Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 233

Search results for: navigation

233 Research on the United Navigation Mechanism of Land, Sea and Air Targets under Multi-Sources Information Fusion

Authors: Rui Liu, Klaus Greve


The navigation information is a kind of dynamic geographic information, and the navigation information system is a kind of special geographic information system. At present, there are many researches on the application of centralized management and cross-integration application of basic geographic information. However, the idea of information integration and sharing is not deeply applied into the research of navigation information service. And the imperfection of navigation target coordination and navigation information sharing mechanism under certain navigation tasks has greatly affected the reliability and scientificity of navigation service such as path planning. Considering this, the project intends to study the multi-source information fusion and multi-objective united navigation information interaction mechanism: first of all, investigate the actual needs of navigation users in different areas, and establish the preliminary navigation information classification and importance level model; and then analyze the characteristics of the remote sensing and GIS vector data, and design the fusion algorithm from the aspect of improving the positioning accuracy and extracting the navigation environment data. At last, the project intends to analyze the feature of navigation information of the land, sea and air navigation targets, and design the united navigation data standard and navigation information sharing model under certain navigation tasks, and establish a test navigation system for united navigation simulation experiment. The aim of this study is to explore the theory of united navigation service and optimize the navigation information service model, which will lay the theory and technology foundation for the united navigation of land, sea and air targets.

Keywords: information fusion, united navigation, dynamic path planning, navigation information visualization

Procedia PDF Downloads 177
232 Design of an Air and Land Multi-Element Expression Pattern of Navigation Electronic Map for Ground Vehicles under United Navigation Mechanism

Authors: Rui Liu, Pengyu Cui, Nan Jiang


At present, there is much research on the application of centralized management and cross-integration application of basic geographic information. However, the idea of information integration and sharing between land, sea, and air navigation targets is not deeply applied into the research of navigation information service, especially in the information expression. Targeting at this problem, the paper carries out works about the expression pattern of navigation electronic map for ground vehicles under air and land united navigation mechanism. At first, with the support from multi-source information fusion of GIS vector data, RS data, GPS data, etc., an air and land united information expression pattern is designed aiming at specific navigation task of emergency rescue in the earthquake. And then, the characteristics and specifications of the united expression of air and land navigation information under the constraints of map load are summarized and transferred into expression rules in the rule bank. At last, the related navigation experiment is implemented to evaluate the effect of the expression pattern. The experiment selects evaluation factors of the navigation task accomplishment time and the navigation error rate as the main index, and make comparisons with the traditional single information expression pattern. To sum up, the research improved the theory of navigation electronic map and laid a certain foundation for the design and realization of united navigation system in the aspect of real-time navigation information delivery.

Keywords: navigation electronic map, united navigation, multi-element expression pattern, multi-source information fusion

Procedia PDF Downloads 103
231 Optical Flow Localisation and Appearance Mapping (OFLAAM) for Long-Term Navigation

Authors: Daniel Pastor, Hyo-Sang Shin


This paper presents a novel method to use optical flow navigation for long-term navigation. Unlike standard SLAM approaches for augmented reality, OFLAAM is designed for Micro Air Vehicles (MAV). It uses an optical flow camera pointing downwards, an IMU and a monocular camera pointing frontwards. That configuration avoids the expensive mapping and tracking of the 3D features. It only maps these features in a vocabulary list by a localization module to tackle the loss of the navigation estimation. That module, based on the well-established algorithm DBoW2, will be also used to close the loop and allow long-term navigation in confined areas. That combination of high-speed optical flow navigation with a low rate localization algorithm allows fully autonomous navigation for MAV, at the same time it reduces the overall computational load. This framework is implemented in ROS (Robot Operating System) and tested attached to a laptop. A representative scenarios is used to analyse the performance of the system.

Keywords: vision, UAV, navigation, SLAM

Procedia PDF Downloads 496
230 Development of Modular Shortest Path Navigation System

Authors: Nalinee Sophatsathit


This paper presents a variation of navigation systems which tallies every node along the shortest path from start to destination nodes. The underlying technique rests on the well-established Dijkstra Algorithm. The ultimate goal is to serve as a user navigation guide that furnishes stop over cost of every node along this shortest path, whereby users can decide whether or not to visit any specific nodes. The output is an implementable module that can be further refined to run on the Internet and smartphone technology. This will benefit large organizations having physical installations spreaded over wide area such as hospitals, universities, etc. The savings on service personnel, let alone lost time and unproductive work, are attributive to innovative navigation system management.

Keywords: navigation systems, shortest path, smartphone technology, user navigation guide

Procedia PDF Downloads 231
229 A Short-Baseline Dual-Antenna BDS/MEMS-IMU Integrated Navigation System

Authors: Tijing Cai, Qimeng Xu, Daijin Zhou


This paper puts forward a short-baseline dual-antenna BDS/MEMS-IMU integrated navigation, constructs the carrier phase double difference model of BDS (BeiDou Navigation Satellite System), and presents a 2-position initial orientation method on BDS. The Extended Kalman-filter has been introduced for the integrated navigation system. The differences between MEMS-IMU and BDS position, velocity and carrier phase indications are used as measurements. To show the performance of the short-baseline dual-antenna BDS/MEMS-IMU integrated navigation system, the experiment results show that the position error is less than 1m, the pitch angle error and roll angle error are less than 0.1°, and the heading angle error is about 1°.

Keywords: MEMS-IMU (Micro-Electro-Mechanical System Inertial Measurement Unit), BDS (BeiDou Navigation Satellite System), dual-antenna, integrated navigation

Procedia PDF Downloads 75
228 Effects of Structure on Density-Induced Flow in Coastal and Estuarine Navigation Channel

Authors: Shuo Huang, Huomiao Guo, Wenrui Huang


In navigation channels located in coasts and estuaries as the waterways connecting coastal water to ports or harbors, density-induced flow often exist due to the density-gradient or gravity gradient as the results of mixing between fresh water from coastal rivers and saline water in the coasts. The density-induced flow often carries sediment transport into navigation channels and causes sediment depositions in the channels. As a result, expensive dredging may need to maintain the water depth required for navigation. In our study, we conduct a series of experiments to investigate the characteristics of density-induced flow in the estuarine navigation channels under different density gradients. Empirical equations between density flow and salinity gradient were derived. Effects of coastal structures for regulating navigation channel on density-induced flow have also been investigated. Results will be very helpful for improving the understanding of the characteristics of density-induced flow in estuarine navigation channels. The results will also provide technical support for cost-effective waterway regulation and management to maintain coastal and estuarine navigation channels.

Keywords: density flow, estuarine, navigation channel, structure

Procedia PDF Downloads 38
227 Performance Analysis of Geophysical Database Referenced Navigation: The Combination of Gravity Gradient and Terrain Using Extended Kalman Filter

Authors: Jisun Lee, Jay Hyoun Kwon


As an alternative way to compensate the INS (inertial navigation system) error in non-GNSS (Global Navigation Satellite System) environment, geophysical database referenced navigation is being studied. In this study, both gravity gradient and terrain data were combined to complement the weakness of sole geophysical data as well as to improve the stability of the positioning. The main process to compensate the INS error using geophysical database was constructed on the basis of the EKF (Extended Kalman Filter). In detail, two type of combination method, centralized and decentralized filter, were applied to check the pros and cons of its algorithm and to find more robust results. The performance of each navigation algorithm was evaluated based on the simulation by supposing that the aircraft flies with precise geophysical DB and sensors above nine different trajectories. Especially, the results were compared to the ones from sole geophysical database referenced navigation to check the improvement due to a combination of the heterogeneous geophysical database. It was found that the overall navigation performance was improved, but not all trajectories generated better navigation result by the combination of gravity gradient with terrain data. Also, it was found that the centralized filter generally showed more stable results. It is because that the way to allocate the weight for the decentralized filter could not be optimized due to the local inconsistency of geophysical data. In the future, switching of geophysical data or combining different navigation algorithm are necessary to obtain more robust navigation results.

Keywords: Extended Kalman Filter, geophysical database referenced navigation, gravity gradient, terrain

Procedia PDF Downloads 245
226 Tactile Cues and Spatial Navigation in Mice

Authors: Rubaiyea Uddin


The hippocampus, located in the limbic system, is most commonly known for its role in memory and spatial navigation (as cited in Brain Reward and Pathways). It maintains an especially important role in specifically episodic and declarative memory. The hippocampus has also recently been linked to dopamine, the reward pathway’s primary neurotransmitter. Since research has found that dopamine also contributes to memory consolidation and hippocampal plasticity, this neurotransmitter is potentially responsible for contributing to the hippocampus’s role in memory formation. In this experiment we tested to see the effect of tactile cues on spatial navigation for eight different mice. We used a radial arm that had one designated 'reward' arm containing sucrose. The presence or absence of bedding was our tactile cue. We attempted to see if the memory of that cue would enhance the mice’s memory of having received the reward in that arm. The results from our study showed there was no significant response from the use of tactile cues on spatial navigation on our 129 mice. Tactile cues therefore do not influence spatial navigation.

Keywords: mice, radial arm maze, memory, spatial navigation, tactile cues, hippocampus, reward, sensory skills, Alzheimer’s, neurodegnerative disease

Procedia PDF Downloads 524
225 Relative Navigation with Laser-Based Intermittent Measurement for Formation Flying Satellites

Authors: Jongwoo Lee, Dae-Eun Kang, Sang-Young Park


This study presents a precise relative navigational method for satellites flying in formation using laser-based intermittent measurement data. The measurement data for the relative navigation between two satellites consist of a relative distance measured by a laser instrument and relative attitude angles measured by attitude determination. The relative navigation solutions are estimated by both the Extended Kalman filter (EKF) and unscented Kalman filter (UKF). The solutions estimated by the EKF may become inaccurate or even diverge as measurement outage time gets longer because the EKF utilizes a linearization approach. However, this study shows that the UKF with the appropriate scaling parameters provides a stable and accurate relative navigation solutions despite the long measurement outage time and large initial error as compared to the relative navigation solutions of the EKF. Various navigation results have been analyzed by adjusting the scaling parameters of the UKF.

Keywords: satellite relative navigation, laser-based measurement, intermittent measurement, unscented Kalman filter

Procedia PDF Downloads 271
224 Users’ Preferences for Map Navigation Gestures

Authors: Y. Y. Pang, N. A. Ismail


The map is a powerful and convenient tool in helping us to navigate to different places, but the use of indirect devices often makes its usage cumbersome. This study intends to propose a new map navigation dialogue that uses hand gesture. A set of dialogue was developed from users’ perspective to provide users complete freedom for panning, zooming, rotate, and find direction operations. A participatory design experiment was involved here where one hand gesture and two hand gesture dialogues had been analysed in the forms of hand gestures to develop a set of usable dialogues. The major finding was that users prefer one-hand gesture compared to two-hand gesture in map navigation.

Keywords: hand gesture, map navigation, participatory design, intuitive interaction

Procedia PDF Downloads 171
223 Performance Evaluation of GPS/INS Main Integration Approach

Authors: Othman Maklouf, Ahmed Adwaib


This paper introduces a comparative study between the main GPS/INS coupling schemes, this will include the loosely coupled and tightly coupled configurations, several types of situations and operational conditions, in which the data fusion process is done using Kalman filtering. This will include the importance of sensors calibration as well as the alignment of the strap down inertial navigation system. The limitations of the inertial navigation systems are investigated.

Keywords: GPS, INS, Kalman filter, sensor calibration, navigation system

Procedia PDF Downloads 435
222 Exposure to Tactile Cues Does Not Influence Spatial Navigation in 129 S1/SvLm Mice

Authors: Rubaiyea Uddin, Rebecca Taylor, Emily Levesque


The hippocampus, located in the limbic system, is most commonly known for its role in memory and spatial navigation (as cited in Brain Reward and Pathways). It maintains an especially important role in specifically episodic and declarative memory. The hippocampus has also recently been linked to dopamine, the reward pathway’s primary neurotransmitter. Since research has found that dopamine also contributes to memory consolidation and hippocampal plasticity, this neurotransmitter is potentially responsible for contributing to the hippocampus’s role in memory formation. In this experiment we tested to see the effect of tactile cues on spatial navigation for eight different mice. We used a radial arm that had one designated “reward” arm containing sucrose. The presence or absence of bedding was our tactile cue. We attempted to see if the memory of that cue would enhance the mice’s memory of having received the reward in that arm. The results from our study showed there was no significant response from the use of tactile cues on spatial navigation on our 129 mice. Tactile cues therefore do not influence spatial navigation.

Keywords: mice, radial arm maze, memory, spatial navigation, tactile cues, hippocampus, reward, sensory skills, Alzheimer's, neuro-degenerative diseases

Procedia PDF Downloads 518
221 Genetic Algorithms Based ACPS Safety

Authors: Emine Laarouchi, Daniela Cancila, Laurent Soulier, Hakima Chaouchi


Cyber-Physical Systems as drones proved their efficiency for supporting emergency applications. For these particular applications, travel time and autonomous navigation algorithms are of paramount importance, especially when missions are performed in urban environments with high obstacle density. In this context, however, safety properties are not properly addressed. Our ambition is to optimize the system safety level under autonomous navigation systems, by preserving performance of the CPS. At this aim, we introduce genetic algorithms in the autonomous navigation process of the drone to better infer its trajectory considering the possible obstacles. We first model the wished safety requirements through a cost function and then seek to optimize it though genetics algorithms (GA). The main advantage in the use of GA is to consider different parameters together, for example, the level of battery for navigation system selection. Our tests show that the GA introduction in the autonomous navigation systems minimize the risk of safety lossless. Finally, although our simulation has been tested for autonomous drones, our approach and results could be extended for other autonomous navigation systems such as autonomous cars, robots, etc.

Keywords: safety, unmanned aerial vehicles , CPS, ACPS, drones, path planning, genetic algorithms

Procedia PDF Downloads 41
220 Digital Rehabilitation for Navigation Impairment

Authors: Milan N. A. Van Der Kuil, Anne M. A. Visser-Meily, Andrea W. M. Evers, Ineke J. M. Van Der Ham


Navigation ability is essential for autonomy and mobility in daily life. In patients with acquired brain injury, navigation impairment is frequently impaired; however, in this study, we tested the effectiveness of a serious gaming training protocol as a tool for cognitive rehabilitation to reduce navigation impairment. In total, 38 patients with acquired brain injury and subjective navigation complaints completed the experiment, with a partially blind, randomized control trial design. An objective navigation test was used to construct a strengths and weaknesses profile for each patient. Subsequently, patients received personalized compensation training that matched their strengths and weaknesses by addressing an egocentric or allocentric strategy or a strategy aimed at minimizing the use of landmarks. Participants in the experimental condition received psychoeducation and a home-based rehabilitation game with a series of exercises (e.g., map reading, place finding, and turn memorization). The exercises were developed to stimulate the adoption of more beneficial strategies, according to the compensatory approach. Self-reported navigation ability (wayfinding questionnaire), participation level, and objective navigation performance were measured before and after 1 and 4 weeks after completing the six-week training program. Results indicate that the experimental group significantly improved in subjective navigation ability both 1 and 4 weeks after completion of the training, in comparison to the score before training and the scores of the control group. Similarly, goal attainment showed a significant increase after the first and fourth week after training. Objective navigation performance was not affected by the training. This navigation training protocol provides an effective solution to address navigation impairment after acquired brain injury, with clear improvements in subjective performance and goal attainment of the participants. The outcomes of the training should be re-examined after implementation in a clinical setting.

Keywords: spatial navigation, cognitive rehabilitation, serious gaming, acquired brain injury

Procedia PDF Downloads 27
219 Integrated Navigation System Using Simplified Kalman Filter Algorithm

Authors: Othman Maklouf, Abdunnaser Tresh


GPS and inertial navigation system (INS) have complementary qualities that make them ideal use for sensor fusion. The limitations of GPS include occasional high noise content, outages when satellite signals are blocked, interference and low bandwidth. The strengths of GPS include its long-term stability and its capacity to function as a stand-alone navigation system. In contrast, INS is not subject to interference or outages, have high bandwidth and good short-term noise characteristics, but have long-term drift errors and require external information for initialization. A combined system of GPS and INS subsystems can exhibit the robustness, higher bandwidth and better noise characteristics of the inertial system with the long-term stability of GPS. The most common estimation algorithm used in integrated INS/GPS is the Kalman Filter (KF). KF is able to take advantages of these characteristics to provide a common integrated navigation implementation with performance superior to that of either subsystem (GPS or INS). This paper presents a simplified KF algorithm for land vehicle navigation application. In this integration scheme, the GPS derived positions and velocities are used as the update measurements for the INS derived PVA. The KF error state vector in this case includes the navigation parameters as well as the accelerometer and gyroscope error states.

Keywords: GPS, INS, Kalman filter, inertial navigation system

Procedia PDF Downloads 394
218 Accuracy of Autonomy Navigation of Unmanned Aircraft Systems through Imagery

Authors: Sidney A. Lima, Hermann J. H. Kux, Elcio H. Shiguemori


The Unmanned Aircraft Systems (UAS) usually navigate through the Global Navigation Satellite System (GNSS) associated with an Inertial Navigation System (INS). However, GNSS can have its accuracy degraded at any time or even turn off the signal of GNSS. In addition, there is the possibility of malicious interferences, known as jamming. Therefore, the image navigation system can solve the autonomy problem, because if the GNSS is disabled or degraded, the image navigation system would continue to provide coordinate information for the INS, allowing the autonomy of the system. This work aims to evaluate the accuracy of the positioning though photogrammetry concepts. The methodology uses orthophotos and Digital Surface Models (DSM) as a reference to represent the object space and photograph obtained during the flight to represent the image space. For the calculation of the coordinates of the perspective center and camera attitudes, it is necessary to know the coordinates of homologous points in the object space (orthophoto coordinates and DSM altitude) and image space (column and line of the photograph). So if it is possible to automatically identify in real time the homologous points the coordinates and attitudes can be calculated whit their respective accuracies. With the methodology applied in this work, it is possible to verify maximum errors in the order of 0.5 m in the positioning and 0.6º in the attitude of the camera, so the navigation through the image can reach values equal to or higher than the GNSS receivers without differential correction. Therefore, navigating through the image is a good alternative to enable autonomous navigation.

Keywords: autonomy, navigation, security, photogrammetry, remote sensing, spatial resection, UAS

Procedia PDF Downloads 81
217 Analysis of Autonomous Orbit Determination for Lagrangian Navigation Constellation with Different Dynamical Models

Authors: Gao Youtao, Zhao Tanran, Jin Bingyu, Xu Bo


Global navigation satellite system(GNSS) can deliver navigation information for spacecraft orbiting on low-Earth orbits and medium Earth orbits. However, the GNSS cannot navigate the spacecraft on high-Earth orbit or deep space probes effectively. With the deep space exploration becoming a hot spot of aerospace, the demand for a deep space satellite navigation system is becoming increasingly prominent. Many researchers discussed the feasibility and performance of a satellite navigation system on periodic orbits around the Earth-Moon libration points which can be called Lagrangian point satellite navigation system. Autonomous orbit determination (AOD) is an important performance for the Lagrangian point satellite navigation system. With this ability, the Lagrangian point satellite navigation system can reduce the dependency on ground stations. AOD also can greatly reduce total system cost and assure mission continuity. As the elliptical restricted three-body problem can describe the Earth-Moon system more accurately than the circular restricted three-body problem, we study the autonomous orbit determination of Lagrangian navigation constellation using only crosslink range based on elliptical restricted three body problem. Extended Kalman filter is used in the autonomous orbit determination. In order to compare the autonomous orbit determination results based on elliptical restricted three-body problem to the results of autonomous orbit determination based on circular restricted three-body problem, we give the autonomous orbit determination position errors of a navigation constellation include four satellites based on the circular restricted three-body problem. The simulation result shows that the Lagrangian navigation constellation can achieve long-term precise autonomous orbit determination using only crosslink range. In addition, the type of the libration point orbit will influence the autonomous orbit determination accuracy.

Keywords: extended Kalman filter, autonomous orbit determination, quasi-periodic orbit, navigation constellation

Procedia PDF Downloads 167
216 Limit-Cycles Method for the Navigation and Avoidance of Any Form of Obstacles for Mobile Robots in Cluttered Environment

Authors: F. Boufera, F. Debbat


This paper deals with an approach based on limit-cycles method for the problem of obstacle avoidance of mobile robots in unknown environments for any form of obstacles. The purpose of this approach is the improvement of limit-cycles method in order to obtain safe and flexible navigation. The proposed algorithm has been successfully tested in different configuration on simulation.

Keywords: mobile robot, navigation, avoidance of obstacles, limit-cycles method

Procedia PDF Downloads 317
215 Comparison of Extended Kalman Filter and Unscented Kalman Filter for Autonomous Orbit Determination of Lagrangian Navigation Constellation

Authors: Youtao Gao, Bingyu Jin, Tanran Zhao, Bo Xu


The history of satellite navigation can be dated back to the 1960s. From the U.S. Transit system and the Russian Tsikada system to the modern Global Positioning System (GPS) and the Globalnaya Navigatsionnaya Sputnikovaya Sistema (GLONASS), performance of satellite navigation has been greatly improved. Nowadays, the navigation accuracy and coverage of these existing systems have already fully fulfilled the requirement of near-Earth users, but these systems are still beyond the reach of deep space targets. Due to the renewed interest in space exploration, a novel high-precision satellite navigation system is becoming even more important. The increasing demand for such a deep space navigation system has contributed to the emergence of a variety of new constellation architectures, such as the Lunar Global Positioning System. Apart from a Walker constellation which is similar to the one adopted by GPS on Earth, a novel constellation architecture which consists of libration point satellites in the Earth-Moon system is also available to construct the lunar navigation system, which can be called accordingly, the libration point satellite navigation system. The concept of using Earth-Moon libration point satellites for lunar navigation was first proposed by Farquhar and then followed by many other researchers. Moreover, due to the special characteristics of Libration point orbits, an autonomous orbit determination technique, which is called ‘Liaison navigation’, can be adopted by the libration point satellites. Using only scalar satellite-to-satellite tracking data, both the orbits of the user and libration point satellites can be determined autonomously. In this way, the extensive Earth-based tracking measurement can be eliminated, and an autonomous satellite navigation system can be developed for future space exploration missions. The method of state estimate is an unnegligible factor which impacts on the orbit determination accuracy besides type of orbit, initial state accuracy and measurement accuracy. We apply the extended Kalman filter(EKF) and the unscented Kalman filter(UKF) to determinate the orbits of Lagrangian navigation satellites. The autonomous orbit determination errors are compared. The simulation results illustrate that UKF can improve the accuracy and z-axis convergence to some extent.

Keywords: extended Kalman filter, autonomous orbit determination, unscented Kalman filter, navigation constellation

Procedia PDF Downloads 204
214 Hybrid Control Mode Based on Multi-Sensor Information by Fuzzy Approach for Navigation Task of Autonomous Mobile Robot

Authors: Jonqlan Lin, C. Y. Tasi, K. H. Lin


This paper addresses the issue of the autonomous mobile robot (AMR) navigation task based on the hybrid control modes. The novel hybrid control mode, based on multi-sensors information by using the fuzzy approach, has been presented in this research. The system operates in real time, is robust, enables the robot to operate with imprecise knowledge, and takes into account the physical limitations of the environment in which the robot moves, obtaining satisfactory responses for a large number of different situations. An experiment is simulated and carried out with a pioneer mobile robot. From the experimental results, the effectiveness and usefulness of the proposed AMR obstacle avoidance and navigation scheme are confirmed. The experimental results show the feasibility, and the control system has improved the navigation accuracy. The implementation of the controller is robust, has a low execution time, and allows an easy design and tuning of the fuzzy knowledge base.

Keywords: autonomous mobile robot, obstacle avoidance, MEMS, hybrid control mode, navigation control

Procedia PDF Downloads 372
213 An Optimized Method for 3D Magnetic Navigation of Nanoparticles inside Human Arteries

Authors: Evangelos G. Karvelas, Christos Liosis, Andreas Theodorakakos, Theodoros E. Karakasidis


In the present work, a numerical method for the estimation of the appropriate gradient magnetic fields for optimum driving of the particles into the desired area inside the human body is presented. The proposed method combines Computational Fluid Dynamics (CFD), Discrete Element Method (DEM) and Covariance Matrix Adaptation (CMA) evolution strategy for the magnetic navigation of nanoparticles. It is based on an iteration procedure that intents to eliminate the deviation of the nanoparticles from a desired path. Hence, the gradient magnetic field is constantly adjusted in a suitable way so that the particles’ follow as close as possible to a desired trajectory. Using the proposed method, it is obvious that the diameter of particles is crucial parameter for an efficient navigation. In addition, increase of particles' diameter decreases their deviation from the desired path. Moreover, the navigation method can navigate nanoparticles into the desired areas with efficiency approximately 99%.

Keywords: computational fluid dynamics, CFD, covariance matrix adaptation evolution strategy, discrete element method, DEM, magnetic navigation, spherical particles

Procedia PDF Downloads 41
212 Sustainability in Maritime Transport: Impact of Cruise Ships Routing in Coastal Navigation

Authors: Josip Dorigatti, Tina Perić, Gorana Jelić Mrčelić


This paper makes a review of present researches on sustainable development, sustainable maritime transport and presents the problem of sustainability in the cruise ships industry. It deals with cruise ships' routing in coastal navigation and its impact on sustainability from environmental, economical, and social aspects. A review of researches available on maritime sustainability brings to the attention how sustainability from a maritime transport perspective is still not enough analysed and researched as it is the case in other industries. The paper emphasises how the operational part of the cruising industry, in particular cruise ships routing in coastal navigation, is not yet researched nor analysed from the aspect of sustainability. The author, based on his extensive senior officer experience in the cruising industry, makes an overview of cruise ship routing practice. Accordingly, based on present cruise industry trends, challenges are highlighted from the aspect of sustainable cruise ships routing in coastal navigation.

Keywords: sustainable development, maritime transport, cruise shipping, cruise ship routes, coastal navigation

Procedia PDF Downloads 45
211 Visual Search Based Indoor Localization in Low Light via RGB-D Camera

Authors: Yali Zheng, Peipei Luo, Shinan Chen, Jiasheng Hao, Hong Cheng


Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from databases which is built in the bag-of-word framework. Epipolar constraints can be used to relocalize the query infrared and depth image sequence. We evaluate our method in two datasets captured by Kinect2. The results demonstrate very promising re-localization results for indoor navigation system in low light environments.

Keywords: indoor navigation, low light, RGB-D camera, vision based

Procedia PDF Downloads 282
210 Virtual 3D Environments for Image-Based Navigation Algorithms

Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka


This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: simulation, visual navigation, mobile robot, data visualization

Procedia PDF Downloads 160
209 A Robust and Adaptive Unscented Kalman Filter for the Air Fine Alignment of the Strapdown Inertial Navigation System/GPS

Authors: Jian Shi, Baoguo Yu, Haonan Jia, Meng Liu, Ping Huang


Adapting to the flexibility of war, a large number of guided weapons launch from aircraft. Therefore, the inertial navigation system loaded in the weapon needs to undergo an alignment process in the air. This article proposes the following methods to the problem of inaccurate modeling of the system under large misalignment angles, the accuracy reduction of filtering caused by outliers, and the noise changes in GPS signals: first, considering the large misalignment errors of Strapdown Inertial Navigation System (SINS)/GPS, a more accurate model is made rather than to make a small-angle approximation, and the Unscented Kalman Filter (UKF) algorithms are used to estimate the state; then, taking into account the impact of GPS noise changes on the fine alignment algorithm, the innovation adaptive filtering algorithm is introduced to estimate the GPS’s noise in real-time; at the same time, in order to improve the anti-interference ability of the air fine alignment algorithm, a robust filtering algorithm based on outlier detection is combined with the air fine alignment algorithm to improve the robustness of the algorithm. The algorithm can improve the alignment accuracy and robustness under interference conditions, which is verified by simulation.

Keywords: air alignment, fine alignment, inertial navigation system, integrated navigation system, UKF

Procedia PDF Downloads 41
208 Investigation of User Position Accuracy for Stand-Alone and Hybrid Modes of the Indian Navigation with Indian Constellation Satellite System

Authors: Naveen Kumar Perumalla, Devadas Kuna, Mohammed Akhter Ali


Satellite Navigation System such as the United States Global Positioning System (GPS) plays a significant role in determining the user position. Similar to that of GPS, Indian Regional Navigation Satellite System (IRNSS) is a Satellite Navigation System indigenously developed by Indian Space Research Organization (ISRO), India, to meet the country’s navigation applications. This system is also known as Navigation with Indian Constellation (NavIC). The NavIC system’s main objective, is to offer Positioning, Navigation and Timing (PNT) services to users in its two service areas i.e., covering the Indian landmass and the Indian Ocean. Six NavIC satellites are already deployed in the space and their receivers are in the performance evaluation stage. Four NavIC dual frequency receivers are installed in the ‘Advanced GNSS Research Laboratory’ (AGRL) in the Department of Electronics and Communication Engineering, University College of Engineering, Osmania University, India. The NavIC receivers can be operated in two positioning modes: Stand-alone IRNSS and Hybrid (IRNSS+GPS) modes. In this paper, analysis of various parameters such as Dilution of Precision (DoP), three Dimension (3D) Root Mean Square (RMS) Position Error and Horizontal Position Error with respect to Visibility of Satellites is being carried out using the real-time IRNSS data, obtained by operating the receiver in both positioning modes. Two typical days (6th July 2017 and 7th July 2017) are considered for Hyderabad (Latitude-17°24'28.07’N, Longitude-78°31'4.26’E) station are analyzed. It is found that with respect to the considered parameters, the Hybrid mode operation of NavIC receiver is giving better results than that of the standalone positioning mode. This work finds application in development of NavIC receivers for civilian navigation applications.

Keywords: DoP, GPS, IRNSS, GNSS, position error, satellite visibility

Procedia PDF Downloads 76
207 Testing the Impact of Landmarks on Navigation through the Use of Mobile-Based Games

Authors: Demet Yesiltepe, Ruth Dalton, Ayse Ozbil


The aim of this paper is to understand the effect of landmarks on spatial navigation. For this study, a mobile-based virtual game, 'Sea Hero Quest' (SHQ), was used. At the beginning of the game, participants were asked to look at maps which included the specific locations of players and checkpoints. After the map disappeared, participants were asked to navigate a boat and find the checkpoints in a pre-given order. By analyzing this data, we aim to better understand an important component of cities, namely landmarks, on spatial navigation. Game levels were analyzed spatially and axial-based integration, choice and connectivity values of levels were calculated to make comparisons. To make this kind of a comparison, we focused on levels which include both local and global landmarks and levels which include only local landmarks. The most significant contribution of this study to urban design and planning fields is that it provides mounting evidence about the utility of landmarks and their roles in cities due to the fact that the game was played more than 2.5 million people. Moreover, by using these results, it can be possible to encourage cities with more global and local landmarks to have more identifiable/readable areas.

Keywords: landmarks, mobile-based games, spatial navigation, virtual environment

Procedia PDF Downloads 258
206 Comparative Study between Inertial Navigation System and GPS in Flight Management System Application

Authors: Othman Maklouf, Matouk Elamari, M. Rgeai, Fateh Alej


In modern avionics the main fundamental component is the flight management system (FMS). An FMS is a specialized computer system that automates a wide variety of in-flight tasks, reducing the workload on the flight crew to the point that modern civilian aircraft no longer carry flight engineers or navigators. The main function of the FMS is in-flight management of the flight plan using various sensors such as Global Positioning System (GPS) and Inertial Navigation System (INS) to determine the aircraft's position and guide the aircraft along the flight plan. GPS which is satellite based navigation system, and INS which generally consists of inertial sensors (accelerometers and gyroscopes). GPS is used to locate positions anywhere on earth, it consists of satellites, control stations, and receivers. GPS receivers take information transmitted from the satellites and uses triangulation to calculate a user’s exact location. The basic principle of an INS is based on the integration of accelerations observed by the accelerometers on board the moving platform, the system will accomplish this task through appropriate processing of the data obtained from the specific force and angular velocity measurements. Thus, an appropriately initialized inertial navigation system is capable of continuous determination of vehicle position, velocity and attitude without the use of the external information. The main objective of article is to introduce a comparative study between the two systems under different conditions and scenarios using MATLAB with SIMULINK software.

Keywords: flight management system, GPS, IMU, inertial navigation system

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205 Methodological Resolutions for Definition Problems in Turkish Navigation Terminology

Authors: Ayşe Yurdakul, Eckehard Schnieder


Nowadays, there are multilingual and multidisciplinary communication problems because of the increasing technical progress. Each technical field has its own specific terminology and in each particular language, there are differences in relation to definitions of terms. Besides, there could be several translations in the certain target language for one term of the source language. First of all, these problems of semantic relations between terms include the synonymy, antonymy, hypernymy/hyponymy, ambiguity, risk of confusion and translation problems. Therefore, the iglos terminology management system of the Institute for Traffic Safety and Automation Engineering of the Technische Universität Braunschweig has the goal to avoid these problems by a methodological standardisation of term definitions on the basis of the iglos sign model and iglos relation types. The focus of this paper should be on standardisation of navigation terminology as an example.

Keywords: iglos, localisation, methodological approaches, navigation, positioning, definition problems, terminology

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204 Automatic Landmark Selection Based on Feature Clustering for Visual Autonomous Unmanned Aerial Vehicle Navigation

Authors: Paulo Fernando Silva Filho, Elcio Hideiti Shiguemori


The selection of specific landmarks for an Unmanned Aerial Vehicles’ Visual Navigation systems based on Automatic Landmark Recognition has significant influence on the precision of the system’s estimated position. At the same time, manual selection of the landmarks does not guarantee a high recognition rate, which would also result on a poor precision. This work aims to develop an automatic landmark selection that will take the image of the flight area and identify the best landmarks to be recognized by the Visual Navigation Landmark Recognition System. The criterion to select a landmark is based on features detected by ORB or AKAZE and edges information on each possible landmark. Results have shown that disposition of possible landmarks is quite different from the human perception.

Keywords: clustering, edges, feature points, landmark selection, X-means

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