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检索条件"任意字段=Sensors and Sensor Systems for Guidance and Navigation II 1992"

共 51 条记录，以下是11-20 订阅

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Low-Cost sensors based Multi-sensor Data Fusion Techniques for RPAS navigation and guidance

Low-Cost Sensors based Multi-sensor Data Fusion Techniques f...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Cappello, Francesco Ramasamy, Subramanian Sabatini, Roberto Liu, Jing RMIT Univ Sch Aerosp Mech & Mfg Engn Melbourne Vic 3000 Australia

ISBN: (纸本)9781479960101

In order for Remotely Piloted Aircraft systems (RPAS) to coexist seamlessly with manned aircraft in non-segregated airspace, enhanced navigational capabilities are essential to meet the Required navigational Performance (RNP) levels in all flight phases. A Multi-sensor Data Fusion (MSDF) framework is adopted to improve the navigation capabilities of an integrated navigation and guidance System (NGS) designed for small-sized RPAS. The MSDF architecture includes low-cost and low weight/volume navigation sensors suitable for various classes of RPAS. The selected sensors include Global navigation Satellite systems (GNSS), Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU) and Vision Based sensors (VBS). A loosely integrated navigation architecture is presented where an Unscented Kalman Filter (UKF) is used to combine the navigation sensor measurements. The presented UKF based VBS-INS-GNSS-ADM (U-VIGA) architecture is an evolution of previous research performed on Extended Kalman Filter (EKF) based VBS-INS-GNSS (E-VIGA) systems. An Aircraft Dynamics Model (ADM) is adopted as a virtual sensor and acts as a knowledge-based module providing additional position and attitude information, which is pre-processed by an additional/local UKF. The E-VIGA and U-VIGA performances are evaluated in a small RPAS integration scheme (i.e., AEROSONDE RPAS platform) by exploring a representative cross-section of this RPAS operational flight envelope. The position and attitude accuracy comparison shows that the E-VIGA and U-VIGA systems fulfill the relevant RNP criteria, including precision approach in CAT-ii. A novel Human Machine Interface (HMI) architecture is also presented, whose design takes into consideration the coordination tasks of multiple human operators. In addition, the interface scheme incorporates the human operator as an integral part of the control loop providing a higher level of situational awareness.

关键词： Remotely Piloted Aircraft systems Aircraft Dynamics Model Unscented Kalman Filter Low-cost sensors navigation and guidance System Multi-sensor Data Fusion Human Machine Interface

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Enhance implementation of embedded robot auto-navigation system using FPGA for better performance

Enhance implementation of embedded robot auto-navigation sys...

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International Conference on Electronic Design (ICED)

作者： Torry Kho Muataz H. Salih Yan San Woo Zheng Ng Janice Jia Min Fengjie Yee School of Computer and Communication Engineering Universiti Malaysia Perlis (UniMAP) Perlis Malaysia

ISBN: (纸本)9781509021611

Nowadays, Auto-navigation robots are cutting-edge and widely used and investigated by robotics experts. An autonomous robot can function and complete every task without any human guidance. Since it functions without human intervention, therefore obstacles detection and localization are significant and need to figure out. First, how the robot obstacle detection? Second, how to control auto-navigation robot localization accuracy and stability motion of the robot? Both of conditions would significantly affect performance and accuracy of robot to detect and reach destination. Therefore, we needed to figure out few solutions to solve these problems before create an auto-navigation system. Initially, testing and using suitable detection sensors and design suitable algorithm for sensor to detect obstacles. Then, Global Positioning System (GPS) would be used to calculate based upon information from GPS receiver to mapping the shortest path for robot to reach destination. Lastly, timing of the robot will generate by using 50MHz default frequency of DE0-Nano to control motors and direction of the wheels. In addition, using DE0-Nano board the design operating frequency can reach maximum 1GHz. Furthermore, the potential resources of Quartus ii version 14.1 are utilized to implement supported modules of auto-navigation robot stages. The design had been carried out on Altera Cyclone IV FPGA. The autonavigation robots were provided higher flexibility and could help people do to something which will develop into life-threatening. So that, it's rapidly enlarging on industry floor.

关键词： Acoustics Robot sensing systems Global Positioning System Robot kinematics Sensitivity

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Stereo-vision graph-SLAM for robust navigation of the AUV SPARUS ii 4

Stereo-vision graph-SLAM for robust navigation of the AUV SP...

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4th IFAC Workshop on navigation, guidance and Control of Underwater Vehicles, NGCUV 2015

作者： Carrasco, Pep Luis Negre Bonin-Font, Francisco Campos, Miquel Massot Codina, Gabriel Oliver Systems Robotics and Vision Group University of the Balearic Islands Palma de Mallorca Spain

This paper presents the integration of a stereo-vision Graph-SLAM system in the navigation and control architecture of the Autonomous Underwater Vehicle (AUV) SPARUS ii. The navigation architecture of SPARUS ii is endowed with an Extended Kalman Filter (EKF) that fuses the data provided by a Doppler Velocity Log (DVL), a pressure sensor, a GPS (when the vehicle is in the surface) and an Inertial Measurement Unit (IMU). But due to the nature of the aforementioned sensors, this localization data is prone to drift. Instead, the stereo-vision Graph-SLAM clearly improves the localization data thanks to the additional pose constraints computed from visual (stereo) loop closings. SLAM estimates are thereafter inserted in the control architecture to increase the precision in the navigation and mission tasks. Experiments with SPARUS ii in simulated environments show the improvement and benefits in the application of this SLAM approach for localization, navigation and control, with respect to the use of the EKF odometry. © 2015, IF AC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomous underwater vehicles

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Low-cost sensors based Multi-sensor Data Fusion techniques for RPAS navigation and guidance

Low-cost sensors based Multi-Sensor Data Fusion techniques f...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Francesco Cappello Subramanian Ramasamy Roberto Sabatini Jing Liu School of Aerospace Mechanical and Manufacturing Engineering RMIT University Melbourne VIC Australia

关键词： Aircraft navigation Aircraft sensor systems Covariance matrices Mathematical model Data integration

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Real-Time navigation System for Ultra-Tight Integration of GNSS and Multi-sensors

Real-Time Navigation System for Ultra-Tight Integration of G...

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26th International Technical Meeting of The Satellite-Division-of-the-Institute-of-navigation (ION GNSS)

作者： Li, Tao Georgy, Jacques Syed, Zainab Goodall, Chris Trusted Positioning Inc Calgary AB Canada Trusted Positioning Inc Res & Dev Calgary AB Canada

ISBN: (纸本)9781629935782

Global navigation Satellite systems (GNSS) plays an important role in today's positioning, navigation and guidance systems and has been widely used in various applications. GNSS receivers, according to their application areas, can be classified as high precision receivers or high sensitivity receivers. High precision receivers can provide centimeter-level positioning accuracy using carrier phase measurements but with lower acquisition and tracking sensitivity. In comparison to high precision receivers, high sensitivity receivers offer improved sensitivity with certain compromises of positioning accuracy. It is noted that even high sensitivity GNSS receivers would suffer degraded performance or completely fail to operate in urban canyon or indoor environments where GNSS signals are severely attenuated, jammed, reflected, or blocked. Given the limitations of GNSS-only navigation systems, inertial sensors, barometers, magnetometers, and various sensors can be integrated with GNSS receivers to provide a continuous, always-available, and reliable navigation solution. This paper presents a real-time ultra-tightly coupled GNSS and multi-sensor integrated navigation system. The proposed system uses ultra-tight integration with a low cost micro-electro-mechanical-systems (MEMS) inertial measurement unit (IMU), and optional barometer, magnetometer and odometer. The proposed navigation system is able to provide reliable navigation solution even in challenging GNSS environments. The prototype system is implemented on a FPGA/ARM based hardware platform, which can be used either as a: (i) tethered navigator for machine or vehicles;or (ii) portable navigator. A novel aspect of the presented work is the utilization of ultra-tight integration for GNSS and multi-sensor integration instead of loose or tight ones. Furthermore, unlike previous works of the ultra-tight system using post-processing or simulation, real-time results from the proposed system are presented and analyzed. The p

关键词： Global positioning system

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Shifting the inertial navigation paradigm with MEMS technology

Shifting the inertial navigation paradigm with MEMS technolo...

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33rd Annual AAS Rocky Mountain guidance and Control Conference

作者： Crain ii, Timothy P. Bishop, Robert H. Brady, Tye NASA Johnson Space Center Houston TX 77058 United States Aerospace Engineering Department University of Texas Austin TX 78759-5321 United States Charles Stark Draper Laboratory Cambridge MA 02139 United States

ISBN: (纸本)9780877035619

"Why don't you use MEMS?" is of the most common questions posed to navigation systems engineers designing inertial navigation solutions in the modern era. The question stems from a general understanding that great strides have been made in terrestrial MEMS accelerometers and attitude rate sensors in terms of accuracy, mass, and power. Yet, when compared on a unit-to-unit basis, MEMS devices do not provide comparable performance (accuracy) to navigation grade sensors in several key metrics. This paper will propose a paradigm shift where the comparison in performance is between multiple MEMS devices and a single navigation grade sensor. The concept is that systematically, a sufficient number of MEMS sensors may mathematically provide comparable performance to a single navigation grade device and be competitive in terms power and mass allocations when viewed on a systems level. The implication is that both inertial navigation system design and fault detection, identification, and recovery could benefit from a system of MEMS devices in the same way that swarm sensing has benefited Earth observation and astronomy. A survey of the state of the art in inertial sensor accuracy scaled by mass and power will be provided to show the scaled error in MEMS and navigation graded devices, a mathematical comparison of multi-unit to single-unit sensor errors will be developed, and preliminary application to an Orion lunar skip atmospheric entry trajectory will be explored.

关键词： Fault detection

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Persistent Patrol in stochastic environments with limited sensors

Persistent Patrol in stochastic environments with limited se...

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AIAA guidance, navigation, and Control Conference

作者： Huynh, Vu Anh Enright, John J. Frazzoli, Emilio Laboratory of Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Ave. Cambridge MA 02139 United States Kiva Systems 225 Wildwood Ave. Woburn MA 01801 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9781600869624

In this paper, we propose and analyze policies for what we call the Persistent Patrol and Detection Problem (PPDP), in which an unmanned aerial vehicle (UAV) with limited sensing capability patrols a planar region, in order to detect stochastic spatially localized incidents. Incidents occur according to a renewal process with known time intensity and spatial distribution. The goal is to minimize the expected waiting time between the occurrence of an incident and the time that it is detected. First, we provide a lower bound on the achievable expected detection time of any patrol policy in the limit as the sensor footprint is negligible with respect to the patrol region. Second, we present three online policies: i) an asymptotically optimal policy called Biased Tile Sweep, ii) a policy whose performance is provably within a constant factor of the optimal called TSP Sampling, and iii) TSP Sampling with Receding Horizon. Third, we present a Markov Decision Process approach to the PPDP that attempts to solve for optimal policies offline. Finally, we use numerical experiments to compare performance of the four approaches and suggest suitable operational scenarios for each one. Copyright © 2010 by Vu Anh Huynh, John J. Enright, and Emilio Frazzoli.

关键词： Markov processes

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Real-time mosaic-aided aerial navigation: ii. sensor fusion

Real-time mosaic-aided aerial navigation: II. Sensor fusion

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作者： Indelman, Vadim Gurfil, Pini Rivlin, Ehud Rotstein, Hector Technion - Israel Institute of Technology Haifa 32000 Israel RAFAEL - Advanced Defense Systems Limited Israel Faculty of Aerospace Engineering United States Department of Computer Science United States

ISBN: (纸本)9781563479786

We present a method for fusion of computer-vision mosaic-image-based motion estimation with a standard navigation system, yielding mosaic-aided navigation that does not rely on any a-priori information. The mosaic-based motion estimation uses inter-relations among images captured in real time during flight. This motion estimation is transformed into residual translation and rotation measurements, which are fed into a Kalman Filter, fusing the inertial measurement and the mosaic-based motion estimation. The proposed method can arrest and reduce the secular growth of inertial navigation errors, and correct measurements of the on-board inertial sensors. Moreover, we show that mosaic-aided navigation outperforms traditional vision-based aiding methods in challenging scenarios, such as flight over low-texture scenes captured by a camera with a narrow filed-of-view. To validate the proposed algorithms, we carried out a comprehensive performance evaluation, including statistical simulation runs and experiments based on real imagery. Copyright © 2009 by the authors.

关键词： Motion estimation

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Modeling, simulation, testing, and verification of the Orbital Express Autonomous Rendezvous and Capture sensor System (ARCSS)

Modeling, simulation, testing, and verification of the Orbit...

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Conference on sensors and systems for Space Applications ii

作者： Leinz, Manny R. Chen, Chih-Tsai Scott, Peter Gaumer, William Sabasteanski, Peter Beaven, Michael Boeing Co Anaheim CA 92806 USA

ISBN: (纸本)9780819471499

The Orbital Express Autonomous Rendezvous and Capture sensor System (ARCSS) ALONG WITH ITS Vision-based Software for Track, Attitude and Ranging (Vis-STAR) provided relative target position and attitude measurements for guidance and relative navigation during autonomous vehicle proximity operations. The use of computer and physical models during simulation, ground testing and verification of ARCSS imaging camera and software performance prior to and during on-orbit operations,is discussed.

关键词： modeling simulation testing sensors tracking guidance ARCSS Vis-STAR Orbital Express rendezvous

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Orbital Express Autonomous Rendezvous and Capture sensor System (ARCSS) flight test results

Orbital Express Autonomous Rendezvous and Capture Sensor Sys...

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Conference on sensors and systems for Space Applications ii

作者： Leinz, Manny R. Chen, Chih-Tsai Beaven, Michael W. Weismuller, Thomas P. Caballero, David L. Gaumer, William B. Sabasteanski, Peter W. Scott, Peter A. Lundgren, Mark A. Boeing Co Elect & Sensor Syst 3370 Miraloma Ave Anaheim CA 92807 USA

ISBN: (纸本)9780819471499

The Orbital Express flight demonstration was established by the Defense Advanced Research Projects Agency (DARPA) to develop and validate key technologies required for cost-effective servicing of next-,generation satellites. A contractor team led by Boeing Advanced Network and Space systems built two mated spacecraft launched atop an Atlas V rocket from Cape Canaveral, Florida, on March 8, 2007. The low earth orbit test flight demonstrated on orbit transfer of hydrazine propellant, transfer of a spare battery between spacecraft and the ability to replace a spacecraft computer on orbit. It also demonstrated autonomous rendezvous and capture (AR&C) using advanced sensor, guidance, and relative navigation hardware and software. This paper summarizes the results of the on-orbit performance testing of the ARCSS (Autonomous Rendezvous and Capture sensor System). ARCSS uses onboard visible, infrared and laser rangefinder sensors to provide real time data and imagery to the onboard sensor computer. The Boeing-developed Vis-STAR(2) software executing on the sensor computer uses the ARCSS data to provide precision real-time client bearing, range and attitude as needed, from long range to soft capture. The paper summarizes the ARCSS and Vis-STAR on orbit performance.

关键词： ARCSS Vis-STAR Orbital Express rendezvous sensors tracking

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