Terrain Relative Navigation for Sensor-limited Systems with Application to Underwater Vehicles

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Author :
Publisher : Stanford University
ISBN 13 :
Total Pages : 183 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Terrain Relative Navigation for Sensor-limited Systems with Application to Underwater Vehicles by : Deborah Kathleen Meduna

Download or read book Terrain Relative Navigation for Sensor-limited Systems with Application to Underwater Vehicles written by Deborah Kathleen Meduna and published by Stanford University. This book was released on 2011 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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)

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Author :
Publisher : Springer Nature
ISBN 13 : 981990479X
Total Pages : 3985 pages
Book Rating : 4.8/5 (199 download)

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Book Synopsis Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) by : Wenxing Fu

Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

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Publisher : Springer
ISBN 13 : 9811026661
Total Pages : 720 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems by : Lin Zhang

Download or read book Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems written by Lin Zhang and published by Springer. This book was released on 2016-09-21 with total page 720 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

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Publisher : Springer Nature
ISBN 13 : 3031111583
Total Pages : 396 pages
Book Rating : 4.0/5 (311 download)

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Book Synopsis Methods and Technologies for Measuring the Earth’s Gravity Field Parameters by : V. G. Peshekhonov

Download or read book Methods and Technologies for Measuring the Earth’s Gravity Field Parameters written by V. G. Peshekhonov and published by Springer Nature. This book was released on 2022-11-30 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

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Publisher : Springer Science & Business Media
ISBN 13 : 1447107659
Total Pages : 443 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Robotics Research by : John M. Hollerbach

Download or read book Robotics Research written by John M. Hollerbach and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

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Publisher : National Academies Press
ISBN 13 : 0309588723
Total Pages : 114 pages
Book Rating : 4.3/5 (95 download)

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Book Synopsis Undersea Vehicles and National Needs by : Committee on Undersea Vehicles and National Needs

Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

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Publisher : Springer
ISBN 13 : 9783662437698
Total Pages : 4000 pages
Book Rating : 4.4/5 (376 download)

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Book Synopsis Encyclopedia of Robotics by : Marcelo H. Ang

Download or read book Encyclopedia of Robotics written by Marcelo H. Ang and published by Springer. This book was released on 2018-07-13 with total page 4000 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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).

Autonomous Underwater Vehicles

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Publisher : SciTech Publishing
ISBN 13 : 1785617036
Total Pages : 591 pages
Book Rating : 4.7/5 (856 download)

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Book Synopsis Autonomous Underwater Vehicles by : Frank Ehlers

Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-07-13 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Underwater Robots

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Publisher : Springer
ISBN 13 : 3662143879
Total Pages : 201 pages
Book Rating : 4.6/5 (621 download)

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Book Synopsis Underwater Robots by : Gianluca Antonelli

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Manoeuvring and Control of Marine Craft 2003 (MCMC 2003)

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Author :
Publisher : Elsevier
ISBN 13 : 9780080440330
Total Pages : 330 pages
Book Rating : 4.4/5 (43 download)

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Book Synopsis Manoeuvring and Control of Marine Craft 2003 (MCMC 2003) by : Joan Batlle

Download or read book Manoeuvring and Control of Marine Craft 2003 (MCMC 2003) written by Joan Batlle and published by Elsevier. This book was released on 2004 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Inertial Navigation Systems Analysis

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Publisher : GNSS Technology and Applicatio
ISBN 13 : 9781608070787
Total Pages : 0 pages
Book Rating : 4.0/5 (77 download)

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Book Synopsis Inertial Navigation Systems Analysis by : Kenneth Robert Britting

Download or read book Inertial Navigation Systems Analysis written by Kenneth Robert Britting and published by GNSS Technology and Applicatio. This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Cooperative Localization and Navigation

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Publisher : CRC Press
ISBN 13 : 0429016670
Total Pages : 807 pages
Book Rating : 4.4/5 (29 download)

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Book Synopsis Cooperative Localization and Navigation by : Chao Gao

Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 807 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.

Global Positioning Systems, Inertial Navigation, and Integration

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Publisher : John Wiley & Sons
ISBN 13 : 0470099712
Total Pages : 416 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2007-03-05 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

Proceedings of the 8th International Symposium on Unmanned Untethered Submersible Technology, September 27-29, 1993

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Author :
Publisher :
ISBN 13 :
Total Pages : 484 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Proceedings of the 8th International Symposium on Unmanned Untethered Submersible Technology, September 27-29, 1993 by :

Download or read book Proceedings of the 8th International Symposium on Unmanned Untethered Submersible Technology, September 27-29, 1993 written by and published by . This book was released on 1993 with total page 484 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Autonomous Vehicles in Support of Naval Operations

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Author :
Publisher : National Academies Press
ISBN 13 : 0309181232
Total Pages : 256 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Autonomous Vehicles in Support of Naval Operations by : National Research Council

Download or read book Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

An Entropic Framework for AUV Sensor Modelling

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Author :
Publisher :
ISBN 13 :
Total Pages : 500 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis An Entropic Framework for AUV Sensor Modelling by : Hanumant Singh

Download or read book An Entropic Framework for AUV Sensor Modelling written by Hanumant Singh and published by . This book was released on 1995 with total page 500 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis examines the general task of active sensing by defining a measure of efficiency for sensing in a particular environment. We focus on fine-scale acoustic mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of the acoustic sensing modality- are considered in defining an entropic measure of sensor efficiency. 675-kHz pencil-beam sonar data acquired using the JASON remotely operated vehicle in a challenging shallow water environment and 200-kHz echo-sounder data acquired using the ABE A UV are used to demonstrate the utility of the en tropic framework. We show the utility of an entropic framework for the following: (i) Optimizing the speed of the AUV for maximizing the information gathered with a particular sensor. (ii) the rate of convergence and the stability of our mapping efforts in the face of typical uncertainties in navigation and attitude; (iii) as a methodology for actual sensor deployment and use on a real vehicle; and (iv) in tasks such as post-mission analysis for applications such as change detection and path planning for subsequent missions.

Advancing Autonomous Systems

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Publisher :
ISBN 13 : 9781977401878
Total Pages : 120 pages
Book Rating : 4.4/5 (18 download)

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Book Synopsis Advancing Autonomous Systems by : Bradley Martin

Download or read book Advancing Autonomous Systems written by Bradley Martin and published by . This book was released on 2018-12 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: