Journal articles on the topic 'Navigation and control system'
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Turygin, Yuri, Pavol Božek, Yuri Nikitin, Ella Sosnovich, and Andrey Abramov. "Enhancing the reliability of mobile robots control process via reverse validation." International Journal of Advanced Robotic Systems 13, no. 6 (December 1, 2016): 172988141668052. http://dx.doi.org/10.1177/1729881416680521.
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The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.
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Someswari, T., Anil Kumar Tiwari, and Nagraj R. "A dynamic cruise control system (DCCS) for effective navigation system." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 5 (October 1, 2020): 4645. http://dx.doi.org/10.11591/ijece.v10i5.pp4645-4654.
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With the fast development of artificial intelligence, robotics, and embedded system along with sensor technologies, the speed control mechanism is required in various other applications such as automatic or self-piloting aircraft, auto-driven vehicles, auto driven lifts and much other robotics based automation plants, etc. For each unpredictable and progressed vehicular framework accompanies a better route that is fit for utilizing the two GPS and INS related sign. There have been a noteworthy number of research works being completed towards creating sliding mode control framework. In case of inaccurate navigational data or no availability of navigational service, the cruise control could also stop working. Hence, there is a need to evolve up with a novel system offering reliable and fault tolerant navigation system in order to minimize the dependencies on GPS-based information and maximize the utilization of INS based information. This manuscript presents a dynamic cruise control system to achieve better navigation under uncertainties. The performance of the system is analyzed by incorporating sliding mode and fuzzy logic and achieves better accuracy in tracking error, computational complexity (28 sec of simulation time) under chattering and switching action operation.
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Fedik, Lesya, Inna Kondius, Roman Grudetsky, and Natalya Zubovetskaya. "ANALYSIS OF NAVIGATION SYSTEMS OF CARS AS AUTOMATION SYSTEMS." International Scientific Technical Journal "Problems of Control and Informatics 67, no. 4 (September 1, 2022): 116–25. http://dx.doi.org/10.34229/2786-6505-2022-4-9.
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The article states that the car navigator is widely used in our time. It also outlines the features of the use of global navigation satellite systems as one of the best for car navigators. The history of the first satellite navigation system Transit is described. In addition, an analysis was made of the principles of operation, main features, shortcomings, location and compatibility of such existing global navigation satellite systems as NAVSTAR-GPS, GLONASS, Galileо, Beidou, QZSS (Michibiki), NavIC. The article notes that the best performance indicators were obtained by devices using global navigation systems GLONASS and GPS. The comparative characteristics of the existing types of car navigation systems, in particular: regular, autonomous ones, are given. and navigation software for portable computers and systems. It also describes the feature of operation and power supply of the most commonly used regular car navigation system. The article reflects the principle of operation and the device of a standard car GPS navigator, as one of the best. It was also noted that a portable computer and a regular smartphone with installed navigation programs, detailed up-to-date maps and step-by-step instructions, in contrast to embedded systems, are considered to be a popular navigation system among users. The principle of operation of all brands of car navigators is outlined. Considerable attention is paid to the assessment of the advantages and disadvantages of popular brands of regular car navigation systems, such as: Garmin, TomTom, Magellan. As a result of the study, the features of paid and free car navigator programs that have become widespread among car drivers are presented, such as Yandex Navigator, iGo Primo, TomTom, Waze, Google maps, Autosputnik, OsmAnd, 2GIS, Sygic Car.
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Nosov, Pavlo, Serhii Zinchenko, Andrii Ben, Yurii Prokopchuk, Pavlo Mamenko, Ihor Popovych, Vladyslav Moiseienko, and Dmytro Kruglyj. "Navigation safety control system development through navigator action prediction by data mining means." Eastern-European Journal of Enterprise Technologies 2, no. 9 (110) (April 30, 2021): 55–68. http://dx.doi.org/10.15587/1729-4061.2021.229237.
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Taking into account current trends in the development of ergatic maritime transport systems, the factors of the navigator’s influence on vessel control processes were determined. Within the framework of the research hypothesis, to improve navigation safety, it is necessary to apply predictive data mining models and automated vessel control. The paper proposes a diagram of the ergatic vessel control system and a model for identifying the influence of the navigator “human factor” during navigation. Within the framework of the model based on the principles of navigator decision trees, prediction by data mining means is applied, taking into account the identifiers of the occurrence of a critical situation. Based on the prediction results, a method for optimal vessel control in critical situations was developed, which is triggered at the nodes of the navigator decision tree, which reduces the likelihood of a critical impact on vessel control. The proposed approaches were tested in the research laboratory “Development of decision support systems, ergatic and automated vessel control systems”. The use of the Navi Trainer 5,000 navigation simulator (Wärtsilä Corporation, Finland) and simulation of the navigation safety control system for critical situations have confirmed its effectiveness. As a result of testing, it was determined that the activation of the system allowed reducing the likelihood of critical situations by 18–54 %. In 11 % of cases, the system switched the vessel control processes to automatic mode and, as a result, reduced the risk of emergencies. The use of automated data mining tools made it possible to neutralize the negative influence of the “human factor” of the navigator and to reduce the average maneuvering time during vessel navigation to 23 %
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MAEDA, MIKIO, YASUSHI NAKAYAMA, and SHUTA MURAKAMI. "NAVIGATION CONTROL OF AN INTELLIGENT WHEELCHAIR USING FUZZY LOGIC." International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 07, no. 04 (August 1999): 327–36. http://dx.doi.org/10.1142/s0218488599000283.
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Hospital patients, persons of old age, and physically handicapped persons need wheelchairs and helpers. When a helper carries one of these persons, he/she must be attend on the person ridden on a wheelchair. The helpers are busy and have a lot of work. Patients without helpers grow very tired navigating their wheelchairs. To help, we propose an autonomous fuzzy navigation system for an automatic control of a wheelchair. This system consists of a navigation planning part, a navigation control part, and an environment recognition part. In this paper, we describe an intelligent wheelchair with a fuzzy navigation system and discuss experimental results.
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Palamarchuk, I. V. "MODELING THE DIVERGENCE OF SHIPS IN THE DECISION SUPPORT SYSTEM OF THE NAVIGATOR." Scientific Bulletin Kherson State Maritime Academy 1, no. 22 (2020): 45–53. http://dx.doi.org/10.33815/2313-4763.2020.1.22.045-053.
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The aim of the study is to develop modern conceptual approaches to the construction of decision support systems in navigation, to determine the theoretical and practical foundations for creating such systems and priority ways of their practical implementation. From the analysis of recent publications, it has been revealed that the widespread use of new information technologies and modern technical means of navigation leads to an increase in the detail of the present navigation situation, but at the same time its assessment becomes more complicated and the time available to the navigator for analysis and development of the necessary control decision is reduced. For this reason, the development of decision support systems (DSS) for the navigator, which use new meaningful models of the hazard identification process for navigating a ship in the event of prerequisites for an emergency, is an urgent task of the present time. The creation of such systems will reduce the negative impact of the human factor on the processes of ship traffic control. The article develops theoretical and practical foundations for constructing a DSS for a navigator, taking into account the peculiarities of the movement of ships, the process of human interaction with technical means of navigation. The article develops theoretical and practical foundations for constructing a DSS for a navigator, taking into account the peculiarities of the movement of ships, the process of human interaction with technical means of navigation. New mathematical models of control over the process of divergence of ships are proposed. The classification of ships according to the degree of danger is carried out, depending on the change in the angle of the line of their relative movement. Criteria for a quantitative assessment of the hazard level of a ships based on the analysis of changes in the angle of the line of its relative motion are presented. The results obtained are the basis for further increasing the efficiency of the functioning of the ergatic system «man - technical means of navigation» and the comprehensive implementation of the achievements of new information technologies in the ship control processes.
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Zhao, Xinyang, and Bocheng Zhu. "Vehicle Positioning and Navigation in Asynchronous Navigation System." Actuators 11, no. 2 (February 10, 2022): 54. http://dx.doi.org/10.3390/act11020054.
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A Pseudo-satellite system that transmits signals similar to GNSS can provide positioning services in places where GNSS signals are not captured and have enormous potential for indoor machine system and airports. Different paths of the device have different carrier phase initial solution positioning accuracy. Existing methods rely on measuring instruments or use many coordinate points for solving ambiguity resolution (AR), which creates inconvenience for real-time ground positioning. This study aims to find a new on-the-fly (OTF) method to achieve high accuracy and convenient positioning. A new method is proposed based on a two-difference observation model for ground-based high-precision point positioning. We used an adaptive particle swarm algorithm to solve the initial solution, followed by a nonlinear least-squares method to optimize the localization solution. It is free of priori information or measuring instruments. We designed several different paths, such as circular trajectory and square trajectory, to study the positioning accuracy of the solution. Simulation experiments with different trajectories showed that geometric changes significantly impact solutions. In addition, it does not require precise time synchronization of the base stations, making the whole system much easier to deploy. We built a real-world pseudo-satellite system and used a multi-sensor crewless vehicle as a receiver. Real-world experiments showed that our approach could achieve centimeter-level positioning accuracy in applications.
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Kiselev, Sergey K., and Tuan T. Van. "CONTROL OF A GROUND MOBILE ROBOT MOTION IN CASE OF THE NAVIGATIONAL DATA CORRUPTION OF THE SATELLITE NAVIGATION SYSTEM." Автоматизация процессов управления 2, no. 64 (2021): 4–12. http://dx.doi.org/10.35752/1991-2927-2021-2-64-4-12.
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The article discusses the determination of navigational data corruption, which received by the satellite navigation system as well as traffic control of ground mobile robots. It also specifies the movement features of ground robots, which affect the data integrity monitoring. It proposes an algorithm of control to implement the methods of autonomous onboard monitoring of the navigational data integrity. The algorithm is based on the equations of signal correspondence in various parts of the control system. It is designed to determine the inoperability of the satellite navigation system that implies the loss of signal and failure in the navigation problem solution. The algorithm takes into account the non-deterministic nature of moving ground robot with possible stops in the process of following the trajectory. The article considers the implementation variants of algorithm to assess reliability for the control system containing additional sensors of the robot’s displacement and for the hardware-redundant system containing no additional sensors. The results of modeling the movement of a ground mobile robot along an arbitrary trajectory in case of navigational data corruption are presented. The features of algorithm based on the simulation results are described in the article. The authors considered variants of robot control in case of navigational data corruption. The structure of the system and a method for controlling a mobile robot in case of satellite navigation system failures are also proposed. The method is based on the control mode in the system, according to the measured data of the position of the robot in the case of navigational data corruption or otherwise according to the data calculated from the robot model. The implementation of the method makes it possible to avoid significant deviations of the robot from a given trajectory of movement at intervals of signal loss of the satellite navigation system.
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Shrivastava, N. P., and S. Shrotriya. "Asynchronous Message Transmission Technique for Latency Requirements in Time Critical Ship-borne System." Defence Science Journal 66, no. 1 (January 27, 2016): 26. http://dx.doi.org/10.14429/dsj.66.8502.
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<p>A solution to data ageing requirements in time critical ship system like fire control system is presented. In an operational sea borne platform, navigation requirements for the onboard systems are fulfilled by ring laser gyro-based inertial navigation system. For critical systems like fire control system, navigational data must be delivered in real time without any delay. However due to delay occurring in processing of raw information and transmission of data on interface bus some latency is introduced. Algorithm for an asynchronous message transmission technique from inertial navigation system to user system to meet its latency requirements is discussed. Latency requirement is achieved by sending a separate message with the time stamp for the instance the first byte of 100 Hz attitude data is received at the processing computer of navigation system.</p><p><strong>Defence Science Journal, Vol. 66, No. 1, January 2016, pp. 26-29, DOI: http://dx.doi.org/10.14429/dsj.66.8502</strong></p>
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Andersen, John A., Stephen D. Fulton, and John H. Andersen. "Tighter Air Control." Mechanical Engineering 124, no. 07 (July 1, 2002): 38–41. http://dx.doi.org/10.1115/1.2002-jul-2.
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This article focuses on an engineered system that uses the advantages of available modern technology, including Global Positioning System satellites, inertial reference systems, flight management systems (specialized computers), and autopilots. More than a decade ago, 85 member states of the International Civil Aviation Organization endorsed a global Communications, Navigation, Surveillance, and Automated Traffic Management concept. This concept, called Future Air Navigation System II, advocates a change from terrestrial-based technology to space-based technology and digital communication. Extensive use is made of satellites for both navigation and communication. In 1995, the first-generation system was placed in use over the Pacific, where aircraft were out of range of the older radio control systems for lengthy time periods. Perhaps the evolution in aviation technology has parallels in the past, when ASME codes for safe boilers and pressure vessels, as well as elevators and escalators were voluntarily adopted and, eventually, legislated into practice. Aviation is a vital national and international service. Problems of safety and efficient use of assets require solution.
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Pintér, Tomáš, and Pavol Božek. "Industrial Robot Control Using Inertial Navigation System." Advanced Materials Research 605-607 (December 2012): 1600–1604. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1600.
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The paper deals with constructing the inertial navigation system (hereafter INS) which will be utilized for the calibration of a robotic workplace. The calibration is necessary for adapting the simulation of a production device model to real geometric conditions. The goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.
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Fedorenko, Roman, and Victor Krukhmalev. "Indoor Autonomous Airship Control and Navigation System." MATEC Web of Conferences 42 (2016): 01006. http://dx.doi.org/10.1051/matecconf/20164201006.
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Chiou, Juing-Shian, Ming-Yuan Shieh, and Kun-Hung Li. "Visual Navigation Control System for Home Robots." Information Technology Journal 11, no. 9 (August 15, 2012): 1219–26. http://dx.doi.org/10.3923/itj.2012.1219.1226.
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Someswari, T., Anil Kumar Tiwari, and Nagaraj R. "Novel Framework for Navigation using Enhanced Fuzzy Approach with Sliding Mode Controller." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 6 (December 1, 2018): 4310. http://dx.doi.org/10.11591/ijece.v8i6.pp4310-4320.
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The reliability of any embedded navigator in advanced vehicular system depends upon correct and precise information of navigational data captured and processed to offer trustworthy path. After reviewing the existing system, a significant trade-off is explored between the existing navigational system and present state of controller design on various case studies and applications. The existing design of controller system for navigation using error-prone GPS/INS data doesn‟t emphasize on sliding mode controller. Although, there has been good number of studies in sliding mode controller, it is less attempted to optimize the navigational performance of a vehicle. Therefore, this paper presents a novel optimized design of a sliding mode controller that can be effectively deployed on advanced navigational system. The study outcome was found to offer higher speed, optimal control signal, and lower error occurances to prove that proposed system offers reliable and optimized navigational services in contrast to existing system.
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Boufera, Fatma, Fatima Debbat, Francesco Mondada, and M. Fayçal Khelfi. "Fuzzy Control System for Autonomous Navigation and Parking of Thymio II Mobile Robots." International Journal of Computer and Electrical Engineering 6, no. 4 (2014): 321–25. http://dx.doi.org/10.7763/ijcee.2014.v6.846.
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Zhang, Ling, Jianye Liu, Jizhou Lai, and Zhi Xiong. "Performance Analysis of Adaptive Neuro Fuzzy Inference System Control for MEMS Navigation System." Mathematical Problems in Engineering 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/961067.
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Characterized by small volume, low cost, and low power, MEMS inertial sensors are widely concerned and applied in navigation research, environmental monitoring, military, and so on. Notably in indoor and pedestrian navigation, its easily portable feature seems particularly indispensable and important. However, MEMS inertial sensor has inborn low precision and is impressionable and sometimes goes against accurate navigation or even becomes seriously unstable when working for a period of time and the initial alignment and calibration are invalid. A thought of adaptive neuro fuzzy inference system (ANFIS) is relied on, and an assistive control modulated method is presented in this paper, which is newly designed to improve the inertial sensor performance by black box control and inference. The repeatability and long-time tendency of the MEMS sensors are tested and analyzed by ALLAN method. The parameters of ANFIS models are trained using reasonable fuzzy control strategy, with high-precision navigation system for reference as well as MEMS sensor property. The MEMS error nonlinearity is measured and modulated through the peculiarity of the fuzzy control convergence, to enhance the MEMS function and the whole MEMS system property. Performance of the proposed model has been experimentally verified using low-cost MEMS inertial sensors, and the MEMS output error is well compensated. The test results indicate that ANFIS system trained by high-precision navigation system can efficiently provide corrections to MEMS output and meet the requirement on navigation performance.
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Ibrahim, M. A., and V. V. Luk'yanov. "Algorithms and Configuration for a Moving Object Attitude Control System Based on Microelectromechanical Sensors." Herald of the Bauman Moscow State Technical University. Series Instrument Engineering, no. 2 (131) (June 2020): 44–58. http://dx.doi.org/10.18698/0236-3933-2020-2-44-58.
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Inertial systems for attitude control, stabilisation and navigation of moving objects boast a range of unique qualities, the most important of which are autonomy and interference immunity. At present, strap-down inertial navigation systems using inexpensive and compact microelectromechanical sensors are popular. The biggest disadvantage of the attitude control systems utilising microelectromechanical sensors is rapid error accumulation over time. The main error sources in strap-down inertial navigation systems are the errors of angular velocity sensors and accelerometers. Currently the accuracy required is ensured by the attitude control system processing the following two signals simultaneously: the magnetometer signal and the signal received from global navigation satellite systems such as GPS (NAVSTAR) and/or GLONASS. We developed an unconventional approach to integrating the two systems, that is, a strap-down inertial navigation system and a global navigation satellite system. It involves using the difference between the accelerations computed according to the global navigation satellite systems and those computed by the acelerometers and transformed to the geographic coordinate system for evaluating and compensating for the error of attitude angle assessment via the kinematic channel. Since this approach does not use integration of accelerometer readings, the attitude angle errors at the initial stage do not accumulate over time. Numerical simulation results of the algorithms developed show that the attainable attitude angle estimation accuracy significantly exceeds the accuracy of conventional methods
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Lu, Chen, Rong-Bing Li, Jian-Ye Liu, and Ting-Wan Lei. "Air Data Estimation by Fusing Navigation System and Flight Control System." Journal of Navigation 71, no. 5 (April 30, 2018): 1231–46. http://dx.doi.org/10.1017/s037346331800022x.
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A novel synthetic air data estimation method without using air data sensors is presented, and the method only relies on the information from the Navigation System (NS) and Flight Control System (FCS). The aircraft's aerodynamic model is also required to make a connection between the FCS control parameters and the NS measurements. The airspeed, angle of attack and sideslip, angular velocity and wind speed are defined as state vectors, and state equations are established through the aircraft's aerodynamic model and dynamics. Linear velocity and angular velocity provided by the navigation system are considered as the measurement vector. To deal with variable wind fields, a novel Initialised Three-step Extended Kalman Filter (ITEKF), which considers the wind speed as an unknown input, is developed to track the variation of wind speed. Simulation results based on a Generic Hypersonic Vehicle (GHV) model are presented and compared with an existing method. Factors affecting the method's accuracy include the navigation system accuracy and the aerodynamic model error, are also discussed.
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Kim, Doug. "Networked Service Robots Control and Synchronization with Surveillance System Assistance." IAES International Journal of Robotics and Automation (IJRA) 6, no. 2 (June 1, 2017): 80. http://dx.doi.org/10.11591/ijra.v6i2.pp80-98.
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This paper proposes an efficient navigation control and synchronization mechanism of multiple networked robots for operation in large confined areas. An adaptable grid based navigation and control strategy is adopted to eliminate potential collisions among robots. Unexpected obstacles are handled and the speed of individual robot is maintained using the node-ordering technique. The proposed navigation control and synchronization mechanism is scalable and can be easily extended for multi-cell large environment. The obstacles information is gathered through local information by the robots for better planning of the navigation. The system collaborates with the existing surveillance systems in case of additional visual information is necessary. The interaction with the surveillance system is minimized to reduce potential overhead. The proposed methodology is evaluated for a large-scale simulation with multiple robots.
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Ramesh, R., V. Bala Naga Jyothi, N. Vedachalam, G. A. Ramadass, and M. A. Atmanand. "Development and Performance Validation of a Navigation System for an Underwater Vehicle." Journal of Navigation 69, no. 5 (January 26, 2016): 1097–113. http://dx.doi.org/10.1017/s0373463315001058.
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Underwater position data is a key requirement for the navigation and control of unmanned underwater vehicles. The proposed navigation scheme can be used in any vessel or boat for any shallow water vehicle. This paper presents the position estimation algorithm developed for shallow water Remotely Operated Vehicles (ROVs) using attitude data and Doppler Velocity Log data with the initial position from the Global Positioning System (GPS). The navigational sensors are identified using the in-house developed simulation tool in MATLAB, based on the requirement of a position accuracy of less than 5%. The navigation system is built using the identified sensors, Kalman filter and navigation algorithm, developed in LabVIEW software. The developed system is tested and validated for position estimation, with an emulator consisting of a GPS-aided fibre optic gyro-based inertial navigation system as a reference, and it is found that the developed navigation system has a position error of less than 5%.
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Antonov, Dmitry, Leonid Kolganov, Aleksey Savkin, Egor Chekhov, and Maxim Ryabinkin. "NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE." EUREKA: Physics and Engineering 4 (July 31, 2020): 38–50. http://dx.doi.org/10.21303/2461-4262.2020.001361.
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Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development. The AUV’s navigation system is built around strapdown inertial navigation system (SINS) designed specifically for this AUV. When surfaced, position and angular SINS correction is performed using data from dual-antenna GNSS receiver and doppler velocity log (DVL). When underwater, SINS position and velocity correction is performed using acoustic navigation system (ANS) and DVL data. AUV’s control system provides manual and automatic control. Manual control is carried out in real-time by operator via fiber-optic cable using a joystick. Automatic control allows AUV to move independently along a specified trajectory at a given depth and speed. The AUV also has a collision avoidance system that utilizes readings from a forward-facing acoustic rangefinder to estimate time before impact based on AUV’s analytic model. If possible collision is detected, information is transmitted to the control system so that a further appropriate action can be taken. Computer simulation utilizing the analytic AUV model was used in order to check the performance characteristics of the designed control and navigation algorithms. After confirming the operability of the developed algorithms, preliminary tests of the AUV were carried out. During the tests, AUV’s on-board equipment and navigation system readings were recorded and compared to the readings of the reference system, which was also installed on the AUV. During the tests, the dynamic characteristics of the AUV were evaluated. AUV’s characteristics obtained during simulation and testing will be used as a reference during future development
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Gurenko, Boris, Roman Fedorenko, and Anatoly Nazarkin. "Autonomous Surface Vehicle Control System." Applied Mechanics and Materials 704 (December 2014): 277–82. http://dx.doi.org/10.4028/www.scientific.net/amm.704.277.
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The paper presents an automatic control system for autonomous surface vehicle. The system is designed to organize autonomous performing of mission defined from ground control station. Structure, hardware and software implementation of autonomous surface vehicle and its navigation and control system as well as experiment results are described.
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Пономаренко, Костянтин Вікторович, and Лев Михайлович Рижков. "Integrated system of navigation information measurement for flight control system." Eastern-European Journal of Enterprise Technologies 6, no. 9(66) (December 12, 2013): 44. http://dx.doi.org/10.15587/1729-4061.2013.19133.
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Navidi, Neda, René Jr Landry, Jianhua Cheng, and Denis Gingras. "A New Technique for Integrating MEMS-Based Low-Cost IMU and GPS in Vehicular Navigation." Journal of Sensors 2016 (2016): 1–16. http://dx.doi.org/10.1155/2016/5365983.
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In providing acceptable navigational solutions, Location-Based Services (LBS) in land navigation rely mostly on integration of Global Positioning System (GPS) and Inertial Navigation System (INS) measurements for accuracy and robustness. The GPS/INS integrated system can provide better land-navigation solutions than the ones any standalone system can provide. Low-cost Inertial Measurement Units (IMUs), based on Microelectromechanical Systems (MEMS) technology, revolutionized the land-navigation system by virtue of their low-cost miniaturization and widespread availability. However, their accuracy is strongly affected by their inherent systematic and stochastic errors, which depend mainly on environmental conditions. The environmental noise and nonlinearities prevent obtaining optimal localization estimates in Land Vehicular Navigation (LVN) while using traditional Kalman Filters (KF). The main goal of this paper is to effectively eliminate stochastic errors of MEMS-based IMUs. The proposed solution is divided into two main components: (1) improving noise cancellation, using advanced stochastic error models in MEMS-based IMUs based on combined Autoregressive Processes (ARP) and first-order Gauss-Markov Process (1GMP), and (2) modeling the low-cost GPS/INS integration, using a hybrid Fuzzy Inference System (FIS) and Second-Order Extended Kalman Filter (SOEKF). The results obtained show that the proposed methods perform better than the traditional techniques do in different stochastic and dynamic situations.
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Olejár, M., V. Cviklovič, D. Hrubý, and O. Lukáč. "Autonomous control of biaxial tracking photovoltaic system." Research in Agricultural Engineering 61, Special Issue (June 2, 2016): S48—S52. http://dx.doi.org/10.17221/29/2015-rae.
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Tracking photovoltaic systems maximize solar energy on the photovoltaic cells surface in order to maximize the energy gain at a given moment. Energy gain is dependent on the accuracy of photovoltaic cells direction, control method and tracking period. The control of tracking systems is based on theoretical calculations of sun position for a specific position in specific time. Designed control algorithm of the biaxial tracking photovoltaic system is able of autonomous navigation directed to the sun without knowing the position. It is based on the sun position sensor. The designed solution increases the solar gain by 33.8% in comparison with stable photovoltaic systems. It is usable in the research focused on the control method of step-controlled biaxial tracking photovoltaic devices.
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Appazov, Eduard, Dmytro Krugliy, Serhii Zinchenko, and Pavlo Nosov. "Choice of the Fractal Method For Visualization of Input Data While Designing Support Systems for Decision-Making by Navigator." Science and Innovation 17, no. 5 (October 12, 2021): 63–72. http://dx.doi.org/10.15407/scine17.05.063.
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Introduction. The constant increase in the amount and intensity of traffic requires organization and precise management.Problem Statement. In the present-day conditions, when the number of vessels engaged on internal and external routes has been growing, without the vessel driver/navigator all alone are not physically able to assess the navigation situation and to make the right decision how to operate his vessel. The need to develop and to implement algorithms that help address the issue of navigation safety is an important task, especially when it comes to the management of groups of vessels. The main approaches that allow generalizing the information flows to ensure continuous and safe navigation are the formation of a structured system of processing and evaluation of input factors and related output parameters. This enables controlling the ergatic system of vessel, given a significant number of factors.Purpose. The purpose of this research is to create new approaches to controlling the vessel ergatic system for making an optimal and timely decision.Materials and Methods. Fractal methods for representation of the primary information and applied computer programs of mathematical simulation have been used.Results. The proposed model of information processing as part of the vessel ergatic system is designed to comprehensively ensure the safety of vessels, while providing control and optimization of both operational and organizational parameters and diagnostic functions, with the ability to predict and to prevent failures of the vessel engineering system.Conclusions. The applicability of general algorithms for the processing of information and its structuring according to the degree of impact has been shown. The application of these approaches solves the problem of overloading the navigator with excessive navigational information and reduces decision-making time. The developedalgorithm allows creating an automatic control system for groups of vessels in real conditions of difficult navigation environment.
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Dai, Xiaoqiang, Lin Zhao, and Zhen Shi. "Fault Tolerant Control in Redundant Inertial Navigation System." Mathematical Problems in Engineering 2013 (2013): 1–11. http://dx.doi.org/10.1155/2013/782617.
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Conventional fault detection and isolation technology cannot fully ensure system redundancy features when sensors experience drift in a redundant inertial navigation system. A new fault tolerant control method employs state estimation and state feedback techniques to compensate the sensor drift. However, the method is sensitive to measurement noise characteristics, and the performance of the method nearly depends on the feedback gain. This paper proposes an improved fault tolerant control algorithm, which employs an adaptive extended Kalman particle filter (AEKPF) to deal with unknown noise characteristics and model inaccuracies. In addition, a drift factor is introduced in the improved fault tolerant controlin order to reduce the dependence of compensation system on the feedback gain. Simulation results show that the improved fault tolerant control algorithm can effectively correct the faulty sensor even when the multiple erroneous sensors are producing faulty outputs simultaneously. Meanwhile, the AEKPF is able to solve the problem of unknown non-Gaussian noise characteristics. Moreover, the feedback gain is significantly improved by the drift factor.
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Barua, Arindam, M. P. Premchand, R. Vishnu, Prabhat Kumar Dubey, Anon Jayachitra, Ambili K. Gopinath, S. Anitha, et al. "Integrated Navigation, Guidance and Control System and Validation." Current Science 114, no. 01 (January 10, 2018): 109. http://dx.doi.org/10.18520/cs/v114/i01/109-122.
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Vidan, Pero, Josip Kasum, and Marijan Zujić. "Meteorological Navigation and ECDIS." PROMET - Traffic&Transportation 22, no. 5 (March 1, 2012): 373–78. http://dx.doi.org/10.7307/ptt.v22i5.202.
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In maritime traffic, a route is one or more known tracks along which navigation takes place or there is intention to sail. Meteorological factors are important if the route exceeds the distance of 1500M [1]. Meteorological navigation is the selection of a navigational route in view of meteorological factors and control of vessel during heavy weather conditions and safe navigation aimed at the protection of human lives, vessels and cargo during heavy weather. The paper proposes a model of grouping and evaluating estimates of meteorological factors when planning meteorological navigation. It is advised to upgrade the Electronic Chart Display and Information System – ECDIS program with the aim of allowing for the computer planning of meteorological navigation. KEY WORDS: planning of navigation, meteorology, optimal route, Electronic Chart Display and Information System - ECDIS
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Fajnerová, Iveta, David Greguš, Jaroslav Hlinka, Tereza Nekovářová, Antonín Škoch, Tomáš Zítka, Jan Romportl, Eva Žáčková, and Jiří Horáček. "Could Prolonged Usage of GPS Navigation Implemented in Augmented Reality Smart Glasses Affect Hippocampal Functional Connectivity?" BioMed Research International 2018 (June 13, 2018): 1–10. http://dx.doi.org/10.1155/2018/2716134.
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Background. Augmented reality (AR) glasses with GPS navigation represent the rapidly evolving technology which spares (and externalizes) navigational capacities. Regarding the expected everyday usage of this device, its impact on neuroplastic brain changes and navigation abilities should be evaluated. Aims. This study aimed to assess possible changes in functional connectivity (FC) of hippocampus and other brain regions involved in spatial navigation. Methods. Thirty-three healthy participants completed two resting state functional magnetic resonance imaging (rsfMRI) measurements at the baseline and after 3 months. For this period, the experimental group (n = 17) has had used AR device (Vuzix M100) with incorporated GPS guidance system during navigation in real world. Participants from the control group (n = 16) have not used any GPS device while navigating during walking. The rsfMRI FC of right and left hippocampi was analyzed using a seed-driven approach. Virtual city task was used to test navigational abilities both before and after the usage of AR device. Results. We identified strong functional coupling of right and left hippocampi at the baseline (p < 0.05, FDR corrected). Mild changes in bilateral hippocampal FC (p < 0.05, FDR uncorrected) were observed in both assessed groups mainly between the bilateral hippocampi and between each hippocampus and temporal regions and cerebellum. However, the experimental group showed FC decrease after three months of using GPS navigation implemented in AR glasses in contrast to FC increase in the control group without such intervention. Importantly, no effect of intervention on navigational abilities was observed. Discussion. Our observation supports the assumption that externalization of spatial navigation to technological device (GPS in AR glasses) can decrease the functional coupling between hippocampus and associated brain regions. Considering some limitations of the present study, further studies should elucidate the mechanism of the observed changes and their impact on cognitive abilities.
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Grochowski, Marco, Martin Schweigler, Bassam Alrifaee, and Stefan Kowalewski. "A GPS-aided Inertial Navigation System for Vehicular Navigation using a Smartphone." IFAC-PapersOnLine 51, no. 10 (2018): 121–26. http://dx.doi.org/10.1016/j.ifacol.2018.06.247.
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Xiao, Runze, Yusuke Tsunoda, and Koichi Osuka. "Proposal and Experimental Verification of an Implicit Control Based Navigation Scheme in Unknown Environment for a Centipede Type Robot." Journal of Robotics and Mechatronics 34, no. 4 (August 20, 2022): 829–43. http://dx.doi.org/10.20965/jrm.2022.p0829.
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In the past decades, robot navigation in an unknown environment has attracted extensive interest due to its tremendous application potential. However, most existing schemes rely on complex sensing systems and control systems to perceive and process the geometric and appearance information of the surrounding environment to avoid the collision, while making less use of the mechanical characteristics of the environment. In this research, in order to explore how to make a robot navigate in an unknown environment with minimal active control and minimal sensing by taking full advantage of the mechanical interactions from the environment, which is called implicit control in this study, we propose a centipede robot and its corresponding navigation scheme for navigating a 2D unknown environment without sensing information about the surrounding environment. In this scheme, the only observation input of this system is the goal direction information relative to the robot direction. Based on this scheme, we built a prototype robot and conducted navigation experiments in three environments with different levels of complexity. As a result, we obtained the navigation route map and navigation time distribution of each environment and analyzed the characteristics and applicability scenarios of the proposed navigation scheme compared to the traditional ones.
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Hirakoso, Nobuto, Ryoichiro Tamura, and Yoichi Shigematsu. "Study on Arbitrary Direction Navigation System for Autonomous Multirotor with Arbitrary Configuration of Rotors." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1268–78. http://dx.doi.org/10.20965/jrm.2020.p1268.
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In this paper, an autonomous aerial robot system with a multirotor mechanism is described, where the robot has an arbitrary configuration of rotors. To construct a navigation system for the arbitrary 3-axis direction, the static constraint conditions are treated as dynamic equilibrium, and the analytical solution of this formulation is obtained with regard to two terms, namely attitude and height control. Moreover, the obtained analytical solution is implemented as a proportional-integral-derivative controller such that the navigation control system is fused with the attitude and height control systems optimally. To confirm the efficacy of this constructed navigation control system, navigation experiments with arbitrary azimuth direction and height are executed for a manufactured trial quadrotor system as an aerial robot and the results are estimated.
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Troeglazov, A. P. "Optimization of the configurations of the control complex of the integrated navigation bridge of the ship by the method of multiprogramming." Journal of Physics: Conference Series 2061, no. 1 (October 1, 2021): 012111. http://dx.doi.org/10.1088/1742-6596/2061/1/012111.
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Abstract In the concept of development of E-navigation, large control systems for navigation, navigation safety, optimization of ship operation, and cargo operations are being developed. The vector of the direction of this development leads to fully automatic management of the maritime industry and individual segments, such as navigation and terminal operations, with the transfer of unified databases to “cloud” technologies. In modern control systems, a significant number of programs for processing information flows and databases are required from external sources. The method of addressing “cloud” technologies and external storage devices, which are updated in real-time, and a complete transition from analog, analog-digital, only to digital media and information processing systems, is adopted. The method of addressing “cloud” technologies and external storage devices, which are updated in real-time, and a complete transition from analog, analog-digital, only to digital media and information processing systems, is adopted. Modern computer systems for helping the navigator in making decisions are shifting to the area of deep integration of control actions and information processing in real perception and optimization of a verified and safe algorithm of actions. The time of work with such complexes depends on the efficiency in organizing data exchange in the “man-machine” system. In the study, an algorithm was developed for deep optimization of the control complex of the ship, to minimize and create a control shell of the “man-machine” system, using the multiprogramming method to stabilize the route passage.
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Kopecki, Grzegorz, Jacek Pieniążek, Tomasz Rogalski, Pawel Rzucidło, and Andrzej Tomczyk. "PROPOSAL FOR NAVIGATION AND CONTROL SYSTEM FOR SMALL UAV." Aviation 14, no. 3 (September 30, 2010): 77–82. http://dx.doi.org/10.3846/aviation.2010.12.
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The article presents the project of UAV control system realized at Department of Avionics and Control Systems of Rzeszów University of Technology. The project is based on earlier experiences. In the article general structure of the onboard control system is shown as well as the structure of control station. There are described in proposed control and navigation procedures as well as human factor, failure detection and system reconfiguration. Santrauka Šiame straipsnyje aprašomas bepiločiu orlaiviu kontroles sistemos projekto lgyvendinimas Ržešovo technologijos universiteto Aviadjos prietaisu ir kontroles sistemu katedroje. Projektas atliktas remiantis ankstesne patirtimi. Pateikta ne tik borto sistemu bendroji struktūra, bet ir kontroles stočiu struktūra. Darbe nagrinejamas žmogaus veiksnys, gedimu aptikimas ir sistemu rekonfigūravimas pasiūlytose kontroles ir navigacijos procedūrose.
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Xie, Feng, and Minzhou Dong. "An Improved Attitude Compensation Algorithm for SINS/GNS Integrated Navigation System." Journal of Sensors 2021 (April 23, 2021): 1–9. http://dx.doi.org/10.1155/2021/5525481.
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In order to suppress the error caused by the drift of the gyroscope and further improve accuracy of the navigation system, combined with the method of measuring attitude by using the three-axis components of geomagnetic, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/GNS integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a Marginalized Particle Filter (MPF) is designed for this autonomous integrated navigation system. The simulation experiments are conducted, and the results show that the improved SINS/GNS autonomous integrated navigation system possesses strong robustness and high reliability, thus providing a new reference solution for autonomous navigation technology.
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Korban, D. "SIX-COMPONENT POLARIZATION SEPARATOR OF AN ALL-POLARIZED ANTENNA WITH ELECTROMAGNETIC WAVE POLARIZATION CONTROL ON RADIATION." Shipping & Navigation 33, no. 1 (December 1, 2022): 67–78. http://dx.doi.org/10.31653/2306-5761.33.2022.67-78.
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The ship's radar system, along with the satellite navigation system of GPS or GLONASS type, is a means of ensuring the safety of navigation, as the information received with its help about the navigational situation along the ship's route is completely independent of external, in relation to the ship, equipment. However, during the reception of radar information on a navigational object, there is an atmospheric environment with hazardous phenomena (heavy rainfall) on the way of propagation of electromagnetic waves carrying this information. This creates along with a navigational object an echo signal on the ship radar indicator, which does not allow improvement of a navigational object echo signal. Therefore, one of the perspective ways of improving useful navigation object echo extraction along with the considered methods is the method of polarization selection which uses the all-polarized antenna emitting electromagnetic waves of four fixed polarizations and receiving the echo signal of any polarization, which carries information about navigation object, by means of sixchannel polarization separator. The polarization six-channel separator of the ship radar is the basic waveguide link determining the principle and accuracy of operation of the polarization multichannel complex of the UHF range with instantaneous registration of polarization parameters of Stokes, echo signals of a partially polarized wave of a complex object on the ship's path. When solving the problem of polarization selection of navigational objects in the area of dangerous atmospheric formations, there were used the coefficients of the energy scattering matrix, the coherence matrix, the degree of polarization and statistical parameters of echo-signals, which are the actual energy polarization parameters of Stokes. The purpose of the six-channel polarization separator is to separate the polarized components of the analyzed wave reflected from the complex object entering the allpolarized antenna of the ship radar polarization complex in a waveguide path. The article analyzes the principle of construction and implementation of a six-channel polarization separator for six channels: with polarizations linear vertical, linear horizontal, linear with the angle of orientation of the electric vector 45° and two circulars. Keywords: ship radar system, navigation object, electromagnetic wave polarization, allpolarized antenna, six-channel polarization separator, atmospheric formation, polarization device.
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Hu, Zheng Qun, Guo Xiang Ai, Li Rong Zhang, and Chao Hu. "A Control System in Satellite Navigation and Communication Terminal." Applied Mechanics and Materials 513-517 (February 2014): 2888–92. http://dx.doi.org/10.4028/www.scientific.net/amm.513-517.2888.
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For the needs of a satellite navigation and communication system, we design and implement a terminal control system in the integration of navigation and communication system in this paper. The control system consists of CPU controller, GPS positioning module, smart finding and alignment satellite module, transmit/receive baseband, RF module, voice module and other functional modules, which has navigation and communication function. Satellite communication includes voice communication and data communication. The voice communication interface is operated conveniently, which using I/Q quadrature BPSK modulation to set up satellite links easily. It has a good communication quality. Data communication using the bidirectional answer mode to make success rate close to 100% in data upward to the communication center station, which is well to meet the needs in data upward.
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Mohamed, Heba G., Hatem A. Khater, and Karim H. Moussa. "An Intelligent Combined Visual Navigation Brain Model/GPS/MEMS–INS/ADSFCF Method to Develop Vehicle Independent Guidance Solutions." Micromachines 12, no. 6 (June 18, 2021): 718. http://dx.doi.org/10.3390/mi12060718.
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This paper presents an integrated navigation system that can function more efficiently than an inertial navigation system (INS), the results of which are not precise enough because of drifts caused by accelerometers. The paper’s proposed approach depends primarily on integrating micro-electrical-mechanical system (MEMS)-INS smartphone integrated sensors, the Global Positioning System (GPS), and the visual navigation brain model (VNBM) to enhance navigation in bad weather conditions. The recommended integrated navigation model, using an adaptive DFS combined filter, has been well studied and tested under severe climate conditions on reference trajectories. This integrated technique can easily detect and disable less accurate reference sources (GPS or VNBM) and activate a more accurate one. According to the results, the proposed integrated data fusion algorithm offers a reliable solution for errors in the previous strategies. Furthermore, compared to the pure MEMS–INS method, the proposed system reduces navigational errors by approximately 93.76 percent, whereas the conventional centralized Kalman filter technique reduces such errors by 82.23 percent.
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Taha, Mohammed Yaseen, and Qahhar Muhammad Qadir. "Cost Effective and Easily Configurable Indoor Navigation System." UKH Journal of Science and Engineering 5, no. 1 (June 30, 2021): 60–72. http://dx.doi.org/10.25079/ukhjse.v5n1y2021.pp60-72.
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With the advent of Industry 4.0, the trend of its implementation in current factories has increased tremendously. Using autonomous mobile robots that are capable of navigating and handling material in a warehouse is one of the important pillars to convert the current warehouse inventory control to more automated and smart processes to be aligned with Industry 4.0 needs. Navigating a robot’s indoor positioning in addition to finding materials are examples of location-based services (LBS), and are some major aspects of Industry 4.0 implementation in warehouses that should be considered. Global positioning satellites (GPS) are accurate and reliable for outdoor navigation and positioning while they are not suitable for indoor use. Indoor positioning systems (IPS) have been proposed in order to overcome this shortcoming and extend this valuable service to indoor navigation and positioning. This paper proposes a simple, cost effective and easily configurable indoor navigation system with the help of an optical path following, unmanned ground vehicle (UGV) robot augmented by image processing and computer vision deep machine learning algorithms. The proposed system prototype is capable of navigating in a warehouse as an example of an indoor area, by tracking and following a predefined traced path that covers all inventory zones in a warehouse, through the usage of infrared reflective sensors that can detect black traced path lines on bright ground. As metionded before, this general navigation mechanism is augmented and enhanced by artificial intelligence (AI) computer vision tasks to be able to select the path to the required inventory zone as its destination, and locate the requested material within this inventory zone. The adopted AI computer vision tasks that are used in the proposed prototype are deep machine learning object recognition algorithms for path selection and quick response (QR) detection.
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Daniec, Krzysztof, Karol Jędrasiak, Roman Koteras, and Aleksander Nawrat. "Embedded Micro Inertial Navigation System." Applied Mechanics and Materials 249-250 (December 2012): 1234–46. http://dx.doi.org/10.4028/www.scientific.net/amm.249-250.1234.
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This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.
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Tao, Hong, Tao Song, Defu Lin, Ren Jin, and Bin Li. "Autonomous Navigation and Control System for Capturing A Moving Drone." Field Robotics 2, no. 1 (March 10, 2022): 34–54. http://dx.doi.org/10.55417/fr.2022002.
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This paper describes an autonomous navigation and control system for capturing the maneuvering drones. A vision-based navigation method seeks and detects the intruding drone, then, the target trajectory is predicted by fusing onboard vision and inertial-measurement resources. The target’s relative position, velocity and acceleration are also obtained at the same time. Then, we present a modified proportional-derivative (PD) algorithm based on the estimated target states. In addition, the boundary constraints of the protected area are considered to avoid a collision. The proposed capture navigation and control system has demonstrated its efficiency both in simulation, flight experiments, and MBZIRC 2020, where our team won the Challenge I competition.
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Galeev, R. E., A. V. Soloviev, and Y. S. Fedosenko. "Modeling and visualization of the forecast trajectory for the decision support system for controlling the movement of a river displacement vessel." Journal of Physics: Conference Series 2131, no. 3 (December 1, 2021): 032033. http://dx.doi.org/10.1088/1742-6596/2131/3/032033.
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Abstract An approach to dynamic modeling of the predicted trajectory of movement of a displacement vessel and its continuous visualization on an electronic panel is considered, superimposed on the actual digital twin of the real scene of the environment along the course of the vessel. The hardware and software implementation of the developed approach as a decision support system for the navigator in the form of a standard option of the integrated control panel located in the wheelhouse provides an opportunity to objectively assess the safe distance to potential navigation obstacles within the ship’s course at the free distance of the vessel by means of combined visualization. As part of the organizational and technical measures to ensure the safety of navigation, the proposed innovative approach to continuous joint visualization of the digital twin of the current scene of the surrounding sailing situation and the predicted trajectory of the vessel’s movement acquires significant importance in the operation of automatic vessels as an option for the supervisor to intervene in the operation of an integrated automatic control system in complex navigating conditions.
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Nguyen, Van. "Research on a Support System for Automatic Ship Navigation in Fairway." Future Internet 11, no. 2 (February 3, 2019): 38. http://dx.doi.org/10.3390/fi11020038.
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In previous investigations, controllers for the track-keeping of ships were designed with the assumption of constant ship speed. However, when navigating in a fairway area, the ship’s speed is usually decreased to prepare for berthing. The existing track-keeping systems, which are applied when the ship navigates in the open sea with a constant ship speed, cannot be used to navigate the ship in the fairway. In this article, a support system is proposed for ship navigation in the fairway. This system performs three tasks. First, the ship is automatically controlled by regulating the rudder to follow planned tracks. Second, the ship’s speed is reduced step by step to approach the berth area at a low speed. Finally, at low speed, when the ship’s rudder is not effective enough to control the ship’s heading to a desired angle, the ship’s heading is adjusted appropriately by the bow thruster before changing the control mode into the automatic berthing system. By the proposed system, the automatic systems can be combined to obtain a fully automatic system for ship control. To validate the effectiveness of this proposed system for automatic ship navigation in the fairway, numerical simulations were conducted with a training ship model.
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Xiong, Zhenyu, Guo Wei, Chunfeng Gao, and Xingwu Long. "Precision Temperature Control for the Laser Gyro Inertial Navigation System in Long-Endurance Marine Navigation." Sensors 21, no. 12 (June 15, 2021): 4119. http://dx.doi.org/10.3390/s21124119.
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In the Ring Laser Gyro Inertial Navigation System (RLG INS), the temperature characteristics of the accelerometer can directly influence the measurement results. In order to improve navigation accuracy in long-endurance marine navigation, the operating temperature of the accelerometer should be precisely controlled. Based on thermal studies on the accelerometer, temperature control precision should be better than 0.01 °C to achieve 1 × 10−5 m/s2 output accuracy of the accelerometer. However, this conclusion is obtained by approximate calculations and cannot be directly applied to different inertial navigation systems. In order to verify this thermal conclusion and broaden its application, the Back Propagation Neural Network (BP-NN) algorithm is adopted to validate the feasibility of temperature control in this paper. In addition, a multi-level temperature control system is also set up and carefully designed to support the validation and experiments under different conditions. Test results of the temperature control system prove that operating temperature variation can be reduced to 0.01 °C. Meanwhile, the standard deviation per hundred seconds of the accelerometer outputs, after temperature control, reaches 1 × 10−5 m/s2. Static altitude and navigation results were improved by 41.97% and 62.91%, respectively, with the precision temperature control system, which meets the long-endurance marine navigation requirements.
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Guo, Jun, Xin Min Dong, Long Wang, Hong Bo Li, and Yong Chen. "Control and Robust Vision Relative Navigation for Autonomous Aerial Refueling." Advanced Materials Research 383-390 (November 2011): 1953–59. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1953.
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A relative navigation and control scheme based on multiple camera systems was presented for autonomous operations in close proximity for autonomous air refueling (AAR) mission. The relative navigation system employed non-iterative fast global optimal pose estimation algorithm, and the result was filtered and fused with velocity’s measurements to increase accuracy and robustness by using Kalman filtering algorithm. To attenuate effect of tanker’s vortex and atmospheric turbulence, an H-infinity tracking control law was designed for docking phase of air refueling. Simulation results showed that accuracy of both vision navigation system and trajectory tracking could meet requirements of aerial refueling.
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Vas’Kov, Anatoliy S., and Aleksandr A. Mironenko. "THE SHIP MOTION CONTROL BY NAVIGATIONAL PARAMETERS AND PARALLEL INDEXES." Vestnik Gosudarstvennogo universiteta morskogo i rechnogo flota imeni admirala S. O. Makarova 14, no. 6 (December 26, 2022): 826–36. http://dx.doi.org/10.21821/2309-5180-2022-14-6-826-836.
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The methods of using the main navigation parameters (bearing and distance) to ensure the control of the vessel movement on the planned track are considered. As the mathematical framework, classical navigation methods (determining the position of the vessel, the theory of isolines and position lines) are applied to implement the effective decisions of the corresponding parameters or their combination choice, depending on the current navigation situation. As a result, the most relevant options for choosing the leading, clearing and wheel over lines of position by bearings and distances for the planned route based on the navigation situation are identified and recommended. The expressions for accuracy estimation when using above mentioned navigation parameters and methods are proposed. The expediency of parallel indexing with errors estimation as a combination of bearing and distance as a universal variant of vessel movement control is substantiated. A new variant of the use of parallel indexing with a baseline by two landmarks as a transit line which allows to navigate the vessel in case of compass malfunctions is demonstrated. A graphical interpretation and a comparative analysis of the methods errors variation depending on the distance to the reference points are given. The recommendations and features of the practical application of methods for the vessel movement control on the planned route based on the situation of the navigation area are given. The formalization of these methods will allow the navigator, the automatic navigation complex or the control system of an autonomous ship to solve the problems of processing the corresponding navigation information at a qualitatively new level.
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Eck, Daniel, Klaus Schilling, Ahmad Abdul-Majeed, Jörn Thielecke, Phillipp Richter, Javier Gutiérrez Boronat, Irina Schens, Bernd Thomas, Bettina Williger, and Frieder R. Lang. "Mobility Assistance for Older People." Applied Bionics and Biomechanics 9, no. 1 (2012): 69–83. http://dx.doi.org/10.1155/2012/154374.
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This paper describes the development of a scooter supporting the mobility of older people. The scooter is equipped with a drive assistance system and a special scooter navigation system. The drive assistance system consists of a velocity controller, a steering controller, and a collision avoidance system. In this paper it is demonstrated how the challenging control and steering tasks are modified to increase safety for older people. A special scooter navigation system is presented, to support elderly people in navigating on a safe route through the city using sidewalks, pedestrian lights and crosswalks. For extended positioning requirements a hybrid positioning system was developed combining GPS, WLAN, and inertial sensor data. By combination of these technical improvements it is demonstrated how older people are able to preserve their self-determined and independent life. Usability research was done with focus groups in order to become familiar with global user demands and expectations towards a mobility assistance system. Results show that the system components are expected to assist the user in navigation, steering and speed control rather than to take complete control on the driving situation.
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Samoilescu, Gheorghe, Dumitru Iorgulescu, Robert Mitrea, and Laura D. Cizer. "Analysis of Steering Gear Under the Requirements of Modern Navigation." International conference KNOWLEDGE-BASED ORGANIZATION 24, no. 3 (June 1, 2018): 70–77. http://dx.doi.org/10.1515/kbo-2018-0139.
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Abstract This paper presents aspects of the steering gear onboard a merchant ship by analyzing aft and bow systems based on automation and use of modern propulsion. The choice of the transverse propeller is based on several economic considerations (its price, consumption, efficiency, etc.), technical considerations (positioning, size, vibrations induced in the ship’s hull), and maneuverability considerations (the ship’s turning rate under the action of the propeller. Accordingly, the propulsion system can come in various sizes, power values, shapes of the tunnel, and can present fixed or variable pitch propellers. Depending on the maneuverability of the ship, the transverse propulsion is analyzed by taking into account two tests: the turning of the transverse propulsion system test in calm and windy weather, and the steering test. The automation system is designed to control and monitor the on-board operational systems and equipment, and it encompasses a wide range of control, monitor and alarm. The integrated navigational equipment includes the following sub-systems: navigation consoles, ship handling consoles, dynamic positioning consoles, anchoring and deck operations consoles, and propulsion system control consoles. The propulsion control system is especially dedicated to the propeller and thruster control system, resulting in a joint control system, and the cables are reduced in number since the communication lines are used in series. The mandatory condition for successfully solving the problem with the complex automation of naval installations and equipment is the construction of complex automatic control systems (ACS), consisting of: automated commands or remote controls, a system of collecting, processing and displaying information, as well as a system of control, fault detection and diagnosis
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Sun, Qun, Shaomin Teng, Yongqi Du, Ze Kang, Chengqiang Yin, and Linlin Chen. "Research on Calibration Method for Tractor Automatic Navigation Control System." Open Electrical & Electronic Engineering Journal 10, no. 1 (November 15, 2016): 129–40. http://dx.doi.org/10.2174/1874129001610010129.
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A lower computer control system of tractor automatic navigation based on double-antennas Beidou satellite is developed, including the controller unit, bipolar output unit, RS232 bus communication unit, a switch reset unit and the power conversion unit. To obtain a continuous voltage output, the calibration method of lower control system using least square method to fit calibration curve has been studied. The lower computer control system receives navigation angel and navigation angel offset instruction provided by the host computer through RS232 bus communication unit. Continuous voltage from -10V to +10V is output through the bipolar output unit to adjust hydraulic valves to control the tractor steering after these are processed by the lower computer.