SFR) relation using state-of-the-art star formation tracers in a sample of 17 THINGS galaxies. We use SFR surface density (Σ SFR ) maps created by a linear combination of GALEX far-UV (FUV) and Spitzer 24 μm maps. We use RC maps at λλ22 and 18 cm from the WSRT SINGS survey and Hα emission maps to correct for thermal RC emission. We compare azimuthally averaged radial profiles of the RC and FUV/mid-IR (MIR) based Σ SFR maps and study pixel-by-pixel correlations at fixed linear scales of 1.2 and 0.7 kpc. The ratio of the integrated SFRs from the RC emission to that of the FUV/MIR-based SF tracers is R int =0.78±0.38, consistent with the relation by Condon. We find a tight correlation between the radial profiles of the radio and FUV/MIR-based Σ SFR for the entire extent of the disk. The ratio R of the azimuthally averaged radio to FUV/MIR-based Σ SFR agrees with the integrated ratio and has only quasi-random fluctuations with galactocentric radius that are relatively small (25%). Pixel-by-pixel plots show a tight correlation in log-log diagrams of radio to FUV/MIR-based Σ SFR , with a typical standard deviation of a factor of two. Averaged over our sample we find (Σ SFR ) RC ∝(Σ SFR ) hyb 0.63±0.25 , implying that data points with high Σ SFR are relatively radio dim, whereas the reverse is true for low Σ SFR . We interpret this as a result of spectral aging of cosmic-ray electrons (CREs), which are diffusing away from the star formation sites where they are injected into the interstellar medium. This is supported by our finding that the radio spectral index is a second parameter in pixel-by-pixel plots: those data points dominated by young CREs are relatively radio dim, while those dominated by old CREs are slightly more RC bright than what would be expected from a linear extrapolation. We studied the ratio R of radio to FUV/MIR-based integrated SFR as a function of

Radio drama adaptations: an approach towards an analytical methodology

NARCIS (Netherlands)

Huwiler, E.

2010-01-01

This article establishes a methodology with which radio drama pieces can be analysed. It thereby integrates all features the art form has to offer: voices, music, noises, but also technical features like cutting and mixing contribute to the narrative that is being told. This approach emphasizes the

Microminiature radio frequency transmitter for communication and tracking applications

Science.gov (United States)

Crutcher, Richard I.; Emery, Mike S.; Falter, Kelly G.; Nowlin, C. H.; Rochelle, Jim M.; Clonts, Lloyd G.

1997-02-01

A micro-miniature radio frequency (rf) transmitter has been developed and demonstrated by the Oak Ridge National Laboratory. The objective of the rf transmitter development was to maximize the transmission distance while drastically shrinking the overall transmitter size, including antenna. Based on analysis and testing, an application-specific integrated circuit (ASIC) with a 16-GHz gallium arsenide (GaAs) oscillator and integrated on-chip antenna was designed and fabricated using microwave monolithic integrated circuit (MMIC) technology. Details of the development and the results of various field tests are discussed. The rf transmitter is applicable to covert surveillance and tracking scenarios due to its small size of 2.2 multiplied by 2.2 mm, including the antenna. Additionally, the 16-GHz frequency is well above the operational range of consumer-grade radio scanners, providing a degree of protection from unauthorized interception. Variations of the transmitter design have been demonstrated for tracking and tagging beacons, transmission of digital data, and transmission of real-time analog video from a surveillance camera. Preliminary laboratory measurements indicate adaptability to direct-sequence spread-spectrum transmission, providing a low probability of intercept and/or detection. Concepts related to law enforcement applications are presented.

High-Fidelity Simulations of Electromagnetic Propagation and RF Communication Systems

Science.gov (United States)

2017-05-01

Systems T53 Final Report En gi ne er R es ea rc h an d D ev el op m en t Ce nt er Samuel S. Streeter, Daniel J. Breton, Michele L. Maxson, and...Autonomous Navigation Environment ERDC TR-17-2 vii VPUP Vertical Plane Urban Propagation VTRPE Variable Terrain Radio Parabolic Equation WI...two-dimensional (2-D) vertical plane diffraction models (e.g., Longley-Rice, Terrain Integrated Rough Earth Model [TIREM], Variable Terrain Radio

The radio properties of infrared-faint radio sources

Science.gov (United States)

Middelberg, E.; Norris, R. P.; Hales, C. A.; Seymour, N.; Johnston-Hollitt, M.; Huynh, M. T.; Lenc, E.; Mao, M. Y.

2011-02-01

Context. Infrared-faint radio sources (IFRS) are objects that have flux densities of several mJy at 1.4 GHz, but that are invisible at 3.6 μm when using sensitive Spitzer observations with μJy sensitivities. Their nature is unclear and difficult to investigate since they are only visible in the radio. Aims: High-resolution radio images and comprehensive spectral coverage can yield constraints on the emission mechanisms of IFRS and can give hints to similarities with known objects. Methods: We imaged a sample of 17 IFRS at 4.8 GHz and 8.6 GHz with the Australia Telescope Compact Array to determine the structures on arcsecond scales. We added radio data from other observing projects and from the literature to obtain broad-band radio spectra. Results: We find that the sources in our sample are either resolved out at the higher frequencies or are compact at resolutions of a few arcsec, which implies that they are smaller than a typical galaxy. The spectra of IFRS are remarkably steep, with a median spectral index of -1.4 and a prominent lack of spectral indices larger than -0.7. We also find that, given the IR non-detections, the ratio of 1.4 GHz flux density to 3.6 μm flux density is very high, and this puts them into the same regime as high-redshift radio galaxies. Conclusions: The evidence that IFRS are predominantly high-redshift sources driven by active galactic nuclei (AGN) is strong, even though not all IFRS may be caused by the same phenomenon. Compared to the rare and painstakingly collected high-redshift radio galaxies, IFRS appear to be much more abundant, but less luminous, AGN-driven galaxies at similar cosmological distances.

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

OpenAIRE

Yong-Jin Yoon; King Ho Holden Li; Jiahe Steven Lee; Woo-Tae Park

2015-01-01

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 Po...

The radio-γ-ray connection in Fermi blazars

Science.gov (United States)

Ghirlanda, G.; Ghisellini, G.; Tavecchio, F.; Foschini, L.; Bonnoli, G.

2011-05-01

We study the correlation between the γ-ray flux (Fγ), averaged over the first 11 months of the Fermi survey and integrated above 100 MeV, and the radio flux density (Fr at 20 GHz) of Fermi sources associated with a radio counterpart in the 20-GHz Australia Telescope Compact Array (AT20G) survey. Considering the blazars detected in both bands, the correlation is highly significant and has the form Fγ∝F0.85±0.04r, similar to BL Lacertae objects and flat-spectrum radio quasars. However, only a small fraction (˜1/15) of the AT20G radio sources with flat radio spectra are detected by Fermi. To understand if this correlation is real, we examine the selection effects introduced by the flux limits of both the radio and the γ-ray surveys, and the importance of variability of the γ-ray flux. After accounting for these effects, we find that the radio-γ-ray flux correlation is real, but its slope is steeper than the observed one, that is, Fγ∝Fδr with δ in the range 1.25-1.5. The observed Fγ-Fr correlation and the fraction of radio sources detected by Fermi are reproduced assuming a long-term γ-ray flux variability, following a lognormal probability distribution with standard deviation σ≥ 0.5 (corresponding to Fγ varying by at least a factor of 3). Such a variability is compatible, even if not necessarily equal, with what is observed when comparing, for the sources in common, the EGRET and the Fermi γ-ray fluxes (even if the Fermi fluxes are averaged over ˜1 yr). Another indication of variability is the non-detection of 12 out of 66 EGRET blazars by Fermi, despite its higher sensitivity. We also study the strong linear correlation between the γ-ray and the radio luminosity of the 144 AT20G-Fermi associations with known redshift and show, through partial correlation analysis, that it is statistically robust. Two possible implications of these correlations are discussed: the contribution of blazars to the extragalactic γ-ray background and the prediction

Fabrication of an electro-absorption transceiver with a monolithically integrated optical amplifier for fiber transmission of 40–60 GHz radio signals

International Nuclear Information System (INIS)

Zhang, Andy Zhenzhong; Wang, Qin; Fonjallaz, Pierre-Yves; Almqvist, Susanne; Karlsson, Stefan; Kjebon, Olle; Schatz, Richard; Chacinski, Marek; Thylén, Lars; Berggren, Jesper; Hammar, Mattias; Honecker, Jörg; Steffan, Andreas

2011-01-01

We report on the fabrication of a monolithically integrated semiconductor optical amplifier (SOA) and a reflective electro-absorption transceiver (EAT) for 40–60 GHz radio-over-fiber applications. The EAT can either function as a transmitter (reflective modulator) or as a receiver (photodetector) depending on operation mode. The SOA and the EAT sections are based on different InGaAsP multiple quantum-well active layers connected by a butt joint. Benzocyclobutene is used to reduce the capacitance beside the ridge mesa. Devices are designed to have a peaked response at the operating frequency through the design of microwave waveguides on top of the devices. The packaged device exhibits at 0.1 mW optical input power an amplified DC responsivity of 18.5 mA mW −1 and a modulation efficiency of 0.67 mW V −1 . The estimated radio frequency loss at 40 GHz of an optical link consisting of two SOA–EAT devices was 23 dB using an unmodulated optical input carrier to the transmitter of 0.94 mW

Switching from reaching to navigation: differential cognitive strategies for spatial memory in children and adults.

Science.gov (United States)

Belmonti, Vittorio; Cioni, Giovanni; Berthoz, Alain

2015-07-01

Navigational and reaching spaces are known to involve different cognitive strategies and brain networks, whose development in humans is still debated. In fact, high-level spatial processing, including allocentric location encoding, is already available to very young children, but navigational strategies are not mature until late childhood. The Magic Carpet (MC) is a new electronic device translating the traditional Corsi Block-tapping Test (CBT) to navigational space. In this study, the MC and the CBT were used to assess spatial memory for navigation and for reaching, respectively. Our hypothesis was that school-age children would not treat MC stimuli as navigational paths, assimilating them to reaching sequences. Ninety-one healthy children aged 6 to 11 years and 18 adults were enrolled. Overall short-term memory performance (span) on both tests, effects of sequence geometry, and error patterns according to a new classification were studied. Span increased with age on both tests, but relatively more in navigational than in reaching space, particularly in males. Sequence geometry specifically influenced navigation, not reaching. The number of body rotations along the path affected MC performance in children more than in adults, and in women more than in men. Error patterns indicated that navigational sequences were increasingly retained as global paths across development, in contrast to separately stored reaching locations. A sequence of spatial locations can be coded as a navigational path only if a cognitive switch from a reaching mode to a navigation mode occurs. This implies the integration of egocentric and allocentric reference frames, of visual and idiothetic cues, and access to long-term memory. This switch is not yet fulfilled at school age due to immature executive functions. © 2014 John Wiley & Sons Ltd.

Radio Frequency Interference: The Study of Rain Effect on Radio Signal Attenuation

International Nuclear Information System (INIS)

Roslan Umar; Roslan Umar; Shahirah Syafa Sulan; Atiq Wahidah Azlan; Zainol Abidin Ibrahim

2015-01-01

The intensity of radio waves received by radio telescopes is always not subject to human control. In the millimetre band, the propagation of the electromagnetic waves is severely affected by rain rate, dust particle size and drop size in the terms of attenuation, noise and depolarization. At the frequency above 10 GHz, the absorption and scattering by rain cause a reduction in the transmitted signal amplitude which will lead to the reducing of the availability, reliability and performance on the communications link. In this study, the rain effect on radio signal has been investigated. Spectrum analyzer and weather stations were used to obtain the RFI level and rain rate data respectively. The radio frequency interference (RFI) pattern due to rain factor was determined. This will benefit radio astronomer in managing sites for radio observation for radio astronomy purposes. (author)

Días de Radio. el esfuerzo hacia la recuperación: la radio como integración Radio Days. the effort to recovery: the radio as integration

Directory of Open Access Journals (Sweden)

Itzíar Martínez González

2011-12-01

Full Text Available Desde el Centro de Rehabilitación Psicosocial ("CRPS" Los Cármenes (inscrito dentro de la Red Pública de Atención Social para Personas con Enfermedad Mental Grave y Duradera, dependiente de la Consejería de Familia y Asuntos Sociales de la Comunidad de Madrid (www.comunidad.org; gestionado por Instituto de Trabajo Social y Servicios Sociales (INTRESS, se desarrolla desde el 2004 un proyecto que consiste en la realización del programa de radio comunitaria "Ábrete Camino". La metodología, basada en los valores clave de la recuperación, permite que los/as participantes sean cada vez más protagonistas, tanto en el programa como en sus vidas. Ellos/as mismos/as nos cuentan su experiencia a través de un debate en directo en una de sus emisiones. Valoran la experiencia como muy positiva, siendo una actividad significativa en su proyecto vital.From the Center for Psychosocial Rehabilitation ("CRPS" Los Cármenes (registered in the Public Network of Social Care for People with Severe and Enduring Mental Illness, under the Ministry of Family and Social Affairs of the Community of Madrid, operated by Intress , developed since 2004 a project that consists in making community radio program " Ábrete Camino". The methodology, based on the core values of the recovery, allowing the participants to be increasingly more players in both the program and in their lives. They have experience through a live debate in one of their broadcasts.

Navigating oceans and cultures: Polynesian and European navigation systems in the late eighteenth century

Science.gov (United States)

Walker, M.

2012-05-01

Significant differences in the rotation of the celestial dome between the tropical and temperate zones did not stop the peoples of either the tropical Pacific or temperate Europe from using geocentric astronomy to guide exploration of the oceans. Although the differences in the night sky contributed to differences between the Pacific Island and European systems for navigation at sea, the two navigation systems exhibit substantial similarities. Both systems define positions on the surface of the Earth using two coordinates that vary at right angles to each other and use stars, and to a lesser extent the sun, to determine directions. This essay explores similarities and differences in the use of geocentric astronomy for navigation at sea by the peoples of Polynesia and Europe in the late eighteenth century. Captain Cook's orders to discover the unknown southern continent after observing the transit of Venus combined with differences in language and culture to obscure the deeper similarities between the navigation systems used by Cook and the Polynesians. Although it was a further 200 years before anthropologists studied Pacific navigation, collaborations in voyaging with communities in Oceania demonstrated the effectiveness of Pacific navigation systems, revived interest in traditional voyaging in island communities around the Pacific, and potentially open the way for further collaborations in other areas.

Millimeter-wave and Terahertz Reconfigurable Radio-over-Fiber Systems

DEFF Research Database (Denmark)

Vegas Olmos, Juan José

when deploying fiber is not an option. Radio-over-Fiber (RoF) technologies have evolved from a blue sky academic topic in the 90s to a main driver within the current quest for the 5th generation mobile systems (5G). A twist in RoF technologies is that it has found along the way niches in areas non......, the complexity of fabrication and to integrate this solutions have to compete with the off-the-shelf solutions provided by RoF technologies. Technologically though, reconfigurable Radio-over-Fiber networks require a co-design effort involving tunable lasers, digital signal processing, high speed modulators...

Multi-Flight-Phase GPS Navigation Filter Applications to Terrestrial Vehicle Navigation and Positioning

Science.gov (United States)

Park, Young W.; Montez, Moises N.

1994-01-01

A candidate onboard space navigation filter demonstrated excellent performance (less than 8 meter level RMS semi-major axis accuracy) in performing orbit determination of a low-Earth orbit Explorer satellite using single-frequency real GPS data. This performance is significantly better than predicted by other simulation studies using dual-frequency GPS data. The study results revealed the significance of two new modeling approaches evaluated in the work. One approach introduces a single-frequency ionospheric correction through pseudo-range and phase range averaging implementation. The other approach demonstrates a precise axis-dependent characterization of dynamic sample space uncertainty to compute a more accurate Kalman filter gain. Additionally, this navigation filter demonstrates a flexibility to accommodate both perturbational dynamic and observational biases required for multi-flight phase and inhomogeneous application environments. This paper reviews the potential application of these methods and the filter structure to terrestrial vehicle and positioning applications. Both the single-frequency ionospheric correction method and the axis-dependent state noise modeling approach offer valuable contributions in cost and accuracy improvements for terrestrial GPS receivers. With a modular design approach to either 'plug-in' or 'unplug' various force models, this multi-flight phase navigation filter design structure also provides a versatile GPS navigation software engine for both atmospheric and exo-atmospheric navigation or positioning use, thereby streamlining the flight phase or application-dependent software requirements. Thus, a standardized GPS navigation software engine that can reduce the development and maintenance cost of commercial GPS receivers is now possible.

Mean and Extreme Radio Properties of Quasars and the Origin of Radio Emission

Science.gov (United States)

Richards, Gordon T.; Kratzer, R.

2014-01-01

We explore the evolution of the fraction of radio loud quasars and the mean radio properties of quasars. Although any quasar has only a ~10% chance of being radio loud and the average quasar has a radio luminosity of ~4x10^30 ergs/s/Hz, these properties are strong functions of not only luminosity, redshift, black hole mass, and accretion rate, but also the strength of the accretion disk wind (as characterized by CIV emission line properties). Quasars with higher optical luminosity and/or lower redshift have a higher than average probability of being radio loud, but their median radio luminosity (relative to optical) is much lower than average. We find that, while radio properties of quasars generally cannot be predicted from their optical properties, objects where one expects a strong radiation line driven wind (based on emission line features) have virtually no chance of being radio loud. The redder quasars are in the optical, the more radio flux (relative to optical) they have; this trend holds even for quasars that are not expected to be significantly dust reddened/extincted in the optical. Finally, we consider the radio properties of quasars in the framework of models which describe the radio loud extrema as being due to particularly high spin resulting from second generation mergers and in the context of star formation at lower levels of radio flux. This work was supported by NSF AAG grant 1108798.

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.

Usability Testing of Two Ambulatory EHR Navigators.

Science.gov (United States)

Hultman, Gretchen; Marquard, Jenna; Arsoniadis, Elliot; Mink, Pamela; Rizvi, Rubina; Ramer, Tim; Khairat, Saif; Fickau, Keri; Melton, Genevieve B

2016-01-01

Despite widespread electronic health record (EHR) adoption, poor EHR system usability continues to be a significant barrier to effective system use for end users. One key to addressing usability problems is to employ user testing and user-centered design. To understand if redesigning an EHR-based navigation tool with clinician input improved user performance and satisfaction. A usability evaluation was conducted to compare two versions of a redesigned ambulatory navigator. Participants completed tasks for five patient cases using the navigators, while employing a think-aloud protocol. The tasks were based on Meaningful Use (MU) requirements. The version of navigator did not affect perceived workload, and time to complete tasks was longer in the redesigned navigator. A relatively small portion of navigator content was used to complete the MU-related tasks, though navigation patterns were highly variable across participants for both navigators. Preferences for EHR navigation structures appeared to be individualized. This study demonstrates the importance of EHR usability assessments to evaluate group and individual performance of different interfaces and preferences for each design.

75 FR 50884 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector...

Science.gov (United States)

2010-08-18

... 3 and 165 to reflect changes in Coast Guard internal organizational structure. Sector Portland and... 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector... Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River.'' 2. On page 48564...

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

Digital waterway construction based on inland electronic navigation chart

Science.gov (United States)

Wang, Xue; Pan, Junfeng; Zhu, Weiwei

2015-12-01

With advantages of large capacity, long distance, low energy consumption, low cost, less land occupation and light pollution, inland waterway transportation becomes one of the most important constituents of the comprehensive transportation system and comprehensive water resources utilization in China. As one of "three elements" of navigation, waterway is the important basis for the development of water transportation and plays a key supporting role in shipping economic. The paper discuss how to realize the informatization and digitization of waterway management based on constructing an integrated system of standard inland electronic navigation chart production, waterway maintenance, navigation mark remote sensing and control, ship dynamic management, and water level remote sensing and report, which can also be the foundation of the intelligent waterway construction. Digital waterway construction is an information project and also has a practical meaning for waterway. It can not only meet the growing high assurance and security requirements for waterway, but also play a significant advantage in improving transport efficiency, reducing costs, promoting energy conservation and so on. This study lays a solid foundation on realizing intelligent waterway and building a smooth, efficient, safe, green modern inland waterway system, and must be considered as an unavoidable problem for the coordinated development between "low carbon" transportation and social economic.

Social Network Structures of Breast Cancer Patients and the Contributing Role of Patient Navigators.

Science.gov (United States)

Gunn, Christine M; Parker, Victoria A; Bak, Sharon M; Ko, Naomi; Nelson, Kerrie P; Battaglia, Tracy A

2017-08-01

Minority women in the U.S. continue to experience inferior breast cancer outcomes compared with white women, in part due to delays in care delivery. Emerging cancer care delivery models like patient navigation focus on social barriers, but evidence demonstrating how these models increase social capital is lacking. This pilot study describes the social networks of newly diagnosed breast cancer patients and explores the contributing role of patient navigators. Twenty-five women completed a one hour interview about their social networks related to cancer care support. Network metrics identified important structural attributes and influential individuals. Bivariate associations between network metrics, type of network, and whether the network included a navigator were measured. Secondary analyses explored associations between network structures and clinical outcomes. We identified three types of networks: kin-based, role and/or affect-based, or heterogeneous. Network metrics did not vary significantly by network type. There was a low prevalence of navigators included in the support networks (25%). Network density scores were significantly higher in those networks without a navigator. Network metrics were not predictive of clinical outcomes in multivariate models. Patient navigators were not frequently included in support networks, but provided distinctive types of support. If navigators can identify patients with poorly integrated (less dense) social networks, or who have unmet tangible support needs, the intensity of navigation services could be tailored. Services and systems that address gaps and variations in patient social networks should be explored for their potential to reduce cancer health disparities. This study used a new method to identify the breadth and strength of social support following a diagnosis of breast cancer, especially examining the role of patient navigators in providing support. While navigators were only included in one quarter of patient

YARP-ROS Inter-Operation in a 2D Navigation Task

Directory of Open Access Journals (Sweden)

Marco Randazzo

2018-02-01

Full Text Available This paper presents some recent developments in YARP middleware, aimed to improve its integration with ROS. They include a new mechanism to read/write ROS transform frames and a new set of standard interfaces to intercommunicate with the ROS navigation stack. A novel set of YARP companion modules, which provide basic navigation functionalities for robots unable to run ROS, is also presented. These modules are optional, independent from each other, and they provide compatible functionalities to well-known packages available inside ROS framework. This paper also discusses how developers can customize their own hybrid YARP-ROS environment in the way it best suits their needs (e.g., the system can be configured to have a YARP application sending navigation commands to a ROS path planner, or vice versa. A number of available possibilities is presented through a set of chosen test cases applied to both real and simulated robots. Finally, example applications discussed in this paper are also made available to the community by providing snippets of code and links to source files hosted on github repository https://github.com/robotology.1

Frequency-Tunable and Pattern Diversity Antennas for Cognitive Radio Applications

Directory of Open Access Journals (Sweden)

A. H. Ramadan

2014-01-01

Full Text Available Frequency-tunable microstrip antennas, for cognitive radio applications, are proposed herein. The approach is based on tuning the operating frequency of a bandpass filter that is incorporated into a wideband antenna. The integration of an open loop resonator- (OLR- based adjustable bandpass filter into a wideband antenna to transform it into a tunable filter-antenna is presented. The same technique is employed to design a cognitive radio pattern diversity tunable filter-antenna. A good agreement between the simulated and measured results for the fabricated prototypes is obtained. The radiation characteristics of each designed tunable filter-antenna are included herein.

Innovative Development and Forecast of BeiDou System

Directory of Open Access Journals (Sweden)

TAN Shusen

2017-10-01

Full Text Available Due to the strong demand for satellite applications and rapid development of new space technology,the cross-integration of space-based radio systems has become a trend.BeiDou system started from two satellites to build China's first generation satellite navigation and positioning system with the features of fast location reporting(RDSSand short message communication(MSSservice.Then BeiDou technology frame combined with RNSS continuous navigation and RDSS location report,was constructed in eight years,and the coverage in Asia-Pacific was completed.Through effective satellite radio frequency compatible design and international coordination,BeiDou system is the first radio satellite system which includes RNSS,RDSS,MSS three major services,approved by International Telecommunication Union(ITUin the world.This paper expounds the development process,technical frame,main features and prospect of BeiDou system with three major services and four key functions,in the concept of innovation and transcendence.

Analysing radio-frequency coil arrays in high-field magnetic resonance imaging by the combined field integral equation method

Energy Technology Data Exchange (ETDEWEB)

Wang Shumin; Duyn, Jeff H [Laboratory of Functional and Molecular Imaging, National Institute of Neurological Disorders and Stroke, National Institutes of Health, 10 Center Drive, 10/B1D728, Bethesda, MD 20892 (United States)

2006-06-21

We present the combined field integral equation (CFIE) method for analysing radio-frequency coil arrays in high-field magnetic resonance imaging (MRI). Three-dimensional models of coils and the human body were used to take into account the electromagnetic coupling. In the method of moments formulation, we applied triangular patches and the Rao-Wilton-Glisson basis functions to model arbitrarily shaped geometries. We first examined a rectangular loop coil to verify the CFIE method and also demonstrate its efficiency and accuracy. We then studied several eight-channel receive-only head coil arrays for 7.0 T SENSE functional MRI. Numerical results show that the signal dropout and the average SNR are two major concerns in SENSE coil array design. A good design should be a balance of these two factors.

Getting Lost Through Navigation

DEFF Research Database (Denmark)

Debus, Michael S.

2017-01-01

In this presentation, I argued two things. First, that it is navigation that lies at the core of contemporary (3D-) videogames and that its analysis is of utmost importance. Second, that this analysis needs a more rigorous differentiation between specific acts of navigation. Considering the Oxford...... in videogames is a configurational rather than an interpretational one (Eskelinen 2001). Especially in the case of game spaces, navigation appears to be of importance (Wolf 2009; Flynn 2008). Further, it does not only play a crucial role for the games themselves, but also for the experience of the player...

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.

Radio Observations of Elongated Pulsar Wind Nebulae

Science.gov (United States)

Ng, Stephen C.-Y.

2015-08-01

The majority of pulsars' rotational energy is carried away by relativistic winds, which are energetic particles accelerated in the magnetosphere. The confinement of the winds by the ambient medium result in synchrotron bubbles with broad-band emission, which are commonly referred to as pulsar wind nebulae (PWNe). Due to long synchrotron cooling time, a radio PWN reflects the integrated history of the system, complementing information obtained from the X-ray and higher energy bands. In addition, radio polarization measurements can offer a powerful probe of the PWN magnetic field structure. Altogether these can reveal the physical conditions and evolutionary history of a system.I report on preliminary results from high-resolution radio observations of PWNe associated with G327.1-1.1, PSRs J1015-5719, B1509-58, and J1549-4848 taken with the Australia Telescope Compact Array (ATCA). Their magnetic field structure and multiwavelength comparison with other observations are discussed.This work is supported by a ECS grant of the Hong Kong Government under HKU 709713P. The Australia Telescope is funded by the Commonwealth of Australia for operation as a National Facility managed by CSIRO.

A radio and optical study of Molonglo radio sources

Science.gov (United States)

Ishwara-Chandra, C. H.; Saikia, D. J.; McCarthy, P. J.; van Breugel, W. J. M.

2001-05-01

We present multi-wavelength radio observations with the Very Large Array, and narrow- and broad-band optical observations with the 2.5-m telescope at the Las Campanas Observatory, of a well-defined sample of high-luminosity Fanaroff-Riley class II radio galaxies and quasars, selected from the Molonglo Reference Catalogue 1-Jy sample. These observations were carried out as part of a programme to investigate the effects of orientation and environment on some of the observed properties of these sources. We examine the dependence of the Liu-Pooley relationship, which shows that radio lobes with flatter radio spectra are less depolarized, on size, identification and redshift, and show that it is significantly stronger for smaller sources, with the strength of the relationship being similar for both radio galaxies and quasars. In addition to Doppler effects, there appear to be intrinsic differences between the lobes on opposite sides. We discuss the asymmetry in brightness and location of the hotspots, and present estimates of the ages and velocities from matched-resolution observations in the L and C bands. Narrow- and broad-band optical images of some of these sources were made to study their environments and correlate with the symmetry parameters. An extended emission-line region is seen in a quasar, and in four of the objects possible companion galaxies are seen close to the radio axis.

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.

A hybrid polarization-selective atomic sensor for radio-frequency field detection with a passive resonant-cavity field amplifier

OpenAIRE

Anderson, David A.; Paradis, Eric G.; Raithel, Georg

2018-01-01

We present a hybrid atomic sensor that realizes radio-frequency electric field detection with intrinsic field amplification and polarization selectivity for robust high-sensitivity field measurement. The hybrid sensor incorporates a passive resonator element integrated with an atomic vapor cell that provides amplification and polarization selectivity for detection of incident radio-frequency fields. The amplified intra-cavity radio-frequency field is measured by atoms using a quantum-optical ...

78 FR 41304 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Correction

Science.gov (United States)

2013-07-10

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Part 105 [Docket No. USCG-2013-0397] RIN 1625-AC06 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Correction AGENCY: Coast Guard, DHS. ACTION: Final rule; correction. SUMMARY: The Coast Guard published a final rule...

Experimental simulation of satellite observations of 100 kHz radio waves from relativistic electron beams above thunderclouds

Directory of Open Access Journals (Sweden)

M. Füllekrug

2011-01-01

Full Text Available Relativistic electron beams above thunderclouds emit 100 kHz radio waves which illuminate the Earth's atmosphere and near-Earth space. This contribution aims to clarify the physical processes which are relevant for the spatial spreading of the radio wave energy below and above the ionosphere and thereby enables an experimental simulation of satellite observations of 100 kHz radio waves from relativistic electron beams above thunderclouds. The simulation uses the DEMETER satellite which observes 100 kHz radio waves from fifty terrestrial Long Range Aid to Navigation (LORAN transmitters. Their mean luminosity patch in the plasmasphere is a circular area with a radius of 300 km and a power density of 22 μW/Hz as observed at 660 km height above the ground. The luminosity patches exhibit a southward displacement of 450 km with respect to the locations of the LORAN transmitters. The displacement is reduced to 150 km when an upward propagation of the radio waves along the geomagnetic field line is assumed. This residual displacement indicates that the radio waves undergo 150 km sub-ionospheric propagation prior to entering a magnetospheric duct and escaping into near-Earth space. The residual displacement at low (L < 2.14 and high (L > 2.14 geomagnetic latitudes ranges from 100 km to 200 km which suggests that the smaller inclination of the geomagnetic field lines at low latitudes helps to trap the radio waves and to keep them in the magnetospheric duct. Diffuse luminosity areas are observed northward of the magnetic conjugate locations of LORAN transmitters at extremely low geomagnetic latitudes (L < 1.36 in Southeast Asia. This result suggests that the propagation along the geomagnetic field lines results in a spatial spreading of the radio wave energy over distances of 1 Mm. The summative assessment of the electric field intensities measured in space show that nadir observations of terrestrial 100 kHz radio waves, e.g., from

Restricted Navigation 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...

NFC Internal: An Indoor Navigation System

Science.gov (United States)

Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

2015-01-01

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

75 FR 48564 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector...

Science.gov (United States)

2010-08-11

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 3 and 165 [Docket No. USCG-2010-0351] RIN 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River, WA AGENCY: Coast Guard, DHS. ACTION: Final rule. SUMMARY: This rule makes non-substantive...

Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

Science.gov (United States)

Roberts, Barry; Bhanu, Bir

1992-01-01

Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

Four pillars of radio astronomy Mills, Christiansen, Wild, Bracewell

CERN Document Server

Frater, R H; Wendt, H W

2017-01-01

This is the story of Bernie Mills, Chris Christiansen, Paul Wild and Ron Bracewell, members of a team of radio astronomers that would lead Australia, and the world, into this new field of research. Each of the four is remembered for his remarkable work: Mills for the development the cross type instrument that now bears his name; Christiansen for the application of rotational synthesis techniques; Wild for the masterful joining of observations and theory to elicit the nature of the solar atmosphere; Bracewell for his contribution to imaging theory. As well, these Four Pillars are remembered for creating a remarkable environment for scientific discovery and for influencing the careers of future generations. Their pursuit of basic science helped pave the way for technological developments in areas ranging from Wi-Fi to sonar to medical imaging to air navigation, and for underpinning the foundations of modern cosmology and astrophysics.

Radiography of Spanish Radio

Directory of Open Access Journals (Sweden)

Dra. Emma Rodero Antón

2007-01-01

Full Text Available In its eighty years of existence, radio has been always characterized to adapt to the social, cultural and technological transformations. Thus it has been until this moment. Nevertheless, some years ago, the authors and professionals of this medium have been detecting a stagnation that affects to its structure. At a time in continuous technological evolution, radio demands a deep transformation. For that reason, from the conviction of which the future radio, public and commercial, will necessarily have to renew itself, in this paper we establish ten problems and their possible solutions to the radio crisis in order to draw an x-ray of radio in Spain. Radio has future, but it is necessary to work actively by it. That the radio continues being part of sound of our life, it will depend on the work of all: companies, advertisers, professionals, students, investigators and listeners.

Radio-capacity of ecosystems

International Nuclear Information System (INIS)

Kultakhmedov, Yu.; Kultakhmedova-Vyshnyakova, V.

1997-01-01

This paper consider a universal approach to ecosystems of different types, based on representation of their radio-capacity. The concept of ecosystem includes reproduction of components (bio-productivity) and conditions such as maintaining of environment quality. Radio-capacity in the case of radionuclide pollution appears in accumulation and redistribution of radionuclides in the ecosystem. As a result the radionuclides are redistributed and buried in soil or lake bottom sediments. Estimation models for the radio-capacity of water and terrestrial ecosystems are represented. The calculations of the radio-capacity factor of water ecosystems are performed, and the high radio-capacity of a freshwater reservoir (F=0.6-0.8) and extremely high radio-capacity of a reservoir cascade (F c =0.99) is shown material from the Dnieper's cascade reservoirs. The methods of radio-capacity estimation of agroecosystems, wood and marine ecosystems are developed. (authors)

Sex differences in navigation strategy and efficiency.

Science.gov (United States)

Boone, Alexander P; Gong, Xinyi; Hegarty, Mary

2018-05-22

Research on human navigation has indicated that males and females differ in self-reported navigation strategy as well as objective measures of navigation efficiency. In two experiments, we investigated sex differences in navigation strategy and efficiency using an objective measure of strategy, the dual-solution paradigm (DSP; Marchette, Bakker, & Shelton, 2011). Although navigation by shortcuts and learned routes were the primary strategies used in both experiments, as in previous research on the DSP, individuals also utilized route reversals and sometimes found the goal location as a result of wandering. Importantly, sex differences were found in measures of both route selection and navigation efficiency. In particular, males were more likely to take shortcuts and reached their goal location faster than females, while females were more likely to follow learned routes and wander. Self-report measures of strategy were only weakly correlated with objective measures of strategy, casting doubt on their usefulness. This research indicates that the sex difference in navigation efficiency is large, and only partially related to an individual's navigation strategy as measured by the dual-solution paradigm.

Celestial Navigation in the USA, Fiji, and Tunisia

Science.gov (United States)

Holbrook, Jarita C.

2015-05-01

Today there are many coastal communities that are home to navigators who use stars for position finding at night; I was, however, unaware of this fact when I began researching celestial navigation practices in 1997. My project focused on three communities: the Moce Islanders of Fiji, the Kerkennah Islanders in Tunisia, and the U.S. Navy officers and students at the United States Naval Academy, Annapolis, Maryland. My goal was to answer the question of why people continue to navigate by the stars, but also to understand the role of technology in their navigation practices. Using anthropology techniques of ethnography including participant observation, formal and informal interviews, audio and videotaping, I gathered data over five years at the three communities. I began by learning the details of how they use the stars for navigation. Next, I learned about who did the navigation and where they learned to navigate. I gathered opinions on various navigation aids and instruments, and opinions about the future of using the stars for navigation. I listened to the stories that they told about navigating. In the United States I worked in English, in Fiji, in Fijian and English, and in Tunisia, French and English. For the formal interviews I worked with translators. The navigators use stars for navigating today but the future of their techniques is not certain. Though practiced today, these celestial navigation traditions have undergone and continue to undergo changes. New navigational technologies are part of the stimulation for change, thus 'a meeting of different worlds' is symbolized by peoples encounters with these technologies.

SKIN - Embodied Navigation Through WiFi Traffic Using Vibro-Tactile Feedback

DEFF Research Database (Denmark)

van den Boogaard, Bas; Orsted Jensen, Louise; Nielsen, Stefan Engelbrecht

2018-01-01

In today’s world, radio waves are an integral element of our daily lives but they are mostly hidden to human perception. In this paper we present SKIN, a wireless wearable system that creates a new interface between the human and WiFi signals employing sensory augmentation. SKIN translates nearby...

Navigation of the autonomous vehicle reverse movement

Science.gov (United States)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Nautical Navigation Aids (NAVAID) Locations

Data.gov (United States)

Department of Homeland Security — Structures intended to assist a navigator to determine position or safe course, or to warn of dangers or obstructions to navigation. This dataset includes lights,...

South African Radio League Introduction to Amateur Radio: A study guide for the Radio Amateur Examination

CSIR Research Space (South Africa)

Burger, Chris

2016-01-01

Full Text Available ) .............................................................................. 15 1.12 The Radio Amateurs’ Examination .......................................................................... 15 1.13 Restrictions on the Use of an Amateur Radio Station .............................................. 16 Chapter 2: Operating... ............................................................................................. 116 14.1 Theory of Operation ............................................................................................... 116 14.2 Turns Ratio...

Ham radio for dummies

CERN Document Server

Silver, H Ward

2013-01-01

An ideal first step for learning about ham radio Beyond operating wirelessly, today's ham radio operators can transmit data and pictures; use the Internet, laser, and microwave transmitters; and travel to places high and low to make contact. This hands-on beginner guide reflects the operational and technical changes to amateur radio over the past decade and provides you with updated licensing requirements and information, changes in digital communication (such as the Internet, social media, and GPS), and how to use e-mail via radio. Addresses the critical use of ham radio for replacing downe

Radio Frequency Interference Site Survey for Thai Radio Telescopes

Science.gov (United States)

Jaroenjittichai, P.; Punyawarin, S.; Singwong, D.; Somboonpon, P.; Prasert, N.; Bandudej, K.; Kempet, P.; Leckngam, A.; Poshyachinda, S.; Soonthornthum, B.; Kramer, B.

2017-09-01

Radio astronomical observations have increasingly been threaten by the march of today telecommunication and wireless technology. Performance of radio telescopes lies within the fact that astronomical sources are extremely weak. National Astronomy Research Institute of Thailand (NARIT) has initiated a 5-year project, known as the Radio Astronomy Network and Geodesy for Development (RANGD), which includes the establishment of 40-meter and 13-meter radio telescopes. Possible locations have been narrowed down to three candidates, situated in the Northern part of Thailand, where the atmosphere is sufficiently dry and suitable for 22 and 43 GHz observations. The Radio Frequency Interference (RFI) measurements were carried out with a DC spectrum analyzer and directional antennas at 1.5 meter above ground, from 20 MHz to 6 GHz with full azimuth coverage. The data from a 3-minute pointing were recorded for both horizontal and vertical polarizations, in maxhold and average modes. The results, for which we used to make preliminary site selection, show signals from typical broadcast and telecommunication services and aeronautics applications. The signal intensity varies accordingly to the presence of nearby population and topography of the region.

La radio como expresión libre del Aymara.

Directory of Open Access Journals (Sweden)

Nestor Hugo Quiroga

2015-05-01

Full Text Available En el campo de los principios teóricos sobre las posibilidades educativas de la radio, es indispensable precisar algunos conceptos fundamentales como: una pedagogía de la expresión y de la comunicación; una pedagogía integral; y los sistemas abiertos de comunicación. La siguiente etapa, dentro de este análisis, es la aplicación de estos principios fundamentales a la tarea concreta de crear un sistema abierto que procese y genere intercomunicación (que, por tanto, eduque y autoeduque, en un ambiente definible como la vasta comunidad aymara, a través de un subsistema comunicador específico llamado radio.

An on-line monitoring system for navigation equipment

Science.gov (United States)

Wang, Bo; Yang, Ping; Liu, Jing; Yang, Zhengbo; Liang, Fei

2017-10-01

Civil air navigation equipment is the most important infrastructure of Civil Aviation, which is closely related to flight safety. In addition to regular flight inspection, navigation equipment's patrol measuring, maintenance measuring, running measuring under special weather conditions are the important means of ensuring aviation flight safety. According to the safety maintenance requirements of Civil Aviation Air Traffic Control navigation equipment, this paper developed one on-line monitoring system with independent intellectual property rights for navigation equipment, the system breakthroughs the key technologies of measuring navigation equipment on-line including Instrument Landing System (ILS) and VHF Omni-directional Range (VOR), which also meets the requirements of navigation equipment ground measurement set by the ICAO DOC 8071, it provides technical means of the ground on-line measurement for navigation equipment, improves the safety of navigation equipment operation, and reduces the impact of measuring navigation equipment on airport operation.

Navigating Negative Conversations in Climate Change

Science.gov (United States)

Mandia, S. A.; Abraham, J. P.; Dash, J. W.; Ashley, M. C.

2012-12-01

Politically charged public discussions of climate change often lead to polarization as a direct result of many societal, economic, religious and other factors which form opinions. For instance, the general public views climate change as a political discussion rather than a scientific matter. Additionally, many media sources such as websites and mainstream venues and persons have served to promote the "controversy". Scientists who engage in a public discourse of climate change often encounter politically charged environments and audiences. Traditional presentations of the science without attention paid to political, social, or economic matters are likely to worsen the existing divide. An international organization, the Climate Science Rapid Response Team (CSRRT) suggests a strategy that can be used to navigate potentially troublesome situations with divided audiences. This approach can be used during live lecture presentations, and radio, print, or television interviews. The strategy involves identifying alternative motivations for taking action on climate change. The alternative motivations are tailored to the audience and can range from national defense, economic prosperity, religious motivation, patriotism, energy independence, or hunting/fishing reasons. Similar messaging modification can be used to faithfully and accurately convey the importance of taking action on climate change but present the motivations in a way that will be received by the audience.

32 CFR 644.3 - Navigation Projects.

Science.gov (United States)

2010-07-01

... 32 National Defense 4 2010-07-01 2010-07-01 true Navigation Projects. 644.3 Section 644.3 National... HANDBOOK Project Planning Civil Works § 644.3 Navigation Projects. (a) Land to be acquired in fee. All... construction and borrow areas. (3) In navigation-only projects, the right to permanently flood should be...

14 CFR 121.349 - Communication and navigation equipment for operations under VFR over routes not navigated by...

Science.gov (United States)

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Communication and navigation equipment for... § 121.349 Communication and navigation equipment for operations under VFR over routes not navigated by... receiver providing visual and aural signals; and (iii) One ILS receiver; and (3) Any RNAV system used to...

Quantum imaging for underwater arctic navigation

Science.gov (United States)

Lanzagorta, Marco

2017-05-01

The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

Design And Implementation Of Radio Resources Controller Of WCDMA

International Nuclear Information System (INIS)

Hafez, A.M.A.

2012-01-01

Recently, wireless communications and especially the mobile networks are employed in nuclear applications including, but not limited to, Nuclear Material Integrity [1], Radiation Monitoring Networks [2, 3] and Nuclear Power Plants [4]. The thesis introduces an overview about one of the third generation (3G) mobile networks, known as Universal Mobile Telecommunications System (UMTS) networks, which consists of Universal Terrestrial Radio Access Network (UTRAN) and the Core Network (CN). The UTRAN has many interfaces, but the thesis focuses on the Uu interface which is between the User Equipment (UE) and the UTRAN. That interface is based on Wideband Code Division Multiple Accessing (WCDMA) system. The protocol architecture of UMTS is composed of two planes; the control plane and the user plane. Again, the thesis is concerned on the control plane which has the Radio Resources Control (RRC) protocol to manage the control signal at the Uu interface between the UE and the Radio Network Controller. The main goal of the thesis is to design, implement and test the building blocks of Radio Resources Controller of the WCDMA system. Also, the thesis presents one of nuclear applications that is based on WCDMA. This application includes design, implementation and simulation of Radiation Monitoring network as a pilot prototype model.

Integrated Systems Engineering Framework (ISEF)

Data.gov (United States)

Federal Laboratory Consortium — The ISEF is an integrated SE framework built to create and capture knowledge using a decision-centric method, high-quality data visualizations, intuitive navigation...

Autonomous Robot Navigation based on Visual Landmarks

DEFF Research Database (Denmark)

Livatino, Salvatore

2005-01-01

The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...

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.

Radio and Optical Telescopes for School Students and Professional Astronomers

Science.gov (United States)

Hosmer, Laura; Langston, G.; Heatherly, S.; Towner, A. P.; Ford, J.; Simon, R. S.; White, S.; O'Neil, K. L.; Haipslip, J.; Reichart, D.

2013-01-01

The NRAO 20m telescope is now on-line as a part of UNC's Skynet worldwide telescope network. The NRAO is completing integration of radio astronomy tools with the Skynet web interface. We present the web interface and astronomy projects that allow students and astronomers from all over the country to become Radio Astronomers. The 20 meter radio telescope at NRAO in Green Bank, WV is dedicated to public education and also is part of an experiment in public funding for astronomy. The telescope has a fantastic new web-based interface, with priority queuing, accommodating priority for paying customers and enabling free use of otherwise unused time. This revival included many software and hardware improvements including automatic calibration and improved time integration resulting in improved data processing, and a new ultra high resolution spectrometer. This new spectrometer is optimized for very narrow spectral lines, which will allow astronomers to study complex molecules and very cold regions of space in remarkable detail. In accordance with focusing on broader impacts, many public outreach and high school education activities have been completed with many confirmed future activities. The 20 meter is now a fully automated, powerful tool capable of professional grade results available to anyone in the world. Drop by our poster and try out real-time telescope control!

A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults.

Science.gov (United States)

Sun, Rui; Cheng, Qi; Wang, Guanyu; Ochieng, Washington Yotto

2017-09-29

The use of Unmanned Aerial Vehicles (UAVs) has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs' flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS)-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF) estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.

A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults

Directory of Open Access Journals (Sweden)

Rui Sun

2017-09-01

Full Text Available The use of Unmanned Aerial Vehicles (UAVs has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs’ flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.

Prospects of using medium-wave band for radio communication with rescue mobile teams of EMERCOM of Russia

Science.gov (United States)

Bazhukov, I. F.; Dulkejt, I. V.; Zavyalov, S. A.; Lvova, Yu V.; Lyashuk, A. N.; Puzyrev, P. I.; Rekunov, S. G.; Chaschin, E. A.; Sharapov, S. V.

2018-01-01

The results of tests in-situ of the prototype of medium-wave mobile radio station «Noema-SV» in Western Siberia, Omsk region and Vorkuta Arctic Integrated Emergency and Rescue Center of EMERCOM of Russia are presented. Radio paths tests in-situ in the Far North show the possibility of radio communication with rescue mobile teams of EMERCOM of Russia in the medium-wave band within distances of several tens of kilometers of rugged topography. The radio range on a flat terrain increases to several hundreds of kilometers. Shortened medium-wave band antennas developed at OmSTU and employed by rescue mobile teams of EMERCOM of Russia were used in.

Inland Electronic Navigational Charts (IENC)

Data.gov (United States)

Army Corps of Engineers, Department of the Army, Department of Defense — These Inland Electronic Navigational Charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

The three-dimensional properties and energetics of radio-jet-driven outflows

Energy Technology Data Exchange (ETDEWEB)

Shih, Hsin-Yi; Stockton, Alan, E-mail: hsshih@ifa.hawaii.edu, E-mail: stockton@ifa.hawaii.edu [Institute for Astronomy, University of Hawai' i 2680 Woodlawn Dr, Honolulu, HI 96822 (United States)

2014-05-01

Extended emission-line regions (EELRs), found around radio-loud sources, are likely outflows driven by one form of powerful active galactic nucleus (AGN) feedback mechanism. We seek to constrain the three-dimensional gas properties and the outflow energetics of the EELRs in this study. We used an integral field unit to observe EELRs around two samples of radio-loud AGNs with similar radio properties, but different orientations: a sample of quasars and a sample of radio galaxies. A morphological comparison suggests a scenario where the three-dimensional EELR gas distribution follows rough biconical shapes with wide opening angles. The average extent of the EELRs is ∼18.5 kpc. The estimated average mass of the EELRs, with reasonable assumptions for gas densities, is ∼3 × 10{sup 8} M {sub ☉}, and the average mass outflow rate is ∼30 M {sub ☉} yr{sup –1}. The EELRs around quasars and radio galaxies share similar kinematic properties. Both samples have velocity structures that display a range of complexities, they do not appear to correlate with the jet orientations, and both span a similar range of velocity dispersions. Around 30% of the detected EELRs show large-scale rotational motions, which may have originated from recent mergers involving gas-rich disk galaxies.

The difference between radio-loud and radio-quiet active galaxies

Science.gov (United States)

Wilson, A. S.; Colbert, E. J. M.

1995-01-01

The recent development of unified theories of active galactic nuclei (AGNs) has indicated that there are two physically distinct classes of these objects--radio-loud and radio-quiet. Despite differences, the (probable) thermal emissions from the AGNs (continua and lines from X-ray to infrared wavelengths) are quite similar to the two classes of object. We argue that this last result suggests that the black hole masses and mass accretion rates in the two classes are not greatly different, and that the difference between the classes is associated with the spin of the black hole. We assume that the normal process of accretion through a disk does not lead to rapidly spinning holes and propose that galaxies (e.g., spirals) which have not suffered a recent major merger event contain nonrotating or only slowly rotating black holes. When two such galaxies merge, the two black holes are known to form a binary and we assume that they eventually coalesce. The ratio of the number of radio-loud to radio-quiet AGNs at a given thermal (e.g., optical) luminosity is determined by the galaxy merger rate. Comparisons between the predicted and observed radio luminosity functions constrain the efficiencies with which jet power is extracted from the spinning hole and radio emission is produced by the jet.

Integrated marketing communications paradigm in digital environment: The five pillars of integration

OpenAIRE

Rakić Beba; Rakić Mira

2014-01-01

This paper is focused on the paradigm of integrated marketing communications (IMC) in digital environment. The integration is analysed through five aspects. First, integration in terms of media; it means that IMC are performed through the mix of traditional media (print - newspapers, magazines; radio; television; direct-response media - telephone, direct mail, catalogue marketing; billboards; other 'specific media': product - especially brand, packaging; price; place; people; process; physica...

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.

DISCOVERY OF A GIANT RADIO HALO IN A NEW PLANCK GALAXY CLUSTER PLCKG171.9-40.7

Energy Technology Data Exchange (ETDEWEB)

Giacintucci, Simona [Department of Astronomy, University of Maryland, College Park, MD 20742 (United States); Kale, Ruta; Venturi, Tiziana [INAF-Istituto di Radioastronomia, via Gobetti 101, I-40129 Bologna (Italy); Wik, Daniel R.; Markevitch, Maxim, E-mail: simona@astro.umd.edu [Astrophysics Science Division, NASA/Goddard Space Flight Center, Greenbelt, MD 20771 (United States)

2013-03-20

We report the discovery of a giant radio halo in a new, hot, X-ray luminous galaxy cluster recently found by Planck, PLCKG171.9-40.7. The radio halo was found using Giant Metrewave Radio Telescope observations at 235 MHz and 610 MHz, and in the 1.4 GHz data from an NRAO Very Large Array Sky Survey pointing that we have reanalyzed. The diffuse radio emission is coincident with the cluster X-ray emission, and has an extent of {approx}1 Mpc and a radio power of {approx}5 Multiplication-Sign 10{sup 24} W Hz{sup -1} at 1.4 GHz. Its integrated radio spectrum has a slope of {alpha} Almost-Equal-To 1.8 between 235 MHz and 1.4 GHz, steeper than that of a typical giant halo. The analysis of the archival XMM-Newton X-ray data shows that the cluster is hot ({approx}10 keV) and disturbed, consistent with X-ray-selected clusters hosting radio halos. This is the first giant radio halo discovered in one of the new clusters found by Planck.

Information Content in Radio Waves: Student Investigations in Radio Science

Science.gov (United States)

Jacobs, K.; Scaduto, T.

2013-12-01

We describe an inquiry-based instructional unit on information content in radio waves, created in the summer of 2013 as part of a MIT Haystack Observatory (Westford, MA) NSF Research Experiences for Teachers (RET) program. This topic is current and highly relevant, addressing science and technical aspects from radio astronomy, geodesy, and atmospheric research areas as well as Next Generation Science Standards (NGSS). Projects and activities range from simple classroom demonstrations and group investigations, to long term research projects incorporating data acquisition from both student-built instrumentation as well as online databases. Each of the core lessons is applied to one of the primary research centers at Haystack through an inquiry project that builds on previously developed units through the MIT Haystack RET program. In radio astronomy, students investigate the application of a simple and inexpensive software defined radio chip (RTL-SDR) for use in systems implementing a small and very small radio telescope (SRT and VSRT). Both of these systems allow students to explore fundamental principles of radio waves and interferometry as applied to radio astronomy. In ionospheric research, students track solar storms from the initial coronal mass ejection (using Solar Dynamics Observatory images) to the resulting variability in total electron density concentrations using data from the community standard Madrigal distributed database system maintained by MIT Haystack. Finally, students get to explore very long-baseline interferometry as it is used in geodetic studies by measuring crustal plate displacements over time. Alignment to NextGen standards is provided for each lesson and activity with emphasis on HS-PS4 'Waves and Their Applications in Technologies for Information Transfer'.

Development of field navigation system; Field navigation system no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Ibara, S; Minode, M; Nishioka, K [Daihatsu Motor Co. Ltd., Osaka (Japan)