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A BIM and AR-based indoor navigation system for pedestrians on smartphones

KSCE JOURNAL OF CIVIL ENGINEERING 2025年第1期29卷

作者： Zhang, Wensheng Li, Yanjing Li, Pengcheng Feng, Zhenan Shijiazhuang Tiedao Univ Sch Traff & Transportat Shijiazhuang 050043 Peoples R China Hebei Traff Investment Intelligent Technol Co LTD Shijiazhuang 050000 Peoples R China Massey Univ Sch Built Environm Auckland 0632 New Zealand

Indoor navigation technology, as an emerging location information service, has shown continuous growth in its application demand in recent years. In indoor navigation, indoor localization and path planning are the key factors affecting navigation quality. Most of the existing methods rely on traditional methods for indoor localization with high implementation costs. As for path planning, most methods lack the acquisition and use of semantic information, affecting navigation's practicality and intuitiveness. To alleviate the above problems, we propose a building information modeling (BIM) and augmented reality (AR)-based indoor navigation system for pedestrians that can be implemented on smartphones. Specifically, we first map a three-dimensional model space subdivided by a triangular prism to the two-dimensional plane in order to construct an indoor navigation network. Secondly, the information is analyzed using inertial navigation system technology to identify indoor positions. Then, we propose an indoor augmented reality navigation algorithm based on architectural and spatial information (IARA) algorithm for indoor path planning. Finally, we integrated the above technologies and built an indoor pedestrian navigation system based on BIM and AR technologies. Experiments in specific scenarios show that our system ensures navigation stability while obtaining results that are more relevant to the needs of pedestrians.

关键词： Indoor navigation BIM AR Network construction navigation algorithm

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navigation algorithms and Observability Analysis for Formation Flying Missions

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2009年第4期32卷 1218-1231页

作者： Huxel, Paul J. Bishop, Robert H. Univ Texas Austin Austin TX 78712 USA

navigation algorithms and the corresponding observability analysis for formation flying missions are developed. In particular, the advantages and concerns associated with the use of combinations of inertial and relative measurements are examined. The methodology of the observability analysis relates the physical geometry of the observers, as well as the spacecraft formation, to a measure of linear time-invariant system observability. The investigation also examines the robustness of the extended Kalman filter while simultaneously processing inertial and relative range measurements. It has been shown that processing relative range measurements in conjunction with inertial range measurements can directly increase the accuracy of the inertial state estimate. However, it has also been shown that when there is relatively large uncertainty in the state estimate, the addition of relative measurements can cause an otherwise convergent filter to diverge. This paper considers several methods for preventing this divergence, as well as an in-depth examination of second-order terms to explain the basis of the problem. In particular, to illustrate their potential significance, analytical bounds are derived for the second-order terms.

关键词： navigation algorithm Formation Flying Extended Kalman Filter Linear Time Invariant System Spacecraft Formation Argument of Latitude Earth navigation Performance Computing Orbital Elements

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Performance criteria for evaluating mobile robot navigation algorithms: a review

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REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL 2022年第2期19卷 132-143页

作者： David Munoz-Ceballos, Nelson Suarez-Rivera, Guiovanny Politecn Colombiano Jaime Isaza Cadavid Medellin Colombia Univ Nacl Colombia Medellin Colombia

This paper presents a literature review on performance criteria to evaluate the navigation of a mobile robot, which help to quantitatively compare different characteristics such as the control system, navigation in different work environments, energy performance, etc. The Interest in performance criteria and benchmarks has grown in recent years, mainly by researchers and robot manufacturers seeking to meet the growing demand for applications in the increasingly competitive global market. The set of criteria is made up of metrics, indexes, measurements, and benchmarks, from the most basic such as counting the success in reaching the goal, and others more elaborate such as security on the trajectory generated avoiding obstacles, to criteria that compare complex aspects of navigation such as energy consumption. Finally, some benchmarks and software for simulation and comparison of navigation algorithms are described. These criteria are an important tool for designers and researchers in mobile robotics.

关键词： Mobile Robot Control System Trajectory Tracking Performance Index Energy navigation algorithm

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Performance comparison of Bug navigation algorithms

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2007年第1期50卷 73-84页

作者： Ng, James Braeunl, Thomas Univ Western Australia EECE M01835 Stirling Hwy Perth WA 6009 Australia

The Bug algorithm family are well-known robot navigation algorithms with proven termination conditions for unknown environments. Eleven variations of Bug algorithm have been implemented and compared against each other on the EyeSim simulation platform. This paper discusses their relative performance for a number of different environment types as well as practical implementation issues.

关键词： mobile robot navigation algorithm Bug algorithm performance comparison

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algorithm Design of Perception and navigation for Unmanned Vehicles Based on Multi-Sensor Fusion and Co- Location 1

Algorithm Design of Perception and Navigation for Unmanned V...

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1st IEEE International Conference on Ambient Intelligence, Knowledge Informatics and Industrial Electronics, AIKIIE 2023

作者： Ban, Lan Yang, Can Liu, Junpei Chi, Huan Zhang, Hongfeng Tianjin College University of Science and Technology Beijing China

ISBN: (纸本)9798350316469

Aiming at the perception and navigation problems of unmanned vehicles, this paper designs a perception and navigation algorithm based on multi-sensor fusion and cooperative positioning. The algorithm realizes the perception of the environment through multi-sensor fusion technology, and at the same time realizes the high-precision positioning of unmanned vehicles by using collaborative positioning technology. On this basis, the fused data is optimized using a state-space model, which improves the accuracy of perception and navigation results. In order to verify the algorithm proposed in the article, an experimental test was carried out on an unmanned vehicle. The test results show that the perception and navigation algorithm designed in this article can increase the perception accuracy to a maximum of 96.8%, and can also effectively improve the positioning accuracy and communication efficiency, and can reduce the collision accidents caused by the vehicle entering the obstacle area by mistake. © 2023 IEEE.

关键词： Collaborative Positioning Environment Perception Multi-Sensor Fusion navigation algorithm

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Spacecraft navigation Using Celestial Gamma-Ray Sources

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2015年第9期38卷 1765-1774页

作者： Hisamoto, Chuck S. Sheikh, Suneel I. ASTER Labs Inc 155 East Owasso Lane Shoreview MN 55126 USA

As the future progresses for space exploration endeavors, spacecraft that are capable of autonomously determining their position and velocity will provide clear navigation advances to mission operations. Thus, new techniques for determining spacecraft navigation solutions using celestial gamma-ray sources have been developed. Most of these sources offer detectable, bright, high-energy events that provide well-defined characteristics conducive to accurate time alignment among spatially separated spacecraft. Using assemblages of photons from distant gamma-ray bursts, relative range between two spacecraft can be accurately computed along the direction to each burst's source based upon the difference in arrival time of the burst emission at each spacecraft's location. Correlation methods used to time-align the high-energy burst profiles are provided. A simulation of the newly devised navigation algorithms has been developed to assess the system's potential performance. Using predicted observation capabilities for this system, the analysis demonstrates position uncertainties comparable to the NASA Deep Space Network for deep-space trajectories.

关键词： Spacecraft navigation Gamma Ray Bursts navigation algorithm NASA Deep Space Network Deep Space Exploration Extended Kalman Filter Earth InterPlanetary Network Burst Alert Telescope Earth Centered Inertial

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Relative navigation Strategy About Unknown and Uncooperative Targets

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2023年第9期46卷 1708-1725页

作者： Maestrini, Michele De Luca, Maria Alessandra Di Lizia, Pierluigi Polytech Univ Milan Dept Aerosp Sci & Technol Via La Masa 34 I-20156 Milan Italy

In recent years, space debris has become a threat for satellites operating in low Earth orbit. Even by applying mitigation guidelines, their number will still increase over the course of the century. As a consequence, active debris removal missions and on-orbit servicing missions have gained momentum at both academic and industrial level. The crucial step in both scenarios is the capability of navigating in the neighborhood of a target resident space object. This problem has been tackled many times in literature with varying level of cooperativeness of the target required. While several techniques are available when the target is cooperative or its shape is known, no approach is mature enough to deal with uncooperative and unknown targets. This paper proposes a hybrid method to tackle this issue called Coarse Model-Based Relative navigation (CoMBiNa). The main idea of this algorithm is to split the mission into two phases. During the first phase, the algorithm constructs a coarse model of the target. In the second phase, this coarse model is used as a reference for a relative navigation technique, effectively shifting the focus toward state and inertia estimation. In addition, this paper proposes a strategy to leverage the structure of the selected navigation method to detect and reject outliers. To conclude, CoMBiNa is tested on a simulated environment to highlight its benefits and its shortcomings, while also assessing its applicability on a limited-resource single-board computer.

关键词： Active Debris Removal Image Processing navigation algorithm Stereo Cameras Simultaneous Localization and Mapping Relative navigation Sensors On-Orbit Satellite Servicing Unscented Kalman Filter Extended Kalman Filter

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Self-Contained Autonomous Indoor Flight with Ranging Sensor navigation

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2012年第6期35卷 1843-1854页

作者： Chowdhary, Girish Sobers, D. Michael, Jr. Pravitra, Chintasid Christmann, Claus Wu, Allen Hashimoto, Hiroyuki Ong, Chester Kalghatgi, Roshan Johnson, Eric N. Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

This paper describes the design and flight test of a completely self-contained autonomous indoor miniature unmanned aerial system (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS to autonomously explore cluttered indoor areas without relying on any off-board computation or external navigation aids such as Global Positioning Satellite (GPS). The system uses a scanning laser rangefinder and a streamlined simultaneous localization and mapping (SLAM) algorithm to provide a position and heading estimate, which is combined with other sensor data to form a six-degree-of-freedom inertial navigation solution. This enables an accurate estimate of the, vehicle attitude, relative position, and velocity. The state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. Improvements to existing guidance algorithms balance exploration with the need to remain within sensor range of indoor structures such that the SLAM algorithm has sufficient information to form a reliable position estimate. A dilution of the precision metric is developed to quantify the effect of environment geometry on the SLAM pose covariance, which is then used to update the two-dimensional position and heading in the navigation filter. Simulation and flight-test results validate the presented algorithms.

关键词： Inertial Sensor Self Contained Autonomous Indoor Flight Simultaneous Localization and Mapping Flight Testing navigation algorithm Matching algorithm Six Degree of Freedom Unmanned Aerial Systems Satellites Inertial navigation

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Angles-Only navigation to a Noncooperative Satellite Using Relative Orbital Elements

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2014年第2期37卷 439-451页

作者： Gaias, G. D'Amico, S. Ardaens, J. -S. German Aerosp Ctr DLR D-82234 Wessling Germany

This work addresses the design and implementation of a prototype relative navigation tool that uses camera-based measurements collected by a servicer spacecraft to perform far-range rendezvous with a noncooperative client in low Earth orbit. The development serves the needs of future on-orbit servicing missions planned by the German Aerospace Center. The focus of the paper is on the design of the navigation algorithms and the assessment of the expected performance and robustness under real-world operational scenarios. The tool validation is accomplished through a high-fidelity simulation environment based on the Multi Satellite Simulator in combination with the experience gained from actual flight data from the GPS and camera systems onboard the Prototype Research Instruments and Space Mission Technology Advancement mission.

关键词： Satellites Orbital Elements Flight Data German Aerospace Center navigation algorithm Space Missions Argument of Latitude Orbit Determination Earth Observability Gramian

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Multisensor Integrated Autonomous navigation Based on Intelligent Information Fusion

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JOURNAL OF SPACECRAFT AND ROCKETS 2024年第3期61卷 704-714页

作者： Yuan, Ying Yu, Feng Zong, Hua Nanjing Univ Aeronaut & Astronaut Coll Aeronaut Nanjing 210016 Jiangsu Peoples R China Coll Aeronaut Natl Key Lab Sci & Technol Aerosp Intelligent Cont Beijing 100854 Peoples R China

A major inadequacy of the Kalman filter is the necessity of accurate measurement models, which may not be possible in the case of complicated disturbances. A new solution to multisensor integrated autonomous navigation based on intelligent information fusion technology for launch vehicles is proposed in this paper, which can improve navigation performance based on the existing measurement models. Artificial neural networks (ANNs) are designed to discover the hidden relationship between the available data and trajectory parameters. The tracking, telemetry, and control system can provide centimeter-level accuracy of the launch vehicle after every flight. While postprocessing data is irrelevant to real-time navigation using traditional methods, it is crucial for ANNs to learn the rules of information fusion and identify the inaccuracy of the input variables. In this way, artificial-intelligence-modified trajectory parameters are expected to be closer to the truth value. The experimental results indicate that the proposed method can significantly improve navigation performance compared with the unscented Kalman filter, and ANNs can achieve good performance in various situations.

关键词： Feedforward Neural Network Unscented Kalman Filter Aircraft navigation Systems navigation algorithm Data Fusion Autonomous navigation System Inertial navigation System Celestial navigation X-Ray navigation Altimetry Data Fusion Center

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