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Author : Dennis Krys
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)
Download or read book Inertial Navigation System Assisted Visual Localization written by Dennis Krys and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : V. Sazdovski
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (835 download)
Download or read book Inertial Navigation Aided by Simultaneous Localization and Mapping written by V. Sazdovski and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles technologies are getting smaller and cheaper to use and the challenges of payload limitation in unmanned aerial vehicles are being overcome. Integrated navigation system design requires selection of set of sensors and computation power that provides reliable and accurate navigation parameters (position, velocity and attitude) with high update rates and bandwidth in small and cost effective manner. Many of today's operational unmanned aerial vehicles navigation systems rely on inertial sensors as a primary measurement source. Inertial Navigation alone however suffers from slow divergence with time. This divergence is often compensated for by employing some additional source of navigation information external to Inertial Navigation. From the 1990's to the present day Global Positioning System has been the dominant navigation aid for Inertial Navigation. In a number of scenarios, Global Positioning System measurements may be completely unavailable or they simply may not be precise (or reliable) enough to be used to adequately update the Inertial Navigation hence alternative methods have seen great attention. Aiding Inertial Navigation with vision sensors has been the favoured solution over the past several years. Inertial and vision sensors with their complementary characteristics have the potential to answer the requirements for reliable and accurate navigation parameters. In this thesis we address Inertial Navigation position divergence. The information for updating the position comes from combination of vision and motion. When using such a combination many of the difficulties of the vision sensors (relative depth, geometry and size of objects, image blur and etc.) can be circumvented. Motion grants the vision sensors with many cues that can help better to acquire information about the environment, for instance creating a precise map of the environment and localize within the environment. We propose changes to the Simultaneous Localization and Mapping augmented state vector in order to take repeated measurements of the map point. We show that these repeated measurements with certain manoeuvres (motion) around or by the map point are crucial for constraining the Inertial Navigation position divergence (bounded estimation error) while manoeuvring in vicinity of the map point. This eliminates some of the uncertainty of the map point estimates i.e. it reduces the covariance of the map points estimates. This concept brings different parameterization (feature initialisation) of the map points in Simultaneous Localization and Mapping and we refer to it as concept of aiding Inertial Navigation by Simultaneous Localization and Mapping. We show that making such an integrated navigation system requires coordination with the guidance and control measurements and the vehicle task itself for performing the required vehicle manoeuvres (motion) and achieving better navigation accuracy. This fact brings new challenges to the practical design of these modern jam proof Global Positioning System free autonomous navigation systems. Further to the concept of aiding Inertial Navigation by Simultaneous Localization and Mapping we have investigated how a bearing only sensor such as single camera can be used for aiding Inertial Navigation. The results of the concept of Inertial Navigation aided by Simultaneous Localization and Mapping were used. New parameterization of the map point in Bearing Only Simultaneous Localization and Mapping is proposed. Because of the number of significant problems that appear when implementing the Extended Kalman Filter in Inertial Navigation aided by Bearing Only Simultaneous Localization and Mapping other algorithms such as Iterated Extended Kalman Filter, Unscented Kalman Filter and Particle Filters were implemented. From the results obtained, the conclusion can be drawn that the nonlinear filters should be the choice of estimators for this application.
Author : Jaydev P. Desai
Publisher : Springer
ISBN 13 : 3319000659
Total Pages : 966 pages
Book Rating : 4.3/5 (19 download)
Download or read book Experimental Robotics written by Jaydev P. Desai and published by Springer. This book was released on 2013-07-09 with total page 966 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.
Author : Andrei M. Shkel
Publisher : John Wiley & Sons
ISBN 13 : 1119699894
Total Pages : 194 pages
Book Rating : 4.1/5 (196 download)
Download or read book Pedestrian Inertial Navigation with Self-Contained Aiding written by Andrei M. Shkel and published by John Wiley & Sons. This book was released on 2021-08-10 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Explore an insightful summary of the major self-contained aiding technologies for pedestrian navigation from established and emerging leaders in the field Pedestrian Inertial Navigation with Self-Contained Aiding delivers a comprehensive and broad treatment of self-contained aiding techniques in pedestrian inertial navigation. The book combines an introduction to the general concept of navigation and major navigation and aiding techniques with more specific discussions of topics central to the field, as well as an exploration of the future of the future of the field: Ultimate Navigation Chip (uNavChip) technology. The most commonly used implementation of pedestrian inertial navigation, strapdown inertial navigation, is discussed at length, as are the mechanization, implementation, error analysis, and adaptivity of zero-velocity update aided inertial navigation algorithms. The book demonstrates the implementation of ultrasonic sensors, ultra-wide band (UWB) sensors, and magnetic sensors. Ranging techniques are considered as well, including both foot-to-foot ranging and inter-agent ranging, and learning algorithms, navigation with signals of opportunity, and cooperative localization are discussed. Readers will also benefit from the inclusion of: A thorough introduction to the general concept of navigation as well as major navigation and aiding techniques An exploration of inertial navigation implementation, Inertial Measurement Units, and strapdown inertial navigation A discussion of error analysis in strapdown inertial navigation, as well as the motivation of aiding techniques for pedestrian inertial navigation A treatment of the zero-velocity update (ZUPT) aided inertial navigation algorithm, including its mechanization, implementation, error analysis, and adaptivity Perfect for students and researchers in the field who seek a broad understanding of the subject, Pedestrian Inertial Navigation with Self-Contained Aiding will also earn a place in the libraries of industrial researchers and industrial marketing analysts who need a self-contained summary of the foundational elements of the field.
Author : Lianfeng Hou
Publisher :
ISBN 13 :
Total Pages : 97 pages
Book Rating : 4.:/5 (959 download)
Download or read book Vision-aided Inertial Navigation System Design for Indoor Quadrotors written by Lianfeng Hou and published by . This book was released on 2015 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: The navigation task for unmanned aerial vehicles (UAVs), such as quadrotors, in an indoor environment becomes challenging as the global positioning system (GPS) and the magnetometer may provide inaccurate aiding measurements and the signals may get jammed. The navigation system design in this thesis integrates a visual navigation block with a inertial navigation system block, which adds information about aiding measurements information for indoor navigation design. The direct visual measurements are feature coordinates that are obtained from images taken from an onboard monocular camera with different positions in the 3D world space. The scaled relative pose measurements are generated through vision algorithm implementations presented in this thesis. The vehicle states are estimated using the extended Kalman filter (EKF) with inputs from a gyroscope and accelerometer. The EKF sensor fusion process combines inertial measurements and the visual aid- ing measurement to get an optimal estimation. This thesis provides two design results: one navigation system assumes that the 3D world feature coordinates are known and that the navigation system is map-based for the feature ex- traction. The other navigation system does not require prior knowledge of the feature location and captures the feature based on map-less vision algorithms with geometry constraints.
Author : David D. Diel
Publisher :
ISBN 13 :
Total Pages : 110 pages
Book Rating : 4.:/5 (611 download)
Download or read book Stochastic Constraints for Vision-aided Inertial Navigation written by David D. Diel and published by . This book was released on 2005 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes a new method to improve inertial navigation using feature-based constraints from one or more video cameras. The proposed method lengthens the period of time during which a human or vehicle can navigate in GPS-deprived environments. Our approach integrates well with existing navigation systems, because we invoke general sensor models that represent a wide range of available hardware. The inertial model includes errors in bias, scale, and random walk. Any camera and tracking algorithm may be used, as long as the visual output can be expressed as ray vectors extending from known locations on the sensor body. A modified linear Kalman filter performs the data fusion. Unlike traditional Simultaneous Localization and Mapping (SLAM/CML), our state vector contains only inertial sensor errors related to position. This choice allows uncertainty to be properly represented by a covariance matrix. We do not augment the state with feature coordinates. Instead, image data contributes stochastic epipolar constraints over a broad baseline in time and space, resulting in improved observability of the IMU error states. The constraints lead to a relative residual and associated relative covariance, defined partly by the state history. Navigation results are presented using high-quality synthetic data and real fisheye imagery.
Author : Christopher Jekeli
Publisher : Walter de Gruyter GmbH & Co KG
ISBN 13 : 3110784327
Total Pages : 424 pages
Book Rating : 4.1/5 (17 download)
Download or read book Inertial Navigation Systems with Geodetic Applications written by Christopher Jekeli and published by Walter de Gruyter GmbH & Co KG. This book was released on 2023-07-24 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all aspects of inertial navigation systems (INS), including the sensor technology and the estimation of instrument errors, as well as their integration with Global Navigation Satellite Systems, specifically the Global Positioning System (GPS) for geodetic applications. The text is of interest to geodesists, including surveyors, mappers, and photogrammetrists; to engineers in aviation, navigation, guidance, transportation, and robotics; and to scientists involved in aerogeophysics and remote sensing. The most recent developments are covered with this second edition that also features an updated treatment of the classical material. Detailed mathematical derivations of the principles of measurement and data processing of inertial measurement units for both stabilized and strapdown systems. Complete treatment of the error dynamics from a statistical viewpoint, including the Kalman filter. A self-contained description of GPS with emphasis on kinematic applications. Key concepts supported by illustrations and numerical examples.
Author : Chiara Troiani
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (991 download)
Download or read book Vision-Aided Inertial Navigation written by Chiara Troiani and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Accurate egomotion estimation is of utmost importance for any navigation system.Nowadays di_erent sensors are adopted to localize and navigate in unknownenvironments such as GPS, range sensors, cameras, magnetic field sensors, inertialsensors (IMU). In order to have a robust egomotion estimation, the information ofmultiple sensors is fused. Although the improvements of technology in providingmore accurate sensors, and the efforts of the mobile robotics community in thedevelopment of more performant navigation algorithms, there are still openchallenges. Furthermore, the growing interest of the robotics community in microrobots and swarm of robots pushes towards the employment of low weight, low costsensors and low computational complexity algorithms. In this context inertial sensorsand monocular cameras, thanks to their complementary characteristics, low weight,low cost and widespread use, represent an interesting sensor suite.This dissertation represents a contribution in the framework of vision-aided inertialnavigation and tackles the problems of data association and pose estimation aimingfor low computational complexity algorithms applied to MAVs.For what concerns the data association, a novel method to estimate the relative motionbetween two consecutive camera views is proposed. It only requires the observationof a single feature in the scene and the knowledge of the angular rates from an IMU,under the assumption that the local camera motion lies in a plane perpendicular to thegravity vector. Two very efficient algorithms to remove the outliers of the featurematchingprocess are provided under the abovementioned motion assumption. Inorder to generalize the approach to a 6DoF motion, two feature correspondences andgyroscopic data from IMU measurements are necessary. In this case, two algorithmsare provided to remove wrong data associations in the feature-matching process. Inthe case of a monocular camera mounted on a quadrotor vehicle, motion priors fromIMU are used to discard wrong estimations.For what concerns the pose estimation problem, this thesis provides a closed formsolution which gives the system pose from three natural features observed in a singlecamera image, once the roll and the pitch angles are obtained by the inertialmeasurements under the planar ground assumption.In order to tackle the pose estimation problem in dark or featureless environments, asystem equipped with a monocular camera, inertial sensors and a laser pointer isconsidered. The system moves in the surrounding of a planar surface and the laserpointer produces a laser spot on the abovementioned surface. The laser spot isobserved by the monocular camera and represents the only point feature considered.Through an observability analysis it is demonstrated that the physical quantities whichcan be determined by exploiting the measurements provided by the aforementionedsensor suite during a short time interval are: the distance of the system from the planarsurface; the component of the system speed that is orthogonal to the planar surface;the relative orientation of the system with respect to the planar surface; the orientationof the planar surface with respect to the gravity. A simple recursive method toperform the estimation of all the aforementioned observable quantities is provided.All the contributions of this thesis are validated through experimental results usingboth simulated and real data. Thanks to their low computational complexity, theproposed algorithms are very suitable for real time implementation on systems withlimited on-board computation resources. The considered sensor suite is mounted on aquadrotor vehicle but the contributions of this dissertations can be applied to anymobile device.
Author : Chong Shen
Publisher : Springer Nature
ISBN 13 : 9813345160
Total Pages : 131 pages
Book Rating : 4.8/5 (133 download)
Download or read book Intelligent Information Processing for Inertial-Based Navigation Systems written by Chong Shen and published by Springer Nature. This book was released on 2021-01-04 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces typical inertial devices and inertial-based integrated navigation systems, gyro noise suppression, gyro temperature drift error modeling compensation, inertial-based integrated navigation systems under discontinuous observation conditions, and inertial-based brain integrated navigation systems. Integrated navigation is the result of the development of modern navigation theory and technology. The inertial navigation system has the advantages of strong autonomy, high short-term accuracy, all-day time, all weather, and so on. And it has been applied in most integrated navigation systems. Among them, the information processing of inertial-based integrated navigation system is the core technology. Due to the effect of the device mechanism and working environment, there are errors in the output information of the inertial-based integrated navigation system, including gyroscope noise, temperature drift, and discontinuous observations, which will seriously reduce the accuracy and robustness of the system. And the book helps readers to solve these problems. The intelligent information processing technology involved is equipped with simulation verification, which can be used as a reference for undergraduate, graduate, and Ph.D. students, and also scientific researchers or engineers engaged in navigation-related specialties.
Author : Aboelmagd Noureldin
Publisher : Springer Science & Business Media
ISBN 13 : 3642304656
Total Pages : 324 pages
Book Rating : 4.6/5 (423 download)
Download or read book Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-28 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : Averil Burton Chatfield
Publisher : AIAA
ISBN 13 : 9781600864278
Total Pages : 368 pages
Book Rating : 4.8/5 (642 download)
Download or read book Fundamentals of High Accuracy Inertial Navigation written by Averil Burton Chatfield and published by AIAA. This book was released on 1997 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Esmat Bekir
Publisher : World Scientific
ISBN 13 : 9814475238
Total Pages : 255 pages
Book Rating : 4.8/5 (144 download)
Download or read book Introduction To Modern Navigation Systems written by Esmat Bekir and published by World Scientific. This book was released on 2007-07-26 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: The emerging technology of very inexpensive inertial sensors is available for navigation as never before. The book lays the analytical foundation for understanding and implementing the navigation equations. It starts by demystifying the central theme of the frame rotation using such algorithms as the quaternions, the rotation vector and the Euler angles. After developing navigation equations, the book introduces the computational issues and discusses the physical aspects that are tied to implementing these equations. The book then explains alignment techniques.Introduction to Modern Navigation Systems offers an efficient algorithm for polar navigation. It also shows how to enhance the performance of the inertial system when aided by the Global Positioning System. It is an appropriate textbook for senior undergraduate and graduate students in aeronautical and electrical engineering. It could also be used as a reference book for practitioners in the field.
Author : Daniel J. Biezad
Publisher : AIAA
ISBN 13 : 9781600860713
Total Pages : 262 pages
Book Rating : 4.8/5 (67 download)
Download or read book Integrated Navigation and Guidance Systems written by Daniel J. Biezad and published by AIAA. This book was released on 1999 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Beginning with the basic principles of navigation, "Integrated Navigation and Guidance Systems takes a step beyond introductions with a concise look at the flight applications of inertial navigation systems integrated with Global Positioning System (GPS) satellite systems. Written at the senior engineering college level, the textbook takes a tutorial approach, weaving interrelated disciplines together with interactive computer exercises and AINSBOOK software for error analysis and Kalman filter simulation. Get a "technical jump start" with a look at traditional navigation radio aids, inertial guidance systems, and Kalman filters. Launch into GPS applications to navigation, precision approach and landing, attitude control, and air traffic control. More than 100 figures, photos, and tables add to the textbook's value.
Author : Michael G. Giebner
Publisher :
ISBN 13 : 9781423502760
Total Pages : 97 pages
Book Rating : 4.5/5 (27 download)
Download or read book Tightly-coupled Image-aided Inertial Navigation System Via a Kalman Filter written by Michael G. Giebner and published by . This book was released on 2003 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inertial navigation systems and GPS system's have revolutionized the world of navigation. Inertial system's are incapable of being jammed and are the backbone of most navigation system's. GPS is highly accurate over long periods of time, and it is an excellent aid to inertial navigation system's. However, as a military force we must be prepared to deal with the denial of the GPS signal. This thesis seeks to determine it, via simulation, it is viable to aid an INS with visual measurements.
Author : Daniel Phillip Shepard
Publisher :
ISBN 13 :
Total Pages : 290 pages
Book Rating : 4.:/5 (858 download)
Download or read book Fusion of Carrier-phase Differential GPS, Bundle-adjustment-based Visual SLAM, and Inertial Navigation for Precisely Tha Globally-registered Augmented Reality written by Daniel Phillip Shepard and published by . This book was released on 2013 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methodologies are proposed for combining carrier-phase differential GPS (CDGPS), visual simultaneous localization and mapping (SLAM), and inertial measurements to obtain precise and globally-referenced position and attitude estimates of a rigid structure connecting a GPS receiver, a camera, and an inertial measurement unit (IMU). As part of developing these methodologies, observability of globally-referenced attitude based solely on GPS-based position estimates and visual feature measurements is proven. Determination of attitude in this manner eliminates the need for attitude estimates based on magnetometer and accelerometer measurements, which are notoriously susceptible to magnetic disturbances. This combination of navigation techniques, if coupled properly, is capable of attaining centimeter-level or better absolute positioning and degree-level or better absolute attitude accuracies in any space, both indoors and out. Such a navigation system is ideally suited for application to augmented reality (AR), which often employs a GPS receiver, a camera, and an IMU, and would result in tight registration of virtual elements to the real world. A prototype AR system is presented that represents a first step towards coupling CDGPS, visual SLAM, and inertial navigation. While this prototype AR system does not couple CDGPS and visual SLAM tightly enough to obtain some of the benefit of the proposed methodologies, the system is capable of demonstrating an upper bound on the precision that such a combination of navigation techniques could attain. Test results for the prototype AR system are presented for a dynamic scenario that demonstrate sub-centimeter-level positioning precision and sub-degree-level attitude precision. This level of precision would enable convincing augmented visuals.
Author : Hongjin Zhou
Publisher : Springer Nature
ISBN 13 : 9811549729
Total Pages : 160 pages
Book Rating : 4.8/5 (115 download)
Download or read book Gyro-Free Inertial Navigation Technology written by Hongjin Zhou and published by Springer Nature. This book was released on 2021-01-16 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on gyro-free inertial navigation technology, which is used to measure not only linear motion parameters but also angular rates. Since no gyroscopes are used, the key technologies, such as initial alignment, attitude resolution, and error calibration, are very different than those used in traditional methods. Discussing each key technology in gyro-free inertial navigation system (GFINS) manufacture in a separate chapter, the book features easy-to-understand, detailed illustrations, to allow all those involved in inertial navigation to gain a better grasp of GFINS manufacture, including accelerometer setting principles; initial alignment; quaternion-based, attitude resolution algorithms; and accelerometer de-noise methods.
Author : Jay A. Farrell
Publisher : McGraw Hill Professional
ISBN 13 : 0071642668
Total Pages : 554 pages
Book Rating : 4.0/5 (716 download)
Download or read book Aided Navigation: GPS with High Rate Sensors written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 2008-04-03 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS
