Download or read book Cooperative Terrain relative Navigation written by Adam Tadeusz Wiktor and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis introduces a new method to improve localization performance for teams of vehicles navigating cooperatively. When fusing measurements between multiple vehicles, the structure of the cooperative navigation network inherently introduces correlation between them, causing many traditional filter architectures to overconverge and become inconsistent. The algorithm presented in this thesis addresses this correlation and properly fuses measurements, allowing improved performance over other existing methods while still guaranteeing consistency. When restricted to linear, Gaussian systems, the covariance recovers 99% of the performance of an ideal centralized filter in some tests. Additionally, a proof is presented to guarantee that the algorithm is consistent under standard Kalman filter assumptions. The algorithm is also extended to apply to nonlinear systems, losing the guarantees of consistency (as with all Kalman filters) but achieving good performance in practice. This allowed the method to be tested in a laboratory experiment with real-world sensors. Finally, this thesis further extends the algorithm to apply to non-parametric particle filters, allowing for full cooperative Terrain-Relative Navigation (TRN) with multi-modal position estimates. This is demonstrated in simulation, where cooperative TRN is shown to provide a 63% reduction in localization error over standard single-vehicle TRN for one example mission, reducing the average error from 23.7m to 8.7m for a vehicle over flat terrain. The cooperative TRN algorithm is also demonstrated using field data from a team of Long-Range Autonomous Underwater Vehicles in Monterey Bay. In offline testing, the cooperative TRN method was able to correctly find the position of a vehicle when its own individual TRN filter was unable to converge. This demonstrates that the cooperative TRN algorithm is effective with real-world robotic systems, increasing localization accuracy and enabling new missions involving navigation in flat, unmapped, or changed terrain.

Download or read book Terrain Relative Navigation for Sensor limited Systems with Application to Underwater Vehicles written by Deborah Kathleen Meduna and published by Stanford University. This book was released on 2011 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: Terrain Relative Navigation (TRN) provides bounded-error localization relative to an environment by matching range measurements of local terrain against an a priori map. The environment-relative and onboard sensing characteristics of TRN make it a powerful tool for return-to-site missions in GPS-denied environments, with potential applications ranging from underwater and space robotic exploration to pedestrian indoor navigation. For many of these applications, available sensors may be limited by mission power/weight constraints, cost restrictions, and environmental effects (e.g. inability to use a magnetic compass in space). Such limitations not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ TRN. Consequently, despite numerous advances in TRN technology over the past several decades, the application of TRN has been restricted to systems with highly accurate and information-rich sensor systems. In addition, a limited understanding of the effects of map quality and sensor quality on TRN performance has overly restricted the types of missions for which TRN has been considered a viable navigation solution. This thesis develops two new capabilities for TRN methods, resulting in significantly increased TRN applicability. First, a tightly-coupled filtering framework is developed which enables the successful use of TRN on vehicles with both low-accuracy navigation sensors and simple, low-information range sensors. This new filtering framework has similarities to tightly-coupled integration methods for GPS-aided navigation systems. Second, a set of analysis and design tools based on the Posterior Cramer-Rao Lower Bound are developed which allow for reliable TRN performance predictions as a function of both sensor and map quality. These analyses include the development of a new terrain map error model based on the variogram which allows for performance prediction as a function of map resolution. These developed capabilities are validated through field demonstrations on Autonomous Underwater Vehicles (AUVs) operated out of the Monterey Bay Aquarium Research Institute (MBARI), where available sensing has been limited primarily by cost. These trials include a real-time, closed-loop demonstration of the developed tightly-coupled TRN framework, enabling 5m accuracy return-to-site on a sensor-limited AUV where traditional TRN methods failed to provide better than 150m accuracy. The results further demonstrate the accurate prediction capability of the developed performance bounds on fielded systems, verifying their utility as design and planning tools for future TRN missions.

Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.

Download or read book Robust Adaptive Terrain relative Navigation written by Shandor Dektor and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Terrain-Relative Navigation (TRN) is an emerging technique for localization in natural environments. TRN augments a dead-reckoned solution with position fixes based on correlations with pre-stored maps. TRN is a particularly valuable tool for enabling missions for robots in regions without GPS, a category that includes the underwater environment as well as missions on other bodies in the solar system. The algorithms underlying TRN, however, have known issues with overconfidence in uninformative (e.g. flat) terrain. Overconfident estimates, also known as false peaks, are a significant problem as they can result in dangerous trajectories and mission failure. Making TRN robust to uninformative terrain is the focus of the work presented in this thesis. The interplay between map error, terrain correlation, and TRN filter overconfidence is the first focus of this thesis. TRN correlation techniques are shown to include, either implicitly or explicitly, a probabilistic model of terrain correlation, and that the most common method of TRN weighting implicitly models the terrain as uncorrelated. The degree of auto-correlation present in the terrain is related to the amount of variation in the terrain: greater variation in terrain height corresponds to lower correlation in the terrain and vice-versa. The uncorrelated terrain assumption is then demonstrated to be a source of false peaks. In informative terrain, where the variation in the terrain is large with respect to error in the map, the standard calculation produces reasonable results: peaks at the correct location. In uninformative terrain, when the variation in the terrain is small with respect to map error, standard correlation breaks down and is shown to produce overconfidence in the filter. Techniques are then developed for mitigating false peaks in uninformative terrain. The first technique developed in this thesis focuses on explicitly accounting for terrain correlation by using correlated Gaussian terrain models; while these methods have success in simulation, the computational cost of explicitly modeling terrain correlation makes them impractical for field applications. An alternate approach, exponentially down-weighting the standard weighting to account for the impact of the uncorrelated terrain assumption, is then proposed as a computationally tractable means of accounting for unmodeled terrain correlation. The exponential down-weighting technique is termed the adaptive TRN filter. It follows on work from the statistics community designed to improve the robustness of probabilities computed using incorrect models, and achieves this robustness by matching a bound on the likelihood of false peaks. The ``robust adjusted likelihood'' approach is adapted to the TRN likelihood function and used to develop the relation between terrain correlation and the necessary degree of down-weighting. The adaptive technique is further developed for field work using real-time TRN filters. The adaptive TRN filter is validated using two platforms: an Autonomous Underwater Vehicle (AUV) and an ATRV-Jr ground rover. The AUV TRN filter is developed for an AUV correlating with range measurements of the terrain. The ground rover filter is developed for operations on the Moon or Mars, where direct measurements of altitude are unavailable, and the TRN filter must therefore correlate on gradient. As most maps are elevation based and must be differentiated to produce a gradient map, the map noise is increased and makes accounting for map error critical in this case. The effectiveness of the adaptive TRN filter is demonstrated using field data from MBARI AUV runs over flat terrain in Monterey Bay, and on ATRV-Jr field data taken at the Stanford campus. Both cases demonstrate meter-level performance when operating in informative terrain, and effective mitigation of false convergence over uninformative terrain when compared to filter performance using the unadjusted weighting.

Download or read book Vision based Terrain Relative Navigation for Planetary Landing written by Graeme Sutterlin and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ose estimation is an integral part of any navigation pipeline. Its goal is to estimate the location and orientation of a 6 degree-of-freedom sensor in a 3D scene. A crucial stage in this process is identifying the correspondence between the data obtained from a sensor and the 3D world model, after which algorithms like PnP are used to construct the camera posture depending on the correspondence. This research work aims to determine pose (orientation and translation) of a camera sensor based on the finding the correspondence between features in a image and a 3D points in the terrain frame using nonlinear optimization techniques. The 2D to 3D correspondence problem is reduced to a 2D to 2D correspondence problem (feature matching and tracking) by rapidly rendering a perspective projection of the available 3D point cloud. The use of Gazebo as a physics simulator to produce an exact lighting environment and simulate the descent of a camera-equipped spacecraft on a parabolic approach to the Rheasilvia crater is discussed in detail. The challenges posed by sensor limitations and camera noise are also evaluated in this work. It is shown that the nonlinear least-squares is able to accurately estimate the pose up to machine precision in the case without any noise, and up to a reasonable tolerance in the presence of noise. Monte-Carlo simulations are performed to validate these results.

Download or read book Cooperative Intelligent Robotics in Space written by and published by . This book was released on 1992 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Terrain Relative Navigation Using Bathymetric Slope Profile with a Rao Blackwellized Particle Filter for Long Range AUVs written by Richard G. Kollanda and published by . This book was released on 2012 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Intelligent Robotics in Space II written by William E. Stoney and published by . This book was released on 1992 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Sensing and Control for Autonomous Vehicles written by Thor I. Fossen and published by Springer. This book was released on 2017-05-26 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

Download or read book Proceedings of the 44th Annual American Astronautical Society Guidance Navigation and Control Conference 2022 written by Matt Sandnas and published by Springer Nature. This book was released on 2024 with total page 1810 pages. Available in PDF, EPUB and Kindle. Book excerpt: Zusammenfassung: This conference attracts GN&C specialists from across the globe. The 2022 Conference was the 44th Annual GN&C conference with more than 230 attendees from six different countries with 44 companies and 28 universities represented. The conference presented more than 100 presentations and 16 posters across 18 topics. This year, the planning committee wanted to continue a focus on networking and collaboration hoping to inspire innovation through the intersection of diverse ideas. These proceedings present the relevant topics of the day while keeping our more popular and well-attended sessions as cornerstones from year to year. Several new topics including "Autonomous Control of Multiple Vehicles" and "Results and Experiences from OSIRIS-REx" were directly influenced by advancements in our industry. In the end, the 44th Annual GN&C conference became a timely reflection of the current state of the GN&C ins the space industry. The annual American Astronautical Society Rocky Mountain Guidance, Navigation and Control (GN&C) Conference began 1977 as an informal exchange of ideas and reports of achievements among guidance and control specialists local to the Colorado area. Bud Gates, Don Parsons, and Bob Culp organized the first conference, and began the annual series of meetings the following winter. In March 1978, the First Annual Rocky Mountain Guidance and Control Conference met at Keystone, Colorado. It met there for eighteen years, moving to Breckenridge in 1996 where it has been for over 25 years

Download or read book Cooperative Guidance Control of Missiles Autonomous Formation written by Sentang Wu and published by Springer. This book was released on 2018-07-03 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book primarily illustrates the rationale, design and technical realization/verification for the cooperative guidance and control systems (CGCSs) of missile autonomous formation (MAF). From the seven functions to the five major compositions of CGCS, the book systematically explains the theory and modeling, analysis, synthesis and design of CGCSs for MAF, including bionics-based theories. Further, the book addresses how to create corresponding digital simulation analysis systems, as well as hardware in the loop (HIL) simulation test systems and flight test systems, to evaluate the combat effectiveness of MAF. Lastly, it provides detailed information on digital simulation analysis for a large range of wind tunnel test data, as well as test results of HIL system simulations and embedded systems testing.

Download or read book Cooperative Control of Distributed Multi Agent Systems written by Jeff Shamma and published by John Wiley & Sons. This book was released on 2008-02-28 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Download or read book NASA Space Technology Roadmaps and Priorities written by National Research Council and published by National Academies Press. This book was released on 2012-06-07 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: NASA's Office of the Chief Technologist (OCT) has begun to rebuild the advanced space technology program in the agency with plans laid out in 14 draft technology roadmaps. It has been years since NASA has had a vigorous, broad-based program in advanced space technology development and its technology base has been largely depleted. However, success in executing future NASA space missions will depend on advanced technology developments that should already be underway. Reaching out to involve the external technical community, the National Research Council (NRC) considered the 14 draft technology roadmaps prepared by OCT and ranked the top technical challenges and highest priority technologies that NASA should emphasize in the next 5 years. This report provides specific guidance and recommendations on how the effectiveness of the technology development program managed by OCT can be enhanced in the face of scarce resources.

Download or read book Advances in Guidance Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

Download or read book Principles of GNSS Inertial and Multisensor Integrated Navigation Systems Second Edition written by Paul D. Groves and published by Artech House. This book was released on 2013-04-01 with total page 800 pages. Available in PDF, EPUB and Kindle. Book excerpt: This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies .. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning.

Download or read book Drone Technology written by Sachi Nandan Mohanty and published by John Wiley & Sons. This book was released on 2023-06-20 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: DRONE TECHNOLOGY This book provides a holistic and valuable insight into the revolutionary world of unmanned aerial vehicles (UAV). The book elucidates the revolutionary and riveting research in the ultramodern domain of drone technologies, drone-enabled IoT applications, and artificial intelligence-based smart surveillance. The book explains the most recent developments in the field, challenges, and future scope of drone technologies. Beyond that, it discusses the importance of a wide range of design applications, drone/UAV development, and drone-enabled smart healthcare systems for smart cities. It describes pioneering work on mitigating cyber security threats by employing intelligent machine learning models in the designing of IoT-aided drones. The book also has a fascinating chapter on application intrusion detection by drones using recurrent neural networks. Other chapters address interdisciplinary fields like artificial intelligence, deep learning, the role of drones in healthcare in smart cities, and the importance of drone technology in agriculture. Audience The book will be read and consulted by a range of industry engineers involved with introducing drone technology to their daily operations.

Download or read book Recent Developments in Cooperative Control and Optimization written by Sergiy Butenko and published by Springer Science & Business Media. This book was released on 2004 with total page 484 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the past several years, cooperative control and optimization has un questionably been established as one of the most important areas of research in the military sciences. Even so, cooperative control and optimization tran scends the military in its scope -having become quite relevant to a broad class of systems with many exciting, commercial, applications. One reason for all the excitement is that research has been so incredibly diverse -spanning many scientific and engineering disciplines. This latest volume in the Cooperative Systems book series clearly illustrates this trend towards diversity and creative thought. And no wonder, cooperative systems are among the hardest systems control science has endeavored to study, hence creative approaches to model ing, analysis, and synthesis are a must! The definition of cooperation itself is a slippery issue. As you will see in this and previous volumes, cooperation has been cast into many different roles and therefore has assumed many diverse meanings. Perhaps the most we can say which unites these disparate concepts is that cooperation (1) requires more than one entity, (2) the entities must have some dynamic behavior that influences the decision space, (3) the entities share at least one common objective, and (4) entities are able to share information about themselves and their environment. Optimization and control have long been active fields of research in engi neering.