Author: Deborah Kathleen Meduna
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 183
Book Description
Terrain Relative Navigation (TRN) provides bounded-error localization relative to an environment by matching range measurements of local terrain against an a priori map. The environment-relative and onboard sensing characteristics of TRN make it a powerful tool for return-to-site missions in GPS-denied environments, with potential applications ranging from underwater and space robotic exploration to pedestrian indoor navigation. For many of these applications, available sensors may be limited by mission power/weight constraints, cost restrictions, and environmental effects (e.g. inability to use a magnetic compass in space). Such limitations not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ TRN. Consequently, despite numerous advances in TRN technology over the past several decades, the application of TRN has been restricted to systems with highly accurate and information-rich sensor systems. In addition, a limited understanding of the effects of map quality and sensor quality on TRN performance has overly restricted the types of missions for which TRN has been considered a viable navigation solution. This thesis develops two new capabilities for TRN methods, resulting in significantly increased TRN applicability. First, a tightly-coupled filtering framework is developed which enables the successful use of TRN on vehicles with both low-accuracy navigation sensors and simple, low-information range sensors. This new filtering framework has similarities to tightly-coupled integration methods for GPS-aided navigation systems. Second, a set of analysis and design tools based on the Posterior Cramer-Rao Lower Bound are developed which allow for reliable TRN performance predictions as a function of both sensor and map quality. These analyses include the development of a new terrain map error model based on the variogram which allows for performance prediction as a function of map resolution. These developed capabilities are validated through field demonstrations on Autonomous Underwater Vehicles (AUVs) operated out of the Monterey Bay Aquarium Research Institute (MBARI), where available sensing has been limited primarily by cost. These trials include a real-time, closed-loop demonstration of the developed tightly-coupled TRN framework, enabling 5m accuracy return-to-site on a sensor-limited AUV where traditional TRN methods failed to provide better than 150m accuracy. The results further demonstrate the accurate prediction capability of the developed performance bounds on fielded systems, verifying their utility as design and planning tools for future TRN missions.
Terrain Relative Navigation for Sensor-limited Systems with Application to Underwater Vehicles
Author: Deborah Kathleen Meduna
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 183
Book Description
Terrain Relative Navigation (TRN) provides bounded-error localization relative to an environment by matching range measurements of local terrain against an a priori map. The environment-relative and onboard sensing characteristics of TRN make it a powerful tool for return-to-site missions in GPS-denied environments, with potential applications ranging from underwater and space robotic exploration to pedestrian indoor navigation. For many of these applications, available sensors may be limited by mission power/weight constraints, cost restrictions, and environmental effects (e.g. inability to use a magnetic compass in space). Such limitations not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ TRN. Consequently, despite numerous advances in TRN technology over the past several decades, the application of TRN has been restricted to systems with highly accurate and information-rich sensor systems. In addition, a limited understanding of the effects of map quality and sensor quality on TRN performance has overly restricted the types of missions for which TRN has been considered a viable navigation solution. This thesis develops two new capabilities for TRN methods, resulting in significantly increased TRN applicability. First, a tightly-coupled filtering framework is developed which enables the successful use of TRN on vehicles with both low-accuracy navigation sensors and simple, low-information range sensors. This new filtering framework has similarities to tightly-coupled integration methods for GPS-aided navigation systems. Second, a set of analysis and design tools based on the Posterior Cramer-Rao Lower Bound are developed which allow for reliable TRN performance predictions as a function of both sensor and map quality. These analyses include the development of a new terrain map error model based on the variogram which allows for performance prediction as a function of map resolution. These developed capabilities are validated through field demonstrations on Autonomous Underwater Vehicles (AUVs) operated out of the Monterey Bay Aquarium Research Institute (MBARI), where available sensing has been limited primarily by cost. These trials include a real-time, closed-loop demonstration of the developed tightly-coupled TRN framework, enabling 5m accuracy return-to-site on a sensor-limited AUV where traditional TRN methods failed to provide better than 150m accuracy. The results further demonstrate the accurate prediction capability of the developed performance bounds on fielded systems, verifying their utility as design and planning tools for future TRN missions.
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 183
Book Description
Terrain Relative Navigation (TRN) provides bounded-error localization relative to an environment by matching range measurements of local terrain against an a priori map. The environment-relative and onboard sensing characteristics of TRN make it a powerful tool for return-to-site missions in GPS-denied environments, with potential applications ranging from underwater and space robotic exploration to pedestrian indoor navigation. For many of these applications, available sensors may be limited by mission power/weight constraints, cost restrictions, and environmental effects (e.g. inability to use a magnetic compass in space). Such limitations not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ TRN. Consequently, despite numerous advances in TRN technology over the past several decades, the application of TRN has been restricted to systems with highly accurate and information-rich sensor systems. In addition, a limited understanding of the effects of map quality and sensor quality on TRN performance has overly restricted the types of missions for which TRN has been considered a viable navigation solution. This thesis develops two new capabilities for TRN methods, resulting in significantly increased TRN applicability. First, a tightly-coupled filtering framework is developed which enables the successful use of TRN on vehicles with both low-accuracy navigation sensors and simple, low-information range sensors. This new filtering framework has similarities to tightly-coupled integration methods for GPS-aided navigation systems. Second, a set of analysis and design tools based on the Posterior Cramer-Rao Lower Bound are developed which allow for reliable TRN performance predictions as a function of both sensor and map quality. These analyses include the development of a new terrain map error model based on the variogram which allows for performance prediction as a function of map resolution. These developed capabilities are validated through field demonstrations on Autonomous Underwater Vehicles (AUVs) operated out of the Monterey Bay Aquarium Research Institute (MBARI), where available sensing has been limited primarily by cost. These trials include a real-time, closed-loop demonstration of the developed tightly-coupled TRN framework, enabling 5m accuracy return-to-site on a sensor-limited AUV where traditional TRN methods failed to provide better than 150m accuracy. The results further demonstrate the accurate prediction capability of the developed performance bounds on fielded systems, verifying their utility as design and planning tools for future TRN missions.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022)
Author: Wenxing Fu
Publisher: Springer Nature
ISBN: 981990479X
Category : Technology & Engineering
Languages : en
Pages : 3985
Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Publisher: Springer Nature
ISBN: 981990479X
Category : Technology & Engineering
Languages : en
Pages : 3985
Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems
Author: Lin Zhang
Publisher: Springer
ISBN: 9811026661
Category : Computers
Languages : en
Pages : 720
Book Description
This four-volume set (CCIS 643, 644, 645, 646) constitutes the refereed proceedings of the 16th Asia Simulation Conference and the First Autumn Simulation Multi-Conference, AsiaSim / SCS AutumnSim 2016, held in Beijing, China, in October 2016. The 265 revised full papers presented were carefully reviewed and selected from 651 submissions. The papers in this second volume of the set are organized in topical sections on HMI and robot simulations; modeling and simulation for intelligent manufacturing; military simulation; visualization and virtual reality.
Publisher: Springer
ISBN: 9811026661
Category : Computers
Languages : en
Pages : 720
Book Description
This four-volume set (CCIS 643, 644, 645, 646) constitutes the refereed proceedings of the 16th Asia Simulation Conference and the First Autumn Simulation Multi-Conference, AsiaSim / SCS AutumnSim 2016, held in Beijing, China, in October 2016. The 265 revised full papers presented were carefully reviewed and selected from 651 submissions. The papers in this second volume of the set are organized in topical sections on HMI and robot simulations; modeling and simulation for intelligent manufacturing; military simulation; visualization and virtual reality.
Methods and Technologies for Measuring the Earth’s Gravity Field Parameters
Author: V. G. Peshekhonov
Publisher: Springer Nature
ISBN: 3031111583
Category : Science
Languages : en
Pages : 396
Book Description
This book offers extensive information on the operation of gravimeters, including airborne, marine and terrestrial ones, and on the associated data processing methods such as optimal and adaptive filtering, smoothing, structural and parametric identification. Further, it describes specific features relating to the study of the gravitational field in remote areas of the Earth, with the necessary modifications of equipment and software for all-latitude applications. Findings from gravity studies in such remote areas are also presented. Advanced methods for studying the gravitational field, including those for simultaneous determination of gravity anomalies and deflection of the vertical are described and analyzed in detail. Gravity gradiometers and cold atom gravimeters are also covered. Last but not least, the book deals with the development of Earth’s gravity field models and their various applications, including map-aided navigation, with a special attention to model accuracy estimation. Gathering research findings and best practice recommendations relating to Earth’s gravity field measurements, collected by a team of researchers and professionals, the book offers a unique guide for engineers, scientists and graduate students dealing with terrestrial, marine and airborne gravimetry. It will also help other specialists involved in developing and using navigation systems in practice, including designers of gravimetric equipment and navigators.
Publisher: Springer Nature
ISBN: 3031111583
Category : Science
Languages : en
Pages : 396
Book Description
This book offers extensive information on the operation of gravimeters, including airborne, marine and terrestrial ones, and on the associated data processing methods such as optimal and adaptive filtering, smoothing, structural and parametric identification. Further, it describes specific features relating to the study of the gravitational field in remote areas of the Earth, with the necessary modifications of equipment and software for all-latitude applications. Findings from gravity studies in such remote areas are also presented. Advanced methods for studying the gravitational field, including those for simultaneous determination of gravity anomalies and deflection of the vertical are described and analyzed in detail. Gravity gradiometers and cold atom gravimeters are also covered. Last but not least, the book deals with the development of Earth’s gravity field models and their various applications, including map-aided navigation, with a special attention to model accuracy estimation. Gathering research findings and best practice recommendations relating to Earth’s gravity field measurements, collected by a team of researchers and professionals, the book offers a unique guide for engineers, scientists and graduate students dealing with terrestrial, marine and airborne gravimetry. It will also help other specialists involved in developing and using navigation systems in practice, including designers of gravimetric equipment and navigators.
Robotics Research
Author: John M. Hollerbach
Publisher: Springer Science & Business Media
ISBN: 1447107659
Category : Technology & Engineering
Languages : en
Pages : 443
Book Description
This book is the proceedings of the 9th International Symposium of Robotics Research, one of the oldest and most prestigious conferences in robotics. The goal of the symposium was to bring together active, leading robotics researchers from academia, government and industry, to define the state of the art of robotics and its future direction. The broad spectrum of robotics research is covered, with an eye on what will be important in robotics in the next millennium.
Publisher: Springer Science & Business Media
ISBN: 1447107659
Category : Technology & Engineering
Languages : en
Pages : 443
Book Description
This book is the proceedings of the 9th International Symposium of Robotics Research, one of the oldest and most prestigious conferences in robotics. The goal of the symposium was to bring together active, leading robotics researchers from academia, government and industry, to define the state of the art of robotics and its future direction. The broad spectrum of robotics research is covered, with an eye on what will be important in robotics in the next millennium.
Undersea Vehicles and National Needs
Author: Committee on Undersea Vehicles and National Needs
Publisher: National Academies Press
ISBN: 0309588723
Category : Science
Languages : en
Pages : 114
Book Description
The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Publisher: National Academies Press
ISBN: 0309588723
Category : Science
Languages : en
Pages : 114
Book Description
The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Encyclopedia of Robotics
Author: Marcelo H. Ang
Publisher: Springer
ISBN: 9783662437698
Category : Technology & Engineering
Languages : en
Pages : 4000
Book Description
The Encyclopedia of Robotics addresses the existing need for an easily accessible yet authoritative and granular knowledge resource in robotic science and engineering. The encyclopedia is a work that comprehensively explains the scientific, application-based, interactive and socio-ethical parameters of robotics. It is the first work that explains at the concept and fact level the state of the field of robotics and its future directions. The encyclopedia is a complement to Springer’s highly successful Handbook of Robotics that has analyzed the state of robotics through the medium of descriptive essays. Organized in an A-Z format for quick and easy understanding of both the basic and advanced topics across a broad spectrum of areas in a self-contained form. The entries in this Encyclopedia will be a comprehensive description of terms used in robotics science and technology. Each term, when useful, is described concisely with online illustrations and enhanced user interactivity (on SpringerReference.com).
Publisher: Springer
ISBN: 9783662437698
Category : Technology & Engineering
Languages : en
Pages : 4000
Book Description
The Encyclopedia of Robotics addresses the existing need for an easily accessible yet authoritative and granular knowledge resource in robotic science and engineering. The encyclopedia is a work that comprehensively explains the scientific, application-based, interactive and socio-ethical parameters of robotics. It is the first work that explains at the concept and fact level the state of the field of robotics and its future directions. The encyclopedia is a complement to Springer’s highly successful Handbook of Robotics that has analyzed the state of robotics through the medium of descriptive essays. Organized in an A-Z format for quick and easy understanding of both the basic and advanced topics across a broad spectrum of areas in a self-contained form. The entries in this Encyclopedia will be a comprehensive description of terms used in robotics science and technology. Each term, when useful, is described concisely with online illustrations and enhanced user interactivity (on SpringerReference.com).
Inertial Navigation Systems Analysis
Author: Kenneth Robert Britting
Publisher: GNSS Technology and Applicatio
ISBN: 9781608070787
Category : Reference
Languages : en
Pages : 0
Book Description
Out-of-print for years, this highly sought-after volume, remains the most popular reference on inertial navigation systems analysis. Finally, this classic book is back in print and readily available only from Artech House. Authored by a pioneer in the field, this authoritative resource focuses on terrestrial navigation, but is also useful for air and sea applications. Packed with valuable, time-saving equations and models, the book helps engineers design optimal navigation systems by comparing the performance of the various types of system mechanizations. Although applications and technology have changed over the years, this book remains the best source for fundamental inertial navigation system knowledge, from notational conventions, reference frames, and geometry of the earth, to unified error analysis, self-alignment techniques, and the development of a system error model. This well-illustrated, timeless reference belongs on the shelf of every practicing engineer working in this area.
Publisher: GNSS Technology and Applicatio
ISBN: 9781608070787
Category : Reference
Languages : en
Pages : 0
Book Description
Out-of-print for years, this highly sought-after volume, remains the most popular reference on inertial navigation systems analysis. Finally, this classic book is back in print and readily available only from Artech House. Authored by a pioneer in the field, this authoritative resource focuses on terrestrial navigation, but is also useful for air and sea applications. Packed with valuable, time-saving equations and models, the book helps engineers design optimal navigation systems by comparing the performance of the various types of system mechanizations. Although applications and technology have changed over the years, this book remains the best source for fundamental inertial navigation system knowledge, from notational conventions, reference frames, and geometry of the earth, to unified error analysis, self-alignment techniques, and the development of a system error model. This well-illustrated, timeless reference belongs on the shelf of every practicing engineer working in this area.
Autonomous Underwater Vehicles
Author: Frank Ehlers
Publisher: SciTech Publishing
ISBN: 1785617036
Category : Technology & Engineering
Languages : en
Pages : 591
Book Description
The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.
Publisher: SciTech Publishing
ISBN: 1785617036
Category : Technology & Engineering
Languages : en
Pages : 591
Book Description
The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.
Manoeuvring and Control of Marine Craft 2003 (MCMC 2003)
Author: Joan Batlle
Publisher: Elsevier
ISBN: 9780080440330
Category : Science
Languages : en
Pages : 330
Book Description
The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.
Publisher: Elsevier
ISBN: 9780080440330
Category : Science
Languages : en
Pages : 330
Book Description
The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.