Sample records for accuracy precision navigation

  1. Accuracy Analysis of Precise Point Positioning of Compass Navigation System Applied to Crustal Motion Monitoring

    NASA Astrophysics Data System (ADS)

    Wang, Yuebing

    2017-04-01

    Based on the observation data of Compass/GPSobserved at five stations, time span from July 1, 2014 to June 30, 2016. UsingPPP positioning model of the PANDA software developed by Wuhan University,Analyzedthe positioning accuracy of single system and Compass/GPS integrated resolving, and discussed the capability of Compass navigation system in crustal motion monitoring. The results showed that the positioning accuracy in the east-west directionof the Compass navigation system is lower than the north-south direction (the positioning accuracy de 3 times RMS), in general, the positioning accuracyin the horizontal direction is about 1 2cm and the vertical direction is about 5 6cm. The GPS positioning accuracy in the horizontal direction is better than 1cm and the vertical direction is about 1 2cm. The accuracy of Compass/GPS integrated resolving is quite to GPS. It is worth mentioning that although Compass navigation system precision point positioning accuracy is lower than GPS, two sets of velocity fields obtained by using the Nikolaidis (2002) model to analyze the Compass and GPS time series results respectively, the results showed that the maximum difference of the two sets of velocity field in horizontal directions is 1.8mm/a. The Compass navigation system can now be used to monitor the crustal movement of the large deformation area, based on the velocity field in horizontal direction.

  2. Optimetrics for Precise Navigation

    NASA Technical Reports Server (NTRS)

    Yang, Guangning; Heckler, Gregory; Gramling, Cheryl

    2017-01-01

    Optimetrics for Precise Navigation will be implemented on existing optical communication links. The ranging and Doppler measurements are conducted over communication data frame and clock. The measurement accuracy is two orders of magnitude better than TDRSS. It also has other advantages of: The high optical carrier frequency enables: (1) Immunity from ionosphere and interplanetary Plasma noise floor, which is a performance limitation for RF tracking; and (2) High antenna gain reduces terminal size and volume, enables high precision tracking in Cubesat, and in deep space smallsat. High Optical Pointing Precision provides: (a) spacecraft orientation, (b) Minimal additional hardware to implement Precise Optimetrics over optical comm link; and (c) Continuous optical carrier phase measurement will enable the system presented here to accept future optical frequency standard with much higher clock accuracy.

  3. Accuracy and Precision of a Surgical Navigation System: Effect of Camera and Patient Tracker Position and Number of Active Markers

    PubMed Central

    Gundle, Kenneth R.; White, Jedediah K.; Conrad, Ernest U.; Ching, Randal P.

    2017-01-01

    Introduction: Surgical navigation systems are increasingly used to aid resection and reconstruction of osseous malignancies. In the process of implementing image-based surgical navigation systems, there are numerous opportunities for error that may impact surgical outcome. This study aimed to examine modifiable sources of error in an idealized scenario, when using a bidirectional infrared surgical navigation system. Materials and Methods: Accuracy and precision were assessed using a computerized-numerical-controlled (CNC) machined grid with known distances between indentations while varying: 1) the distance from the grid to the navigation camera (range 150 to 247cm), 2) the distance from the grid to the patient tracker device (range 20 to 40cm), and 3) whether the minimum or maximum number of bidirectional infrared markers were actively functioning. For each scenario, distances between grid points were measured at 10-mm increments between 10 and 120mm, with twelve measurements made at each distance. The accuracy outcome was the root mean square (RMS) error between the navigation system distance and the actual grid distance. To assess precision, four indentations were recorded six times for each scenario while also varying the angle of the navigation system pointer. The outcome for precision testing was the standard deviation of the distance between each measured point to the mean three-dimensional coordinate of the six points for each cluster. Results: Univariate and multiple linear regression revealed that as the distance from the navigation camera to the grid increased, the RMS error increased (p<0.001). The RMS error also increased when not all infrared markers were actively tracking (p=0.03), and as the measured distance increased (p<0.001). In a multivariate model, these factors accounted for 58% of the overall variance in the RMS error. Standard deviations in repeated measures also increased when not all infrared markers were active (p<0.001), and as the

  4. Accuracy and Precision of a Surgical Navigation System: Effect of Camera and Patient Tracker Position and Number of Active Markers.

    PubMed

    Gundle, Kenneth R; White, Jedediah K; Conrad, Ernest U; Ching, Randal P

    2017-01-01

    Surgical navigation systems are increasingly used to aid resection and reconstruction of osseous malignancies. In the process of implementing image-based surgical navigation systems, there are numerous opportunities for error that may impact surgical outcome. This study aimed to examine modifiable sources of error in an idealized scenario, when using a bidirectional infrared surgical navigation system. Accuracy and precision were assessed using a computerized-numerical-controlled (CNC) machined grid with known distances between indentations while varying: 1) the distance from the grid to the navigation camera (range 150 to 247cm), 2) the distance from the grid to the patient tracker device (range 20 to 40cm), and 3) whether the minimum or maximum number of bidirectional infrared markers were actively functioning. For each scenario, distances between grid points were measured at 10-mm increments between 10 and 120mm, with twelve measurements made at each distance. The accuracy outcome was the root mean square (RMS) error between the navigation system distance and the actual grid distance. To assess precision, four indentations were recorded six times for each scenario while also varying the angle of the navigation system pointer. The outcome for precision testing was the standard deviation of the distance between each measured point to the mean three-dimensional coordinate of the six points for each cluster. Univariate and multiple linear regression revealed that as the distance from the navigation camera to the grid increased, the RMS error increased (p<0.001). The RMS error also increased when not all infrared markers were actively tracking (p=0.03), and as the measured distance increased (p<0.001). In a multivariate model, these factors accounted for 58% of the overall variance in the RMS error. Standard deviations in repeated measures also increased when not all infrared markers were active (p<0.001), and as the distance between navigation camera and physical

  5. Positioning accuracy in a registration-free CT-based navigation system

    NASA Astrophysics Data System (ADS)

    Brandenberger, D.; Birkfellner, W.; Baumann, B.; Messmer, P.; Huegli, R. W.; Regazzoni, P.; Jacob, A. L.

    2007-12-01

    In order to maintain overall navigation accuracy established by a calibration procedure in our CT-based registration-free navigation system, the CT scanner has to repeatedly generate identical volume images of a target at the same coordinates. We tested the positioning accuracy of the prototype of an advanced workplace for image-guided surgery (AWIGS) which features an operating table capable of direct patient transfer into a CT scanner. Volume images (N = 154) of a specialized phantom were analysed for translational shifting after various table translations. Variables included added weight and phantom position on the table. The navigation system's calibration accuracy was determined (bias 2.1 mm, precision ± 0.7 mm, N = 12). In repeated use, a bias of 3.0 mm and a precision of ± 0.9 mm (N = 10) were maintainable. Instances of translational image shifting were related to the table-to-CT scanner docking mechanism. A distance scaling error when altering the table's height was detected. Initial prototype problems visible in our study causing systematic errors were resolved by repeated system calibrations between interventions. We conclude that the accuracy achieved is sufficient for a wide range of clinical applications in surgery and interventional radiology.

  6. A Dynamic Precision Evaluation Method for the Star Sensor in the Stellar-Inertial Navigation System.

    PubMed

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang

    2017-06-28

    Integrating the advantages of INS (inertial navigation system) and the star sensor, the stellar-inertial navigation system has been used for a wide variety of applications. The star sensor is a high-precision attitude measurement instrument; therefore, determining how to validate its accuracy is critical in guaranteeing its practical precision. The dynamic precision evaluation of the star sensor is more difficult than a static precision evaluation because of dynamic reference values and other impacts. This paper proposes a dynamic precision verification method of star sensor with the aid of inertial navigation device to realize real-time attitude accuracy measurement. Based on the gold-standard reference generated by the star simulator, the altitude and azimuth angle errors of the star sensor are calculated for evaluation criteria. With the goal of diminishing the impacts of factors such as the sensors' drift and devices, the innovative aspect of this method is to employ static accuracy for comparison. If the dynamic results are as good as the static results, which have accuracy comparable to the single star sensor's precision, the practical precision of the star sensor is sufficiently high to meet the requirements of the system specification. The experiments demonstrate the feasibility and effectiveness of the proposed method.

  7. Compensation of Horizontal Gravity Disturbances for High Precision Inertial Navigation

    PubMed Central

    Cao, Juliang; Wu, Meiping; Lian, Junxiang; Cai, Shaokun; Wang, Lin

    2018-01-01

    Horizontal gravity disturbances are an important factor that affects the accuracy of inertial navigation systems in long-duration ship navigation. In this paper, from the perspective of the coordinate system and vector calculation, the effects of horizontal gravity disturbance on the initial alignment and navigation calculation are simultaneously analyzed. Horizontal gravity disturbances cause the navigation coordinate frame built in initial alignment to not be consistent with the navigation coordinate frame in which the navigation calculation is implemented. The mismatching of coordinate frame violates the vector calculation law, which will have an adverse effect on the precision of the inertial navigation system. To address this issue, two compensation methods suitable for two different navigation coordinate frames are proposed, one of the methods implements the compensation in velocity calculation, and the other does the compensation in attitude calculation. Finally, simulations and ship navigation experiments confirm the effectiveness of the proposed methods. PMID:29562653

  8. Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation.

    PubMed

    Wang, Hubiao; Wu, Lin; Chai, Hua; Xiao, Yaofei; Hsu, Houtse; Wang, Yong

    2017-08-10

    The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°-145° E, 0°-40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China's Western Pacific area is ~1.0-4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy.

  9. Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

    PubMed Central

    Wang, Hubiao; Chai, Hua; Xiao, Yaofei; Hsu, Houtse; Wang, Yong

    2017-01-01

    The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°–145° E, 0°–40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China’s Western Pacific area is ~1.0–4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy. PMID:28796158

  10. Navigation for space shuttle approach and landing using an inertial navigation system augmented by data from a precision ranging system or a microwave scan beam landing guidance system

    NASA Technical Reports Server (NTRS)

    Mcgee, L. A.; Smith, G. L.; Hegarty, D. M.; Merrick, R. B.; Carson, T. M.; Schmidt, S. F.

    1970-01-01

    A preliminary study has been made of the navigation performance which might be achieved for the high cross-range space shuttle orbiter during final approach and landing by using an optimally augmented inertial navigation system. Computed navigation accuracies are presented for an on-board inertial navigation system augmented (by means of an optimal filter algorithm) with data from two different ground navigation aids; a precision ranging system and a microwave scanning beam landing guidance system. These results show that augmentation with either type of ground navigation aid is capable of providing a navigation performance at touchdown which should be adequate for the space shuttle. In addition, adequate navigation performance for space shuttle landing is obtainable from the precision ranging system even with a complete dropout of precision range measurements as much as 100 seconds before touchdown.

  11. Precision Time Protocol-Based Trilateration for Planetary Navigation

    NASA Technical Reports Server (NTRS)

    Murdock, Ron

    2015-01-01

    Progeny Systems Corporation has developed a high-fidelity, field-scalable, non-Global Positioning System (GPS) navigation system that offers precision localization over communications channels. The system is bidirectional, providing position information to both base and mobile units. It is the first-ever wireless use of the Institute of Electrical and Electronics Engineers (IEEE) Precision Time Protocol (PTP) in a bidirectional trilateration navigation system. The innovation provides a precise and reliable navigation capability to support traverse-path planning systems and other mapping applications, and it establishes a core infrastructure for long-term lunar and planetary occupation. Mature technologies are integrated to provide navigation capability and to support data and voice communications on the same network. On Earth, the innovation is particularly well suited for use in unmanned aerial vehicles (UAVs), as it offers a non-GPS precision navigation and location service for use in GPS-denied environments. Its bidirectional capability provides real-time location data to the UAV operator and to the UAV. This approach optimizes assisted GPS techniques and can be used to determine the presence of GPS degradation, spoofing, or jamming.

  12. Accuracy of neuro-navigated cranial screw placement using optical surface imaging (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Jakubovic, Raphael; Gupta, Shuarya; Guha, Daipayan; Mainprize, Todd; Yang, Victor X. D.

    2017-02-01

    Cranial neurosurgical procedures are especially delicate considering that the surgeon must localize the subsurface anatomy with limited exposure and without the ability to see beyond the surface of the surgical field. Surgical accuracy is imperative as even minor surgical errors can cause major neurological deficits. Traditionally surgical precision was highly dependent on surgical skill. However, the introduction of intraoperative surgical navigation has shifted the paradigm to become the current standard of care for cranial neurosurgery. Intra-operative image guided navigation systems are currently used to allow the surgeon to visualize the three-dimensional subsurface anatomy using pre-acquired computed tomography (CT) or magnetic resonance (MR) images. The patient anatomy is fused to the pre-acquired images using various registration techniques and surgical tools are typically localized using optical tracking methods. Although these techniques positively impact complication rates, surgical accuracy is limited by the accuracy of the navigation system and as such quantification of surgical error is required. While many different measures of registration accuracy have been presented true navigation accuracy can only be quantified post-operatively by comparing a ground truth landmark to the intra-operative visualization. In this study we quantified the accuracy of cranial neurosurgical procedures using a novel optical surface imaging navigation system to visualize the three-dimensional anatomy of the surface anatomy. A tracked probe was placed on the screws of cranial fixation plates during surgery and the reported position of the centre of the screw was compared to the co-ordinates of the post-operative CT or MR images, thus quantifying cranial neurosurgical error.

  13. Integration of a synthetic vision system with airborne laser range scanner-based terrain referenced navigation for precision approach guidance

    NASA Astrophysics Data System (ADS)

    Uijt de Haag, Maarten; Campbell, Jacob; van Graas, Frank

    2005-05-01

    Synthetic Vision Systems (SVS) provide pilots with a virtual visual depiction of the external environment. When using SVS for aircraft precision approach guidance systems accurate positioning relative to the runway with a high level of integrity is required. Precision approach guidance systems in use today require ground-based electronic navigation components with at least one installation at each airport, and in many cases multiple installations to service approaches to all qualifying runways. A terrain-referenced approach guidance system is envisioned to provide precision guidance to an aircraft without the use of ground-based electronic navigation components installed at the airport. This autonomy makes it a good candidate for integration with an SVS. At the Ohio University Avionics Engineering Center (AEC), work has been underway in the development of such a terrain referenced navigation system. When used in conjunction with an Inertial Measurement Unit (IMU) and a high accuracy/resolution terrain database, this terrain referenced navigation system can provide navigation and guidance information to the pilot on a SVS or conventional instruments. The terrain referenced navigation system, under development at AEC, operates on similar principles as other terrain navigation systems: a ground sensing sensor (in this case an airborne laser scanner) gathers range measurements to the terrain; this data is then matched in some fashion with an onboard terrain database to find the most likely position solution and used to update an inertial sensor-based navigator. AEC's system design differs from today's common terrain navigators in its use of a high resolution terrain database (~1 meter post spacing) in conjunction with an airborne laser scanner which is capable of providing tens of thousands independent terrain elevation measurements per second with centimeter-level accuracies. When combined with data from an inertial navigator the high resolution terrain database and

  14. Preliminary navigation accuracy analysis for the TDRSS Onboard Navigation System (TONS) experiment on EP/EUVE

    NASA Technical Reports Server (NTRS)

    Gramling, C. J.; Long, A. C.; Lee, T.; Ottenstein, N. A.; Samii, M. V.

    1991-01-01

    A Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) is currently being developed by NASA to provide a high accuracy autonomous navigation capability for users of TDRSS and its successor, the Advanced TDRSS (ATDRSS). The fully autonomous user onboard navigation system will support orbit determination, time determination, and frequency determination, based on observation of a continuously available, unscheduled navigation beacon signal. A TONS experiment will be performed in conjunction with the Explorer Platform (EP) Extreme Ultraviolet Explorer (EUVE) mission to flight quality TONS Block 1. An overview is presented of TONS and a preliminary analysis of the navigation accuracy anticipated for the TONS experiment. Descriptions of the TONS experiment and the associated navigation objectives, as well as a description of the onboard navigation algorithms, are provided. The accuracy of the selected algorithms is evaluated based on the processing of realistic simulated TDRSS one way forward link Doppler measurements. The analysis process is discussed and the associated navigation accuracy results are presented.

  15. Small Body Landing Accuracy Using In-Situ Navigation

    NASA Technical Reports Server (NTRS)

    Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

    2011-01-01

    Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

  16. Application of high-precision two-way ranging to Galileo Earth-1 encounter navigation

    NASA Technical Reports Server (NTRS)

    Pollmeier, V. M.; Thurman, S. W.

    1992-01-01

    The application of precision two-way ranging to orbit determination with relatively short data arcs is investigated for the Galileo spacecraft's approach to its first Earth encounter (December 8, 1990). Analysis of previous S-band (2.3-GHz) ranging data acquired from Galileo indicated that under good signal conditions submeter precision and 10-m ranging accuracy were achieved. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. A range data filtering technique, in which explicit modeling of range measurement bias parameters for each station pass is utilized, is shown to largely remove the systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle-finding capabilities of the data. The accuracy of the Galileo orbit solutions obtained with S-band Doppler and precision ranging were found to be consistent with simple theoretical calculations, which predicted that angular accuracies of 0.26-0.34 microrad were achievable. In addition, the navigation accuracy achieved with precision ranging was marginally better than that obtained using delta-differenced one-way range (delta DOR), the principal data type that was previously used to obtain spacecraft angular position measurements operationally.

  17. Spinal intra-operative three-dimensional navigation with infra-red tool tracking: correlation between clinical and absolute engineering accuracy

    NASA Astrophysics Data System (ADS)

    Guha, Daipayan; Jakubovic, Raphael; Gupta, Shaurya; Yang, Victor X. D.

    2017-02-01

    Computer-assisted navigation (CAN) may guide spinal surgeries, reliably reducing screw breach rates. Definitions of screw breach, if reported, vary widely across studies. Absolute quantitative error is theoretically a more precise and generalizable metric of navigation accuracy, but has been computed variably and reported in fewer than 25% of clinical studies of CAN-guided pedicle screw accuracy. We reviewed a prospectively-collected series of 209 pedicle screws placed with CAN guidance to characterize the correlation between clinical pedicle screw accuracy, based on postoperative imaging, and absolute quantitative navigation accuracy. We found that acceptable screw accuracy was achieved for significantly fewer screws based on 2mm grade vs. Heary grade, particularly in the lumbar spine. Inter-rater agreement was good for the Heary classification and moderate for the 2mm grade, significantly greater among radiologists than surgeon raters. Mean absolute translational/angular accuracies were 1.75mm/3.13° and 1.20mm/3.64° in the axial and sagittal planes, respectively. There was no correlation between clinical and absolute navigation accuracy, in part because surgeons appear to compensate for perceived translational navigation error by adjusting screw medialization angle. Future studies of navigation accuracy should therefore report absolute translational and angular errors. Clinical screw grades based on post-operative imaging, if reported, may be more reliable if performed in multiple by radiologist raters.

  18. Hybrid Transverse Polar Navigation for High-Precision and Long-Term INSs.

    PubMed

    Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Zhang, Rong; Hu, Peida; Li, Haixia

    2018-05-12

    Transverse navigation has been proposed to help inertial navigation systems (INSs) fill the gap of polar navigation ability. However, as the transverse system does not have the ability of navigate globally, a complicated switch between the transverse and the traditional algorithms is necessary when the system moves across the polar circles. To maintain the inner continuity and consistency of the core algorithm, a hybrid transverse polar navigation is proposed in this research based on a combination of Earth-fixed-frame mechanization and transverse-frame outputs. Furthermore, a thorough analysis of kinematic error characteristics, proper damping technology and corresponding long-term contributions of main error sources is conducted for the high-precision INSs. According to the analytical expressions of the long-term navigation errors in polar areas, the 24-h period symmetrical oscillation with a slowly divergent amplitude dominates the transverse horizontal position errors, and the first-order drift dominates the transverse azimuth error, which results from the gyro drift coefficients that occur in corresponding directions. Simulations are conducted to validate the theoretical analysis and the deduced analytical expressions. The results show that the proposed hybrid transverse navigation can ensure the same accuracy and oscillation characteristics in polar areas as the traditional algorithm in low and mid latitude regions.

  19. Hybrid Transverse Polar Navigation for High-Precision and Long-Term INSs

    PubMed Central

    Wu, Qiuping; Zhang, Rong; Hu, Peida; Li, Haixia

    2018-01-01

    Transverse navigation has been proposed to help inertial navigation systems (INSs) fill the gap of polar navigation ability. However, as the transverse system does not have the ability of navigate globally, a complicated switch between the transverse and the traditional algorithms is necessary when the system moves across the polar circles. To maintain the inner continuity and consistency of the core algorithm, a hybrid transverse polar navigation is proposed in this research based on a combination of Earth-fixed-frame mechanization and transverse-frame outputs. Furthermore, a thorough analysis of kinematic error characteristics, proper damping technology and corresponding long-term contributions of main error sources is conducted for the high-precision INSs. According to the analytical expressions of the long-term navigation errors in polar areas, the 24-h period symmetrical oscillation with a slowly divergent amplitude dominates the transverse horizontal position errors, and the first-order drift dominates the transverse azimuth error, which results from the g0 gyro drift coefficients that occur in corresponding directions. Simulations are conducted to validate the theoretical analysis and the deduced analytical expressions. The results show that the proposed hybrid transverse navigation can ensure the same accuracy and oscillation characteristics in polar areas as the traditional algorithm in low and mid latitude regions. PMID:29757242

  20. Navigation Accuracy Guidelines for Orbital Formation Flying

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Alfriend, Kyle T.

    2004-01-01

    Some simple guidelines based on the accuracy in determining a satellite formation s semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver time, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member s semi-major axes are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or conversely what navigation accuracy is required to limit drift to a given rate. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

  1. Tightly coupled integration of ionosphere-constrained precise point positioning and inertial navigation systems.

    PubMed

    Gao, Zhouzheng; Zhang, Hongping; Ge, Maorong; Niu, Xiaoji; Shen, Wenbin; Wickert, Jens; Schuh, Harald

    2015-03-10

    The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.

  2. Tightly Coupled Integration of Ionosphere-Constrained Precise Point Positioning and Inertial Navigation Systems

    PubMed Central

    Gao, Zhouzheng; Zhang, Hongping; Ge, Maorong; Niu, Xiaoji; Shen, Wenbin; Wickert, Jens; Schuh, Harald

    2015-01-01

    The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS. PMID:25763647

  3. Autonomous precision landing using terrain-following navigation

    NASA Technical Reports Server (NTRS)

    Vaughan, R. M.; Gaskell, R. W.; Halamek, P.; Klumpp, A. R.; Synnott, S. P.

    1991-01-01

    Terrain-following navigation studies that have been done over the past two years in the navigation system section at JPL are described. A descent to Mars scenario based on Mars Rover and Sample Return mission profiles is described, and navigation and image processing issues pertaining to descent phases where landmark picture can be obtained are examined. A covariance analysis is performed to verify that landmark measurements from a terrain-following navigation system can satisfy precision landing requirements. Image processing problems involving known landmarks in actual pictures are considered. Mission design alternatives that can alleviate some of these problems are suggested.

  4. Accuracy Performance Evaluation of Beidou Navigation Satellite System

    NASA Astrophysics Data System (ADS)

    Wang, W.; Hu, Y. N.

    2017-03-01

    Accuracy is one of the key elements of the regional Beidou Navigation Satellite System (BDS) performance standard. In this paper, we review the definition specification and evaluation standard of the BDS accuracy. Current accuracy of the regional BDS is analyzed through the ground measurements and compared with GPS in terms of dilution of precision (DOP), signal-in-space user range error (SIS URE), and positioning accuracy. The Positioning DOP (PDOP) map of BDS around Chinese mainland is compared with that of GPS. The GPS PDOP is between 1.0-2.0 and does not vary with the user latitude and longitude, while the BDS PDOP varies between 1.5-5.0, and increases as the user latitude increases, and as the user longitude apart from 118°. The accuracies of the broadcast orbits of BDS are assessed by taking the precise orbits from International GNSS Service (IGS) as the reference, and by making satellite laser ranging (SLR) residuals. The radial errors of the BDS inclined geosynchronous orbit (IGSO) and medium orbit (MEO) satellites broadcast orbits are at the 0.5m level, which are larger than those of GPS satellites at the 0.2m level. The SLR residuals of geosynchronous orbit (GEO) satellites are 65.0cm, which are larger than those of IGSO, and MEO satellites, at the 50.0cm level. The accuracy of broadcast clock offset parameters of BDS is computed by taking the clock measurements of Two-way Satellite Radio Time Frequency Transfer as the reference. Affected by the age of broadcast clock parameters, the error of the broadcast clock offset parameters of the MEO satellites is the largest, at the 0.80m level. Finally, measurements of the multi-GNSS (MGEX) receivers are used for positioning accuracy assessment of BDS and GPS. It is concluded that the positioning accuracy of regional BDS is better than 10m at the horizontal component and the vertical component. The combined positioning accuracy of both systems is better than one specific system.

  5. Navigation Accuracy Guidelines for Orbital Formation Flying Missions

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Alfriend, Kyle T.

    2003-01-01

    Some simple guidelines based on the accuracy in determining a satellite formation's semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver we, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member s semi-major axes are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or conversely what navigation accuracy is required to limit drift to a given rate. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

  6. Comparison of Precision between Optical and Electromagnetic Navigation Systems in Total Knee Arthroplasty

    PubMed Central

    Rhee, Seung Joon; Park, Shi Hwan; Cho, He Myung

    2014-01-01

    Purpose The purpose of this study is to compare and analyze the precision of optical and electromagnetic navigation systems in total knee arthroplasty (TKA). Materials and Methods We retrospectively reviewed 60 patients who underwent TKA using an optical navigation system and 60 patients who underwent TKA using an electromagnetic navigation system from June 2010 to March 2012. The mechanical axis that was measured on preoperative radiographs and by the intraoperative navigation systems were compared between the groups. The postoperative positions of the femoral and tibial components in the sagittal and coronal plane were assessed. Results The difference of the mechanical axis measured on the preoperative radiograph and by the intraoperative navigation systems was 0.6 degrees more varus in the electromagnetic navigation system group than in the optical navigation system group, but showed no statistically significant difference between the two groups (p>0.05). The positions of the femoral and tibial components in the sagittal and coronal planes on the postoperative radiographs also showed no statistically significant difference between the two groups (p>0.05). Conclusions In TKA, both optical and electromagnetic navigation systems showed high accuracy and reproducibility, and the measurements from the postoperative radiographs showed no significant difference between the two groups. PMID:25505703

  7. Precise point positioning with the BeiDou navigation satellite system.

    PubMed

    Li, Min; Qu, Lizhong; Zhao, Qile; Guo, Jing; Su, Xing; Li, Xiaotao

    2014-01-08

    By the end of 2012, China had launched 16 BeiDou-2 navigation satellites that include six GEOs, five IGSOs and five MEOs. This has provided initial navigation and precise pointing services ability in the Asia-Pacific regions. In order to assess the navigation and positioning performance of the BeiDou-2 system, Wuhan University has built up a network of BeiDou Experimental Tracking Stations (BETS) around the World. The Position and Navigation Data Analyst (PANDA) software was modified to determine the orbits of BeiDou satellites and provide precise orbit and satellite clock bias products from the BeiDou satellite system for user applications. This article uses the BeiDou/GPS observations of the BeiDou Experimental Tracking Stations to realize the BeiDou and BeiDou/GPS static and kinematic precise point positioning (PPP). The result indicates that the precision of BeiDou static and kinematic PPP reaches centimeter level. The precision of BeiDou/GPS kinematic PPP solutions is improved significantly compared to that of BeiDou-only or GPS-only kinematic PPP solutions. The PPP convergence time also decreases with the use of combined BeiDou/GPS systems.

  8. Precise Point Positioning with the BeiDou Navigation Satellite System

    PubMed Central

    Li, Min; Qu, Lizhong; Zhao, Qile; Guo, Jing; Su, Xing; Li, Xiaotao

    2014-01-01

    By the end of 2012, China had launched 16 BeiDou-2 navigation satellites that include six GEOs, five IGSOs and five MEOs. This has provided initial navigation and precise pointing services ability in the Asia-Pacific regions. In order to assess the navigation and positioning performance of the BeiDou-2 system, Wuhan University has built up a network of BeiDou Experimental Tracking Stations (BETS) around the World. The Position and Navigation Data Analyst (PANDA) software was modified to determine the orbits of BeiDou satellites and provide precise orbit and satellite clock bias products from the BeiDou satellite system for user applications. This article uses the BeiDou/GPS observations of the BeiDou Experimental Tracking Stations to realize the BeiDou and BeiDou/GPS static and kinematic precise point positioning (PPP). The result indicates that the precision of BeiDou static and kinematic PPP reaches centimeter level. The precision of BeiDou/GPS kinematic PPP solutions is improved significantly compared to that of BeiDou-only or GPS-only kinematic PPP solutions. The PPP convergence time also decreases with the use of combined BeiDou/GPS systems. PMID:24406856

  9. Flight Test Performance of a High Precision Navigation Doppler Lidar

    NASA Technical Reports Server (NTRS)

    Pierrottet, Diego; Amzajerdian, Farzin; Petway, Larry; Barnes, Bruce; Lockard, George

    2009-01-01

    A navigation Doppler Lidar (DL) was developed at NASA Langley Research Center (LaRC) for high precision velocity measurements from a lunar or planetary landing vehicle in support of the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. A unique feature of this DL is that it has the capability to provide a precision velocity vector which can be easily separated into horizontal and vertical velocity components and high accuracy line of sight (LOS) range measurements. This dual mode of operation can provide useful information, such as vehicle orientation relative to the direction of travel, and vehicle attitude relative to the sensor footprint on the ground. System performance was evaluated in a series of helicopter flight tests over the California desert. This paper provides a description of the DL system and presents results obtained from these flight tests.

  10. Precise positioning with current multi-constellation Global Navigation Satellite Systems: GPS, GLONASS, Galileo and BeiDou.

    PubMed

    Li, Xingxing; Zhang, Xiaohong; Ren, Xiaodong; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

    2015-02-09

    The world of satellite navigation is undergoing dramatic changes with the rapid development of multi-constellation Global Navigation Satellite Systems (GNSSs). At the moment more than 70 satellites are already in view, and about 120 satellites will be available once all four systems (BeiDou + Galileo + GLONASS + GPS) are fully deployed in the next few years. This will bring great opportunities and challenges for both scientific and engineering applications. In this paper we develop a four-system positioning model to make full use of all available observations from different GNSSs. The significant improvement of satellite visibility, spatial geometry, dilution of precision, convergence, accuracy, continuity and reliability that a combining utilization of multi-GNSS brings to precise positioning are carefully analyzed and evaluated, especially in constrained environments.

  11. Gravity compensation in a Strapdown Inertial Navigation System to improve the attitude accuracy

    NASA Astrophysics Data System (ADS)

    Zhu, Jing; Wang, Jun; Wang, Xingshu; Yang, Shuai

    2017-10-01

    Attitude errors in a strapdown inertial navigation system due to gravity disturbances and system noises can be relatively large, although they are bound within the Schuler and the Earth rotation period. The principal objective of the investigation is to determine to what extent accurate gravity data can improve the attitude accuracy. The way the gravity disturbances affect the attitude were analyzed and compared with system noises by the analytic solution and simulation. The gravity disturbances affect the attitude accuracy by introducing the initial attitude error and the equivalent accelerometer bias. With the development of the high precision inertial devices and the application of the rotation modulation technology, the gravity disturbance cannot be neglected anymore. The gravity compensation was performed using the EGM2008 and simulations with and without accurate gravity compensation under varying navigation conditions were carried out. The results show that the gravity compensation improves the horizontal components of attitude accuracy evidently while the yaw angle is badly affected by the uncompensated gyro bias in vertical channel.

  12. Precise positioning with current multi-constellation Global Navigation Satellite Systems: GPS, GLONASS, Galileo and BeiDou

    PubMed Central

    Li, Xingxing; Zhang, Xiaohong; Ren, Xiaodong; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

    2015-01-01

    The world of satellite navigation is undergoing dramatic changes with the rapid development of multi-constellation Global Navigation Satellite Systems (GNSSs). At the moment more than 70 satellites are already in view, and about 120 satellites will be available once all four systems (BeiDou + Galileo + GLONASS + GPS) are fully deployed in the next few years. This will bring great opportunities and challenges for both scientific and engineering applications. In this paper we develop a four-system positioning model to make full use of all available observations from different GNSSs. The significant improvement of satellite visibility, spatial geometry, dilution of precision, convergence, accuracy, continuity and reliability that a combining utilization of multi-GNSS brings to precise positioning are carefully analyzed and evaluated, especially in constrained environments. PMID:25659949

  13. Optimization design about gimbal structure of high-precision autonomous celestial navigation tracking mirror system

    NASA Astrophysics Data System (ADS)

    Huang, Wei; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Zhang, Jing; Xie, Mei-lin; Yue, Peng

    2016-01-01

    High precision tracking platform of celestial navigation with control mirror servo structure form, to solve the disadvantages of big volume and rotational inertia, slow response speed, and so on. It improved the stability and tracking accuracy of platform. Due to optical sensor and mirror are installed on the middle-gimbal, stiffness and resonant frequency requirement for high. Based on the application of finite element modality analysis theory, doing Research on dynamic characteristics of the middle-gimbal, and ANSYS was used for the finite element dynamic emulator analysis. According to the result of the computer to find out the weak links of the structure, and Put forward improvement suggestions and reanalysis. The lowest resonant frequency of optimization middle-gimbal avoid the bandwidth of the platform servo mechanism, and much higher than the disturbance frequency of carrier aircraft, and reduces mechanical resonance of the framework. Reaching provides a theoretical basis for the whole machine structure optimization design of high-precision of autonomous Celestial navigation tracking mirror system.

  14. Modeling and Assessment of Precise Time Transfer by Using BeiDou Navigation Satellite System Triple-Frequency Signals.

    PubMed

    Tu, Rui; Zhang, Pengfei; Zhang, Rui; Liu, Jinhai; Lu, Xiaochun

    2018-03-29

    This study proposes two models for precise time transfer using the BeiDou Navigation Satellite System triple-frequency signals: ionosphere-free (IF) combined precise point positioning (PPP) model with two dual-frequency combinations (IF-PPP1) and ionosphere-free combined PPP model with a single triple-frequency combination (IF-PPP2). A dataset with a short baseline (with a common external time frequency) and a long baseline are used for performance assessments. The results show that IF-PPP1 and IF-PPP2 models can both be used for precise time transfer using BeiDou Navigation Satellite System (BDS) triple-frequency signals, and the accuracy and stability of time transfer is the same in both cases, except for a constant system bias caused by the hardware delay of different frequencies, which can be removed by the parameter estimation and prediction with long time datasets or by a priori calibration.

  15. Modeling and Assessment of Precise Time Transfer by Using BeiDou Navigation Satellite System Triple-Frequency Signals

    PubMed Central

    Zhang, Pengfei; Zhang, Rui; Liu, Jinhai; Lu, Xiaochun

    2018-01-01

    This study proposes two models for precise time transfer using the BeiDou Navigation Satellite System triple-frequency signals: ionosphere-free (IF) combined precise point positioning (PPP) model with two dual-frequency combinations (IF-PPP1) and ionosphere-free combined PPP model with a single triple-frequency combination (IF-PPP2). A dataset with a short baseline (with a common external time frequency) and a long baseline are used for performance assessments. The results show that IF-PPP1 and IF-PPP2 models can both be used for precise time transfer using BeiDou Navigation Satellite System (BDS) triple-frequency signals, and the accuracy and stability of time transfer is the same in both cases, except for a constant system bias caused by the hardware delay of different frequencies, which can be removed by the parameter estimation and prediction with long time datasets or by a priori calibration. PMID:29596330

  16. Navigation Doppler lidar sensor for precision altitude and vector velocity measurements: flight test results

    NASA Astrophysics Data System (ADS)

    Pierrottet, Diego; Amzajerdian, Farzin; Petway, Larry; Barnes, Bruce; Lockard, George; Hines, Glenn

    2011-06-01

    An all fiber Navigation Doppler Lidar (NDL) system is under development at NASA Langley Research Center (LaRC) for precision descent and landing applications on planetary bodies. The sensor produces high-resolution line of sight range, altitude above ground, ground relative attitude, and high precision velocity vector measurements. Previous helicopter flight test results demonstrated the NDL measurement concepts, including measurement precision, accuracies, and operational range. This paper discusses the results obtained from a recent campaign to test the improved sensor hardware, and various signal processing algorithms applicable to real-time processing. The NDL was mounted in an instrumentation pod aboard an Erickson Air-Crane helicopter and flown over various terrains. The sensor was one of several sensors tested in this field test by NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project.

  17. Navigation Doppler Lidar Sensor for Precision Altitude and Vector Velocity Measurements Flight Test Results

    NASA Technical Reports Server (NTRS)

    Pierrottet, Diego F.; Lockhard, George; Amzajerdian, Farzin; Petway, Larry B.; Barnes, Bruce; Hines, Glenn D.

    2011-01-01

    An all fiber Navigation Doppler Lidar (NDL) system is under development at NASA Langley Research Center (LaRC) for precision descent and landing applications on planetary bodies. The sensor produces high resolution line of sight range, altitude above ground, ground relative attitude, and high precision velocity vector measurements. Previous helicopter flight test results demonstrated the NDL measurement concepts, including measurement precision, accuracies, and operational range. This paper discusses the results obtained from a recent campaign to test the improved sensor hardware, and various signal processing algorithms applicable to real-time processing. The NDL was mounted in an instrumentation pod aboard an Erickson Air-Crane helicopter and flown over vegetation free terrain. The sensor was one of several sensors tested in this field test by NASA?s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project.

  18. Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

    NASA Technical Reports Server (NTRS)

    Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

    2017-01-01

    An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

  19. Accuracy and Precision of a Veterinary Neuronavigation System for Radiation Oncology Positioning

    PubMed Central

    Ballegeer, Elizabeth A.; Frey, Stephen; Sieffert, Rob

    2018-01-01

    Conformal radiation treatment plans such as IMRT and other radiosurgery techniques require very precise patient positioning, typically within a millimeter of error for best results. CT cone beam, real-time navigation, and infrared position sensors are potential options for success but rarely present in veterinary radiation centers. A neuronavigation system (Brainsight Vet, Rogue Research) was tested 22 times on a skull for positioning accuracy and precision analysis. The first 6 manipulations allowed the authors to become familiar with the system but were still included in the analyses. Overall, the targeting mean error in 3D was 1.437 mm with SD 1.242 mm. This system could be used for positioning for radiation therapy or radiosurgery. PMID:29666822

  20. High accuracy autonomous navigation using the global positioning system (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

    1997-01-01

    The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

  1. Application of high precision two-way S-band ranging to the navigation of the Galileo Earth encounters

    NASA Technical Reports Server (NTRS)

    Pollmeier, Vincent M.; Kallemeyn, Pieter H.; Thurman, Sam W.

    1993-01-01

    The application of high-accuracy S/S-band (2.1 GHz uplink/2.3 GHz downlink) ranging to orbit determination with relatively short data arcs is investigated for the approach phase of each of the Galileo spacecraft's two Earth encounters (8 December 1990 and 8 December 1992). Analysis of S-band ranging data from Galileo indicated that under favorable signal levels, meter-level precision was attainable. It is shown that ranginging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. Explicit modeling of ranging bias parameters for each station pass is used to largely remove systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle finding capabilities of the data. The accuracy achieved using the precision range filtering strategy proved markedly better when compared to post-flyby reconstructions than did solutions utilizing a traditional Doppler/range filter strategy. In addition, the navigation accuracy achieved with precision ranging was comparable to that obtained using delta-Differenced One-Way Range, an interferometric measurement of spacecraft angular position relative to a natural radio source, which was also used operationally.

  2. Coherent Doppler Lidar for Precision Navigation of Spacecrafts

    NASA Technical Reports Server (NTRS)

    Amzajerdian, Farzin; Pierrottet, Diego; Petway, Larry; Hines, Glenn; Lockhard, George; Barnes, Bruce

    2011-01-01

    A fiber-based coherent Doppler lidar, utilizing an FMCW technique, has been developed and its capabilities demonstrated through two successful helicopter flight test campaigns. This Doppler lidar is expected to play a critical role in future planetary exploration missions because of its ability in providing the necessary data for soft landing on the planetary bodies and for landing missions requiring precision navigation to the designated location on the ground. Compared with radars, the Doppler lidar can provide significantly higher precision velocity and altitude data at a much higher rate without concerns for measurement ambiguity or target clutter. Future work calls for testing the Doppler lidar onboard a rocket-powered free-flyer platform operating in a closed-loop with the vehicle s guidance, navigation, and control (GN&C) unit.

  3. Navigator Accuracy Requirements for Prospective Motion Correction

    PubMed Central

    Maclaren, Julian; Speck, Oliver; Stucht, Daniel; Schulze, Peter; Hennig, Jürgen; Zaitsev, Maxim

    2010-01-01

    Prospective motion correction in MR imaging is becoming increasingly popular to prevent the image artefacts that result from subject motion. Navigator information is used to update the position of the imaging volume before every spin excitation so that lines of acquired k-space data are consistent. Errors in the navigator information, however, result in residual errors in each k-space line. This paper presents an analysis linking noise in the tracking system to the power of the resulting image artefacts. An expression is formulated for the required navigator accuracy based on the properties of the imaged object and the desired resolution. Analytical results are compared with computer simulations and experimental data. PMID:19918892

  4. The accuracy of an electromagnetic navigation system in lateral skull base approaches.

    PubMed

    Komune, Noritaka; Matsushima, Ken; Matsuo, Satoshi; Safavi-Abbasi, Sam; Matsumoto, Nozomu; Rhoton, Albert L

    2017-02-01

    Image-guided optical tracking systems are being used with increased frequency in lateral skull base surgery. Recently, electromagnetic tracking systems have become available for use in this region. However, the clinical accuracy of the electromagnetic tracking system has not been examined in lateral skull base surgery. This study evaluates the accuracy of electromagnetic navigation in lateral skull base surgery. Cadaveric and radiographic study. Twenty cadaveric temporal bones were dissected in a surgical setting under a commercially available, electromagnetic surgical navigation system. The target registration error (TRE) was measured at 28 surgical landmarks during and after performing the standard translabyrinthine and middle cranial fossa surgical approaches to the internal acoustic canal. In addition, three demonstrative procedures that necessitate navigation with high accuracy were performed; that is, canalostomy of the superior semicircular canal from the middle cranial fossa, 1 cochleostomy from the middle cranial fossa, 2 and infralabyrinthine approach to the petrous apex. 3 RESULTS: Eleven of 17 (65%) of the targets in the translabyrinthine approach and five of 11 (45%) of the targets in the middle fossa approach could be identified in the navigation system with TRE of less than 0.5 mm. Three accuracy-dependent procedures were completed without anatomical injury of important anatomical structures. The electromagnetic navigation system had sufficient accuracy to be used in the surgical setting. It was possible to perform complex procedures in the lateral skull base under the guidance of the electromagnetically tracked navigation system. N/A. Laryngoscope, 2016 127:450-459, 2017. © 2016 The American Laryngological, Rhinological and Otological Society, Inc.

  5. Precise Orbit Determination of BeiDou Navigation Satellite System

    NASA Astrophysics Data System (ADS)

    He, Lina; Ge, Maorong; Wang, Jiexian; Wickert, Jens; Schuh, Harald

    2013-04-01

    China has been developing its own independent satellite navigation system since decades. Now the COMPASS system, also known as BeiDou, is emerging and gaining more and more interest and attention in the worldwide GNSS communities. The current regional BeiDou system is ready for its operational service around the end of 2012 with a constellation including five Geostationary Earth Orbit satellites (GEO), five Inclined Geosynchronous Orbit satellites (IGSO) and four Medium Earth orbit (MEO) satellites in operation. Besides the open service with positioning accuracy of around 10m which is free to civilian users, both precise relative positioning, and precise point positioning are demonstrated as well. In order to enhance the BeiDou precise positioning service, Precise Orbit Determination (POD) which is essential of any satellite navigation system has been investigated and studied thoroughly. To further improving the orbits of different types of satellites, we study the impact of network coverage on POD data products by comparing results from tracking networks over the Chinese territory, Asian-Pacific, Asian and of global scale. Furthermore, we concentrate on the improvement of involving MEOs on the orbit quality of GEOs and IGSOs. POD with and without MEOs are undertaken and results are analyzed. Finally, integer ambiguity resolution which brings highly improvement on orbits and positions with GPS data is also carried out and its effect on POD data products is assessed and discussed in detail. Seven weeks of BeiDou data from a ground tracking network, deployed by Wuhan University is employed in this study. The test constellation includes four GEO, five IGSO and two MEO satellites in operation. The three-day solution approach is employed to enhance its strength due to the limited coverage of the tracking network and the small movement of most of the satellites. A number of tracking scenarios and processing schemas are identified and processed and overlapping orbit

  6. Two-dimensional measures of accuracy in navigational systems

    DOT National Transportation Integrated Search

    1987-03-31

    Two-dimensional measures generally used to depict the accuracy of radiolocation and navigation systems are described in the report. Application to the NAVSTAR Global Positioning System (GPS) is considered, with a number of geometric illustrations.

  7. Interplanetary navigation

    NASA Technical Reports Server (NTRS)

    Stuart, J. R.

    1984-01-01

    The evolution of NASA's planetary navigation techniques is traced, and radiometric and optical data types are described. Doppler navigation; the Deep Space Network; differenced two-way range techniques; differential very long base interferometry; and optical navigation are treated. The Doppler system enables a spacecraft in cruise at high absolute declination to be located within a total angular uncertainty of 1/4 microrad. The two-station range measurement provides a 1 microrad backup at low declinations. Optical data locate the spacecraft relative to the target to an angular accuracy of 5 microrad. Earth-based radio navigation and its less accurate but target-relative counterpart, optical navigation, thus form complementary measurement sources, which provide a powerful sensory system to produce high-precision orbit estimates.

  8. Bullet trajectory reconstruction - Methods, accuracy and precision.

    PubMed

    Mattijssen, Erwin J A T; Kerkhoff, Wim

    2016-05-01

    Based on the spatial relation between a primary and secondary bullet defect or on the shape and dimensions of the primary bullet defect, a bullet's trajectory prior to impact can be estimated for a shooting scene reconstruction. The accuracy and precision of the estimated trajectories will vary depending on variables such as, the applied method of reconstruction, the (true) angle of incidence, the properties of the target material and the properties of the bullet upon impact. This study focused on the accuracy and precision of estimated bullet trajectories when different variants of the probing method, ellipse method, and lead-in method are applied on bullet defects resulting from shots at various angles of incidence on drywall, MDF and sheet metal. The results show that in most situations the best performance (accuracy and precision) is seen when the probing method is applied. Only for the lowest angles of incidence the performance was better when either the ellipse or lead-in method was applied. The data provided in this paper can be used to select the appropriate method(s) for reconstruction and to correct for systematic errors (accuracy) and to provide a value of the precision, by means of a confidence interval of the specific measurement. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  9. Accuracy of image-guided surgical navigation using near infrared (NIR) optical tracking

    NASA Astrophysics Data System (ADS)

    Jakubovic, Raphael; Farooq, Hamza; Alarcon, Joseph; Yang, Victor X. D.

    2015-03-01

    Spinal surgery is particularly challenging for surgeons, requiring a high level of expertise and precision without being able to see beyond the surface of the bone. Accurate insertion of pedicle screws is critical considering perforation of the pedicle can result in profound clinical consequences including spinal cord, nerve root, arterial injury, neurological deficits, chronic pain, and/or failed back syndrome. Various navigation systems have been designed to guide pedicle screw fixation. Computed tomography (CT)-based image guided navigation systems increase the accuracy of screw placement allowing for 3- dimensional visualization of the spinal anatomy. Current localization techniques require extensive preparation and introduce spatial deviations. Use of near infrared (NIR) optical tracking allows for realtime navigation of the surgery by utilizing spectral domain multiplexing of light, greatly enhancing the surgeon's situation awareness in the operating room. While the incidence of pedicle screw perforation and complications have been significantly reduced with the introduction of modern navigational technologies, some error exists. Several parameters have been suggested including fiducial localization and registration error, target registration error, and angular deviation. However, many of these techniques quantify error using the pre-operative CT and an intra-operative screenshot without assessing the true screw trajectory. In this study we quantified in-vivo error by comparing the true screw trajectory to the intra-operative trajectory. Pre- and post- operative CT as well as intra-operative screenshots were obtained for a cohort of patients undergoing spinal surgery. We quantified entry point error and angular deviation in the axial and sagittal planes.

  10. On-the-fly Locata/inertial navigation system integration for precise maritime application

    NASA Astrophysics Data System (ADS)

    Jiang, Wei; Li, Yong; Rizos, Chris

    2013-10-01

    The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance

  11. Feasibility of precise navigation in high and low latitude regions under scintillation conditions

    NASA Astrophysics Data System (ADS)

    Juan, José Miguel; Sanz, Jaume; González-Casado, Guillermo; Rovira-Garcia, Adrià; Camps, Adriano; Riba, Jaume; Barbosa, José; Blanch, Estefania; Altadill, David; Orus, Raul

    2018-02-01

    Scintillation is one of the most challenging problems in Global Navigation Satellite Systems (GNSS) navigation. This phenomenon appears when the radio signal passes through ionospheric irregularities. These irregularities represent rapid changes on the refraction index and, depending on their size, they can produce also diffractive effects affecting the signal amplitude and, eventually producing cycle slips. In this work, we show that the scintillation effects on the GNSS signal are quite different in low and high latitudes. For low latitude receivers, the main effects, from the point of view of precise navigation, are the increase of the carrier phase noise (measured by σϕ) and the fade on the signal intensity (measured by S4) that can produce cycle slips in the GNSS signal. With several examples, we show that the detection of these cycle slips is the most challenging problem for precise navigation, in such a way that, if these cycle slips are detected, precise navigation can be achieved in these regions under scintillation conditions. For high-latitude receivers the situation differs. In this region the size of the irregularities is typically larger than the Fresnel length, so the main effects are related with the fast change on the refractive index associated to the fast movement of the irregularities (which can reach velocities up to several km/s). Consequently, the main effect on the GNSS signals is a fast fluctuation of the carrier phase (large σϕ), but with a moderate fade in the amplitude (moderate S4). Therefore, as shown through several examples, fluctuations at high-latitude usually do not produce cycle slips, being the effect quite limited on the ionosphere-free combination and, in general, precise navigation can be achieved also during strong scintillation conditions.

  12. High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

    PubMed

    Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

    2017-01-01

    The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Comparison between multi-constellation ambiguity-fixed PPP and RTK for maritime precise navigation

    NASA Astrophysics Data System (ADS)

    Tegedor, Javier; Liu, Xianglin; Ørpen, Ole; Treffers, Niels; Goode, Matthew; Øvstedal, Ola

    2015-06-01

    In order to achieve high-accuracy positioning, either Real-Time Kinematic (RTK) or Precise Point Positioning (PPP) techniques can be used. While RTK normally delivers higher accuracy with shorter convergence times, PPP has been an attractive technology for maritime applications, as it delivers uniform positioning performance without the direct need of a nearby reference station. Traditional PPP has been based on ambiguity-­float solutions using GPS and Glonass constellations. However, the addition of new satellite systems, such as Galileo and BeiDou, and the possibility of fixing integer carrier-phase ambiguities (PPP-AR) allow to increase PPP accuracy. In this article, a performance assessment has been done between RTK, PPP and PPP-AR, using GNSS data collected from two antennas installed on a ferry navigating in Oslo (Norway). RTK solutions have been generated using short, medium and long baselines (up to 290 km). For the generation of PPP-AR solutions, Uncalibrated Hardware Delays (UHDs) for GPS, Galileo and BeiDou have been estimated using reference stations in Oslo and Onsala. The performance of RTK and multi-­constellation PPP and PPP-AR are presented.

  14. Experimental Study on the Precise Orbit Determination of the BeiDou Navigation Satellite System

    PubMed Central

    He, Lina; Ge, Maorong; Wang, Jiexian; Wickert, Jens; Schuh, Harald

    2013-01-01

    The regional service of the Chinese BeiDou satellite navigation system is now in operation with a constellation including five Geostationary Earth Orbit satellites (GEO), five Inclined Geosynchronous Orbit (IGSO) satellites and four Medium Earth Orbit (MEO) satellites. Besides the standard positioning service with positioning accuracy of about 10 m, both precise relative positioning and precise point positioning are already demonstrated. As is well known, precise orbit and clock determination is essential in enhancing precise positioning services. To improve the satellite orbits of the BeiDou regional system, we concentrate on the impact of the tracking geometry and the involvement of MEOs, and on the effect of integer ambiguity resolution as well. About seven weeks of data collected at the BeiDou Experimental Test Service (BETS) network is employed in this experimental study. Several tracking scenarios are defined, various processing schemata are designed and carried out; and then, the estimates are compared and analyzed in detail. The results show that GEO orbits, especially the along-track component, can be significantly improved by extending the tracking network in China along longitude direction, whereas IGSOs gain more improvement if the tracking network extends in latitude. The involvement of MEOs and ambiguity-fixing also make the orbits better. PMID:23529116

  15. Experimental study on the precise orbit determination of the BeiDou navigation satellite system.

    PubMed

    He, Lina; Ge, Maorong; Wang, Jiexian; Wickert, Jens; Schuh, Harald

    2013-03-01

    The regional service of the Chinese BeiDou satellite navigation system is now in operation with a constellation including five Geostationary Earth Orbit satellites (GEO), five Inclined Geosynchronous Orbit (IGSO) satellites and four Medium Earth Orbit (MEO) satellites. Besides the standard positioning service with positioning accuracy of about 10 m, both precise relative positioning and precise point positioning are already demonstrated. As is well known, precise orbit and clock determination is essential in enhancing precise positioning services. To improve the satellite orbits of the BeiDou regional system, we concentrate on the impact of the tracking geometry and the involvement of MEOs, and on the effect of integer ambiguity resolution as well. About seven weeks of data collected at the BeiDou Experimental Test Service (BETS) network is employed in this experimental study. Several tracking scenarios are defined, various processing schemata are designed and carried out; and then, the estimates are compared and analyzed in detail. The results show that GEO orbits, especially the along-track component, can be significantly improved by extending the tracking network in China along longitude direction, whereas IGSOs gain more improvement if the tracking network extends in latitude. The involvement of MEOs and ambiguity-fixing also make the orbits better.

  16. High accuracy GNSS based navigation in GEO

    NASA Astrophysics Data System (ADS)

    Capuano, Vincenzo; Shehaj, Endrit; Blunt, Paul; Botteron, Cyril; Farine, Pierre-André

    2017-07-01

    Although significant improvements in efficiency and performance of communication satellites have been achieved in the past decades, it is expected that the demand for new platforms in Geostationary Orbit (GEO) and for the On-Orbit Servicing (OOS) on the existing ones will continue to rise. Indeed, the GEO orbit is used for many applications including direct broadcast as well as communications. At the same time, Global Navigation Satellites System (GNSS), originally designed for land, maritime and air applications, has been successfully used as navigation system in Low Earth Orbit (LEO) and its further utilization for navigation of geosynchronous satellites becomes a viable alternative offering many advantages over present ground based methods. Following our previous studies of GNSS signal characteristics in Medium Earth Orbit (MEO), GEO and beyond, in this research we specifically investigate the processing of different GNSS signals, with the goal to determine the best navigation performance they can provide in a GEO mission. Firstly, a detailed selection among different GNSS signals and different combinations of them is discussed, taking into consideration the L1 and L5 frequency bands, and the GPS and Galileo constellations. Then, the implementation of an Orbital Filter is summarized, which adaptively fuses the GN1SS observations with an accurate orbital forces model. Finally, simulation tests of the navigation performance achievable by processing the selected combination of GNSS signals are carried out. The results obtained show an achievable positioning accuracy of less than one meter. In addition, hardware-in-the-loop tests are presented using a COTS receiver connected to our GNSS Spirent simulator, in order to collect real-time hardware-in-the-loop observations and process them by the proposed navigation module.

  17. Integration of radar altimeter, precision navigation, and digital terrain data for low-altitude flight

    NASA Technical Reports Server (NTRS)

    Zelenka, Richard E.

    1992-01-01

    Avionic systems that depend on digitized terrain elevation data for guidance generation or navigational reference require accurate absolute and relative distance measurements to the terrain, especially as they approach lower altitudes. This is particularly exacting in low-altitude helicopter missions, where aggressive terrain hugging maneuvers create minimal horizontal and vertical clearances and demand precise terrain positioning. Sole reliance on airborne precision navigation and stored terrain elevation data for above-ground-level (AGL) positioning severely limits the operational altitude of such systems. A Kalman filter is presented which blends radar altimeter returns, precision navigation, and stored terrain elevation data for AGL positioning. The filter is evaluated using low-altitude helicopter flight test data acquired over moderately rugged terrain. The proposed Kalman filter is found to remove large disparities in predicted AGL altitude (i.e., from airborne navigation and terrain elevation data) in the presence of measurement anomalies and dropouts. Previous work suggested a minimum clearance altitude of 220 ft AGL for a near-terrain guidance system; integration of a radar altimeter allows for operation of that system below 50 ft, subject to obstacle-avoidance limitations.

  18. Navigation strategy and filter design for solar electric missions

    NASA Technical Reports Server (NTRS)

    Tapley, B. D.; Hagar, H., Jr.

    1972-01-01

    Methods which have been proposed to improve the navigation accuracy for the low-thrust space vehicle include modifications to the standard Sequential- and Batch-type orbit determination procedures and the use of inertial measuring units (IMU) which measures directly the acceleration applied to the vehicle. The navigation accuracy obtained using one of the more promising modifications to the orbit determination procedures is compared with a combined IMU-Standard. The unknown accelerations are approximated as both first-order and second-order Gauss-Markov processes. The comparison is based on numerical results obtained in a study of the navigation requirements of a numerically simulated 152-day low-thrust mission to the asteroid Eros. The results obtained in the simulation indicate that the DMC algorithm will yield a significant improvement over the navigation accuracies achieved with previous estimation algorithms. In addition, the DMC algorithms will yield better navigation accuracies than the IMU-Standard Orbit Determination algorithm, except for extremely precise IMU measurements, i.e., gyroplatform alignment .01 deg and accelerometer signal-to-noise ratio .07. Unless these accuracies are achieved, the IMU navigation accuracies are generally unacceptable.

  19. A Note on "Accuracy" and "Precision"

    ERIC Educational Resources Information Center

    Stallings, William M.; Gillmore, Gerald M.

    1971-01-01

    Advocates the use of precision" rather than accuracy" in defining reliability. These terms are consistently differentiated in certain sciences. Review of psychological and measurement literature reveals, however, interchangeable usage of the terms in defining reliability. (Author/GS)

  20. [Precision of navigation-assisted surgery of the thoracic and lumbar spine].

    PubMed

    Arand, M; Schempf, M; Hebold, D; Teller, S; Kinzl, L; Gebhard, F

    2003-11-01

    The goal of these studies was to evaluate the accuracy of in vivo and in vitro application of CT- and C-arm-based navigation at the thoracic and lumbar spine. With CT based navigation, 82 pedicle screws were consecutively inserted, 53 into the thoracic and 29 into the lumbar spine. Seven (13%) perforations were detected at the thoracic spine and two (7%) at the lumbar spine. Additionally, minor perforations below the thread depth were seen in six (11%) thoracic and in two (7%) lumbar instrumentation. With C-arm-based navigation, 74 screws were consecutively placed into 38 thoracic and 36 lumbar pedicles. Perforations were noted in ten (26%) thoracic and four (11%) lumbar implants. Minor perforations were observed in another nine (24%) thoracic and ten (28%) lumbar pedicles. The observer-independent and standardized in vitro study based on a transpedicular 3.2-mm drill hole aiming a 4-mm steel ball in a plastic bone model showed pedicle perforations of the drill canal only in thoracic vertebrae, 1 of 15 in CT-based and 3 of 15 in C-arm navigation. The quantitative calculation of the smallest distance between the central line through the drill canal and the center of the steel ball resulted in 1.4 mm (0.5-4.8 mm) for the CT-based navigation at the thoracic spine and in 1.8 mm (0.5-3 mm) at the lumbar spine. For the C-arm based navigation the distance was 2.6 mm (0.9-4.8 mm) for the thoracic spine and 2 mm (1.2-3 mm) for the lumbar spine. In our opinion, the clinical results of the comparative accuracy of CT- and C-arm-based navigation in the present study showed moderate advantages of the CT-based technique in the thoracic spine, whereas CT- and C-arm based navigation had comparable perforation rates at the lumbar pedicle. The results of the experimental study correlated with the clinical data.

  1. NASA tracking ship navigation systems

    NASA Technical Reports Server (NTRS)

    Mckenna, J. J.

    1976-01-01

    The ship position and attitude measurement system that was installed aboard the tracking ship Vanguard is described. An overview of the entire system is given along with a description of how precise time and frequency is utilized. The instrumentation is broken down into its basic components. Particular emphasis is given to the inertial navigation system. Each navigation system used, a mariner star tracker, navigation satellite system, Loran C and OMEGA in conjunction with the inertial system is described. The accuracy of each system is compared along with their limitations.

  2. High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation

    PubMed Central

    Jiang, Weiping; Wang, Li; Niu, Xiaoji; Zhang, Quan; Zhang, Hui; Tang, Min; Hu, Xiangyun

    2014-01-01

    A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference. PMID:25330046

  3. Electromagnetic navigation technology for more precise electrode placement in the foramen ovale: a technical report.

    PubMed

    Van Buyten, Jean-Pierre; Smet, Iris; Van de Kelft, Erik

    2009-07-01

    Introduction. Interventional pain management techniques require precise positioning of needles or electrodes, therefore fluoroscopic control is mandatory. This imaging technique does however not visualize soft tissues such as blood vessels. Moreover, patient and physician are exposed to a considerable dose of radiation. Computed tomography (CT)-scans give a better view of soft tissues, but there use requires presence of a radiologist and has proven to be laborious and time consuming. Objectives. This study is to develop a technique using electromagnetic (EM) navigation as a guidance technique for interventional pain management, using CT and/or magnetic resonance (MRI) images uploaded on the navigation station. Methods. One of the best documented interventional procedures for the management of trigeminal neuralgia is percutaneous radiofrequency treatment of the Gasserian ganglion. EM navigation software for intracranial applications already exists. We developed a technique using a stylet with two magnetic coils suitable for EM navigation. The procedure is followed in real time on a computer screen where the patient's multislice CT-scan images and three-dimensional reconstruction of his face are uploaded. Virtual landmarks on the screen are matched with those on the patient's face, calculating the precision of the needle placement. Discussion. The experience with EM navigation acquired with the radiofrequency technique can be transferred to other interventional pain management techniques, for instance, for the placement of a neuromodulation electrode close to the Gasserian ganglion. Currently, research is ongoing to extend the software of the navigation station for spinal application, and to adapt neurostimulation hardware to the EM navigation technology. This technology will allow neuromodulation techniques to be performed without x-ray exposure for the patient and the physician, and this with the precision of CT/MR imaging guidance. © 2009 International

  4. Application of aircraft navigation sensors to enhanced vision systems

    NASA Technical Reports Server (NTRS)

    Sweet, Barbara T.

    1993-01-01

    In this presentation, the applicability of various aircraft navigation sensors to enhanced vision system design is discussed. First, the accuracy requirements of the FAA for precision landing systems are presented, followed by the current navigation systems and their characteristics. These systems include Instrument Landing System (ILS), Microwave Landing System (MLS), Inertial Navigation, Altimetry, and Global Positioning System (GPS). Finally, the use of navigation system data to improve enhanced vision systems is discussed. These applications include radar image rectification, motion compensation, and image registration.

  5. SFOL Pulse: A High Accuracy DME Pulse for Alternative Aircraft Position and Navigation.

    PubMed

    Kim, Euiho; Seo, Jiwon

    2017-09-22

    In the Federal Aviation Administration's (FAA) performance based navigation strategy announced in 2016, the FAA stated that it would retain and expand the Distance Measuring Equipment (DME) infrastructure to ensure resilient aircraft navigation capability during the event of a Global Navigation Satellite System (GNSS) outage. However, the main drawback of the DME as a GNSS back up system is that it requires a significant expansion of the current DME ground infrastructure due to its poor distance measuring accuracy over 100 m. The paper introduces a method to improve DME distance measuring accuracy by using a new DME pulse shape. The proposed pulse shape was developed by using Genetic Algorithms and is less susceptible to multipath effects so that the ranging error reduces by 36.0-77.3% when compared to the Gaussian and Smoothed Concave Polygon DME pulses, depending on noise environment.

  6. Flight evaluation of differential GPS aided inertial navigation systems

    NASA Technical Reports Server (NTRS)

    Mcnally, B. David; Paielli, Russell A.; Bach, Ralph E., Jr.; Warner, David N., Jr.

    1992-01-01

    Algorithms are described for integration of Differential Global Positioning System (DGPS) data with Inertial Navigation System (INS) data to provide an integrated DGPS/INS navigation system. The objective is to establish the benefits that can be achieved through various levels of integration of DGPS with INS for precision navigation. An eight state Kalman filter integration was implemented in real-time on a twin turbo-prop transport aircraft to evaluate system performance during terminal approach and landing operations. A fully integrated DGPS/INS system is also presented which models accelerometer and rate-gyro measurement errors plus position, velocity, and attitude errors. The fully integrated system was implemented off-line using range-domain (seventeen-state) and position domain (fifteen-state) Kalman filters. Both filter integration approaches were evaluated using data collected during the flight test. Flight-test data consisted of measurements from a 5 channel Precision Code GPS receiver, a strap-down Inertial Navigation Unit (INU), and GPS satellite differential range corrections from a ground reference station. The aircraft was laser tracked to determine its true position. Results indicate that there is no significant improvement in positioning accuracy with the higher levels of DGPS/INS integration. All three systems provided high-frequency (e.g., 20 Hz) estimates of position and velocity. The fully integrated system provided estimates of inertial sensor errors which may be used to improve INS navigation accuracy should GPS become unavailable, and improved estimates of acceleration, attitude, and body rates which can be used for guidance and control. Precision Code DGPS/INS positioning accuracy (root-mean-square) was 1.0 m cross-track and 3.0 m vertical. (This AGARDograph was sponsored by the Guidance and Control Panel.)

  7. An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition.

    PubMed

    Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

    2018-04-24

    The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

  8. Precise Point Positioning Based on BDS and GPS Observations

    NASA Astrophysics Data System (ADS)

    Gao, ZhouZheng; Zhang, Hongping; Shen, Wenbin

    2014-05-01

    BeiDou Navigation Satellite System (BDS) has obtained the ability applying initial navigation and precise point services for the Asian-Pacific regions at the end of 2012 with the constellation of 5 Geostationary Earth Orbit (GEO), 5 Inclined Geosynchronous Orbit (IGSO) and 4 Medium Earth Orbit (MEO). Till 2020, it will consist with 5 GEO, 3 IGSO and 27 MEO, and apply global navigation service similar to GPS and GLONASS. As we known, GPS precise point positioning (PPP) is a powerful tool for crustal deformation monitoring, GPS meteorology, orbit determination of low earth orbit satellites, high accuracy kinematic positioning et al. However, it accuracy and convergence time are influenced by the quality of pseudo-range observations and the observing geometry between user and Global navigation satellites system (GNSS) satellites. Usually, it takes more than 30 minutes even hours to obtain centimeter level position accuracy for PPP while using GPS dual-frequency observations only. In recent years, many researches have been done to solve this problem. One of the approaches is smooth pseudo-range by carrier-phase observations to improve pseudo-range accuracy. By which can improve PPP initial position accuracy and shorten PPP convergence time. Another sachems is to change position dilution of precision (PDOP) with multi-GNSS observations. Now, BDS has the ability to service whole Asian-Pacific regions, which make it possible to use GPS and BDS for precise positioning. In addition, according to researches on GNSS PDOP distribution, BDS can improve PDOP obviously. Therefore, it necessary to do some researches on PPP performance using both GPS observations and BDS observations, especially in Asian-Pacific regions currently. In this paper, we focus on the influences of BDS to GPS PPP mainly in three terms including BDS PPP accuracy, PDOP improvement and convergence time of PPP based on GPS and BDS observations. Here, the GPS and BDS two-constellation data are collected from

  9. Precise visual navigation using multi-stereo vision and landmark matching

    NASA Astrophysics Data System (ADS)

    Zhu, Zhiwei; Oskiper, Taragay; Samarasekera, Supun; Kumar, Rakesh

    2007-04-01

    Traditional vision-based navigation system often drifts over time during navigation. In this paper, we propose a set of techniques which greatly reduce the long term drift and also improve its robustness to many failure conditions. In our approach, two pairs of stereo cameras are integrated to form a forward/backward multi-stereo camera system. As a result, the Field-Of-View of the system is extended significantly to capture more natural landmarks from the scene. This helps to increase the pose estimation accuracy as well as reduce the failure situations. Secondly, a global landmark matching technique is used to recognize the previously visited locations during navigation. Using the matched landmarks, a pose correction technique is used to eliminate the accumulated navigation drift. Finally, in order to further improve the robustness of the system, measurements from low-cost Inertial Measurement Unit (IMU) and Global Positioning System (GPS) sensors are integrated with the visual odometry in an extended Kalman Filtering framework. Our system is significantly more accurate and robust than previously published techniques (1~5% localization error) over long-distance navigation both indoors and outdoors. Real world experiments on a human worn system show that the location can be estimated within 1 meter over 500 meters (around 0.1% localization error averagely) without the use of GPS information.

  10. SFOL Pulse: A High Accuracy DME Pulse for Alternative Aircraft Position and Navigation

    PubMed Central

    Kim, Euiho

    2017-01-01

    In the Federal Aviation Administration’s (FAA) performance based navigation strategy announced in 2016, the FAA stated that it would retain and expand the Distance Measuring Equipment (DME) infrastructure to ensure resilient aircraft navigation capability during the event of a Global Navigation Satellite System (GNSS) outage. However, the main drawback of the DME as a GNSS back up system is that it requires a significant expansion of the current DME ground infrastructure due to its poor distance measuring accuracy over 100 m. The paper introduces a method to improve DME distance measuring accuracy by using a new DME pulse shape. The proposed pulse shape was developed by using Genetic Algorithms and is less susceptible to multipath effects so that the ranging error reduces by 36.0–77.3% when compared to the Gaussian and Smoothed Concave Polygon DME pulses, depending on noise environment. PMID:28937615

  11. Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

    NASA Technical Reports Server (NTRS)

    Amzajerdian, Farzin; Pierrottet, Diego F.; Petway, Larry B.; Hines, Glenn D.; Roback, Vincent E.

    2011-01-01

    The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

  12. Hardware accuracy counters for application precision and quality feedback

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    de Paula Rosa Piga, Leonardo; Majumdar, Abhinandan; Paul, Indrani

    Methods, devices, and systems for capturing an accuracy of an instruction executing on a processor. An instruction may be executed on the processor, and the accuracy of the instruction may be captured using a hardware counter circuit. The accuracy of the instruction may be captured by analyzing bits of at least one value of the instruction to determine a minimum or maximum precision datatype for representing the field, and determining whether to adjust a value of the hardware counter circuit accordingly. The representation may be output to a debugger or logfile for use by a developer, or may be outputmore » to a runtime or virtual machine to automatically adjust instruction precision or gating of portions of the processor datapath.« less

  13. Optimal scheme of star observation of missile-borne inertial navigation system/stellar refraction integrated navigation

    NASA Astrophysics Data System (ADS)

    Lu, Jiazhen; Yang, Lie

    2018-05-01

    To achieve accurate and completely autonomous navigation for spacecraft, inertial/celestial integrated navigation gets increasing attention. In this study, a missile-borne inertial/stellar refraction integrated navigation scheme is proposed. Position Dilution of Precision (PDOP) for stellar refraction is introduced and the corresponding equation is derived. Based on the condition when PDOP reaches the minimum value, an optimized observation scheme is proposed. To verify the feasibility of the proposed scheme, numerical simulation is conducted. The results of the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are compared and impact factors of navigation accuracy are studied in the simulation. The simulation results indicated that the proposed observation scheme has an accurate positioning performance, and the results of EKF and UKF are similar.

  14. Optimal scheme of star observation of missile-borne inertial navigation system/stellar refraction integrated navigation.

    PubMed

    Lu, Jiazhen; Yang, Lie

    2018-05-01

    To achieve accurate and completely autonomous navigation for spacecraft, inertial/celestial integrated navigation gets increasing attention. In this study, a missile-borne inertial/stellar refraction integrated navigation scheme is proposed. Position Dilution of Precision (PDOP) for stellar refraction is introduced and the corresponding equation is derived. Based on the condition when PDOP reaches the minimum value, an optimized observation scheme is proposed. To verify the feasibility of the proposed scheme, numerical simulation is conducted. The results of the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are compared and impact factors of navigation accuracy are studied in the simulation. The simulation results indicated that the proposed observation scheme has an accurate positioning performance, and the results of EKF and UKF are similar.

  15. Accuracy and Precision of Silicon Based Impression Media for Quantitative Areal Texture Analysis

    PubMed Central

    Goodall, Robert H.; Darras, Laurent P.; Purnell, Mark A.

    2015-01-01

    Areal surface texture analysis is becoming widespread across a diverse range of applications, from engineering to ecology. In many studies silicon based impression media are used to replicate surfaces, and the fidelity of replication defines the quality of data collected. However, while different investigators have used different impression media, the fidelity of surface replication has not been subjected to quantitative analysis based on areal texture data. Here we present the results of an analysis of the accuracy and precision with which different silicon based impression media of varying composition and viscosity replicate rough and smooth surfaces. Both accuracy and precision vary greatly between different media. High viscosity media tested show very low accuracy and precision, and most other compounds showed either the same pattern, or low accuracy and high precision, or low precision and high accuracy. Of the media tested, mid viscosity President Jet Regular Body and low viscosity President Jet Light Body (Coltène Whaledent) are the only compounds to show high levels of accuracy and precision on both surface types. Our results show that data acquired from different impression media are not comparable, supporting calls for greater standardisation of methods in areal texture analysis. PMID:25991505

  16. An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

    PubMed Central

    Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

    2018-01-01

    The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible. PMID:29695041

  17. Multi-GNSS real-time precise orbit/clock/UPD products and precise positioning service at GFZ

    NASA Astrophysics Data System (ADS)

    Li, Xingxing; Ge, Maorong; Liu, Yang; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

    2016-04-01

    The rapid development of multi-constellation GNSSs (Global Navigation Satellite Systems, e.g., BeiDou, Galileo, GLONASS, GPS) and the IGS (International GNSS Service) Multi-GNSS Experiment (MGEX) bring great opportunities and challenges for real-time precise positioning service. In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. A rigorous multi-GNSS analysis is performed to achieve the best possible consistency by processing the observations from different GNSS together in one common parameter estimation procedure. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) data streams including stations all over the world. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70%, while the positioning accuracy is improved by about 25%. Some outliers in the GPS-only solutions vanish when multi-GNSS observations are processed simultaneous. The availability and reliability of GPS precise positioning decrease dramatically as the elevation cutoff increases. However, the accuracy of multi-GNSS precise point positioning (PPP) is hardly decreased and few centimeters are still achievable in the horizontal components even with 40° elevation cutoff.

  18. Navigators for motion detection during real-time MRI-guided radiotherapy

    NASA Astrophysics Data System (ADS)

    Stam, Mette K.; Crijns, Sjoerd P. M.; Zonnenberg, Bernard A.; Barendrecht, Maurits M.; van Vulpen, Marco; Lagendijk, Jan J. W.; Raaymakers, Bas W.

    2012-11-01

    An MRI-linac system provides direct MRI feedback and with that the possibility of adapting radiation treatments to the actual tumour position. This paper addresses the use of fast 1D MRI, pencil-beam navigators, for this feedback. The accuracy of using navigators was determined on a moving phantom. The possibility of organ tracking and breath-hold monitoring based on navigator guidance was shown for the kidney. Navigators are accurate within 0.5 mm and the analysis has a minimal time lag smaller than 30 ms as shown for the phantom measurements. The correlation of 2D kidney images and navigators shows the possibility of complete organ tracking. Furthermore the breath-hold monitoring of the kidney is accurate within 1.5 mm, allowing gated radiotherapy based on navigator feedback. Navigators are a fast and precise method for monitoring and real-time tracking of anatomical landmarks. As such, they provide direct MRI feedback on anatomical changes for more precise radiation delivery.

  19. Panama Canal Fog Navigation Study : Candidate System Definition

    DOT National Transportation Integrated Search

    1984-01-01

    A candidate system for solving fog navigation problems in the Panama Canal is defined. The vessel monitoring subsystem is a shore-based, all-weather, precision ranging system with ranging accuracies of 9 feet (2 standard deviations, 95 percent).

  20. Assessment of the OsteoMark-Navigation System for Oral and Maxillofacial Surgery

    PubMed Central

    Peacock, Zachary S.; Magill, John C.; Tricomi, Brad J.; Murphy, Brian A.; Nikonovskiy, Vladimir; Hata, Nobuhiko; Chauvin, Laurent; Troulis, Maria J.

    2015-01-01

    Purpose To assess the accuracy of a novel navigation system for maxillofacial surgery using human cadavers and a live minipig model. Methods We describe and test an electromagnetic tracking system (OsteoMark Navigation) that uses simple sensors to determine position and orientation of a hand held pencil-like marking device. The device can translate 3-dimensional computed tomographic data intraoperatively to allow the surgeon to localize and draw a proposed osteotomy or the margins of a tumor on the bone. The accuracy of OsteoMark-Navigation in locating and marking osteotomies and screw positions in human cadaver heads was assessed. In Group 1 (n=3, 6 sides), Osteomark-Navigation marked osteotomies and screw positions were compared to virtual treatment plans In Group 2 (n=3, 6 sides), marked osteotomies and screw positions for distraction osteogenesis devices were compared to those carried out using fabricated guide-stents. Three metrics were used to document precision and accuracy. In Group 3 (n=1), the system was tested in a standard operating room environment. Results For Group 1, the mean error between points was 0.7mm (horizontal) and 1.7mm (vertical). When compared to the posterior and inferior mandibular border the mean error was 1.2 and 1.7mm, respectively. For Group 2, the mean discrepancy between points marked by Osteomark-Navigation and the surgical guides was 1.9 mm (range 0-4.1 mm). The system maintained accuracy on a live minipig in a standard operating room environment. Conclusion Based on this research OsteoMark-Navigation is potentially a powerful tool for clinical use in maxillofacial surgery. It has accuracy and precision comparable to existing clinical applications. PMID:25865717

  1. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    NASA Technical Reports Server (NTRS)

    Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

    2013-01-01

    CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode

  2. Recent Advances in Image Assisted Neurosurgical Procedures: Improved Navigational Accuracy and Patient Safety

    ScienceCinema

    Olivi, Alessandro, M.D.

    2017-12-09

    Neurosurgical procedures require precise planning and intraoperative support. Recent advances in image guided technology have provided neurosurgeons with improved navigational support for more effective and safer procedures. A number of exemplary cases will be presented.

  3. Comparative study of navigated versus freehand osteochondral graft transplantation of the knee.

    PubMed

    Koulalis, Dimitrios; Di Benedetto, Paolo; Citak, Mustafa; O'Loughlin, Padhraig; Pearle, Andrew D; Kendoff, Daniel O

    2009-04-01

    Osteochondral lesions are a common sports-related injury for which osteochondral grafting, including mosaicplasty, is an established treatment. Computer navigation has been gaining popularity in orthopaedic surgery to improve accuracy and precision. Navigation improves angle and depth matching during harvest and placement of osteochondral grafts compared with conventional freehand open technique. Controlled laboratory study. Three cadaveric knees were used. Reference markers were attached to the femur, tibia, and donor/recipient site guides. Fifteen osteochondral grafts were harvested and inserted into recipient sites with computer navigation, and 15 similar grafts were inserted freehand. The angles of graft removal and placement as well as surface congruity (graft depth) were calculated for each surgical group. The mean harvesting angle at the donor site using navigation was 4 degrees (standard deviation, 2.3 degrees ; range, 1 degrees -9 degrees ) versus 12 degrees (standard deviation, 5.5 degrees ; range, 5 degrees -24 degrees ) using freehand technique (P < .0001). The recipient plug removal angle using the navigated technique was 3.3 degrees (standard deviation, 2.1 degrees ; range, 0 degrees -9 degrees ) versus 10.7 degrees (standard deviation, 4.9 degrees ; range, 2 degrees -17 degrees ) in freehand (P < .0001). The mean navigated recipient plug placement angle was 3.6 degrees (standard deviation, 2.0 degrees ; range, 1 degrees -9 degrees ) versus 10.6 degrees (standard deviation, 4.4 degrees ; range, 3 degrees -17 degrees ) with freehand technique (P = .0001). The mean height of plug protrusion under navigation was 0.3 mm (standard deviation, 0.2 mm; range, 0-0.6 mm) versus 0.5 mm (standard deviation, 0.3 mm; range, 0.2-1.1 mm) using a freehand technique (P = .0034). Significantly greater accuracy and precision were observed in harvesting and placement of the osteochondral grafts in the navigated procedures. Clinical studies are needed to establish a

  4. Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation

    PubMed Central

    Wang, Hubiao; Chai, Hua; Bao, Lifeng; Wang, Yong

    2017-01-01

    An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1′ × 1′ marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N(u,σ2) with varying mean u and noise variance σ2. Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1–2 mGal accuracy) and the reference map (resolution 1′ × 1′; accuracy 3–8 mGal), location accuracy of IGNS was up to reach ~1.0–3.0 n miles in the South China Sea. PMID:29261136

  5. Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation.

    PubMed

    Wang, Hubiao; Wu, Lin; Chai, Hua; Bao, Lifeng; Wang, Yong

    2017-12-20

    An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1' × 1' marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N ( u , σ 2 ) with varying mean u and noise variance σ 2 . Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ 2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1-2 mGal accuracy) and the reference map (resolution 1' × 1'; accuracy 3-8 mGal), location accuracy of IGNS was up to reach ~1.0-3.0 n miles in the South China Sea.

  6. Accuracy assessment of Precise Point Positioning with multi-constellation GNSS data under ionospheric scintillation effects

    NASA Astrophysics Data System (ADS)

    Marques, Haroldo Antonio; Marques, Heloísa Alves Silva; Aquino, Marcio; Veettil, Sreeja Vadakke; Monico, João Francisco Galera

    2018-02-01

    GPS and GLONASS are currently the Global Navigation Satellite Systems (GNSS) with full operational capacity. The integration of GPS, GLONASS and future GNSS constellations can provide better accuracy and more reliability in geodetic positioning, in particular for kinematic Precise Point Positioning (PPP), where the satellite geometry is considered a limiting factor to achieve centimeter accuracy. The satellite geometry can change suddenly in kinematic positioning in urban areas or under conditions of strong atmospheric effects such as for instance ionospheric scintillation that may degrade satellite signal quality, causing cycle slips and even loss of lock. Scintillation is caused by small scale irregularities in the ionosphere and is characterized by rapid changes in amplitude and phase of the signal, which are more severe in equatorial and high latitudes geomagnetic regions. In this work, geodetic positioning through the PPP method was evaluated with integrated GPS and GLONASS data collected in the equatorial region under varied scintillation conditions. The GNSS data were processed in kinematic PPP mode and the analyses show accuracy improvements of up to 60% under conditions of strong scintillation when using multi-constellation data instead of GPS data alone. The concepts and analyses related to the ionospheric scintillation effects, the mathematical model involved in PPP with GPS and GLONASS data integration as well as accuracy assessment with data collected under ionospheric scintillation effects are presented.

  7. [The accuracy of palpation from orientation points for the navigated implantation of knee prostheses].

    PubMed

    Fuiko, R; Kotten, B; Zettl, R; Ritschl, P

    2004-03-01

    Cinematic and pointing procedures are used for non-image based navigated implantation during total knee replacement. Pointing procedures require an exact knowledge of the landmarks. In this anatomical study, landmarks are defined and repeatedly referenced. Precision and reproducibility are evaluated by means of an inter- and an intra-observer study. The axes of the femur and tibia are calculated using the landmarks. The specific landmarks of 30 femurs and 27 tibias were palpated by three surgeons and digitised by means of a photogrammetric system, as used intra-operatively. The recorded data were statistically evaluated. The specific landmarks can be referenced with great precision. The vectors that influence the implant position show a mean femoral deviation of 0.9 mm and a mean tibial deviation of 1.0 mm. The repeating accuracy of every observer was 1.5 mm femoral and 1.0 mm tibial. The calculated long axes at the femur and tibia thus reach a precision of 0.1 degrees (min.-max.: 0-0.9 degrees) at the femur and 0.2 degrees (.0-1.1 degrees) at the tibia. The short axes at the distal femur and proximal tibia exhibit an average deviation of from 0.7 degrees to 1.9 degrees (0-11.3 degrees). Long axes (mechanical axes) can be determined exactly but the precision of the short axes (rotational axes) is unsatisfactory, although palpation of landmarks was accurate. Therefore, palpation of more than one rotational axis at the femur and tibia is mandatory and should be visualized on the monitor during surgery.

  8. Accuracy Analysis of a Low-Cost Platform for Positioning and Navigation

    NASA Astrophysics Data System (ADS)

    Hofmann, S.; Kuntzsch, C.; Schulze, M. J.; Eggert, D.; Sester, M.

    2012-07-01

    This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner's characteristics.

  9. Ship navigation using Navstar GPS - An application study

    NASA Technical Reports Server (NTRS)

    Mohan, S. N.

    1982-01-01

    Ocean current measurement applications in physical oceanography require knowledge of inertial ship velocity to a precision of 1-2 cm/sec over a typical five minute averaging interval. The navigation accuracy must be commensurate with data precision obtainable from ship borne acoustic profilers used in sensing ocean currents. The Navstar Global Positioning System is viewed as a step in user technological simplification, extension in coverage availability, and enhancement in performance accuracy as well as reliability over the existing systems, namely, Loran-C, Transit, and Omega. Error analyses have shown the possibility of attaining the 1-2 cm/sec accuracy during active GPS coverage at a data rate of four position fixes per minute under varying sea-states. This paper is intended to present results of data validation exercises leading to design of an experiment at sea for deployment of both a GPS y-set and a direct Doppler measurement system as the autonomous navigation system used in conjunction with an acoustic Doppler as the sensor for ocean current measurement.

  10. Multi-Flight-Phase GPS Navigation Filter Applications to Terrestrial Vehicle Navigation and Positioning

    NASA Technical Reports Server (NTRS)

    Park, Young W.; Montez, Moises N.

    1994-01-01

    A candidate onboard space navigation filter demonstrated excellent performance (less than 8 meter level RMS semi-major axis accuracy) in performing orbit determination of a low-Earth orbit Explorer satellite using single-frequency real GPS data. This performance is significantly better than predicted by other simulation studies using dual-frequency GPS data. The study results revealed the significance of two new modeling approaches evaluated in the work. One approach introduces a single-frequency ionospheric correction through pseudo-range and phase range averaging implementation. The other approach demonstrates a precise axis-dependent characterization of dynamic sample space uncertainty to compute a more accurate Kalman filter gain. Additionally, this navigation filter demonstrates a flexibility to accommodate both perturbational dynamic and observational biases required for multi-flight phase and inhomogeneous application environments. This paper reviews the potential application of these methods and the filter structure to terrestrial vehicle and positioning applications. Both the single-frequency ionospheric correction method and the axis-dependent state noise modeling approach offer valuable contributions in cost and accuracy improvements for terrestrial GPS receivers. With a modular design approach to either 'plug-in' or 'unplug' various force models, this multi-flight phase navigation filter design structure also provides a versatile GPS navigation software engine for both atmospheric and exo-atmospheric navigation or positioning use, thereby streamlining the flight phase or application-dependent software requirements. Thus, a standardized GPS navigation software engine that can reduce the development and maintenance cost of commercial GPS receivers is now possible.

  11. Accuracy assessment of BDS precision orbit determination and the influence analysis of site distribution

    NASA Astrophysics Data System (ADS)

    Chen, Ming; Guo, Jiming; Li, Zhicai; Zhang, Peng; Wu, Junli; Song, Weiwei

    2017-04-01

    BDS precision orbit determination is a key content of the BDS application, but the inadequate ground stations and the poor distribution of the network are the main reasons for the low accuracy of BDS precise orbit determination. In this paper, the BDS precise orbit determination results are obtained by using the IGS MGEX stations and the Chinese national reference stations,the accuracy of orbit determination of GEO, IGSO and MEO is 10.3cm, 2.8cm and 3.2cm, and the radial accuracy is 1.6cm,1.9cm and 1.5cm.The influence of ground reference stations distribution on BDS precise orbit determination is studied. The results show that the Chinese national reference stations contribute significantly to the BDS orbit determination, the overlap precision of GEO/IGSO/MEO satellites were improved by 15.5%, 57.5% and 5.3% respectively after adding the Chinese stations.Finally, the results of ODOP(orbit distribution of precision) and SLR are verified. Key words: BDS precise orbit determination; accuracy assessment;Chinese national reference stations;reference stations distribution;orbit distribution of precision

  12. Accuracy of Cup Positioning With the Computed Tomography-Based Two-dimensional to Three-Dimensional Matched Navigation System: A Prospective, Randomized Controlled Study.

    PubMed

    Yamada, Kazuki; Endo, Hirosuke; Tetsunaga, Tomonori; Miyake, Takamasa; Sanki, Tomoaki; Ozaki, Toshifumi

    2018-01-01

    The accuracy of various navigation systems used for total hip arthroplasty has been described, but no publications reported the accuracy of cup orientation in computed tomography (CT)-based 2D-3D (two-dimensional to three-dimensional) matched navigation. In a prospective, randomized controlled study, 80 hips including 44 with developmental dysplasia of the hips were divided into a CT-based 2D-3D matched navigation group (2D-3D group) and a paired-point matched navigation group (PPM group). The accuracy of cup orientation (absolute difference between the intraoperative record and the postoperative measurement) was compared between groups. Additionally, multiple logistic regression analysis was performed to evaluate patient factors affecting the accuracy of cup orientation in each navigation. The accuracy of cup inclination was 2.5° ± 2.2° in the 2D-3D group and 4.6° ± 3.3° in the PPM group (P = .0016). The accuracy of cup anteversion was 2.3° ± 1.7° in the 2D-3D group and 4.4° ± 3.3° in the PPM group (P = .0009). In the PPM group, the presence of roof osteophytes decreased the accuracy of cup inclination (odds ratio 8.27, P = .0140) and the absolute value of pelvic tilt had a negative influence on the accuracy of cup anteversion (odds ratio 1.27, P = .0222). In the 2D-3D group, patient factors had no effect on the accuracy of cup orientation. The accuracy of cup positioning in CT-based 2D-3D matched navigation was better than in paired-point matched navigation, and was not affected by patient factors. It is a useful system for even severely deformed pelvises such as developmental dysplasia of the hips. Copyright © 2017 Elsevier Inc. All rights reserved.

  13. S-193 scatterometer backscattering cross section precision/accuracy for Skylab 2 and 3 missions

    NASA Technical Reports Server (NTRS)

    Krishen, K.; Pounds, D. J.

    1975-01-01

    Procedures for measuring the precision and accuracy with which the S-193 scatterometer measured the background cross section of ground scenes are described. Homogeneous ground sites were selected, and data from Skylab missions were analyzed. The precision was expressed as the standard deviation of the scatterometer-acquired backscattering cross section. In special cases, inference of the precision of measurement was made by considering the total range from the maximum to minimum of the backscatter measurements within a data segment, rather than the standard deviation. For Skylab 2 and 3 missions a precision better than 1.5 dB is indicated. This procedure indicates an accuracy of better than 3 dB for the Skylab 2 and 3 missions. The estimates of precision and accuracy given in this report are for backscattering cross sections from -28 to 18 dB. Outside this range the precision and accuracy decrease significantly.

  14. Exploiting Measurement Uncertainty Estimation in Evaluation of GOES-R ABI Image Navigation Accuracy Using Image Registration Techniques

    NASA Technical Reports Server (NTRS)

    Haas, Evan; DeLuccia, Frank

    2016-01-01

    In evaluating GOES-R Advanced Baseline Imager (ABI) image navigation quality, upsampled sub-images of ABI images are translated against downsampled Landsat 8 images of localized, high contrast earth scenes to determine the translations in the East-West and North-South directions that provide maximum correlation. The native Landsat resolution is much finer than that of ABI, and Landsat navigation accuracy is much better than ABI required navigation accuracy and expected performance. Therefore, Landsat images are considered to provide ground truth for comparison with ABI images, and the translations of ABI sub-images that produce maximum correlation with Landsat localized images are interpreted as ABI navigation errors. The measured local navigation errors from registration of numerous sub-images with the Landsat images are averaged to provide a statistically reliable measurement of the overall navigation error of the ABI image. The dispersion of the local navigation errors is also of great interest, since ABI navigation requirements are specified as bounds on the 99.73rd percentile of the magnitudes of per pixel navigation errors. However, the measurement uncertainty inherent in the use of image registration techniques tends to broaden the dispersion in measured local navigation errors, masking the true navigation performance of the ABI system. We have devised a novel and simple method for estimating the magnitude of the measurement uncertainty in registration error for any pair of images of the same earth scene. We use these measurement uncertainty estimates to filter out the higher quality measurements of local navigation error for inclusion in statistics. In so doing, we substantially reduce the dispersion in measured local navigation errors, thereby better approximating the true navigation performance of the ABI system.

  15. Does intraoperative navigation improve the accuracy of mandibular angle osteotomy: Comparison between augmented reality navigation, individualised templates and free-hand techniques.

    PubMed

    Zhu, Ming; Liu, Fei; Zhou, Chaozheng; Lin, Li; Zhang, Yan; Chai, Gang; Xie, Le; Qi, Fazhi; Li, Qingfeng

    2018-04-11

    Augmented reality (AR)-based navigation surgery has evolved to be an advanced assisted technology. The aim of this study is to manifest the accuracy of AR navigation for the intraoperative mandibular angle osteotomy by comparing the navigation with other interventional techniques. A retrospective study was conducted with 93 post-surgical patients with mandibular angle hypertrophy admitted at our plastic and reconstructive surgery department between September 2011 and June 2016. Thirty-one patients received osteotomy conducted using a navigation system based on augmented reality (AR group), 28 patients received osteotomy conducted using individualised templates (IT group) and the remaining 34 patients received osteotomy performed by free hand (free-hand group). The post-operative computed tomography (CT) images were reviewed and analysed by comparing with pre-surgical planning generated by three-dimensional (3D) software. The preparation time, cutting time, whole operating time and discrepancy in osteotomy lines were measured. The preparation time was much shorter for the free-hand group than that for the AR group and the IT group (P < 0.01). However, no significant difference in the whole operating time was observed among the three groups (P > 0.05). In addition, the discrepancy in osteotomy lines was lower for the AR group and in the IT group than for the free-hand group (P < 0.01). The navigation system based on AR has a higher accuracy, more reliability and better user friendliness for some particular clinical procedures than for other techniques, which has a promising clinical prospect. Copyright © 2018. Published by Elsevier Ltd.

  16. Current Role of Computer Navigation in Total Knee Arthroplasty.

    PubMed

    Jones, Christopher W; Jerabek, Seth A

    2018-01-31

    Computer-assisted surgical (CAS) navigation has been developed with the aim of improving the accuracy and precision of total knee arthroplasty (TKA) component positioning and therefore overall limb alignment. The historical goal of knee arthroplasty has been to restore the mechanical alignment of the lower limb by aligning the femoral and tibial components perpendicular to the mechanical axis of the femur and tibia. Despite over 4 decades of TKA component development and nearly 2 decades of interest in CAS, the fundamental question remains; does the alignment goal and/or the method of achieving that goal affect the outcome of the TKA in terms of patient-reported outcome measures and/or overall survivorship? The quest for reliable and reproducible achievement of the intraoperative alignment goal has been the primary motivator for the introduction, development, and refinement of CAS navigation. Numerous proprietary systems now exist, and rapid technological advancements in computer processing power are stimulating further development of robotic surgical systems. Three categories of CAS can be defined: image-based large-console navigation; imageless large-console navigation, and more recently, accelerometer-based handheld navigation systems have been developed. A review of the current literature demonstrates that there are enough well-designed studies to conclude that both large-console CAS and handheld navigation systems improve the accuracy and precision of component alignment in TKA. However, missing from the evidence base, other than the subgroup analysis provided by the Australian Orthopaedic Association National Joint Replacement Registry, are any conclusive demonstrations of a clinical superiority in terms of improved patient-reported outcome measures and/or decreased cumulative revision rates in the long term. Few authors would argue that accuracy of alignment is a goal to ignore; therefore, in the absence of clinical evidence, many of the arguments against

  17. Accuracy and reliability of multi-GNSS real-time precise positioning: GPS, GLONASS, BeiDou, and Galileo

    NASA Astrophysics Data System (ADS)

    Li, Xingxing; Ge, Maorong; Dai, Xiaolei; Ren, Xiaodong; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

    2015-06-01

    In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. A rigorous multi-GNSS analysis is performed to achieve the best possible consistency by processing the observations from different GNSS together in one common parameter estimation procedure. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the multi-GNSS Experiment, BeiDou Experimental Tracking Network, and International GNSS Service networks including stations all over the world. The statistical analysis of the 6-h predicted orbits show that the radial and cross root mean square (RMS) values are smaller than 10 cm for BeiDou and Galileo, and smaller than 5 cm for both GLONASS and GPS satellites, respectively. The RMS values of the clock differences between real-time and batch-processed solutions for GPS satellites are about 0.10 ns, while the RMS values for BeiDou, Galileo and GLONASS are 0.13, 0.13 and 0.14 ns, respectively. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70 %, while the positioning accuracy is improved by about 25 %. Some outliers in the GPS-only solutions vanish when multi-GNSS observations are processed simultaneous. The availability and reliability of GPS precise positioning decrease dramatically as the elevation cutoff increases. However, the accuracy of multi-GNSS precise point positioning (PPP) is hardly decreased and few centimeter are still achievable in the horizontal components even with 40 elevation cutoff. At 30 and 40 elevation cutoffs, the availability rates of GPS-only solution drop significantly to only around 70 and 40 %, respectively. However, multi-GNSS PPP can provide precise position estimates continuously (availability rate is more than 99

  18. Method, accuracy and limitation of computer interaction in the operating room by a navigated surgical instrument.

    PubMed

    Hurka, Florian; Wenger, Thomas; Heininger, Sebastian; Lueth, Tim C

    2011-01-01

    This article describes a new interaction device for surgical navigation systems--the so-called navigation mouse system. The idea is to use a tracked instrument of a surgical navigation system like a pointer to control the software. The new interaction system extends existing navigation systems with a microcontroller-unit. The microcontroller-unit uses the existing communication line to extract the needed 3D-information of an instrument to calculate positions analogous to the PC mouse cursor and click events. These positions and events are used to manipulate the navigation system. In an experimental setup the reachable accuracy with the new mouse system is shown.

  19. Accuracy improvement techniques in Precise Point Positioning method using multiple GNSS constellations

    NASA Astrophysics Data System (ADS)

    Vasileios Psychas, Dimitrios; Delikaraoglou, Demitris

    2016-04-01

    The future Global Navigation Satellite Systems (GNSS), including modernized GPS, GLONASS, Galileo and BeiDou, offer three or more signal carriers for civilian use and much more redundant observables. The additional frequencies can significantly improve the capabilities of the traditional geodetic techniques based on GPS signals at two frequencies, especially with regard to the availability, accuracy, interoperability and integrity of high-precision GNSS applications. Furthermore, highly redundant measurements can allow for robust simultaneous estimation of static or mobile user states including more parameters such as real-time tropospheric biases and more reliable ambiguity resolution estimates. This paper presents an investigation and analysis of accuracy improvement techniques in the Precise Point Positioning (PPP) method using signals from the fully operational (GPS and GLONASS), as well as the emerging (Galileo and BeiDou) GNSS systems. The main aim was to determine the improvement in both the positioning accuracy achieved and the time convergence it takes to achieve geodetic-level (10 cm or less) accuracy. To this end, freely available observation data from the recent Multi-GNSS Experiment (MGEX) of the International GNSS Service, as well as the open source program RTKLIB were used. Following a brief background of the PPP technique and the scope of MGEX, the paper outlines the various observational scenarios that were used in order to test various data processing aspects of PPP solutions with multi-frequency, multi-constellation GNSS systems. Results from the processing of multi-GNSS observation data from selected permanent MGEX stations are presented and useful conclusions and recommendations for further research are drawn. As shown, data fusion from GPS, GLONASS, Galileo and BeiDou systems is becoming increasingly significant nowadays resulting in a position accuracy increase (mostly in the less favorable East direction) and a large reduction of convergence

  20. Accuracy and precision of 3 intraoral scanners and accuracy of conventional impressions: A novel in vivo analysis method.

    PubMed

    Nedelcu, R; Olsson, P; Nyström, I; Rydén, J; Thor, A

    2018-02-01

    To evaluate a novel methodology using industrial scanners as a reference, and assess in vivo accuracy of 3 intraoral scanners (IOS) and conventional impressions. Further, to evaluate IOS precision in vivo. Four reference-bodies were bonded to the buccal surfaces of upper premolars and incisors in five subjects. After three reference-scans, ATOS Core 80 (ATOS), subjects were scanned three times with three IOS systems: 3M True Definition (3M), CEREC Omnicam (OMNI) and Trios 3 (TRIOS). One conventional impression (IMPR) was taken, 3M Impregum Penta Soft, and poured models were digitized with laboratory scanner 3shape D1000 (D1000). Best-fit alignment of reference-bodies and 3D Compare Analysis was performed. Precision of ATOS and D1000 was assessed for quantitative evaluation and comparison. Accuracy of IOS and IMPR were analyzed using ATOS as reference. Precision of IOS was evaluated through intra-system comparison. Precision of ATOS reference scanner (mean 0.6 μm) and D1000 (mean 0.5 μm) was high. Pairwise multiple comparisons of reference-bodies located in different tooth positions displayed a statistically significant difference of accuracy between two scanner-groups: 3M and TRIOS, over OMNI (p value range 0.0001 to 0.0006). IMPR did not show any statistically significant difference to IOS. However, deviations of IOS and IMPR were within a similar magnitude. No statistical difference was found for IOS precision. The methodology can be used for assessing accuracy of IOS and IMPR in vivo in up to five units bilaterally from midline. 3M and TRIOS had a higher accuracy than OMNI. IMPR overlapped both groups. Intraoral scanners can be used as a replacement for conventional impressions when restoring up to ten units without extended edentulous spans. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

  1. Accuracy of the hypothetical sky-polarimetric Viking navigation versus sky conditions: revealing solar elevations and cloudinesses favourable for this navigation method

    NASA Astrophysics Data System (ADS)

    Száz, Dénes; Farkas, Alexandra; Barta, András; Kretzer, Balázs; Blahó, Miklós; Egri, Ádám; Szabó, Gyula; Horváth, Gábor

    2017-09-01

    According to Thorkild Ramskou's theory proposed in 1967, under overcast and foggy skies, Viking seafarers might have used skylight polarization analysed with special crystals called sunstones to determine the position of the invisible Sun. After finding the occluded Sun with sunstones, its elevation angle had to be measured and its shadow had to be projected onto the horizontal surface of a sun compass. According to Ramskou's theory, these sunstones might have been birefringent calcite or dichroic cordierite or tourmaline crystals working as polarizers. It has frequently been claimed that this method might have been suitable for navigation even in cloudy weather. This hypothesis has been accepted and frequently cited for decades without any experimental support. In this work, we determined the accuracy of this hypothetical sky-polarimetric Viking navigation for 1080 different sky situations characterized by solar elevation θ and cloudiness ρ, the sky polarization patterns of which were measured by full-sky imaging polarimetry. We used the earlier measured uncertainty functions of the navigation steps 1, 2 and 3 for calcite, cordierite and tourmaline sunstone crystals, respectively, and the newly measured uncertainty function of step 4 presented here. As a result, we revealed the meteorological conditions under which Vikings could have used this hypothetical navigation method. We determined the solar elevations at which the navigation uncertainties are minimal at summer solstice and spring equinox for all three sunstone types. On average, calcite sunstone ensures a more accurate sky-polarimetric navigation than tourmaline and cordierite. However, in some special cases (generally at 35° ≤ θ ≤ 40°, 1 okta ≤ ρ ≤ 6 oktas for summer solstice, and at 20° ≤ θ ≤ 25°, 0 okta ≤ ρ ≤ 4 oktas for spring equinox), the use of tourmaline and cordierite results in smaller navigation uncertainties than that of calcite. Generally, under clear or less cloudy

  2. Accuracy of pedicle screw placement based on preoperative computed tomography versus intraoperative data set acquisition for spinal navigation system.

    PubMed

    Liu, Hao; Chen, Weikai; Liu, Tao; Meng, Bin; Yang, Huilin

    2017-01-01

    To investigate the accuracy of pedicle screw placement based on preoperative computed tomography in comparison with intraoperative data set acquisition for spinal navigation system. The PubMed (MEDLINE), EMBASE, and Web of Science were systematically searched for the literature published up to September 2015. This review followed the Preferred Reporting Items for Systematic Reviews and Meta-analysis guidelines. Statistical analysis was performed using the Review Manager 5.3. The dichotomous data for the pedicle violation rate was summarized using relative risk (RR) and 95% confidence intervals (CIs) with the fixed-effects model. The level of significance was set at p < 0.05. For this meta-analysis, seven studies used a total of 579 patients and 2981 screws. The results revealed that the accuracy of intraoperative data set acquisition method is significantly higher than preoperative one using 2 mm grading criteria (RR: 1.82, 95% CI: 1.09, 3.04, I 2 = 0%, p = 0.02). However, there was no significant difference between two kinds of methods at the 0 mm grading criteria (RR: 1.13, 95% CI: 0.88, 1.46, I 2 = 17%, p = 0.34). Using the 2-mm grading criteria, there was a higher accuracy of pedicle screw insertion in O-arm-assisted navigation than CT-based navigation method (RR: 1.96, 95% CI: 1.05, 3.64, I 2 = 0%, p = 0.03). The accuracy between CT-based navigation and two-dimensional-based navigation showed no significant difference (RR: 1.02, 95% CI: 0.35-3.03, I 2 = 0%, p = 0.97). The intraoperative data set acquisition method may decrease the incidence of perforated screws over 2 mm but not increase the number of screws fully contained within the pedicle compared to preoperative CT-based navigation system. A significantly higher accuracy of intraoperative (O-arm) than preoperative CT-based navigation was revealed using 2 mm grading criteria.

  3. Monte-Carlo Simulation for Accuracy Assessment of a Single Camera Navigation System

    NASA Astrophysics Data System (ADS)

    Bethmann, F.; Luhmann, T.

    2012-07-01

    The paper describes a simulation-based optimization of an optical tracking system that is used as a 6DOF navigation system for neurosurgery. Compared to classical system used in clinical navigation, the presented system has two unique properties: firstly, the system will be miniaturized and integrated into an operating microscope for neurosurgery; secondly, due to miniaturization a single camera approach has been designed. Single camera techniques for 6DOF measurements show a special sensitivity against weak geometric configurations between camera and object. In addition, the achievable accuracy potential depends significantly on the geometric properties of the tracked objects (locators). Besides quality and stability of the targets used on the locator, their geometric configuration is of major importance. In the following the development and investigation of a simulation program is presented which allows for the assessment and optimization of the system with respect to accuracy. Different system parameters can be altered as well as different scenarios indicating the operational use of the system. Measurement deviations are estimated based on the Monte-Carlo method. Practical measurements validate the correctness of the numerical simulation results.

  4. The accuracy of image-guided navigation for maxillary positioning in bimaxillary surgery.

    PubMed

    Sun, Yi; Luebbers, Heinz-Theo; Agbaje, Jimoh Olubanwo; Lambrichts, Ivo; Politis, Constantinus

    2014-05-01

    The aim of our study was to evaluate the accuracy of image-guided maxillary positioning in sagittal, vertical, and mediolateral direction. Between May 2011 and July 2012, 17 patients (11 males, 6 females) underwent bimaxillary surgery with the use of intraoperative surgical navigation. During Le Fort I osteotomy, the Kolibri navigation system was used to measure movement of the maxilla at the edge of the upper central upper incisor in sagittal (buccal surface), vertical (incisor edge), and mediolateral (dental midline) direction. Six weeks after surgery, a postoperative CBCT scan was taken and registered to the preoperative cone-beam computed tomography scan to identify the actual surgical movement of the maxilla. Student 2-tailed paired t test was used to evaluate differences between the measured result from navigation system and actual surgical movement of the maxilla, which were 0.44 ± 0.35 mm (P = 0.82) in the sagittal, 0.50 ± 0.35 mm (P = 0.85) in the vertical, and 0.56 ± 0.36 mm (P = 0.81) in the mediolateral direction. Our finding demonstrates that intraoperative computer navigation is a promising tool for measuring the surgical change of the maxilla in bimaxillary surgery.

  5. Two-dimensional laser Doppler velocimeter and its integrated navigation with a strapdown inertial navigation system.

    PubMed

    Wang, Qi; Gao, Chunfeng; Zhou, Jian; Wei, Guo; Nie, Xiaoming; Long, Xingwu

    2018-05-01

    In the field of land navigation, a laser Doppler velocimeter (LDV) can be used to provide the velocity of a vehicle for an integrated navigation system with a strapdown inertial navigation system. In order to suppress the influence of vehicle jolts on a one-dimensional (1D) LDV, this paper designs a split-reuse two-dimensional (2D) LDV. The velocimeter is made up of two 1D velocimeter probes that are mirror-mounted. By the different effects of the vertical vibration on the two probes, the velocimeter can calculate the forward velocity and the vertical velocity of a vehicle. The results of the vehicle-integrated navigation experiments show that the 2D LDV not only can actually suppress the influence of vehicle jolts and greatly improve the navigation positioning accuracy, but also can give high-precision altitude information. The maximum horizontal position errors of the two experiments are 2.6 m and 3.2 m in 1.9 h, and the maximum altitude errors are 0.24 m and 0.22 m, respectively.

  6. Quantifying Uncertainties in Navigation and Orbit Propagation Analyses

    NASA Technical Reports Server (NTRS)

    Krieger, Andrew W.; Welch, Bryan W.

    2017-01-01

    A tool used to calculate dilution of precision (DOP) was created in order to assist the Space Communications and Navigation (SCaN) program to analyze current and future user missions. The SCaN Center for Engineering, Networks, Integration, and Communication (SCENIC) is developing a new user interface (UI) to augment and replace the capabilities of currently used commercial software, such as Systems Tool Kit (STK). The DOP tool will be integrated in the SCENIC UI and will be used to analyze the accuracy of navigation solutions. This tool was developed using MATLAB and free and open-source tools to save cost and to use already existing orbital software libraries. GPS DOP data was collected and used for validation purposes. The similarities between the DOP tool results and GPS data show that the DOP tool is performing correctly. Additional improvements can be made in the DOP tool to improve its accuracy and performance in analyzing navigation solutions.

  7. Sensitivity of planetary cruise navigation to earth orientation calibration errors

    NASA Technical Reports Server (NTRS)

    Estefan, J. A.; Folkner, W. M.

    1995-01-01

    A detailed analysis was conducted to determine the sensitivity of spacecraft navigation errors to the accuracy and timeliness of Earth orientation calibrations. Analyses based on simulated X-band (8.4-GHz) Doppler and ranging measurements acquired during the interplanetary cruise segment of the Mars Pathfinder heliocentric trajectory were completed for the nominal trajectory design and for an alternative trajectory with a longer transit time. Several error models were developed to characterize the effect of Earth orientation on navigational accuracy based on current and anticipated Deep Space Network calibration strategies. The navigational sensitivity of Mars Pathfinder to calibration errors in Earth orientation was computed for each candidate calibration strategy with the Earth orientation parameters included as estimated parameters in the navigation solution. In these cases, the calibration errors contributed 23 to 58% of the total navigation error budget, depending on the calibration strategy being assessed. Navigation sensitivity calculations were also performed for cases in which Earth orientation calibration errors were not adjusted in the navigation solution. In these cases, Earth orientation calibration errors contributed from 26 to as much as 227% of the total navigation error budget. The final analysis suggests that, not only is the method used to calibrate Earth orientation vitally important for precision navigation of Mars Pathfinder, but perhaps equally important is the method for inclusion of the calibration errors in the navigation solutions.

  8. Mineral element analyses of switchgrass biomass: comparison of the accuracy and precision of laboratories

    USDA-ARS?s Scientific Manuscript database

    Mineral concentration of plant biomass can affect its use in thermal conversion to energy. The objective of this study was to compare the precision and accuracy of university and private laboratories that conduct mineral analyses of plant biomass on a fee basis. Accuracy and precision of the laborat...

  9. Fully autonomous navigation for the NASA cargo transfer vehicle

    NASA Technical Reports Server (NTRS)

    Wertz, James R.; Skulsky, E. David

    1991-01-01

    A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

  10. Mars Science Laboratory Interplanetary Navigation Performance

    NASA Technical Reports Server (NTRS)

    Martin-Mur, Tomas J.; Kruizinga, Gerhard; Wong, Mau

    2013-01-01

    The Mars Science Laboratory spacecraft, carrying the Curiosity rover to Mars, hit the top of the Martian atmosphere just 200 meters from where it had been predicted more than six days earlier, and 2.6 million kilometers away. This un-expected level of accuracy was achieved by a combination of factors including: spacecraft performance, tracking data processing, dynamical modeling choices, and navigation filter setup. This paper will describe our best understanding of what were the factors that contributed to this excellent interplanetary trajectory prediction performance. The accurate interplanetary navigation contributed to the very precise landing performance, and to the overall success of the mission.

  11. Improved accuracy of component alignment with the implementation of image-free navigation in total knee arthroplasty.

    PubMed

    Rosenberger, Ralf E; Hoser, Christian; Quirbach, Sebastian; Attal, Rene; Hennerbichler, Alfred; Fink, Christian

    2008-03-01

    Accuracy of implant positioning and reconstruction of the mechanical leg axis are major requirements for achieving good long-term results in total knee arthroplasty (TKA). The purpose of the present study was to determine whether image-free computer navigation technology has the potential to improve the accuracy of component alignment in TKA cohorts of experienced surgeons immediately and constantly. One hundred patients with primary arthritis of the knee underwent the unilateral total knee arthroplasty. The cohort of 50 TKAs implanted with conventional instrumentation was directly followed by the cohort of the very first 50 computer-assisted TKAs. All surgeries were performed by two senior surgeons. All patients received the Zimmer NexGen total knee prosthesis (Zimmer Inc., Warsaw, IN, USA). There was no variability regarding surgeons or surgical technique, except for the use of the navigation system (StealthStation) Treon plus Medtronic Inc., Minnesota, MI, USA). Accuracy of implant positioning was measured on postoperative long-leg standing radiographs and standard lateral X-rays with regard to the valgus angle and the coronal and sagittal component angles. In addition, preoperative deformities of the mechanical leg axis, tourniquet time, age, and gender were correlated. Statistical analyses were performed using the SPSS 15.0 (SPSS Inc., Chicago, IL, USA) software package. Independent t-tests were used, with significance set at P < 0.05 (two-tailed) to compare differences in mean angular values and frontal mechanical alignment between the two cohorts. To compute the rate of optimally implanted prostheses between the two groups we used the chi(2) test. The average postoperative radiological frontal mechanical alignment was 1.88 degrees of varus (range 6.1 degrees of valgus-10.1 degrees of varus; SD 3.68 degrees ) in the conventional cohort and 0.28 degrees of varus (range 3.7 degrees -6.0 degrees of varus; SD 1.97 degrees ) in the navigated cohort. Including all

  12. Improving geolocation and spatial accuracies with the modular integrated avionics group (MIAG)

    NASA Astrophysics Data System (ADS)

    Johnson, Einar; Souter, Keith

    1996-05-01

    The modular integrated avionics group (MIAG) is a single unit approach to combining position, inertial and baro-altitude/air data sensors to provide optimized navigation, guidance and control performance. Lear Astronics Corporation is currently working within the navigation community to upgrade existing MIAG performance with precise GPS positioning mechanization tightly integrated with inertial, baro and other sensors. Among the immediate benefits are the following: (1) accurate target location in dynamic conditions; (2) autonomous launch and recovery using airborne avionics only; (3) precise flight path guidance; and (4) improved aircraft and payload stability information. This paper will focus on the impact of using the MIAG with its multimode navigation accuracies on the UAV targeting mission. Gimbaled electro-optical sensors mounted on a UAV can be used to determine ground coordinates of a target at the center of the field of view by a series of vector rotation and scaling computations. The accuracy of the computed target coordinates is dependent on knowing the UAV position and the UAV-to-target offset computation. Astronics performed a series of simulations to evaluate the effects that the improved angular and position data available from the MIAG have on target coordinate accuracy.

  13. Influence of Waveform Characteristics on LiDAR Ranging Accuracy and Precision

    PubMed Central

    Yang, Bingwei; Xie, Xinhao; Li, Duan

    2018-01-01

    Time of flight (TOF) based light detection and ranging (LiDAR) is a technology for calculating distance between start/stop signals of time of flight. In lab-built LiDAR, two ranging systems for measuring flying time between start/stop signals include time-to-digital converter (TDC) that counts time between trigger signals and analog-to-digital converter (ADC) that processes the sampled start/stop pulses waveform for time estimation. We study the influence of waveform characteristics on range accuracy and precision of two kinds of ranging system. Comparing waveform based ranging (WR) with analog discrete return system based ranging (AR), a peak detection method (WR-PK) shows the best ranging performance because of less execution time, high ranging accuracy, and stable precision. Based on a novel statistic mathematical method maximal information coefficient (MIC), WR-PK precision has a high linear relationship with the received pulse width standard deviation. Thus keeping the received pulse width of measuring a constant distance as stable as possible can improve ranging precision. PMID:29642639

  14. Three-dimensional analysis of the surface registration accuracy of electromagnetic navigation systems in live endoscopic sinus surgery.

    PubMed

    Chang, C M; Fang, K M; Huang, T W; Wang, C T; Cheng, P W

    2013-12-01

    Studies on the performance of surface registration with electromagnetic tracking systems are lacking in both live surgery and the laboratory setting. This study presents the efficiency in time of the system preparation as well as the navigational accuracy of surface registration using electromagnetic tracking systems. Forty patients with bilateral chronic paranasal pansinusitis underwent endoscopic sinus surgery after undergoing sinus computed tomography scans. The surgeries were performed under electromagnetic navigation guidance after the surface registration had been carried out on all of the patients. The intraoperative measurements indicate the time taken for equipment set-up, surface registration and surgical procedure, as well as the degree of navigation error along 3 axes. The time taken for equipment set-up, surface registration and the surgical procedure was 179 +- 23 seconds, 39 +- 4.8 seconds and 114 +- 36 minutes, respectively. A comparison of the navigation error along the 3 axes showed that the deviation in the medial-lateral direction was significantly less than that in the anterior-posterior and cranial-caudal directions. The procedures of equipment set-up and surface registration in electromagnetic navigation tracking are efficient, convenient and easy to manipulate. The system accuracy is within the acceptable ranges, especially on the medial-lateral axis.

  15. Commissioning Procedures for Mechanical Precision and Accuracy in a Dedicated LINAC

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Ballesteros-Zebadua, P.; Larrga-Gutierrez, J. M.; Garcia-Garduno, O. A.

    2008-08-11

    Mechanical precision measurements are fundamental procedures for the commissioning of a dedicated LINAC. At our Radioneurosurgery Unit, these procedures can be suitable as quality assurance routines that allow the verification of the equipment geometrical accuracy and precision. In this work mechanical tests were performed for gantry and table rotation, obtaining mean associated uncertainties of 0.3 mm and 0.71 mm, respectively. Using an anthropomorphic phantom and a series of localized surface markers, isocenter accuracy showed to be smaller than 0.86 mm for radiosurgery procedures and 0.95 mm for fractionated treatments with mask. All uncertainties were below tolerances. The highest contribution tomore » mechanical variations is due to table rotation, so it is important to correct variations using a localization frame with printed overlays. Mechanical precision knowledge would allow to consider the statistical errors in the treatment planning volume margins.« less

  16. Analysis of RDSS positioning accuracy based on RNSS wide area differential technique

    NASA Astrophysics Data System (ADS)

    Xing, Nan; Su, RanRan; Zhou, JianHua; Hu, XiaoGong; Gong, XiuQiang; Liu, Li; He, Feng; Guo, Rui; Ren, Hui; Hu, GuangMing; Zhang, Lei

    2013-10-01

    The BeiDou Navigation Satellite System (BDS) provides Radio Navigation Service System (RNSS) as well as Radio Determination Service System (RDSS). RDSS users can obtain positioning by responding the Master Control Center (MCC) inquiries to signal transmitted via GEO satellite transponder. The positioning result can be calculated with elevation constraint by MCC. The primary error sources affecting the RDSS positioning accuracy are the RDSS signal transceiver delay, atmospheric trans-mission delay and GEO satellite position error. During GEO orbit maneuver, poor orbit forecast accuracy significantly impacts RDSS services. A real-time 3-D orbital correction method based on wide-area differential technique is raised to correct the orbital error. Results from the observation shows that the method can successfully improve positioning precision during orbital maneuver, independent from the RDSS reference station. This improvement can reach 50% in maximum. Accurate calibration of the RDSS signal transceiver delay precision and digital elevation map may have a critical role in high precise RDSS positioning services.

  17. Compact autonomous navigation system (CANS)

    NASA Astrophysics Data System (ADS)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

    2017-11-01

    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  18. Accuracy of the hypothetical sky-polarimetric Viking navigation versus sky conditions: revealing solar elevations and cloudinesses favourable for this navigation method.

    PubMed

    Száz, Dénes; Farkas, Alexandra; Barta, András; Kretzer, Balázs; Blahó, Miklós; Egri, Ádám; Szabó, Gyula; Horváth, Gábor

    2017-09-01

    According to Thorkild Ramskou's theory proposed in 1967, under overcast and foggy skies, Viking seafarers might have used skylight polarization analysed with special crystals called sunstones to determine the position of the invisible Sun. After finding the occluded Sun with sunstones, its elevation angle had to be measured and its shadow had to be projected onto the horizontal surface of a sun compass. According to Ramskou's theory, these sunstones might have been birefringent calcite or dichroic cordierite or tourmaline crystals working as polarizers. It has frequently been claimed that this method might have been suitable for navigation even in cloudy weather. This hypothesis has been accepted and frequently cited for decades without any experimental support. In this work, we determined the accuracy of this hypothetical sky-polarimetric Viking navigation for 1080 different sky situations characterized by solar elevation θ and cloudiness ρ , the sky polarization patterns of which were measured by full-sky imaging polarimetry. We used the earlier measured uncertainty functions of the navigation steps 1, 2 and 3 for calcite, cordierite and tourmaline sunstone crystals, respectively, and the newly measured uncertainty function of step 4 presented here. As a result, we revealed the meteorological conditions under which Vikings could have used this hypothetical navigation method. We determined the solar elevations at which the navigation uncertainties are minimal at summer solstice and spring equinox for all three sunstone types. On average, calcite sunstone ensures a more accurate sky-polarimetric navigation than tourmaline and cordierite. However, in some special cases (generally at 35° ≤  θ  ≤ 40°, 1 okta ≤  ρ  ≤ 6 oktas for summer solstice, and at 20° ≤  θ  ≤ 25°, 0 okta ≤  ρ  ≤ 4 oktas for spring equinox), the use of tourmaline and cordierite results in smaller navigation uncertainties than that of calcite

  19. Patient-specific instrument can achieve same accuracy with less resection time than navigation assistance in periacetabular pelvic tumor surgery: a cadaveric study.

    PubMed

    Wong, Kwok-Chuen; Sze, Kwan-Yik; Wong, Irene Oi-Ling; Wong, Chung-Ming; Kumta, Shekhar-Madhukar

    2016-02-01

    Inaccurate resection in pelvic tumors can result in compromised margins with increase local recurrence. Navigation-assisted and patient-specific instrument (PSI) techniques have recently been reported in assisting pelvic tumor surgery with the tendency of improving surgical accuracy. We examined and compared the accuracy of transferring a virtual pelvic resection plan to actual surgery using navigation-assisted or PSI technique in a cadaver study. We performed CT scan in twelve cadaveric bodies including whole pelvic bones. Either supraacetabular or partial acetabular resection was virtually planned in a hemipelvis using engineering software. The virtual resection plan was transferred to a CT-based navigation system or was used for design and fabrication of PSI. Pelvic resections were performed using navigation assistance in six cadavers and PSI in another six. Post-resection images were co-registered with preoperative planning for comparative analysis of resection accuracy in the two techniques. The mean average deviation error from the planned resection was no different ([Formula: see text]) for the navigation and the PSI groups: 1.9 versus 1.4 mm, respectively. The mean time required for the bone resection was greater ([Formula: see text]) for the navigation group than for the PSI group: 16.2 versus 1.1 min, respectively. In simulated periacetabular pelvic tumor resections, PSI technique enabled surgeons to reproduce the virtual surgical plan with similar accuracy but with less bone resection time when compared with navigation assistance. Further studies are required to investigate the clinical benefits of PSI technique in pelvic tumor surgery.

  20. Computer-assisted neurosurgical navigational system for transsphenoidal surgery--technical note.

    PubMed

    Onizuka, M; Tokunaga, Y; Shibayama, A; Miyazaki, H

    2001-11-01

    Transsphenoidal surgery carries the risk of carotid artery injury even for very experienced neurosurgeons. The computer-assisted neurosurgical (CANS) navigational system was used to obtain more precise guidance, based on the axial and coronal images during the transsphenoidal approach for nine pituitary adenomas. The CANS navigator consists of a three-dimensional digitizer, a computer, and a graphic unit, which utilizes electromagnetic coupling technology to detect the spatial position of a suction tube attached to a magnetic sensor. Preoperatively, the magnetic resonance images are transferred and stored in the computer and the tip of the suction tube is shown on a real-time basis superimposed on the preoperative images. The CANS navigation system correctly displayed the surgical orientation and provided localization in all nine patients. No intraoperative complications were associated with the use of this system. However, outflow of cerebrospinal fluid during tumor removal may affect the accuracy, so the position of the probe when the tumor is removed must be accurately determined. The CANS navigator enables precise localization of the suction tube during the transsphenoidal approach and allows safer and less-invasive surgery.

  1. A Comparative Study of Precise Point Positioning (PPP) Accuracy Using Online Services

    NASA Astrophysics Data System (ADS)

    Malinowski, Marcin; Kwiecień, Janusz

    2016-12-01

    Precise Point Positioning (PPP) is a technique used to determine the position of receiver antenna without communication with the reference station. It may be an alternative solution to differential measurements, where maintaining a connection with a single RTK station or a regional network of reference stations RTN is necessary. This situation is especially common in areas with poorly developed infrastructure of ground stations. A lot of research conducted so far on the use of the PPP technique has been concerned about the development of entire day observation sessions. However, this paper presents the results of a comparative analysis of accuracy of absolute determination of position from observations which last between 1 to 7 hours with the use of four permanent services which execute calculations with PPP technique such as: Automatic Precise Positioning Service (APPS), Canadian Spatial Reference System Precise Point Positioning (CSRS-PPP), GNSS Analysis and Positioning Software (GAPS) and magicPPP - Precise Point Positioning Solution (magicGNSS). On the basis of acquired results of measurements, it can be concluded that at least two-hour long measurements allow acquiring an absolute position with an accuracy of 2-4 cm. An evaluation of the impact on the accuracy of simultaneous positioning of three points test network on the change of the horizontal distance and the relative height difference between measured triangle vertices was also conducted. Distances and relative height differences between points of the triangular test network measured with a laser station Leica TDRA6000 were adopted as references. The analyses of results show that at least two hours long measurement sessions can be used to determine the horizontal distance or the difference in height with an accuracy of 1-2 cm. Rapid products employed in calculations conducted with PPP technique reached the accuracy of determining coordinates on a close level as in elaborations which employ Final products.

  2. Underwater terrain-aided navigation system based on combination matching algorithm.

    PubMed

    Li, Peijuan; Sheng, Guoliang; Zhang, Xiaofei; Wu, Jingqiu; Xu, Baochun; Liu, Xing; Zhang, Yao

    2018-07-01

    Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles. Copyright © 2017. Published by Elsevier Ltd.

  3. Radio/FADS/IMU integrated navigation for Mars entry

    NASA Astrophysics Data System (ADS)

    Jiang, Xiuqiang; Li, Shuang; Huang, Xiangyu

    2018-03-01

    Supposing future orbiting and landing collaborative exploration mission as the potential project background, this paper addresses the issue of Mars entry integrated navigation using radio beacon, flush air data sensing system (FADS), and inertial measurement unit (IMU). The range and Doppler information sensed from an orbiting radio beacon, the dynamic pressure and heating data sensed from flush air data sensing system, and acceleration and attitude angular rate outputs from an inertial measurement unit are integrated in an unscented Kalman filter to perform state estimation and suppress the system and measurement noise. Computer simulations show that the proposed integrated navigation scheme can enhance the navigation accuracy, which enables precise entry guidance for the given Mars orbiting and landing collaborative exploration mission.

  4. EM-navigated catheter placement for gynecologic brachytherapy: an accuracy study

    NASA Astrophysics Data System (ADS)

    Mehrtash, Alireza; Damato, Antonio; Pernelle, Guillaume; Barber, Lauren; Farhat, Nabgha; Viswanathan, Akila; Cormack, Robert; Kapur, Tina

    2014-03-01

    Gynecologic malignancies, including cervical, endometrial, ovarian, vaginal and vulvar cancers, cause significant mortality in women worldwide. The standard care for many primary and recurrent gynecologic cancers consists of chemoradiation followed by brachytherapy. In high dose rate (HDR) brachytherapy, intracavitary applicators and /or interstitial needles are placed directly inside the cancerous tissue so as to provide catheters to deliver high doses of radiation. Although technology for the navigation of catheters and needles is well developed for procedures such as prostate biopsy, brain biopsy, and cardiac ablation, it is notably lacking for gynecologic HDR brachytherapy. Using a benchtop study that closely mimics the clinical interstitial gynecologic brachytherapy procedure, we developed a method for evaluating the accuracy of image-guided catheter placement. Future bedside translation of this technology offers the potential benefit of maximizing tumor coverage during catheter placement while avoiding damage to the adjacent organs, for example bladder, rectum and bowel. In the study, two independent experiments were performed on a phantom model to evaluate the targeting accuracy of an electromagnetic (EM) tracking system. The procedure was carried out using a laptop computer (2.1GHz Intel Core i7 computer, 8GB RAM, Windows 7 64-bit), an EM Aurora tracking system with a 1.3mm diameter 6 DOF sensor, and 6F (2 mm) brachytherapy catheters inserted through a Syed-Neblett applicator. The 3D Slicer and PLUS open source software were used to develop the system. The mean of the targeting error was less than 2.9mm, which is comparable to the targeting errors in commercial clinical navigation systems.

  5. Clinical evaluation and treatment accuracy in diabetic macular edema using navigated laser photocoagulator NAVILAS.

    PubMed

    Kozak, Igor; Oster, Stephen F; Cortes, Marco A; Dowell, Dennis; Hartmann, Kathrin; Kim, Jae Suk; Freeman, William R

    2011-06-01

    To evaluate the clinical use and accuracy of a new retinal navigating laser technology that integrates a scanning slit fundus camera system with fluorescein angiography (FA), color, red-free, and infrared imaging capabilities with a computer steerable therapeutic 532-nm laser. Interventional case series. Eighty-six eyes of 61 patients with diabetic retinopathy and macular edema treated by NAVILAS. The imaging included digital color fundus photographs and FA. The planning included graphically marking future treatment sites (microaneurysms for single-spot focal treatment and areas of diffuse leakage for grid pattern photocoagulation) on the acquired images. The preplanned treatment was visible and overlaid on the live fundus image during the actual photocoagulation. The NAVILAS automatically advances the aiming beam location from one planned treatment site to the next after each photocoagulation spot until all sites are treated. Aiming beam stabilization compensated for patient's eye movements. The pretreatment FA with the treatment plan was overlaid on top of the posttreatment color fundus images with the actual laser burns. This allowed treatment accuracy to be calculated. Independent observers evaluated the images to determine if the retinal opacification after treatment overlapped the targeted microaneurysm. Safety and accuracy of laser photocoagulation. The images were of very good quality compared with standard fundus cameras, allowing careful delineation of target areas on FA. Toggling from infrared, to monochromatic, to color view allowed evaluation and adjustment of burn intensity during treatment. There were no complications during or after photocoagulation treatment. An analysis of accuracy of 400 random focal targeted spots found that the NAVILAS achieved a microaneurysm hit rate of 92% when the placement of the treatment circle was centered by the operating surgeon on the microaneurysm. The accuracy for the control group analyzing 100 focal spots was

  6. Characterizing Accuracy and Precision of Glucose Sensors and Meters

    PubMed Central

    2014-01-01

    There is need for a method to describe precision and accuracy of glucose measurement as a smooth continuous function of glucose level rather than as a step function for a few discrete ranges of glucose. We propose and illustrate a method to generate a “Glucose Precision Profile” showing absolute relative deviation (ARD) and /or %CV versus glucose level to better characterize measurement errors at any glucose level. We examine the relationship between glucose measured by test and comparator methods using linear regression. We examine bias by plotting deviation = (test – comparator method) versus glucose level. We compute the deviation, absolute deviation (AD), ARD, and standard deviation (SD) for each data pair. We utilize curve smoothing procedures to minimize the effects of random sampling variability to facilitate identification and display of the underlying relationships between ARD or %CV and glucose level. AD, ARD, SD, and %CV display smooth continuous relationships versus glucose level. Estimates of MARD and %CV are subject to relatively large errors in the hypoglycemic range due in part to a markedly nonlinear relationship with glucose level and in part to the limited number of observations in the hypoglycemic range. The curvilinear relationships of ARD and %CV versus glucose level are helpful when characterizing and comparing the precision and accuracy of glucose sensors and meters. PMID:25037194

  7. Fluoroscopy and imageless navigation enable an equivalent reconstruction of leg length and global and femoral offset in THA.

    PubMed

    Weber, Markus; Woerner, Michael; Springorum, Robert; Sendtner, Ernst; Hapfelmeier, Alexander; Grifka, Joachim; Renkawitz, Tobias

    2014-10-01

    Restoration of biomechanics is a major goal in THA. Imageless navigation enables intraoperative control of leg length equalization and offset reconstruction. However, the effect of navigation compared with intraoperative fluoroscopy is unclear. We asked whether intraoperative use of imageless navigation (1) improves the relative accuracy of leg length and global and femoral offset restoration; (2) increases the absolute precision of leg length and global and femoral offset equalization; and (3) reduces outliers in a reconstruction zone of ± 5 mm for leg length and global and femoral offset restoration compared with intraoperative fluoroscopy during minimally invasive (MIS) THA with the patient in a lateral decubitus position. In this prospective study a consecutive series of 125 patients were randomized to either navigation-guided or fluoroscopy-controlled THA using sealed, opaque envelopes. All patients received the same cementless prosthetic components through an anterolateral MIS approach while they were in a lateral decubitus position. Leg length, global or total offset (representing the combination of femoral and acetabular offset), and femoral offset differences were restored using either navigation or fluoroscopy. Postoperatively, residual leg length and global and femoral offset discrepancies were analyzed on magnification-corrected radiographs of the pelvis by an independent and blinded examiner using digital planning software. Accuracy was defined as the relative postoperative difference between the surgically treated and the unaffected contralateral side for leg length and offset, respectively; precision was defined as the absolute postoperative deviation of leg length and global and femoral offset regardless of lengthening or shortening of leg length and offset throughout the THA. All analyses were performed per intention-to-treat. Analyzing the relative accuracy of leg length restoration we found a mean difference of 0.2 mm (95% CI, -1.0 to +1.4 mm; p

  8. A flight investigation of system accuracies and operational capabilities of a general aviation area navigation systems

    DOT National Transportation Integrated Search

    1977-06-01

    Flight tests were conducted at the National Aviation Facilities Experimental : Center (NAFEC) using a general aviation area navigation (RNAV) system to : investigate system accuracies and resultant airspace requirements in the : terminal area. Issues...

  9. Real-Time Single Frequency Precise Point Positioning Using SBAS Corrections

    PubMed Central

    Li, Liang; Jia, Chun; Zhao, Lin; Cheng, Jianhua; Liu, Jianxu; Ding, Jicheng

    2016-01-01

    Real-time single frequency precise point positioning (PPP) is a promising technique for high-precision navigation with sub-meter or even centimeter-level accuracy because of its convenience and low cost. The navigation performance of single frequency PPP heavily depends on the real-time availability and quality of correction products for satellite orbits and satellite clocks. Satellite-based augmentation system (SBAS) provides the correction products in real-time, but they are intended to be used for wide area differential positioning at 1 meter level precision. By imposing the constraints for ionosphere error, we have developed a real-time single frequency PPP method by sufficiently utilizing SBAS correction products. The proposed PPP method are tested with static and kinematic data, respectively. The static experimental results show that the position accuracy of the proposed PPP method can reach decimeter level, and achieve an improvement of at least 30% when compared with the traditional SBAS method. The positioning convergence of the proposed PPP method can be achieved in 636 epochs at most in static mode. In the kinematic experiment, the position accuracy of the proposed PPP method can be improved by at least 20 cm relative to the SBAS method. Furthermore, it has revealed that the proposed PPP method can achieve decimeter level convergence within 500 s in the kinematic mode. PMID:27517930

  10. Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays.

    PubMed

    Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

    2018-03-30

    To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

  11. Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

    PubMed Central

    Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

    2018-01-01

    To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region. PMID:29601537

  12. Students as Toolmakers: Refining the Results in the Accuracy and Precision of a Trigonometric Activity

    ERIC Educational Resources Information Center

    Igoe, D. P.; Parisi, A. V.; Wagner, S.

    2017-01-01

    Smartphones used as tools provide opportunities for the teaching of the concepts of accuracy and precision and the mathematical concept of arctan. The accuracy and precision of a trigonometric experiment using entirely mechanical tools is compared to one using electronic tools, such as a smartphone clinometer application and a laser pointer. This…

  13. Electromagnetic navigated positioning of the maxilla after Le Fort I osteotomy in preclinical orthognathic surgery cases.

    PubMed

    Berger, Moritz; Nova, Igor; Kallus, Sebastian; Ristow, Oliver; Eisenmann, Urs; Freudlsperger, Christian; Seeberger, Robin; Hoffmann, Jürgen; Dickhaus, Hartmut

    2017-03-01

    Inaccuracies in orthognathic surgery can be caused during face-bow registration, model surgery on plaster models, and intermaxillary splint manufacturing. Electromagnetic (EM) navigation is a promising method for splintless digitized maxillary positioning. After performing Le Fort I osteotomy on 10 plastic skulls, the target position of the maxilla was guided by an EM navigation system. Specially implemented software illustrated the target position by real-time multistage colored three-dimensional imaging. Accuracy was determined by using pre- and postoperative cone beam computed tomography. The high accuracy of the EM system was underlined by the fact that it had a navigated maxilla position discrepancy of only 0.4 mm, which was verified by postoperative cone beam computed tomography. This preclinical study demonstrates a precise digitized approach for splintless maxillary repositioning after Le Fort I osteotomy. The accuracy and intuitive illustration of the introduced EM navigation system is promising for potential daily use in orthognathic surgery. Copyright © 2016 Elsevier Inc. All rights reserved.

  14. [Precision and accuracy of "a pocket" pulse oximeter in Mexico City].

    PubMed

    Torre-Bouscoulet, Luis; Chávez-Plascencia, Elizabeth; Vázquez-García, Juan Carlos; Pérez-Padilla, Rogelio

    2006-01-01

    Pulse oximeters are frequently used in the clinical practice and we must known their precision and accuracy. The objective was to evaluate the precision and accuracy of a "pocket" pulse oximeter at an altitude of 2,240 m above sea level. We tested miniature pulse oximeters (Onyx 9,500, Nonin Finger Pulse Oximeter) in 96 patients sent to the pulmonary laboratory for an arterial blood sample. Patients were tested with 5 pulse oximeters placed in each of the fingers of the hand oposite to that used for the arterial puncture. The gold standard was the oxygen saturation of the arterial blood sample. Blood samples had SaO2 of 87.2 +/- 11.0 (between 42.2 and 97.9%). Pulse oximeters had a mean error of 0.28 +/- 3.1%. SaO2 = (1.204 x SpO2) - 17.45966 (r = 0.92, p < 0.0001). Intraclass correlation coefficient between each of five pulse oximeters against the arterial blood standard ranged between 0.87 and 0.99. HbCO (2.4 +/- 0.6) did not affect the accuracy. The miniature oximeter Nonin is precise and accurate at 2,240 m of altitude. The observed levels of HbCO did not affect the performance of the equipment. The oximeter good performance, small size and low cost enhances its clinical usefulness.

  15. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

    PubMed Central

    Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

    2016-01-01

    The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs. PMID:27999351

  16. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

    PubMed

    Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

    2016-12-18

    The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

  17. Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying

    NASA Astrophysics Data System (ADS)

    Lee, Kwangwon; Oh, Hyungjik; Park, Han-Earl; Park, Sang-Young; Park, Chandeok

    2015-12-01

    This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than 0.001° at relative distances greater than 30 km.

  18. Testing of the high accuracy inertial navigation system in the Shuttle Avionics Integration Lab

    NASA Technical Reports Server (NTRS)

    Strachan, Russell L.; Evans, James M.

    1991-01-01

    The description, results, and interpretation is presented of comparison testing between the High Accuracy Inertial Navigation System (HAINS) and KT-70 Inertial Measurement Unit (IMU). The objective was to show the HAINS can replace the KT-70 IMU in the space shuttle Orbiter, both singularly and totally. This testing was performed in the Guidance, Navigation, and Control Test Station (GTS) of the Shuttle Avionics Integration Lab (SAIL). A variety of differences between the two instruments are explained. Four, 5 day test sessions were conducted varying the number and slot position of the HAINS and KT-70 IMUs. The various steps in the calibration and alignment procedure are explained. Results and their interpretation are presented. The HAINS displayed a high level of performance accuracy previously unseen with the KT-70 IMU. The most significant improvement of the performance came in the Tuned Inertial/Extended Launch Hold tests. The HAINS exceeded the 4 hr specification requirement. The results obtained from the SAIL tests were generally well beyond the requirements of the procurement specification.

  19. Total Navigation in Spine Surgery; A Concise Guide to Eliminate Fluoroscopy Using a Portable Intraoperative Computed Tomography 3-Dimensional Navigation System.

    PubMed

    Navarro-Ramirez, Rodrigo; Lang, Gernot; Lian, Xiaofeng; Berlin, Connor; Janssen, Insa; Jada, Ajit; Alimi, Marjan; Härtl, Roger

    2017-04-01

    Portable intraoperative computed tomography (iCT) with integrated 3-dimensional navigation (NAV) offers new opportunities for more precise navigation in spinal surgery, eliminates radiation exposure for the surgical team, and accelerates surgical workflows. We present the concept of "total navigation" using iCT NAV in spinal surgery. Therefore, we propose a step-by-step guideline demonstrating how total navigation can eliminate fluoroscopy with time-efficient workflows integrating iCT NAV into daily practice. A prospective study was conducted on collected data from patients undergoing iCT NAV-guided spine surgery. Number of scans, radiation exposure, and workflow of iCT NAV (e.g., instrumentation, cage placement, localization) were documented. Finally, the accuracy of pedicle screws and time for instrumentation were determined. iCT NAV was successfully performed in 117 cases for various indications and in all regions of the spine. More than half (61%) of cases were performed in a minimally invasive manner. Navigation was used for skin incision, localization of index level, and verification of implant position. iCT NAV was used to evaluate neural decompression achieved in spinal fusion surgeries. Total navigation eliminates fluoroscopy in 75%, thus reducing staff radiation exposure entirely. The average times for iCT NAV setup and pedicle screw insertion were 12.1 and 3.1 minutes, respectively, achieving a pedicle screw accuracy of 99%. Total navigation makes spine surgery safer and more accurate, and it enhances efficient and reproducible workflows. Fluoroscopy and radiation exposure for the surgical staff can be eliminated in the majority of cases. Copyright © 2017 Elsevier Inc. All rights reserved.

  20. The Plus or Minus Game--Teaching Estimation, Precision, and Accuracy

    ERIC Educational Resources Information Center

    Forringer, Edward R.; Forringer, Richard S.; Forringer, Daniel S.

    2016-01-01

    A quick survey of physics textbooks shows that many (Knight, Young, and Serway for example) cover estimation, significant digits, precision versus accuracy, and uncertainty in the first chapter. Estimation "Fermi" questions are so useful that there has been a column dedicated to them in "TPT" (Larry Weinstein's "Fermi…

  1. Accuracy and precision of occlusal contacts of stereolithographic casts mounted by digital interocclusal registrations.

    PubMed

    Krahenbuhl, Jason T; Cho, Seok-Hwan; Irelan, Jon; Bansal, Naveen K

    2016-08-01

    Little peer-reviewed information is available regarding the accuracy and precision of the occlusal contact reproduction of digitally mounted stereolithographic casts. The purpose of this in vitro study was to evaluate the accuracy and precision of occlusal contacts among stereolithographic casts mounted by digital occlusal registrations. Four complete anatomic dentoforms were arbitrarily mounted on a semi-adjustable articulator in maximal intercuspal position and served as the 4 different simulated patients (SP). A total of 60 digital impressions and digital interocclusal registrations were made with a digital intraoral scanner to fabricate 15 sets of mounted stereolithographic (SLA) definitive casts for each dentoform. After receiving a total of 60 SLA casts, polyvinyl siloxane (PVS) interocclusal records were made for each set. The occlusal contacts for each set of SLA casts were measured by recording the amount of light transmitted through the interocclusal records. To evaluate the accuracy between the SP and their respective SLA casts, the areas of actual contact (AC) and near contact (NC) were calculated. For precision analysis, the coefficient of variation (CoV) was used. The data was analyzed with t tests for accuracy and the McKay and Vangel test for precision (α=.05). The accuracy analysis showed a statistically significant difference between the SP and the SLA cast of each dentoform (P<.05). For the AC in all dentoforms, a significant increase was found in the areas of actual contact of SLA casts compared with the contacts present in the SP (P<.05). Conversely, for the NC in all dentoforms, a significant decrease was found in the occlusal contact areas of the SLA casts compared with the contacts in the SP (P<.05). The precision analysis demonstrated the different CoV values between AC (5.8 to 8.8%) and NC (21.4 to 44.6%) of digitally mounted SLA casts, indicating that the overall precision of the SLA cast was low. For the accuracy evaluation

  2. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

    PubMed

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-28

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.

  3. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database

    PubMed Central

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-01

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

  4. [Assessment of precision and accuracy of digital surface photogrammetry with the DSP 400 system].

    PubMed

    Krimmel, M; Kluba, S; Dietz, K; Reinert, S

    2005-03-01

    The objective of the present study was to evaluate the precision and accuracy of facial anthropometric measurements obtained through digital 3-D surface photogrammetry with the DSP 400 system in comparison to traditional 2-D photogrammetry. Fifty plaster casts of cleft infants were imaged and 21 standard anthropometric measurements were obtained. For precision assessment the measurements were performed twice in a subsample. Accuracy was determined by comparison of direct measurements and indirect 2-D and 3-D image measurements. Precision of digital surface photogrammetry was almost as good as direct anthropometry and clearly better than 2-D photogrammetry. Measurements derived from 3-D images showed better congruence to direct measurements than from 2-D photos. Digital surface photogrammetry with the DSP 400 system is sufficiently precise and accurate for craniofacial anthropometric examinations.

  5. Does intraoperative navigation improve the accuracy of pedicle screw placement in the apical region of dystrophic scoliosis secondary to neurofibromatosis type I: comparison between O-arm navigation and free-hand technique.

    PubMed

    Jin, Mengran; Liu, Zhen; Liu, Xingyong; Yan, Huang; Han, Xiao; Qiu, Yong; Zhu, Zezhang

    2016-06-01

    To assess the accuracy of O-arm-navigation-based pedicle screw insertion in dystrophic scoliosis secondary to NF-1 and compare it with free-hand pedicle screw insertion technique. 32 patients with dystrophic NF-1-associated scoliosis were divided into two groups. A total of 92 pedicle screws were implanted in apical region (two vertebrae above and below the apex each) in 13 patients using O-arm-based navigation (O-arm group), and 121 screws were implanted in 19 patients using free-hand technique (free-hand group). The postoperative CT images were reviewed and analyzed for pedicle violation. The screw penetration was divided into four grades: grade 0 (ideal placement), grade 1 (penetration <2 mm), grade 2 (penetration between 2 and 4 mm), and grade 3 (penetration >4 mm). The accuracy rate of pedicle screw placement (grade 0, 1) was significantly higher in the O-arm group (79 %, 73/92) compared to 67 % (81/121) of the free-hand group (P = 0.045). Meanwhile, a significantly lower prevalence of grade 2-3 perforation was observed in the O-arm group (21 vs. 33 %, P < 0.05), and the incidence of medial perforation was significantly minimized by using O-arm navigation compared to free-hand technique (2 vs. 15 %, P < 0.01). Moreover, the implant density in apical region was significantly elevated by using O-arm navigation (58 vs. 42 %, P < 0.001). We reported 79 % accuracy of O-arm-based pedicle screw placement in dystrophic NF-1-associated scoliosis. O-arm navigation system does facilitate pedicle screw insertion in dystrophic NF-1-associated scoliosis, demonstrating superiorities in the safety and accuracy of pedicle screw placement in comparison with free-hand technique.

  6. Does Navigation Improve Accuracy of Placement of Pedicle Screws in Single-level Lumbar Degenerative Spondylolisthesis?: A Comparison Between Free-hand and Three-dimensional O-Arm Navigation Techniques.

    PubMed

    Boon Tow, Benjamin Phak; Yue, Wai Mun; Srivastava, Abhishek; Lai, Jenn Ming; Guo, Chang Ming; Wearn Peng, Benedict Chan; Chen, John L T; Yew, Andy K S; Seng, Chusheng; Tan, Seang Beng

    2015-10-01

    This was a prospective, nonrandomized study. To assess the accuracy of O-arm navigation-based pedicle screw insertion in lumbar degenerative spondylolisthesis and to compare it with free-hand pedicle screw insertion technique in matched population. O-arm navigation is latest in navigation technology that can provide real-time intraoperative images in 3 dimensions while placing the pedicle screws to improve intraoperative pedicle screw accuracy. Degenerative lumbar spondylolisthesis is a locally unstable pathology and placement of pedicle screws can cause increased rotation and translation of the vertebral body. However, is this motion detected by the tracker placed across the unstable segment, is a matter of debate. Inability to detect these positional changes can lead to pedicle perforation while inserting screws using navigation. No study has evaluated the role of O-arm navigation in this patient population. The study population was divided into 2 groups with 19 patients each, one comprising patients who underwent O-arm navigation-based pedicle screw insertion (group 1) and the other comprising patients who underwent free-hand pedicle screw insertion technique (group 2). A total of 152 pedicle screws were implanted in 38 patients for 1-level instrumented fusion for degenerative lumbar spondylolisthesis. Intraoperative 3-dimensional computed tomography scans using the O-arm were obtained for all patients after insertion of pedicle screws. The images were reviewed intraoperatively and postoperatively for the analysis of pedicle breaches. Assessments in either of the group included (i) accuracy of placement of screws; (ii) the rate and direction of perforation; and (iii) the number of segments the perforated screw was away from the navigation tracker. Mean age of patients in group 1 (O-arm navigation-assisted) was 60 years (SD 11.25; range, 37-73 y), whereas in group 2 (free-hand pedicle screw) was 62 years (SD 18.07; range, 36-90 y). Overall anatomic perforation

  7. Precision and accuracy of 3D lower extremity residua measurement systems

    NASA Astrophysics Data System (ADS)

    Commean, Paul K.; Smith, Kirk E.; Vannier, Michael W.; Hildebolt, Charles F.; Pilgram, Thomas K.

    1996-04-01

    Accurate and reproducible geometric measurement of lower extremity residua is required for custom prosthetic socket design. We compared spiral x-ray computed tomography (SXCT) and 3D optical surface scanning (OSS) with caliper measurements and evaluated the precision and accuracy of each system. Spiral volumetric CT scanned surface and subsurface information was used to make external and internal measurements, and finite element models (FEMs). SXCT and OSS were used to measure lower limb residuum geometry of 13 below knee (BK) adult amputees. Six markers were placed on each subject's BK residuum and corresponding plaster casts and distance measurements were taken to determine precision and accuracy for each system. Solid models were created from spiral CT scan data sets with the prosthesis in situ under different loads using p-version finite element analysis (FEA). Tissue properties of the residuum were estimated iteratively and compared with values taken from the biomechanics literature. The OSS and SXCT measurements were precise within 1% in vivo and 0.5% on plaster casts, and accuracy was within 3.5% in vivo and 1% on plaster casts compared with caliper measures. Three-dimensional optical surface and SXCT imaging systems are feasible for capturing the comprehensive 3D surface geometry of BK residua, and provide distance measurements statistically equivalent to calipers. In addition, SXCT can readily distinguish internal soft tissue and bony structure of the residuum. FEM can be applied to determine tissue material properties interactively using inverse methods.

  8. Measuring changes in Plasmodium falciparum transmission: Precision, accuracy and costs of metrics

    PubMed Central

    Tusting, Lucy S.; Bousema, Teun; Smith, David L.; Drakeley, Chris

    2016-01-01

    As malaria declines in parts of Africa and elsewhere, and as more countries move towards elimination, it is necessary to robustly evaluate the effect of interventions and control programmes on malaria transmission. To help guide the appropriate design of trials to evaluate transmission-reducing interventions, we review eleven metrics of malaria transmission, discussing their accuracy, precision, collection methods and costs, and presenting an overall critique. We also review the non-linear scaling relationships between five metrics of malaria transmission; the entomological inoculation rate, force of infection, sporozoite rate, parasite rate and the basic reproductive number, R0. Our review highlights that while the entomological inoculation rate is widely considered the gold standard metric of malaria transmission and may be necessary for measuring changes in transmission in highly endemic areas, it has limited precision and accuracy and more standardised methods for its collection are required. In areas of low transmission, parasite rate, sero-conversion rates and molecular metrics including MOI and mFOI may be most appropriate. When assessing a specific intervention, the most relevant effects will be detected by examining the metrics most directly affected by that intervention. Future work should aim to better quantify the precision and accuracy of malaria metrics and to improve methods for their collection. PMID:24480314

  9. A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”

    PubMed Central

    Zhou, Xiao; Yang, Gongliu; Cai, Qingzhong; Wang, Jing

    2016-01-01

    In recent years, with the emergency of high precision inertial sensors (accelerometers and gyros), gravity compensation has become a major source influencing the navigation accuracy in inertial navigation systems (INS), especially for high-precision INS. This paper presents preliminary results concerning the effect of gravity disturbance on INS. Meanwhile, this paper proposes a novel gravity compensation method for high-precision INS, which estimates the gravity disturbance on the track using the extreme learning machine (ELM) method based on measured gravity data on the geoid and processes the gravity disturbance to the height where INS has an upward continuation, then compensates the obtained gravity disturbance into the error equations of INS to restrain the INS error propagation. The estimation accuracy of the gravity disturbance data is verified by numerical tests. The root mean square error (RMSE) of the ELM estimation method can be improved by 23% and 44% compared with the bilinear interpolation method in plain and mountain areas, respectively. To further validate the proposed gravity compensation method, field experiments with an experimental vehicle were carried out in two regions. Test 1 was carried out in a plain area and Test 2 in a mountain area. The field experiment results also prove that the proposed gravity compensation method can significantly improve the positioning accuracy. During the 2-h field experiments, the positioning accuracy can be improved by 13% and 29% respectively, in Tests 1 and 2, when the navigation scheme is compensated by the proposed gravity compensation method. PMID:27916856

  10. S193 radiometer brightness temperature precision/accuracy for SL2 and SL3

    NASA Technical Reports Server (NTRS)

    Pounds, D. J.; Krishen, K.

    1975-01-01

    The precision and accuracy with which the S193 radiometer measured the brightness temperature of ground scenes is investigated. Estimates were derived from data collected during Skylab missions. Homogeneous ground sites were selected and S193 radiometer brightness temperature data analyzed. The precision was expressed as the standard deviation of the radiometer acquired brightness temperature. Precision was determined to be 2.40 K or better depending on mode and target temperature.

  11. Position Accuracy Analysis of a Robust Vision-Based Navigation

    NASA Astrophysics Data System (ADS)

    Gaglione, S.; Del Pizzo, S.; Troisi, S.; Angrisano, A.

    2018-05-01

    Using images to determine camera position and attitude is a consolidated method, very widespread for application like UAV navigation. In harsh environment, where GNSS could be degraded or denied, image-based positioning could represent a possible candidate for an integrated or alternative system. In this paper, such method is investigated using a system based on single camera and 3D maps. A robust estimation method is proposed in order to limit the effect of blunders or noisy measurements on position solution. The proposed approach is tested using images collected in an urban canyon, where GNSS positioning is very unaccurate. A previous photogrammetry survey has been performed to build the 3D model of tested area. The position accuracy analysis is performed and the effect of the robust method proposed is validated.

  12. Relative Navigation of Formation-Flying Satellites

    NASA Technical Reports Server (NTRS)

    Long, Anne; Kelbel, David; Lee, Taesul; Leung, Dominic; Carpenter, J. Russell; Grambling, Cheryl

    2002-01-01

    This paper compares autonomous relative navigation performance for formations in eccentric, medium and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS), crosslink, and celestial object measurements. For close formations, the relative navigation accuracy is highly dependent on the magnitude of the uncorrelated measurement errors. A relative navigation position accuracy of better than 10 centimeters root-mean-square (RMS) can be achieved for medium-altitude formations that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 15 meters RMS can be achieved for high-altitude formations that have sparse tracking of the GPS signals. The addition of crosslink measurements can significantly improve relative navigation accuracy for formations that use sparse GPS tracking or celestial object measurements for absolute navigation.

  13. Airborne gravimetry, altimetry, and GPS navigation errors

    NASA Technical Reports Server (NTRS)

    Colombo, Oscar L.

    1992-01-01

    Proper interpretation of airborne gravimetry and altimetry requires good knowledge of aircraft trajectory. Recent advances in precise navigation with differential GPS have made it possible to measure gravity from the air with accuracies of a few milligals, and to obtain altimeter profiles of terrain or sea surface correct to one decimeter. These developments are opening otherwise inaccessible regions to detailed geophysical mapping. Navigation with GPS presents some problems that grow worse with increasing distance from a fixed receiver: the effect of errors in tropospheric refraction correction, GPS ephemerides, and the coordinates of the fixed receivers. Ionospheric refraction and orbit error complicate ambiguity resolution. Optimal navigation should treat all error sources as unknowns, together with the instantaneous vehicle position. To do so, fast and reliable numerical techniques are needed: efficient and stable Kalman filter-smoother algorithms, together with data compression and, sometimes, the use of simplified dynamics.

  14. Improved artificial bee colony algorithm based gravity matching navigation method.

    PubMed

    Gao, Wei; Zhao, Bo; Zhou, Guang Tao; Wang, Qiu Ying; Yu, Chun Yang

    2014-07-18

    Gravity matching navigation algorithm is one of the key technologies for gravity aided inertial navigation systems. With the development of intelligent algorithms, the powerful search ability of the Artificial Bee Colony (ABC) algorithm makes it possible to be applied to the gravity matching navigation field. However, existing search mechanisms of basic ABC algorithms cannot meet the need for high accuracy in gravity aided navigation. Firstly, proper modifications are proposed to improve the performance of the basic ABC algorithm. Secondly, a new search mechanism is presented in this paper which is based on an improved ABC algorithm using external speed information. At last, modified Hausdorff distance is introduced to screen the possible matching results. Both simulations and ocean experiments verify the feasibility of the method, and results show that the matching rate of the method is high enough to obtain a precise matching position.

  15. Visual navigation using edge curve matching for pinpoint planetary landing

    NASA Astrophysics Data System (ADS)

    Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

    2018-05-01

    Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

  16. Performance analysis of device-level SINS/ACFSS deeply integrated navigation method

    NASA Astrophysics Data System (ADS)

    Zhang, Hao; Qin, Shiqiao; Wang, Xingshu; Jiang, Guangwen; Tan, Wenfeng

    2016-10-01

    The Strap-Down Inertial Navigation System (SINS) is a widely used navigation system. The combination of SINS and the Celestial Navigation System (CNS) is one of the popular measures to constitute the integrated navigation system. A Star Sensor (SS) is used as a precise attitude determination device in CNS. To solve the problem that the star image obtained by SS under dynamic conditions is motion-blurred, the Attitude Correlated Frames (ACF) is presented and the star sensor which works based on ACF approach is named ACFSS. Depending on the ACF approach, a novel device-level SINS/ACFSS deeply integrated navigation method is proposed in this paper. Feedback to the ACF process from the error of the gyro is one of the typical characters of the SINS/CNS deeply integrated navigation method. Herein, simulation results have verified its validity and efficiency in improving the accuracy of gyro and it can be proved that this method is feasible in theory.

  17. Comparative examination of the accuracy of a mechanical and an optical system in CT and MRT based instrument navigation.

    PubMed

    Hassfeld, S; Mühling, J

    2000-12-01

    The aim of an intraoperative instrument navigation system is to support the surgeon in the localization of anatomical regions and to guide the use of surgical instruments. An overview of technical principles and literature reports on various navigation systems is provided here. The navigation accuracy (tested on a plastic phantom under simulated operating room conditions) of the mechanical Viewing Wand system and the optical SPOCS system amounts to 1 to 3 mm for computerized tomography (CT) data, with a significant inverse dependence on the layer thickness. The values for magnetic resonance tomography (MRT) data are significantly higher. In regard to the choice of registration points, a statistically inverse dependence exists between the number of points and the distance between the points. During the time period between autumn 1993 and mid-1999, more than 120 clinical applications were performed. The intraoperative accuracy was in the range of < or = 3 mm. Registering the patient position with preoperatively inserted screw markers achieved accuracy values of < or = 2 mm. The instrument navigation technique has proved to be very advantageous for the spatial orientation of the surgeons. The possibility of checking resection borders has opened up new perspectives in tumor surgery. A quality improvement and a reduction of the operational risks as well as a considerable decline in the stress placed on the patient can be expected in the near future due the techniques of computer-assisted surgery.

  18. Integrated multi-ISE arrays with improved sensitivity, accuracy and precision

    NASA Astrophysics Data System (ADS)

    Wang, Chunling; Yuan, Hongyan; Duan, Zhijuan; Xiao, Dan

    2017-03-01

    Increasing use of ion-selective electrodes (ISEs) in the biological and environmental fields has generated demand for high-sensitivity ISEs. However, improving the sensitivities of ISEs remains a challenge because of the limit of the Nernstian slope (59.2/n mV). Here, we present a universal ion detection method using an electronic integrated multi-electrode system (EIMES) that bypasses the Nernstian slope limit of 59.2/n mV, thereby enabling substantial enhancement of the sensitivity of ISEs. The results reveal that the response slope is greatly increased from 57.2 to 1711.3 mV, 57.3 to 564.7 mV and 57.7 to 576.2 mV by electronic integrated 30 Cl- electrodes, 10 F- electrodes and 10 glass pH electrodes, respectively. Thus, a tiny change in the ion concentration can be monitored, and correspondingly, the accuracy and precision are substantially improved. The EIMES is suited for all types of potentiometric sensors and may pave the way for monitoring of various ions with high accuracy and precision because of its high sensitivity.

  19. Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging: A Spine Cadaveric Feasibility and Accuracy Study.

    PubMed

    Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

    2016-11-01

    A cadaveric laboratory study. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P < 0.05), specifically significant increases of perfectly placed screws (51% vs. 30%, P < 0.05) and reductions in breaches beyond 4 mm (2% vs. 25%, P < 0.05). All morphometric dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. N/A.

  20. Accuracy in Dental Medicine, A New Way to Measure Trueness and Precision

    PubMed Central

    Ender, Andreas; Mehl, Albert

    2014-01-01

    Reference scanners are used in dental medicine to verify a lot of procedures. The main interest is to verify impression methods as they serve as a base for dental restorations. The current limitation of many reference scanners is the lack of accuracy scanning large objects like full dental arches, or the limited possibility to assess detailed tooth surfaces. A new reference scanner, based on focus variation scanning technique, was evaluated with regards to highest local and general accuracy. A specific scanning protocol was tested to scan original tooth surface from dental impressions. Also, different model materials were verified. The results showed a high scanning accuracy of the reference scanner with a mean deviation of 5.3 ± 1.1 µm for trueness and 1.6 ± 0.6 µm for precision in case of full arch scans. Current dental impression methods showed much higher deviations (trueness: 20.4 ± 2.2 µm, precision: 12.5 ± 2.5 µm) than the internal scanning accuracy of the reference scanner. Smaller objects like single tooth surface can be scanned with an even higher accuracy, enabling the system to assess erosive and abrasive tooth surface loss. The reference scanner can be used to measure differences for a lot of dental research fields. The different magnification levels combined with a high local and general accuracy can be used to assess changes of single teeth or restorations up to full arch changes. PMID:24836007

  1. Screw Placement Accuracy and Outcomes Following O-Arm-Navigated Atlantoaxial Fusion: A Feasibility Study.

    PubMed

    Smith, Jacob D; Jack, Megan M; Harn, Nicholas R; Bertsch, Judson R; Arnold, Paul M

    2016-06-01

    Study Design Case series of seven patients. Objective C2 stabilization can be challenging due to the complex anatomy of the upper cervical vertebrae. We describe seven cases of C1-C2 fusion using intraoperative navigation to aid in the screw placement at the atlantoaxial (C1-C2) junction. Methods Between 2011 and 2014, seven patients underwent posterior atlantoaxial fusion using intraoperative frameless stereotactic O-arm Surgical Imaging and StealthStation Surgical Navigation System (Medtronic, Inc., Minneapolis, Minnesota, United States). Outcome measures included screw accuracy, neurologic status, radiation dosing, and surgical complications. Results Four patients had fusion at C1-C2 only, and in the remaining three, fixation extended down to C3 due to anatomical considerations for screw placement recognized on intraoperative imaging. Out of 30 screws placed, all demonstrated minimal divergence from desired placement in either C1 lateral mass, C2 pedicle, or C3 lateral mass. No neurovascular compromise was seen following the use of intraoperative guided screw placement. The average radiation dosing due to intraoperative imaging was 39.0 mGy. All patients were followed for a minimum of 12 months. All patients went on to solid fusion. Conclusion C1-C2 fusion using computed tomography-guided navigation is a safe and effective way to treat atlantoaxial instability. Intraoperative neuronavigation allows for high accuracy of screw placement, limits complications by sparing injury to the critical structures in the upper cervical spine, and can help surgeons make intraoperative decisions regarding complex pathology.

  2. Analysis and Testing of a LIDAR-Based Approach to Terrain Relative Navigation for Precise Lunar Landing

    NASA Technical Reports Server (NTRS)

    Johnson, Andrew E.; Ivanov, Tonislav I.

    2011-01-01

    To increase safety and land near pre-deployed resources, future NASA missions to the moon will require precision landing. A LIDAR-based terrain relative navigation (TRN) approach can achieve precision landing under any lighting conditions. This paper presents results from processing flash lidar and laser altimeter field test data that show LIDAR TRN can obtain position estimates less than 90m while automatically detecting and eliminating incorrect measurements using internal metrics on terrain relief and data correlation. Sensitivity studies show that the algorithm has no degradation in matching performance with initial position uncertainties up to 1.6 km

  3. Precise laser gyroscope for autonomous inertial navigation

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Kuznetsov, A G; Molchanov, A V; Izmailov, E A

    2015-01-31

    Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented. (laser gyroscopes)

  4. Sea wind parameters retrieval using Y-configured Doppler navigation system data. Performance and accuracy

    NASA Astrophysics Data System (ADS)

    Khachaturian, A. B.; Nekrasov, A. V.; Bogachev, M. I.

    2018-05-01

    The authors report the results of the computer simulations of the performance and accuracy of the sea wind speed and direction retrieval. The analyzed measurements over the sea surface are made by the airborne microwave Doppler navigation system (DNS) with three Y-configured beams operated as a scatterometer enhancing its functionality. Single- and double-stage wind measurement procedures are proposed and recommendations for their implementation are described.

  5. Accuracy and precision evaluation of seven self-monitoring blood glucose systems.

    PubMed

    Kuo, Chih-Yi; Hsu, Cheng-Teng; Ho, Cheng-Shiao; Su, Ting-En; Wu, Ming-Hsun; Wang, Chau-Jong

    2011-05-01

    Self-monitoring blood glucose (SMBG) systems play a critical role in management of diabetes. SMBG systems should at least meet the minimal requirement of the World Health Organization's ISO 15197:2003. For tight glycemic control, a tighter accuracy requirement is needed. Seven SMBG systems were evaluated for accuracy and precision: Bionime Rightest(™) GM550 (Bionime Corp., Dali City, Taiwan), Accu-Chek(®) Performa (Roche Diagnostics, Indianapolis, IN), OneTouch(®) Ultra(®)2 (LifeScan Inc., Milpitas, CA), MediSense(®) Optium(™) Xceed (Abbott Diabetes Care Inc., Alameda, CA), Medisafe (TERUMO Corp., Tokyo, Japan), Fora(®) TD4227 (Taidac Technology Corp., Wugu Township, Taiwan), and Ascensia Contour(®) (Bayer HealthCare LLC, Mishawaka, IN). The 107 participants (44 men and 63 women) were between 23 and 91 years old. The analytical results of seven SMBG systems were compared with those of plasma analyzed with the hexokinase method (Olympus AU640, Olympus America Inc., Center Valley, PA). The imprecision of the seven blood glucose meters ranged from 1.1% to 4.7%. Three of the seven blood glucose meters (42.9%) fulfilled the minimum accuracy criteria of ISO 15197:2003. The mean absolute relative error value for each blood glucose meter was calculated and ranged from 6.5% to 12.0%. More than 40% of evaluated SMBG systems meet the minimal accuracy criteria requirement of ISO 15197:2003. However, considering tighter criteria for accuracy of ±15%, only the Bionime Rightest GM550 meets this requirement. Because SMBG systems play a critical role in management of diabetes, manufacturers have to strive to improve accuracy and precision and to ensure the good quality of blood glucose meters and test strips.

  6. Precise Receiver Clock Offset Estimations According to Each Global Navigation Satellite Systems (GNSS) Timescales

    NASA Astrophysics Data System (ADS)

    Thongtan, Thayathip; Tirawanichakul, Pawit; Satirapod, Chalermchon

    2017-12-01

    Each GNSS constellation operates its own system times; namely, GPS system time (GPST), GLONASS system time (GLONASST), BeiDou system time (BDT) and Galileo system time (GST). They could be traced back to Coordinated Universal Time (UTC) scale and are aligned to GPST. This paper estimates the receiver clock offsets to three timescales: GPST, GLONASST and BDT. The two measurement scenarios use two identical multi-GNSS geodetic receivers connected to the same geodetic antenna through a splitter. One receiver is driven by its internal oscillators and another receiver is connected to the external frequency oscillators, caesium frequency standard, kept as the Thailand standard time scale at the National Institute of Metrology (Thailand) called UTC(NIMT). The three weeks data are observed at 30 seconds sample rate. The receiver clock offsets with respected to the three system time are estimated and analysed through the geodetic technique of static Precise Point Positioning (PPP) using a data processing software developed by Wuhan University - Positioning And Navigation Data Analyst (PANDA) software. The estimated receiver clock offsets are around 32, 33 and 18 nanoseconds from GPST, GLONASST and BDT respectively. This experiment is initially stated that each timescale is inter-operated with GPST and further measurements on receiver internal delay has to be determined for clock comparisons especially the high accuracy clock at timing laboratories.

  7. Improved Artificial Bee Colony Algorithm Based Gravity Matching Navigation Method

    PubMed Central

    Gao, Wei; Zhao, Bo; Zhou, Guang Tao; Wang, Qiu Ying; Yu, Chun Yang

    2014-01-01

    Gravity matching navigation algorithm is one of the key technologies for gravity aided inertial navigation systems. With the development of intelligent algorithms, the powerful search ability of the Artificial Bee Colony (ABC) algorithm makes it possible to be applied to the gravity matching navigation field. However, existing search mechanisms of basic ABC algorithms cannot meet the need for high accuracy in gravity aided navigation. Firstly, proper modifications are proposed to improve the performance of the basic ABC algorithm. Secondly, a new search mechanism is presented in this paper which is based on an improved ABC algorithm using external speed information. At last, modified Hausdorff distance is introduced to screen the possible matching results. Both simulations and ocean experiments verify the feasibility of the method, and results show that the matching rate of the method is high enough to obtain a precise matching position. PMID:25046019

  8. Improving multi-GNSS ultra-rapid orbit determination for real-time precise point positioning

    NASA Astrophysics Data System (ADS)

    Li, Xingxing; Chen, Xinghan; Ge, Maorong; Schuh, Harald

    2018-03-01

    Currently, with the rapid development of multi-constellation Global Navigation Satellite Systems (GNSS), the real-time positioning and navigation are undergoing dramatic changes with potential for a better performance. To provide more precise and reliable ultra-rapid orbits is critical for multi-GNSS real-time positioning, especially for the three merging constellations Beidou, Galileo and QZSS which are still under construction. In this contribution, we present a five-system precise orbit determination (POD) strategy to fully exploit the GPS + GLONASS + BDS + Galileo + QZSS observations from CDDIS + IGN + BKG archives for the realization of hourly five-constellation ultra-rapid orbit update. After adopting the optimized 2-day POD solution (updated every hour), the predicted orbit accuracy can be obviously improved for all the five satellite systems in comparison to the conventional 1-day POD solution (updated every 3 h). The orbit accuracy for the BDS IGSO satellites can be improved by about 80, 45 and 50% in the radial, cross and along directions, respectively, while the corresponding accuracy improvement for the BDS MEO satellites reaches about 50, 20 and 50% in the three directions, respectively. Furthermore, the multi-GNSS real-time precise point positioning (PPP) ambiguity resolution has been performed by using the improved precise satellite orbits. Numerous results indicate that combined GPS + BDS + GLONASS + Galileo (GCRE) kinematic PPP ambiguity resolution (AR) solutions can achieve the shortest time to first fix (TTFF) and highest positioning accuracy in all coordinate components. With the addition of the BDS, GLONASS and Galileo observations to the GPS-only processing, the GCRE PPP AR solution achieves the shortest average TTFF of 11 min with 7{°} cutoff elevation, while the TTFF of GPS-only, GR, GE and GC PPP AR solution is 28, 15, 20 and 17 min, respectively. As the cutoff elevation increases, the reliability and accuracy of GPS-only PPP AR solutions

  9. Accuracy Assessment of Professional Grade Unmanned Systems for High Precision Airborne Mapping

    NASA Astrophysics Data System (ADS)

    Mostafa, M. M. R.

    2017-08-01

    Recently, sophisticated multi-sensor systems have been implemented on-board modern Unmanned Aerial Systems. This allows for producing a variety of mapping products for different mapping applications. The resulting accuracies match the traditional well engineered manned systems. This paper presents the results of a geometric accuracy assessment project for unmanned systems equipped with multi-sensor systems for direct georeferencing purposes. There are a number of parameters that either individually or collectively affect the quality and accuracy of a final airborne mapping product. This paper focuses on identifying and explaining these parameters and their mutual interaction and correlation. Accuracy Assessment of the final ground object positioning accuracy is presented through real-world 8 flight missions that were flown in Quebec, Canada. The achievable precision of map production is addressed in some detail.

  10. Accuracy study of computer-assisted drilling: the effect of bone density, drill bit characteristics, and use of a mechanical guide.

    PubMed

    Hüfner, T; Geerling, J; Oldag, G; Richter, M; Kfuri, M; Pohlemann, T; Krettek, C

    2005-01-01

    This study was designed to determine the clinical relevant accuracy of CT-based navigation for drilling. Experimental model. Laboratory. Twelve drills of varying lengths and diameters were tested with 2 different set-ups. Group 1 used free-hand navigated drilling technique with foam blocks equipped with titanium target points. Group 2 (control) used a newly developed 3-dimensional measurement device equipped with titanium target points with a fixed entry for the navigated drill to minimize bending forces. One examiner performed 690 navigated drillings using solely the monitor screen for control in both groups. The difference between the planned and the actual starting and target point (up to 150 mm distance) was measured (mm). Levene test and a nonpaired t test. Significance level was set as P < 0.05. The core accuracy of the navigation system measured with the 3-dimensional device was 0.5 mm. The mean distance from planned to actual entry points in group 1 was 1.3 (range, 0.6-3.4 mm). The mean distance between planned and actual target point was 3.4 (range, 1.7-5.8 mm). Free-hand navigated drilling showed an increased difference with increased length of the drill bits as well as with increased drilling channel for drill bits 2.5 and 3.2 mm and not for 3.5 and 4.5 mm (P < 0.05). The core accuracy of the navigation system is high. Compared with the navigated free-hand technique, the results suggest that drill bit deflection interferes directly with the precision. The precision is decreased when using small diameter and longer drill bits.

  11. Analysis of a novel device-level SINS/ACFSS deeply integrated navigation method

    NASA Astrophysics Data System (ADS)

    Zhang, Hao; Qin, Shiqiao; Wang, Xingshu; Jiang, Guangwen; Tan, Wenfeng; Wu, Wei

    2017-02-01

    The combination of the strap-down inertial navigation system(SINS) and the celestial navigation system(CNS) is one of the popular measures to constitute the integrated navigation system. A star sensor(SS) is used as a precise attitude determination device in CNS. To solve the problem that the star image obtained by SS is motion-blurred under dynamic conditions, the attitude-correlated frames(ACF) approach is presented and the star sensor which works based on ACF approach is named ACFSS. Depending on the ACF approach, a novel device-level SINS/ACFSS deeply integrated navigation method is proposed in this paper. Feedback to the ACF process from the error of the gyro is one of the typical characters of the SINS/CNS deeply integrated navigation method. Herein, simulation results have verified its validity and efficiency in improving the accuracy of gyro and it can be proved that this method is feasible.

  12. An excellent navigation system and experience in craniomaxillofacial navigation surgery: a double-center study

    PubMed Central

    Dai, Jiewen; Wu, Jinyang; Wang, Xudong; Yang, Xudong; Wu, Yunong; Xu, Bing; Shi, Jun; Yu, Hongbo; Cai, Min; Zhang, Wenbin; Zhang, Lei; Sun, Hao; Shen, Guofang; Zhang, Shilei

    2016-01-01

    Numerous problems regarding craniomaxillofacial navigation surgery are not well understood. In this study, we performed a double-center clinical study to quantitatively evaluate the characteristics of our navigation system and experience in craniomaxillofacial navigation surgery. Fifty-six patients with craniomaxillofacial disease were included and randomly divided into experimental (using our AccuNavi-A system) and control (using Strker system) groups to compare the surgical effects. The results revealed that the average pre-operative planning time was 32.32 mins vs 29.74 mins between the experimental and control group, respectively (p > 0.05). The average operative time was 295.61 mins vs 233.56 mins (p > 0.05). The point registration orientation accuracy was 0.83 mm vs 0.92 mm. The maximal average preoperative navigation orientation accuracy was 1.03 mm vs 1.17 mm. The maximal average persistent navigation orientation accuracy was 1.15 mm vs 0.09 mm. The maximal average navigation orientation accuracy after registration recovery was 1.15 mm vs 1.39 mm between the experimental and control group. All patients healed, and their function and profile improved. These findings demonstrate that although surgeons should consider the patients’ time and monetary costs, our qualified navigation surgery system and experience could offer an accurate guide during a variety of craniomaxillofacial surgeries. PMID:27305855

  13. Comparison of accuracy and safety of the SEVEN and the Navigator continuous glucose monitoring systems.

    PubMed

    Garg, Satish K; Smith, James; Beatson, Christie; Lopez-Baca, Benita; Voelmle, Mary; Gottlieb, Peter A

    2009-02-01

    This study evaluated the accuracy and safety of two continuous glucose monitoring (CGM) systems, the SEVEN (DexCom, San Diego, CA) and the Navigator (Abbott Diabetes Care, Alameda, CA), with the YSI laboratory measurements of blood glucose (blood glucose meter manufactured by YSI, Yellow Springs, OH), when worn concurrently in adults with type 1 diabetes. Fourteen subjects with type 1 diabetes, 33 +/- 6 (mean +/- SD) years old, were enrolled in this study. All subjects wore both sensors concurrently over three consecutive 5-day CGM sessions (15-day wear). On Days 5, 10, and 15, subjects participated in an 8-h in-clinic session where measurements from the CGM systems were collected and compared with YSI measurements every 15 min. At the end of Day 5 and 10 in-clinic sessions, the sensors were removed, and new sensors were inserted for the following CGM session despite the SEVEN system's recommended use for up to 7 days. The mean absolute relative difference (ARD) for the two CGM devices versus YSI was not different: 16.8% and 16.1% for SEVEN and Navigator, respectively (P = 0.38). In the hypoglycemic region (YSI value <80 mg/dL), the mean ARD for SEVEN was lower than for Navigator (21.5% vs. 29.8%, respectively; P = 0.001). The data analyses were similar when compared with self-monitoring of blood glucose (SMBG) values. Thirteen additional Navigator replacement devices were issued compared to two for the SEVEN. A total of three versus 14 skin reactions were reported with the SEVEN and Navigator insertion area, respectively. Glucose measurements with the SEVEN and Navigator were found to be similar compared with YSI and SMBG measurements, with the exception of the hypoglycemic range where the SEVEN performed better. However, the Navigator caused more skin area reactions.

  14. Precise relative navigation using augmented CDGPS

    NASA Astrophysics Data System (ADS)

    Park, Chan-Woo

    2001-10-01

    Autonomous formation flying of multiple vehicles is a revolutionary enabling technology for many future space and earth science missions that require distributed measurements, such as sparse aperture radars and stellar interferometry. The techniques developed for the space applications will also have a significant impact on many terrestrial formation flying missions. One of the key requirements of formation flying is accurate knowledge of the relative positions and velocities between the vehicles. Several researchers have shown that the GPS is a viable sensor to perform this relative navigation. However, there are several limitations in the use of GPS because it requires adequate visibility to the NAVSTAR constellation. For some mission scenarios, such as MEO, GEO and tight formation missions, the visibility/geometry of the constellation may not be sufficient to accurately estimate the relative states. One solution to these problems is to include an RF ranging device onboard the vehicles in the formation and form a local constellation that augments the existing NAVSTAR constellation. These local range measurements, combined with the GPS measurements, can provide a sufficient number of measurements and adequate geometry to solve for the relative states. Furthermore, these RF ranging devices can be designed to provide substantially more accurate measures of the vehicle relative states than the traditional GPS pseudolites. The local range measurements also allow relative vehicle motion to be used to efficiently solve for the cycle ambiguities in real-time. This dissertation presents the development of an onboard ranging sensor and the extension of several related algorithms for a formation of vehicles with both GPS and local transmitters. Key among these are a robust cycle ambiguity estimation method and a decentralized relative navigation filter. The efficient decentralized approach to the GPS-only relative navigation problem is extended to an iterative cascade

  15. A Method for Assessing the Accuracy of a Photogrammetry System for Precision Deployable Structures

    NASA Technical Reports Server (NTRS)

    Moore, Ashley

    2005-01-01

    The measurement techniques used to validate analytical models of large deployable structures are an integral Part of the technology development process and must be precise and accurate. Photogrammetry and videogrammetry are viable, accurate, and unobtrusive methods for measuring such large Structures. Photogrammetry uses Software to determine the three-dimensional position of a target using camera images. Videogrammetry is based on the same principle, except a series of timed images are analyzed. This work addresses the accuracy of a digital photogrammetry system used for measurement of large, deployable space structures at JPL. First, photogrammetry tests are performed on a precision space truss test article, and the images are processed using Photomodeler software. The accuracy of the Photomodeler results is determined through, comparison with measurements of the test article taken by an external testing group using the VSTARS photogrammetry system. These two measurements are then compared with Australis photogrammetry software that simulates a measurement test to predict its accuracy. The software is then used to study how particular factors, such as camera resolution and placement, affect the system accuracy to help design the setup for the videogrammetry system that will offer the highest level of accuracy for measurement of deploying structures.

  16. Principles of operation, accuracy and precision of an Eye Surface Profiler.

    PubMed

    Iskander, D Robert; Wachel, Pawel; Simpson, Patrick N D; Consejo, Alejandra; Jesus, Danilo A

    2016-05-01

    To introduce a newly developed instrument for measuring the topography of the anterior eye, provide principles of its operation and to assess its accuracy and precision. The Eye Surface Profiler is a new technology based on Fourier transform profilometry for measuring the anterior eye surface encompassing the corneo-scleral area. Details of technical principles of operation are provided for the particular case of sequential double fringe projection. Technical limits of accuracy have been assessed for several key parameters such as the carrier frequency, image quantisation level, sensor size, carrier frequency inaccuracy, and level and type of noise. Further, results from both artificial test surfaces as well as real eyes are used to assess precision and accuracy of the device (here benchmarked against one of popular Placido disk videokeratoscopes). Technically, the Eye Surface Profiler accuracy can reach levels below 1 μm for a range of considered key parameters. For the unit tested and using calibrated artificial surfaces, the accuracy of measurement (in terms of RMS error) was below 10 μm for a central measurement area of 8 mm diameter and below 40 μm for an extended measurement area of 16 mm. In some cases, the error reached levels of up to 200 μm at the very periphery of the measured surface (up to 20 mm). The SimK estimates of the test surfaces from the Eye Surface Profiler were in close agreement with those from a Placido disk videokeratoscope with differences no greater than ±0.1 D. For real eyes, the benchmarked accuracy was within ±0.5D for both the spherical and cylindrical SimK components. The Eye Surface Profiler can successfully measure the topography of the entire anterior eye including the cornea, limbus and sclera. It has a great potential to become an optometry clinical tool that could substitute the currently used videokeratoscopes and provide a high quality corneo-scleral topography. © 2016 The Authors Ophthalmic & Physiological

  17. Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.

    2013-01-01

    This paper extends the results I reported at this year's ION International Technical Meeting on multi-constellation GNSS coverage by showing how the use of multi-constellation GNSS improves Geometric Dilution of Precision (GDOP). Originally developed to provide position, navigation, and timing for terrestrial users, GPS has found increasing use for in space for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis attitude control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Galileo, and Beidou) and the development of Satellite Based Augmentation Services, it is possible to obtain improved precision by using evolving multi-constellation receiver. The Space Service Volume formally defined as the volume of space between three thousand kilometers altitude and geosynchronous altitude ((is) approximately 36,500 km), with the volume below three thousand kilometers defined as the Terrestrial Service Volume (TSV). The USA has established signal requirements for the Space Service Volume (SSV) as part of the GPS Capability Development Documentation (CDD). Diplomatic efforts are underway to extend Space service Volume commitments to the other Position, Navigation, and Timing (PNT) service providers in an effort to assure that all space users will benefit from the enhanced capabilities of interoperating GNSS services in the space domain.

  18. Can electromagnetic-navigated maxillary positioning replace occlusional splints in orthognathic surgery? A clinical pilot study.

    PubMed

    Berger, Moritz; Nova, Igor; Kallus, Sebastian; Ristow, Oliver; Freudlsperger, Christian; Eisenmann, Urs; Dickhaus, Hartmut; Engel, Michael; Hoffmann, Jürgen; Seeberger, Robin

    2017-10-01

    Because of the inaccuracy of intermaxillary splints in orthognathic surgery, intraoperative guidance via a real time navigation system might represent a suitable method for enhancing the precision of maxillary positioning. Therefore, in this clinical trial, maxillary repositioning after Le Fort I osteotomy was guided splintless by an electromagnetic navigation system. Conservatively planned maxillary reposition in each of 5 patients was transferred to a novel software module of the electromagnetic navigation system. Intraoperatively, after Le Fort I osteotomy, the software guided the maxilla to the targeted position. Accuracy was evaluated by pre- and postoperative cone beam computer tomography imaging (the vectorial distance of the incisal marker points was measured in three dimensions) and compared with that of a splint transposed control group. The repositioning of the maxilla guided by the electromagnetic navigation system was intuitive and simple to accomplish. The achieved maxillary position with a deviation of 0.7 mm on average to the planned position was equally accurate compared with that of the splint transposed control group of 0.5 mm (p > 0.05). The data of this clinical study display good accuracy for splintless electromagnetic-navigated maxillary positioning. Nevertheless, this method does not surpass the splint-encoded gold standard with regard to accuracy. Future investigations will be necessary to show the full potential of electromagnetic navigation in orthognathic surgery. Copyright © 2017 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

  19. Precision, accuracy, and efficiency of four tools for measuring soil bulk density or strength.

    Treesearch

    Richard E. Miller; John Hazard; Steven Howes

    2001-01-01

    Monitoring soil compaction is time consuming. A desire for speed and lower costs, however, must be balanced with the appropriate precision and accuracy required of the monitoring task. We compared three core samplers and a cone penetrometer for measuring soil compaction after clearcut harvest on a stone-free and a stony soil. Precision (i.e., consistency) of each tool...

  20. Effect of cleaning status on accuracy and precision of oxygen flowmeters of various ages.

    PubMed

    Fissekis, Stephanie; Hodgson, David S; Bello, Nora M

    2017-07-01

    To evaluate oxygen flowmeters for accuracy and precision, assess the effects of cleaning and assess conformity to the American Society for Testing Materials (ASTM) standards. Experimental study. The flow of oxygen flowmeters from 31 anesthesia machines aged 1-45 years was measured before and after cleaning using a volumetric flow analyzer set at 0.5, 1.0, 2.0, 3.0, and 4.0 L minute -1 . A general linear mixed models approach was used to assess flow accuracy and precision. Flowmeters 1 year of age delivered accurate mean oxygen flows at all settings regardless of cleaning status. Flowmeters ≥5 years of age underdelivered at flows of 3.0 and 4.0 L minute -1 . Flowmeters ≥12 years underdelivered at flows of 2.0, 3.0 and 4.0 L minute -1 prior to cleaning. There was no evidence of any beneficial effect of cleaning on accuracy of flowmeters 5-12 years of age (p > 0.22), but the accuracy of flowmeters ≥15 years of age was improved by cleaning (p < 0.05). Regardless of age, cleaning increased precision, decreasing flow variability by approximately 17%. Nine of 31 uncleaned flowmeters did not meet ASTM standards. After cleaning, a different set of nine flowmeters did not meet standards, including three that had met standards prior to cleaning. Older flowmeters were more likely to underdeliver oxygen, especially at higher flows. Regardless of age, cleaning decreased flow variability, improving precision. However, flowmeters still may fail to meet ASTM standards, regardless of cleaning status. Cleaning anesthesia machine oxygen flowmeters improved precision for all tested machines and partially corrected inaccuracies in flowmeters ≥15 years old. A notable proportion of flowmeters did not meet ASTM standards. Cleaning did not ensure that they subsequently conformed to ASTM standards. We recommend annual flow output validation to identify whether flowmeters are acceptable for continued clinical use. Copyright © 2017 Association of Veterinary Anaesthetists and American

  1. Accuracy and precision of two indirect methods for estimating canopy fuels

    Treesearch

    Abran Steele-Feldman; Elizabeth Reinhardt; Russell A. Parsons

    2006-01-01

    We compared the accuracy and precision of digital hemispherical photography and the LI-COR LAI-2000 plant canopy analyzer as predictors of canopy fuels. We collected data on 12 plots in western Montana under a variety of lighting and sky conditions, and used a variety of processing methods to compute estimates. Repeated measurements from each method displayed...

  2. Precision and accuracy of luminescence lifetime-based phosphor thermometry: A case study of Eu(III):YSZ

    NASA Astrophysics Data System (ADS)

    Heeg, B.; Jenkins, T. P.

    2013-09-01

    Laser induced phosphor thermometry as a reliable technique requires an analysis of factors controlling or contributing to the precision and accuracy of a measurement. In this paper, we discuss several critical design parameters in the development of luminescence lifetime-based phosphor thermometry instrumentation for use at elevated temperatures such as encountered in hot sections of gas turbine engines. As precision is predominantly governed by signal and background photon shot noise and detector noise, a brief summary is presented of how these noise contributions may affect the measurement. Accuracy, on the other hand, is governed by a range of effects including, but not limited to, detector response characteristics, laser-induced effects, the photo-physics of the sensor materials, and also the method of data reduction. The various possible outcomes of measurement precision and accuracy are discussed with luminescence lifetime measurements on Eu(III):YSZ sensor coatings.

  3. Precision and accuracy of manual water-level measurements taken in the Yucca Mountain area, Nye County, Nevada, 1988-90

    USGS Publications Warehouse

    Boucher, M.S.

    1994-01-01

    Water-level measurements have been made in deep boreholes in the Yucca Mountain area, Nye County, Nevada, since 1983 in support of the U.S. Department of Energy's Yucca Mountain Project, which is an evaluation of the area to determine its suitability as a potential storage area for high-level nuclear waste. Water-level measurements were taken either manually, using various water-level measuring equipment such as steel tapes, or they were taken continuously, using automated data recorders and pressure transducers. This report presents precision range and accuracy data established for manual water-level measurements taken in the Yucca Mountain area, 1988-90. Precision and accuracy ranges were determined for all phases of the water-level measuring process, and overall accuracy ranges are presented. Precision ranges were determined for three steel tapes using a total of 462 data points. Mean precision ranges of these three tapes ranged from 0.014 foot to 0.026 foot. A mean precision range of 0.093 foot was calculated for the multiconductor cable, using 72 data points. Mean accuracy values were calculated on the basis of calibrations of the steel tapes and the multiconductor cable against a reference steel tape. The mean accuracy values of the steel tapes ranged from 0.053 foot, based on three data points to 0.078, foot based on six data points. The mean accuracy of the multiconductor cable was O. 15 foot, based on six data points. Overall accuracy of the water-level measurements was calculated by taking the square root of the sum of the squares of the individual accuracy values. Overall accuracy was calculated to be 0.36 foot for water-level measurements taken with steel tapes, without accounting for the inaccuracy of borehole deviations from vertical. An overall accuracy of 0.36 foot for measurements made with steel tapes is considered satisfactory for this project.

  4. Crew-Aided Autonomous Navigation

    NASA Technical Reports Server (NTRS)

    Holt, Greg N.

    2015-01-01

    A sextant provides manual capability to perform star/planet-limb sightings and offers a cheap, simple, robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the lost-communication backup for all Apollo missions. This study characterized error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions. This study modernized and updated those findings in addition to showing feasibility using Linear Covariance analysis techniques. The human eyeball is a remarkable piece of optical equipment and provides many advantages over camera-based systems, including dynamic range and detail resolution. This technique utilizes those advantages and provides important autonomy to the crew in the event of lost communication with the ground. It can also provide confidence and verification of low-TRL automated onboard systems. The technique is extremely flexible and is not dependent on any particular vehicle type. The investigation involved procuring navigation-grade sextants and characterizing their performance under a variety of conditions encountered in exploration missions. The JSC optical sensor lab and Orion mockup were the primary testing locations. For the accuracy assessment, a group of test subjects took sextant readings on calibrated targets while instrument/operator precision was measured. The study demonstrated repeatability of star/planet-limb sightings with bias and standard deviation around 10 arcseconds, then used high-fidelity simulations to verify those accuracy levels met the needs for targeting mid-course maneuvers in preparation for Earth reen.

  5. Precise orbit determination of Multi-GNSS constellation including GPS GLONASS BDS and GALIEO

    NASA Astrophysics Data System (ADS)

    Dai, Xiaolei

    2014-05-01

    In addition to the existing American global positioning system (GPS) and the Russian global navigation satellite system (GLONASS), the new generation of GNSS is emerging and developing, such as the Chinese BeiDou satellite navigation system (BDS) and the European GALILEO system. Multi-constellation is expected to contribute to more accurate and reliable positioning and navigation service. However, the application of multi-constellation challenges the traditional precise orbit determination (POD) strategy that was designed usually for single constellation. In this contribution, we exploit a more rigorous multi-constellation POD strategy for the ongoing IGS multi-GNSS experiment (MGEX) where the common parameters are identical for each system, and the frequency- and system-specified parameters are employed to account for the inter-frequency and inter-system biases. Since the authorized BDS attitude model is not yet released, different BDS attitude model are implemented and their impact on orbit accuracy are studied. The proposed POD strategy was implemented in the PANDA (Position and Navigation Data Analyst) software and can process observations from GPS, GLONASS, BDS and GALILEO together. The strategy is evaluated with the multi-constellation observations from about 90 MGEX stations and BDS observations from the BeiDou experimental tracking network (BETN) of Wuhan University (WHU). Of all the MGEX stations, 28 stations record BDS observation, and about 80 stations record GALILEO observations. All these data were processed together in our software, resulting in the multi-constellation POD solutions. We assessed the orbit accuracy for GPS and GLONASS by comparing our solutions with the IGS final orbit, and for BDS and GALILEO by overlapping our daily orbit solution. The stability of inter-frequency bias of GLONASS and inter-system biases w.r.t. GPS for GLONASS, BDS and GALILEO were investigated. At last, we carried out precise point positioning (PPP) using the multi

  6. Multiple beacons for supporting lunar landing navigation

    NASA Astrophysics Data System (ADS)

    Theil, Stephan; Bora, Leonardo

    2018-02-01

    The exploration and potential future exploitation of solar system bodies requires technologies for precise and safe landings. Current navigation systems for landing probes are relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. With a future transition from single exploration missions to more frequent first exploration and then exploitation missions, the implementation and operation of these missions changes, since it can be expected that a ground infrastructure on the target body is available in the vicinity of the landing site. In a previous paper, the impact of a single ground-based beacon on the navigation performance was investigated depending on the type of radiometric measurements and on the location of the beacon with respect to the landing site. This paper extends this investigation on options for ground-based multiple beacons supporting the on-board navigation system. It analyzes the impact on the achievable navigation accuracy. For that purpose, the paper introduces briefly the existing navigation architecture based on optical navigation and its extension with radiometric measurements. The same scenario of lunar landing as in the previous paper is simulated. The results are analyzed and discussed. They show a single beacon at a large distance along the landing trajectory and multiple beacons close to the landing site can improve the navigation performance. The results show how large the landing area can be increased where a sufficient navigation performance is achieved using the beacons.

  7. Accuracy or precision: Implications of sample design and methodology on abundance estimation

    USGS Publications Warehouse

    Kowalewski, Lucas K.; Chizinski, Christopher J.; Powell, Larkin A.; Pope, Kevin L.; Pegg, Mark A.

    2015-01-01

    Sampling by spatially replicated counts (point-count) is an increasingly popular method of estimating population size of organisms. Challenges exist when sampling by point-count method, and it is often impractical to sample entire area of interest and impossible to detect every individual present. Ecologists encounter logistical limitations that force them to sample either few large-sample units or many small sample-units, introducing biases to sample counts. We generated a computer environment and simulated sampling scenarios to test the role of number of samples, sample unit area, number of organisms, and distribution of organisms in the estimation of population sizes using N-mixture models. Many sample units of small area provided estimates that were consistently closer to true abundance than sample scenarios with few sample units of large area. However, sample scenarios with few sample units of large area provided more precise abundance estimates than abundance estimates derived from sample scenarios with many sample units of small area. It is important to consider accuracy and precision of abundance estimates during the sample design process with study goals and objectives fully recognized, although and with consequence, consideration of accuracy and precision of abundance estimates is often an afterthought that occurs during the data analysis process.

  8. Precision and Accuracy Parameters in Structured Light 3-D Scanning

    NASA Astrophysics Data System (ADS)

    Eiríksson, E. R.; Wilm, J.; Pedersen, D. B.; Aanæs, H.

    2016-04-01

    Structured light systems are popular in part because they can be constructed from off-the-shelf low cost components. In this paper we quantitatively show how common design parameters affect precision and accuracy in such systems, supplying a much needed guide for practitioners. Our quantitative measure is the established VDI/VDE 2634 (Part 2) guideline using precision made calibration artifacts. Experiments are performed on our own structured light setup, consisting of two cameras and a projector. We place our focus on the influence of calibration design parameters, the calibration procedure and encoding strategy and present our findings. Finally, we compare our setup to a state of the art metrology grade commercial scanner. Our results show that comparable, and in some cases better, results can be obtained using the parameter settings determined in this study.

  9. Magnetic navigation system for the precise helical and translational motions of a microrobot in human blood vessels

    NASA Astrophysics Data System (ADS)

    Jeon, S. M.; Jang, G. H.; Choi, H. C.; Park, S. H.; Park, J. O.

    2012-04-01

    Different magnetic navigation systems (MNSs) have been investigated for the wireless manipulation of microrobots in human blood vessels. Here we propose a MNS and methodology for generation of both the precise helical and translational motions of a microrobot to improve its maneuverability in complex human blood vessel. We then present experiments demonstrating the helical and translational motions of a spiral-type microrobot to verify the proposed MNS.

  10. Relationship between accuracy and complexity when learning underarm precision throwing.

    PubMed

    Valle, Maria Stella; Lombardo, Luciano; Cioni, Matteo; Casabona, Antonino

    2018-06-12

    Learning precision ball throwing was mostly studied to explore the early rapid improvement of accuracy, with poor attention on possible adaptive processes occurring later when the rate of improvement is reduced. Here, we tried to demonstrate that the strategy to select angle, speed and height at ball release can be managed during the learning periods following the performance stabilization. To this aim, we used a multivariate linear model with angle, speed and height as predictors of changes in accuracy. Participants performed underarm throws of a tennis ball to hit a target on the floor, 3.42 m away. Two training sessions (S1, S2) and one retention test were executed. Performance accuracy increased over the S1 and stabilized during the S2, with a rate of changes along the throwing axis slower than along the orthogonal axis. However, both the axes contributed to the performance changes over the learning and consolidation time. A stable relationship between the accuracy and the release parameters was observed only during S2, with a good fraction of the performance variance explained by the combination of speed and height. All the variations were maintained during the retention test. Overall, accuracy improvements and reduction in throwing complexity at the ball release followed separate timing over the course of learning and consolidation.

  11. Design of all-weather celestial navigation system

    NASA Astrophysics Data System (ADS)

    Sun, Hongchi; Mu, Rongjun; Du, Huajun; Wu, Peng

    2018-03-01

    In order to realize autonomous navigation in the atmosphere, an all-weather celestial navigation system is designed. The research of celestial navigation system include discrimination method of comentropy and the adaptive navigation algorithm based on the P value. The discrimination method of comentropy is studied to realize the independent switching of two celestial navigation modes, starlight and radio. Finally, an adaptive filtering algorithm based on P value is proposed, which can greatly improve the disturbance rejection capability of the system. The experimental results show that the accuracy of the three axis attitude is better than 10″, and it can work all weather. In perturbation environment, the position accuracy of the integrated navigation system can be increased 20% comparing with the traditional method. It basically meets the requirements of the all-weather celestial navigation system, and it has the ability of stability, reliability, high accuracy and strong anti-interference.

  12. Analysis of key technologies in geomagnetic navigation

    NASA Astrophysics Data System (ADS)

    Zhang, Xiaoming; Zhao, Yan

    2008-10-01

    Because of the costly price and the error accumulation of high precise Inertial Navigation Systems (INS) and the vulnerability of Global Navigation Satellite Systems (GNSS), the geomagnetic navigation technology, a passive autonomous navigation method, is paid attention again. Geomagnetic field is a natural spatial physical field, and is a function of position and time in near earth space. The navigation technology based on geomagnetic field is researched in a wide range of commercial and military applications. This paper presents the main features and the state-of-the-art of Geomagnetic Navigation System (GMNS). Geomagnetic field models and reference maps are described. Obtaining, modeling and updating accurate Anomaly Magnetic Field information is an important step for high precision geomagnetic navigation. In addition, the errors of geomagnetic measurement using strapdown magnetometers are analyzed. The precise geomagnetic data is obtained by means of magnetometer calibration and vehicle magnetic field compensation. According to the measurement data and reference map or model of geomagnetic field, the vehicle's position and attitude can be obtained using matching algorithm or state-estimating method. The tendency of geomagnetic navigation in near future is introduced at the end of this paper.

  13. Accuracy of complete-arch dental impressions: a new method of measuring trueness and precision.

    PubMed

    Ender, Andreas; Mehl, Albert

    2013-02-01

    A new approach to both 3-dimensional (3D) trueness and precision is necessary to assess the accuracy of intraoral digital impressions and compare them to conventionally acquired impressions. The purpose of this in vitro study was to evaluate whether a new reference scanner is capable of measuring conventional and digital intraoral complete-arch impressions for 3D accuracy. A steel reference dentate model was fabricated and measured with a reference scanner (digital reference model). Conventional impressions were made from the reference model, poured with Type IV dental stone, scanned with the reference scanner, and exported as digital models. Additionally, digital impressions of the reference model were made and the digital models were exported. Precision was measured by superimposing the digital models within each group. Superimposing the digital models on the digital reference model assessed the trueness of each impression method. Statistical significance was assessed with an independent sample t test (α=.05). The reference scanner delivered high accuracy over the entire dental arch with a precision of 1.6 ±0.6 µm and a trueness of 5.3 ±1.1 µm. Conventional impressions showed significantly higher precision (12.5 ±2.5 µm) and trueness values (20.4 ±2.2 µm) with small deviations in the second molar region (P<.001). Digital impressions were significantly less accurate with a precision of 32.4 ±9.6 µm and a trueness of 58.6 ±15.8µm (P<.001). More systematic deviations of the digital models were visible across the entire dental arch. The new reference scanner is capable of measuring the precision and trueness of both digital and conventional complete-arch impressions. The digital impression is less accurate and shows a different pattern of deviation than the conventional impression. Copyright © 2013 The Editorial Council of the Journal of Prosthetic Dentistry. Published by Mosby, Inc. All rights reserved.

  14. Large format focal plane array integration with precision alignment, metrology and accuracy capabilities

    NASA Astrophysics Data System (ADS)

    Neumann, Jay; Parlato, Russell; Tracy, Gregory; Randolph, Max

    2015-09-01

    Focal plane alignment for large format arrays and faster optical systems require enhanced precision methodology and stability over temperature. The increase in focal plane array size continues to drive the alignment capability. Depending on the optical system, the focal plane flatness of less than 25μm (.001") is required over transition temperatures from ambient to cooled operating temperatures. The focal plane flatness requirement must also be maintained in airborne or launch vibration environments. This paper addresses the challenge of the detector integration into the focal plane module and housing assemblies, the methodology to reduce error terms during integration and the evaluation of thermal effects. The driving factors influencing the alignment accuracy include: datum transfers, material effects over temperature, alignment stability over test, adjustment precision and traceability to NIST standard. The FPA module design and alignment methodology reduces the error terms by minimizing the measurement transfers to the housing. In the design, the proper material selection requires matched coefficient of expansion materials minimizes both the physical shift over temperature as well as lowering the stress induced into the detector. When required, the co-registration of focal planes and filters can achieve submicron relative positioning by applying precision equipment, interferometry and piezoelectric positioning stages. All measurements and characterizations maintain traceability to NIST standards. The metrology characterizes the equipment's accuracy, repeatability and precision of the measurements.

  15. Approach-Phase Precision Landing with Hazard Relative Navigation: Terrestrial Test Campaign Results of the Morpheus/ALHAT Project

    NASA Technical Reports Server (NTRS)

    Crain, Timothy P.; Bishop, Robert H.; Carson, John M., III; Trawny, Nikolas; Hanak, Chad; Sullivan, Jacob; Christian, John; DeMars, Kyle; Campbell, Tom; Getchius, Joel

    2016-01-01

    The Morpheus Project began in late 2009 as an ambitious e ort code-named Project M to integrate three ongoing multi-center NASA technology developments: humanoid robotics, liquid oxygen/liquid methane (LOX/LCH4) propulsion and Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) into a single engineering demonstration mission to be own to the Moon by 2013. The humanoid robot e ort was redirected to a deploy- ment of Robonaut 2 on the International Space Station in February of 2011 while Morpheus continued as a terrestrial eld test project integrating the existing ALHAT Project's tech- nologies into a sub-orbital ight system using the world's rst LOX/LCH4 main propulsion and reaction control system fed from the same blowdown tanks. A series of 33 tethered tests with the Morpheus 1.0 vehicle and Morpheus 1.5 vehicle were conducted from April 2011 - December 2013 before successful, sustained free ights with the primary Vertical Testbed (VTB) navigation con guration began with Free Flight 3 on December 10, 2013. Over the course of the following 12 free ights and 3 tethered ights, components of the ALHAT navigation system were integrated into the Morpheus vehicle, operations, and ight control loop. The ALHAT navigation system was integrated and run concurrently with the VTB navigation system as a reference and fail-safe option in ight (see touchdown position esti- mate comparisons in Fig. 1). Flight testing completed with Free Flight 15 on December 15, 2014 with a completely autonomous Hazard Detection and Avoidance (HDA), integration of surface relative and Hazard Relative Navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman lter software, and landing within 2 meters of the VTB GPS-based navigation solution at the safe landing site target. This paper describes the Mor- pheus joint VTB/ALHAT navigation architecture, the sensors utilized during the terrestrial ight campaign, issues resolved during testing, and the navigation

  16. Spectropolarimetry with PEPSI at the LBT: accuracy vs. precision in magnetic field measurements

    NASA Astrophysics Data System (ADS)

    Ilyin, Ilya; Strassmeier, Klaus G.; Woche, Manfred; Hofmann, Axel

    2009-04-01

    We present the design of the new PEPSI spectropolarimeter to be installed at the Large Binocular Telescope (LBT) in Arizona to measure the full set of Stokes parameters in spectral lines and outline its precision and the accuracy limiting factors.

  17. Pulse oximeter accuracy and precision affected by sensor location in cyanotic children.

    PubMed

    Sedaghat-Yazdi, Farshad; Torres, Adalberto; Fortuna, Randall; Geiss, Dale M

    2008-07-01

    Children's digits are often too small for proper attachment of oximeter sensors, necessitating sensor placement on the sole of the foot or palm of the hand. No study has determined what effect these sensor locations have on the accuracy and precision of this technology. The objective of this study was to assess the effect of sensor location on pulse oximeter accuracy (i.e., bias) and precision in critically ill children. Prospective, observational study with consecutive sampling. Tertiary care, pediatric intensive care unit. Fifty critically ill children, newborn to 2 yrs of age, with an indwelling arterial catheter. Forty-seven of 50 (94%) patients were postcardiac surgery. None. Co-oximeter-measured arterial oxygen saturation (Sao2) was compared with simultaneously obtained pulse oximetry saturations (Spo2). A total of 98 measurements were obtained, 48 measurements in the upper extremities (finger and palm) and 50 measurements in the lower extremities (toe and sole). The median Sao2 was 92% (66% to 100%). There was a significant difference in bias (i.e., average Spo2 - Sao2) and precision (+/-1 sd) when the sole and toe were compared (sole, 2.9 +/- 3.9 vs. toe, 1.6 +/- 2.2, p = .02) but no significant difference in bias and precision between the palm and the finger (palm, 1.4 +/- 3.2 vs. finger, 1.2 +/- 2.3, p = .99). There was a significant difference in bias +/- precision when the Sao2 was <90% compared with when Sao2 was >or=90% in the sole (6.0 +/- 5.7 vs. 1.8 +/- 2.1, p = .002) and palm (4.5 +/- 4.5 vs. 0.7 +/- 2.4, p = .006) but no significant difference in the finger (1.8 +/- 3.8 vs. 1.1 +/- 1.8, p = .95) or toe (1.9 +/- 2.9 vs. 1.6 +/- 1.9, p = .65). The Philips M1020A pulse oximeter and Nellcor MAX-N sensors were less accurate and precise when used on the sole of the foot or palm of the hand of a child with an Sao2 <90%.

  18. Space shuttle navigation analysis. Volume 1: GPS aided navigation

    NASA Technical Reports Server (NTRS)

    Matchett, G. A.; Vogel, M. A.; Macdonald, T. J.

    1980-01-01

    Analytical studies related to space shuttle navigation are presented. Studies related to the addition of NAVSTAR Global Positioning System user equipment to the shuttle avionics suite are presented. The GPS studies center about navigation accuracy covariance analyses for both developmental and operational phases of GPS, as well as for various orbiter mission phases.

  19. High-accuracy self-calibration method for dual-axis rotation-modulating RLG-INS

    NASA Astrophysics Data System (ADS)

    Wei, Guo; Gao, Chunfeng; Wang, Qi; Wang, Qun; Long, Xingwu

    2017-05-01

    Inertial navigation system has been the core component of both military and civil navigation systems. Dual-axis rotation modulation can completely eliminate the inertial elements constant errors of the three axes to improve the system accuracy. But the error caused by the misalignment angles and the scale factor error cannot be eliminated through dual-axis rotation modulation. And discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed the effect of calibration error during one modulated period and presented a new systematic self-calibration method for dual-axis rotation-modulating RLG-INS. Procedure for self-calibration of dual-axis rotation-modulating RLG-INS has been designed. The results of self-calibration simulation experiment proved that: this scheme can estimate all the errors in the calibration error model, the calibration precision of the inertial sensors scale factor error is less than 1ppm and the misalignment is less than 5″. These results have validated the systematic self-calibration method and proved its importance for accuracy improvement of dual -axis rotation inertial navigation system with mechanically dithered ring laser gyroscope.

  20. An analysis of approach navigation accuracy and guidance requirements for the grand tour mission to the outer planets

    NASA Technical Reports Server (NTRS)

    Jones, D. W.

    1971-01-01

    The navigation and guidance process for the Jupiter, Saturn and Uranus planetary encounter phases of the 1977 Grand Tour interior mission was simulated. Reference approach navigation accuracies were defined and the relative information content of the various observation types were evaluated. Reference encounter guidance requirements were defined, sensitivities to assumed simulation model parameters were determined and the adequacy of the linear estimation theory was assessed. A linear sequential estimator was used to provide an estimate of the augmented state vector, consisting of the six state variables of position and velocity plus the three components of a planet position bias. The guidance process was simulated using a nonspherical model of the execution errors. Computation algorithms which simulate the navigation and guidance process were derived from theory and implemented into two research-oriented computer programs, written in FORTRAN.

  1. Terrain matching image pre-process and its format transform in autonomous underwater navigation

    NASA Astrophysics Data System (ADS)

    Cao, Xuejun; Zhang, Feizhou; Yang, Dongkai; Yang, Bogang

    2007-06-01

    Underwater passive navigation technology is one of the important development orientations in the field of modern navigation. With the advantage of high self-determination, stealth at sea, anti-jamming and high precision, passive navigation is completely meet with actual navigation requirements. Therefore passive navigation has become a specific navigating method for underwater vehicles. The scientists and researchers in the navigating field paid more attention to it. The underwater passive navigation can provide accurate navigation information with main Inertial Navigation System (INS) for a long period, such as location and speed. Along with the development of micro-electronics technology, the navigation of AUV is given priority to INS assisted with other navigation methods, such as terrain matching navigation. It can provide navigation ability for a long period, correct the errors of INS and make AUV not emerge from the seabed termly. With terrain matching navigation technique, in the assistance of digital charts and ocean geographical characteristics sensors, we carry through underwater image matching assistant navigation to obtain the higher location precision, therefore it is content with the requirement of underwater, long-term, high precision and all-weather of the navigation system for Autonomous Underwater Vehicles. Tertian-assistant navigation (TAN) is directly dependent on the image information (map information) in the navigating field to assist the primary navigation system according to the path appointed in advance. In TAN, a factor coordinative important with the system operation is precision and practicability of the storable images and the database which produce the image data. If the data used for characteristics are not suitable, the system navigation precision will be low. Comparing with terrain matching assistant navigation system, image matching navigation system is a kind of high precision and low cost assistant navigation system, and its

  2. Trace element analysis by EPMA in geosciences: detection limit, precision and accuracy

    NASA Astrophysics Data System (ADS)

    Batanova, V. G.; Sobolev, A. V.; Magnin, V.

    2018-01-01

    Use of the electron probe microanalyser (EPMA) for trace element analysis has increased over the last decade, mainly because of improved stability of spectrometers and the electron column when operated at high probe current; development of new large-area crystal monochromators and ultra-high count rate spectrometers; full integration of energy-dispersive / wavelength-dispersive X-ray spectrometry (EDS/WDS) signals; and the development of powerful software packages. For phases that are stable under a dense electron beam, the detection limit and precision can be decreased to the ppm level by using high acceleration voltage and beam current combined with long counting time. Data on 10 elements (Na, Al, P, Ca, Ti, Cr, Mn, Co, Ni, Zn) in olivine obtained on a JEOL JXA-8230 microprobe with tungsten filament show that the detection limit decreases proportionally to the square root of counting time and probe current. For all elements equal or heavier than phosphorus (Z = 15), the detection limit decreases with increasing accelerating voltage. The analytical precision for minor and trace elements analysed in olivine at 25 kV accelerating voltage and 900 nA beam current is 4 - 18 ppm (2 standard deviations of repeated measurements of the olivine reference sample) and is similar to the detection limit of corresponding elements. To analyse trace elements accurately requires careful estimation of background, and consideration of sample damage under the beam and secondary fluorescence from phase boundaries. The development and use of matrix reference samples with well-characterised trace elements of interest is important for monitoring and improving of the accuracy. An evaluation of the accuracy of trace element analyses in olivine has been made by comparing EPMA data for new reference samples with data obtained by different in-situ and bulk analytical methods in six different laboratories worldwide. For all elements, the measured concentrations in the olivine reference sample

  3. Sternal instability measured with radiostereometric analysis. A study of method feasibility, accuracy and precision.

    PubMed

    Vestergaard, Rikke Falsig; Søballe, Kjeld; Hasenkam, John Michael; Stilling, Maiken

    2018-05-18

    A small, but unstable, saw-gap may hinder bone-bridging and induce development of painful sternal dehiscence. We propose the use of Radiostereometric Analysis (RSA) for evaluation of sternal instability and present a method validation. Four bone analogs (phantoms) were sternotomized and tantalum beads were inserted in each half. The models were reunited with wire cerclage and placed in a radiolucent separation device. Stereoradiographs (n = 48) of the phantoms in 3 positions were recorded at 4 imposed separation points. The accuracy and precision was compared statistically and presented as translations along the 3 orthogonal axes. 7 sternotomized patients were evaluated for clinical RSA precision by double-examination stereoradiographs (n = 28). In the phantom study, we found no systematic error (p > 0.3) between the three phantom positions, and precision for evaluation of sternal separation was 0.02 mm. Phantom accuracy was mean 0.13 mm (SD 0.25). In the clinical study, we found a detection limit of 0.42 mm for sternal separation and of 2 mm for anterior-posterior dislocation of the sternal halves for the individual patient. RSA is a precise and low-dose image modality feasible for clinical evaluation of sternal stability in research. ClinicalTrials.gov Identifier: NCT02738437 , retrospectively registered.

  4. Evaluation of Relative Navigation Algorithms for Formation-Flying Satellites

    NASA Technical Reports Server (NTRS)

    Kelbel, David; Lee, Taesul; Long, Anne; Carpenter, J. Russell; Gramling, Cheryl

    2001-01-01

    Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for formations in eccentric, medium, and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS) and intersatellite range measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that the relative navigation accuracy is primarily a function of the frequency of acquisition and tracking of the GPS signals. A relative navigation position accuracy of 0.5 meters root-mean-square (RMS) can be achieved for formations in medium-attitude eccentric orbits that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 75 meters RMS can be achieved for formations in high-altitude eccentric orbits that have sparse tracking of the GPS signals. The addition of round-trip intersatellite range measurements can significantly improve relative navigation accuracy for formations with sparse tracking of the GPS signals.

  5. Relative Navigation of Formation Flying Satellites

    NASA Technical Reports Server (NTRS)

    Long, Anne; Kelbel, David; Lee, Taesul; Leung, Dominic; Carpenter, Russell; Gramling, Cheryl; Bauer, Frank (Technical Monitor)

    2002-01-01

    The Guidance, Navigation, and Control Center (GNCC) at Goddard Space Flight Center (GSFC) has successfully developed high-accuracy autonomous satellite navigation systems using the National Aeronautics and Space Administration's (NASA's) space and ground communications systems and the Global Positioning System (GPS). In addition, an autonomous navigation system that uses celestial object sensor measurements is currently under development and has been successfully tested using real Sun and Earth horizon measurements.The GNCC has developed advanced spacecraft systems that provide autonomous navigation and control of formation flyers in near-Earth, high-Earth, and libration point orbits. To support this effort, the GNCC is assessing the relative navigation accuracy achievable for proposed formations using GPS, intersatellite crosslink, ground-to-satellite Doppler, and celestial object sensor measurements. This paper evaluates the performance of these relative navigation approaches for three proposed missions with two or more vehicles maintaining relatively tight formations. High-fidelity simulations were performed to quantify the absolute and relative navigation accuracy as a function of navigation algorithm and measurement type. Realistically-simulated measurements were processed using the extended Kalman filter implemented in the GPS Enhanced Inboard Navigation System (GEONS) flight software developed by GSFC GNCC. Solutions obtained by simultaneously estimating all satellites in the formation were compared with the results obtained using a simpler approach based on differencing independently estimated state vectors.

  6. Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

    PubMed Central

    Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

    2018-01-01

    The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions. PMID:29734707

  7. Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System.

    PubMed

    Zhang, Jiayu; Li, Jie; Zhang, Xi; Che, Xiaorui; Huang, Yugang; Feng, Kaiqiang

    2018-05-04

    The Semi-Strapdown Inertial Navigation System (SSINS) provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS) inertial measurement unit (MIMU) outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS) is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions.

  8. Improved accuracy and precision of tracer kinetic parameters by joint fitting to variable flip angle and dynamic contrast enhanced MRI data.

    PubMed

    Dickie, Ben R; Banerji, Anita; Kershaw, Lucy E; McPartlin, Andrew; Choudhury, Ananya; West, Catharine M; Rose, Chris J

    2016-10-01

    To improve the accuracy and precision of tracer kinetic model parameter estimates for use in dynamic contrast enhanced (DCE) MRI studies of solid tumors. Quantitative DCE-MRI requires an estimate of precontrast T1 , which is obtained prior to fitting a tracer kinetic model. As T1 mapping and tracer kinetic signal models are both a function of precontrast T1 it was hypothesized that its joint estimation would improve the accuracy and precision of both precontrast T1 and tracer kinetic model parameters. Accuracy and/or precision of two-compartment exchange model (2CXM) parameters were evaluated for standard and joint fitting methods in well-controlled synthetic data and for 36 bladder cancer patients. Methods were compared under a number of experimental conditions. In synthetic data, joint estimation led to statistically significant improvements in the accuracy of estimated parameters in 30 of 42 conditions (improvements between 1.8% and 49%). Reduced accuracy was observed in 7 of the remaining 12 conditions. Significant improvements in precision were observed in 35 of 42 conditions (between 4.7% and 50%). In clinical data, significant improvements in precision were observed in 18 of 21 conditions (between 4.6% and 38%). Accuracy and precision of DCE-MRI parameter estimates are improved when signal models are fit jointly rather than sequentially. Magn Reson Med 76:1270-1281, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

  9. A multimodal image guiding system for Navigated Ultrasound Bronchoscopy (EBUS): A human feasibility study

    PubMed Central

    Hofstad, Erlend Fagertun; Amundsen, Tore; Langø, Thomas; Bakeng, Janne Beate Lervik; Leira, Håkon Olav

    2017-01-01

    Background Endobronchial ultrasound transbronchial needle aspiration (EBUS-TBNA) is the endoscopic method of choice for confirming lung cancer metastasis to mediastinal lymph nodes. Precision is crucial for correct staging and clinical decision-making. Navigation and multimodal imaging can potentially improve EBUS-TBNA efficiency. Aims To demonstrate the feasibility of a multimodal image guiding system using electromagnetic navigation for ultrasound bronchoschopy in humans. Methods Four patients referred for lung cancer diagnosis and staging with EBUS-TBNA were enrolled in the study. Target lymph nodes were predefined from the preoperative computed tomography (CT) images. A prototype convex probe ultrasound bronchoscope with an attached sensor for position tracking was used for EBUS-TBNA. Electromagnetic tracking of the ultrasound bronchoscope and ultrasound images allowed fusion of preoperative CT and intraoperative ultrasound in the navigation software. Navigated EBUS-TBNA was used to guide target lymph node localization and sampling. Navigation system accuracy was calculated, measured by the deviation between lymph node position in ultrasound and CT in three planes. Procedure time, diagnostic yield and adverse events were recorded. Results Preoperative CT and real-time ultrasound images were successfully fused and displayed in the navigation software during the procedures. Overall navigation accuracy (11 measurements) was 10.0 ± 3.8 mm, maximum 17.6 mm, minimum 4.5 mm. An adequate sample was obtained in 6/6 (100%) of targeted lymph nodes. No adverse events were registered. Conclusions Electromagnetic navigated EBUS-TBNA was feasible, safe and easy in this human pilot study. The clinical usefulness was clearly demonstrated. Fusion of real-time ultrasound, preoperative CT and electromagnetic navigational bronchoscopy provided a controlled guiding to level of target, intraoperative overview and procedure documentation. PMID:28182758

  10. 13 Years of TOPEX/POSEIDON Precision Orbit Determination and the 10-fold Improvement in Expected Orbit Accuracy

    NASA Technical Reports Server (NTRS)

    Lemoine, F. G.; Zelensky, N. P.; Luthcke, S. B.; Rowlands, D. D.; Beckley, B. D.; Klosko, S. M.

    2006-01-01

    Launched in the summer of 1992, TOPEX/POSEIDON (T/P) was a joint mission between NASA and the Centre National d Etudes Spatiales (CNES), the French Space Agency, to make precise radar altimeter measurements of the ocean surface. After the remarkably successful 13-years of mapping the ocean surface T/P lost its ability to maneuver and was de-commissioned January 2006. T/P revolutionized the study of the Earth s oceans by vastly exceeding pre-launch estimates of surface height accuracy recoverable from radar altimeter measurements. The precision orbit lies at the heart of the altimeter measurement providing the reference frame from which the radar altimeter measurements are made. The expected quality of orbit knowledge had limited the measurement accuracy expectations of past altimeter missions, and still remains a major component in the error budget of all altimeter missions. This paper describes critical improvements made to the T/P orbit time series over the 13-years of precise orbit determination (POD) provided by the GSFC Space Geodesy Laboratory. The POD improvements from the pre-launch T/P expectation of radial orbit accuracy and Mission requirement of 13-cm to an expected accuracy of about 1.5-cm with today s latest orbits will be discussed. The latest orbits with 1.5 cm RMS radial accuracy represent a significant improvement to the 2.0-cm accuracy orbits currently available on the T/P Geophysical Data Record (GDR) altimeter product.

  11. The accuracy and precision of radiostereometric analysis in upper limb arthroplasty.

    PubMed

    Ten Brinke, Bart; Beumer, Annechien; Koenraadt, Koen L M; Eygendaal, Denise; Kraan, Gerald A; Mathijssen, Nina M C

    2017-06-01

    Background and purpose - Radiostereometric analysis (RSA) is an accurate method for measurement of early migration of implants. Since a relation has been shown between early migration and future loosening of total knee and hip prostheses, RSA plays an important role in the development and evaluation of prostheses. However, there have been few RSA studies of the upper limb, and the value of RSA of the upper limb is not yet clear. We therefore performed a systematic review to investigate the accuracy and precision of RSA of the upper limb. Patients and methods - PRISMA guidelines were followed and the protocol for this review was published online at PROSPERO under registration number CRD42016042014. A systematic search of the literature was performed in the databases Embase, Medline, Cochrane, Web of Science, Scopus, Cinahl, and Google Scholar on April 25, 2015 based on the keywords radiostereometric analysis, shoulder prosthesis, elbow prosthesis, wrist prosthesis, trapeziometacarpal joint prosthesis, humerus, ulna, radius, carpus. Articles concerning RSA for the analysis of early migration of prostheses of the upper limb were included. Quality assessment was performed using the MINORS score, Downs and Black checklist, and the ISO RSA Results - 23 studies were included. Precision values were in the 0.06-0.88 mm and 0.05-10.7° range for the shoulder, the 0.05-0.34 mm and 0.16-0.76° range for the elbow, and the 0.16-1.83 mm and 11-124° range for the TMC joint. Accuracy data from marker- and model-based RSA were not reported in the studies included. Interpretation - RSA is a highly precise method for measurement of early migration of orthopedic implants in the upper limb. However, the precision of rotation measurement is poor in some components. Challenges with RSA in the upper limb include the symmetrical shape of prostheses and the limited size of surrounding bone, leading to over-projection of the markers by the prosthesis. We recommend higher adherence to

  12. Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode.

    PubMed

    Hou, Bowen; He, Zhangming; Li, Dong; Zhou, Haiyin; Wang, Jiongqi

    2018-05-27

    Strap-down inertial navigation system/celestial navigation system ( SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

  13. Celestial Navigation in the 21st Century

    NASA Astrophysics Data System (ADS)

    Kaplan, George H.

    2014-05-01

    Despite the ubiquity of GPS receivers in modern life for both timekeeping and geolocation, other forms of navigation remain important because of the weakness of the GPS signals (and those from similar sat-nav systems) and the ease with which they can be jammed. GPS jammers are available for sale on the Internet. The defense and civil aviation communities are particularly concerned about “GPS denial”, whether intentional or accidental, during critical operations.Automated star trackers for navigation have been available since the 1950s. Modern compact observing systems, operating in the far-red and near-IR bands, can detect useful numbers of stars even in the daytime at sea level. A capability to measure the directions of stars relative to some local set of coordinate axes is advantageous for many types of vehicles, whether on the ground, at sea, in the air, or in space, because it provides a direct connection to the inertial reference system represented by current star catalogs. Such a capability can yield precise absolute orientation information not available in any other way. Automated celestial observing systems can be effectively coupled to inertial navigation systems (INS), providing “truth” data for constraining the drift in the INS navigation solution, even if stellar observations are not continuously available due to weather. However, obtaining precise latitude and longitude from stellar observations alone, on a moving platform, remains a challenge, because it requires a determination of the direction to the center of the Earth, i.e., the gravity vertical. General relativity tells us that on-board (“lab”) measurements cannot separate the acceleration of gravity from the acceleration of the platform. Various schemes for overcoming this fundamental problem have been used in the past, at low accuracy, and better ones have been proposed for modern applications. This paper will review some recent developments in this rapidly advancing field.

  14. Broadband laser ranging precision and accuracy experiments with PDV benchmarking

    NASA Astrophysics Data System (ADS)

    Catenacci, Jared; Daykin, Ed; Howard, Marylesa; Lalone, Brandon; Miller, Kirk

    2017-06-01

    Broadband laser ranging (BLR) is a developmental diagnostic designed to measure the precise position of surfaces and particle clouds moving at velocities of several kilometers per second. Recent single stage gas gun experiments were conducted to quantify the precision and accuracy possible with a typical BLR system. For these experiments, the position of a mirrored projectile is measured relative to the location of a stationary optical flat (uncoated window) mounted within the gun catch tank. Projectile velocity is constrained to one-dimensional motion within the gun barrel. A collimating probe is aligned to be orthogonal to both the target window and the mirrored impactor surface. The probe is used to simultaneously measure the position and velocity with a BLR and conventional Photonic Doppler Velocimetry (PDV) system. Since there is a negligible lateral component to the target velocity, coupled with strong signal returns from a mirrored surface, integrating the PDV measurement provides a high fidelity distance measurement reference to which the BLR measurement may be compared.

  15. Accuracy, precision, usability, and cost of portable silver test methods for ceramic filter factories.

    PubMed

    Meade, Rhiana D; Murray, Anna L; Mittelman, Anjuliee M; Rayner, Justine; Lantagne, Daniele S

    2017-02-01

    Locally manufactured ceramic water filters are one effective household drinking water treatment technology. During manufacturing, silver nanoparticles or silver nitrate are applied to prevent microbiological growth within the filter and increase bacterial removal efficacy. Currently, there is no recommendation for manufacturers to test silver concentrations of application solutions or filtered water. We identified six commercially available silver test strips, kits, and meters, and evaluated them by: (1) measuring in quintuplicate six samples from 100 to 1,000 mg/L (application range) and six samples from 0.0 to 1.0 mg/L (effluent range) of silver nanoparticles and silver nitrate to determine accuracy and precision; (2) conducting volunteer testing to assess ease-of-use; and (3) comparing costs. We found no method accurately detected silver nanoparticles, and accuracy ranged from 4 to 91% measurement error for silver nitrate samples. Most methods were precise, but only one method could test both application and effluent concentration ranges of silver nitrate. Volunteers considered test strip methods easiest. The cost for 100 tests ranged from 36 to 1,600 USD. We found no currently available method accurately and precisely measured both silver types at reasonable cost and ease-of-use, thus these methods are not recommended to manufacturers. We recommend development of field-appropriate methods that accurately and precisely measure silver nanoparticle and silver nitrate concentrations.

  16. Autonomous satellite navigation using starlight refraction angle measurements

    NASA Astrophysics Data System (ADS)

    Ning, Xiaolin; Wang, Longhua; Bai, Xinbei; Fang, Jiancheng

    2013-05-01

    An on-board autonomous navigation capability is required to reduce the operation costs and enhance the navigation performance of future satellites. Autonomous navigation by stellar refraction is a type of autonomous celestial navigation method that uses high-accuracy star sensors instead of Earth sensors to provide information regarding Earth's horizon. In previous studies, the refraction apparent height has typically been used for such navigation. However, the apparent height cannot be measured directly by a star sensor and can only be calculated by the refraction angle and an atmospheric refraction model. Therefore, additional errors are introduced by the uncertainty and nonlinearity of atmospheric refraction models, which result in reduced navigation accuracy and reliability. A new navigation method based on the direct measurement of the refraction angle is proposed to solve this problem. Techniques for the determination of the refraction angle are introduced, and a measurement model for the refraction angle is established. The method is tested and validated by simulations. When the starlight refraction height ranges from 20 to 50 km, a positioning accuracy of better than 100 m can be achieved for a low-Earth-orbit (LEO) satellite using the refraction angle, while the positioning accuracy of the traditional method using the apparent height is worse than 500 m under the same conditions. Furthermore, an analysis of the factors that affect navigation accuracy, including the measurement accuracy of the refraction angle, the number of visible refracted stars per orbit and the installation azimuth of star sensor, is presented. This method is highly recommended for small satellites in particular, as no additional hardware besides two star sensors is required.

  17. Sensitivity, accuracy, and precision issues in opto-electronic holography based on fiber optics and high-spatial- and high-digitial-resolution cameras

    NASA Astrophysics Data System (ADS)

    Furlong, Cosme; Yokum, Jeffrey S.; Pryputniewicz, Ryszard J.

    2002-06-01

    Sensitivity, accuracy, and precision characteristics in quantitative optical metrology techniques, and specifically in optoelectronic holography based on fiber optics and high-spatial and high-digital resolution cameras, are discussed in this paper. It is shown that sensitivity, accuracy, and precision dependent on both, the effective determination of optical phase and the effective characterization of the illumination-observation conditions. Sensitivity, accuracy, and precision are investigated with the aid of National Institute of Standards and Technology (NIST) traceable gages, demonstrating the applicability of quantitative optical metrology techniques to satisfy constantly increasing needs for the study and development of emerging technologies.

  18. Approach to intraoperative electromagnetic navigation in orthognathic surgery: A phantom skull based trial.

    PubMed

    Berger, Moritz; Kallus, Sebastian; Nova, Igor; Ristow, Oliver; Eisenmann, Urs; Dickhaus, Hartmut; Kuhle, Reinald; Hoffmann, Jürgen; Seeberger, Robin

    2015-11-01

    Intraoperative guidance using electromagnetic navigation is an upcoming method in maxillofacial surgery. However, due to their unwieldy structures, especially the line-of-sight problem, optical navigation devices are not used for daily orthognathic surgery. Therefore, orthognathic surgery was simulated on study phantom skulls, evaluating the accuracy and handling of a new electromagnetic tracking system. Le-Fort I osteotomies were performed on 10 plastic skulls. Orthognathic surgical planning was done in the conventional way using plaster models. Accuracy of the gold standard, splint-based model surgery versus an electromagnetic tracking system was evaluated by measuring the actual maxillary deviation using bimaxillary splints and preoperative and postoperative cone beam computer tomography imaging. The distance of five anatomical marker points were compared pre- and postoperatively. The electromagnetic tracking system was significantly more accurate in all measured parameters compared with the gold standard using bimaxillary splints (p < 0.01). The data shows a discrepancy between the model surgical plans and the actual correction of the upper jaw of 0.8 mm. Using the electromagnetic tracking, we could reduce the discrepancy of the maxillary transposition between the planned and actual orthognathic surgery to 0.3 mm on average. The data of this preliminary study shows a high level of accuracy in surgical orthognathic performance using electromagnetic navigation, and may offer greater precision than the conventional plaster model surgery with bimaxillary splints. This preliminary work shows great potential for the establishment of an intraoperative electromagnetic navigation system for maxillofacial surgery. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

  19. Accuracy of a real-time surgical navigation system for the placement of quad zygomatic implants in the severe atrophic maxilla: A pilot clinical study.

    PubMed

    Hung, Kuo-Feng; Wang, Feng; Wang, Hao-Wei; Zhou, Wen-Jie; Huang, Wei; Wu, Yi-Qun

    2017-06-01

    A real-time surgical navigation system potentially increases the accuracy when used for quad-zygomatic implant placement. To evaluate the accuracy of a real-time surgical navigation system when used for quad zygomatic implant placement. Patients with severely atrophic maxillae were prospectively recruited. Four trajectories for implants were planned, and zygomatic implants were placed using a real-time surgical navigation system. The planned-placed distance deviations at entry (entry deviation)points, exit (exit deviation) points, and angle deviation of axes (angle deviation) were measured on fused operation images. The differences of all the deviations between different groups, classified based on the lengths and locations of implants, were analysed. A P value of < 0.05 indicated statistical significance. Forty zygomatic implants were placed as planned in 10 patients. The entry deviation, exit deviation and angle deviation were 1.35 ± 0.75 mm, 2.15 mm ± 0.95 mm, and 2.05 ± 1.02 degrees, respectively. The differences of all deviations were not significant, irrespective of the lengths (P = .259, .158, and .914, respectively) or locations of the placed implants (P = .698, .072, and .602, respectively). A real-time surgical navigation system used for the placement of quad zygomatic implants demonstrated a high level of accuracy with only minimal planned-placed deviations, irrespective of the lengths or locations of the implants. © 2017 Wiley Periodicals, Inc.

  20. Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

    NASA Astrophysics Data System (ADS)

    Moafipoor, Shahram

    Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a

  1. Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis

    PubMed Central

    Balto, Julia M; Kinnett-Hopkins, Dominique L

    2016-01-01

    Background There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. Objective This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Methods Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0–5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). Results The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6–495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first (rs = −.53) and second (rs = −.53) trials. Conclusion The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients. PMID:28607720

  2. Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis.

    PubMed

    Balto, Julia M; Kinnett-Hopkins, Dominique L; Motl, Robert W

    2016-01-01

    There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0-5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6-495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first ( r s  =  -.53) and second ( r s  =  -.53) trials. The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients.

  3. Assessing accuracy and precision for field and laboratory data: a perspective in ecosystem restoration

    USGS Publications Warehouse

    Stapanian, Martin A.; Lewis, Timothy E; Palmer, Craig J.; Middlebrook Amos, Molly

    2016-01-01

    Unlike most laboratory studies, rigorous quality assurance/quality control (QA/QC) procedures may be lacking in ecosystem restoration (“ecorestoration”) projects, despite legislative mandates in the United States. This is due, in part, to ecorestoration specialists making the false assumption that some types of data (e.g. discrete variables such as species identification and abundance classes) are not subject to evaluations of data quality. Moreover, emergent behavior manifested by complex, adapting, and nonlinear organizations responsible for monitoring the success of ecorestoration projects tend to unconsciously minimize disorder, QA/QC being an activity perceived as creating disorder. We discuss similarities and differences in assessing precision and accuracy for field and laboratory data. Although the concepts for assessing precision and accuracy of ecorestoration field data are conceptually the same as laboratory data, the manner in which these data quality attributes are assessed is different. From a sample analysis perspective, a field crew is comparable to a laboratory instrument that requires regular “recalibration,” with results obtained by experts at the same plot treated as laboratory calibration standards. Unlike laboratory standards and reference materials, the “true” value for many field variables is commonly unknown. In the laboratory, specific QA/QC samples assess error for each aspect of the measurement process, whereas field revisits assess precision and accuracy of the entire data collection process following initial calibration. Rigorous QA/QC data in an ecorestoration project are essential for evaluating the success of a project, and they provide the only objective “legacy” of the dataset for potential legal challenges and future uses.

  4. Research on the error model of airborne celestial/inertial integrated navigation system

    NASA Astrophysics Data System (ADS)

    Zheng, Xiaoqiang; Deng, Xiaoguo; Yang, Xiaoxu; Dong, Qiang

    2015-02-01

    Celestial navigation subsystem of airborne celestial/inertial integrated navigation system periodically correct the positioning error and heading drift of the inertial navigation system, by which the inertial navigation system can greatly improve the accuracy of long-endurance navigation. Thus the navigation accuracy of airborne celestial navigation subsystem directly decides the accuracy of the integrated navigation system if it works for long time. By building the mathematical model of the airborne celestial navigation system based on the inertial navigation system, using the method of linear coordinate transformation, we establish the error transfer equation for the positioning algorithm of airborne celestial system. Based on these we built the positioning error model of the celestial navigation. And then, based on the positioning error model we analyze and simulate the positioning error which are caused by the error of the star tracking platform with the MATLAB software. Finally, the positioning error model is verified by the information of the star obtained from the optical measurement device in range and the device whose location are known. The analysis and simulation results show that the level accuracy and north accuracy of tracking platform are important factors that limit airborne celestial navigation systems to improve the positioning accuracy, and the positioning error have an approximate linear relationship with the level error and north error of tracking platform. The error of the verification results are in 1000m, which shows that the model is correct.

  5. Clinical applications of virtual navigation bronchial intervention.

    PubMed

    Kajiwara, Naohiro; Maehara, Sachio; Maeda, Junichi; Hagiwara, Masaru; Okano, Tetsuya; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

    2018-01-01

    In patients with bronchial tumors, we frequently consider endoscopic treatment as the first treatment of choice. All computed tomography (CT) must satisfy several conditions necessary to analyze images by Synapse Vincent. To select safer and more precise approaches for patients with bronchial tumors, we determined the indications and efficacy of virtual navigation intervention for the treatment of bronchial tumors. We examined the efficacy of virtual navigation bronchial intervention for the treatment of bronchial tumors located at a variety of sites in the tracheobronchial tree using a high-speed 3-dimensional (3D) image analysis system, Synapse Vincent. Constructed images can be utilized to decide on the simulation and interventional strategy as well as for navigation during interventional manipulation in two cases. Synapse Vincent was used to determine the optimal planning of virtual navigation bronchial intervention. Moreover, this system can detect tumor location and alsodepict surrounding tissues, quickly, accurately, and safely. The feasibility and safety of Synapse Vincent in performing useful preoperative simulation and navigation of surgical procedures can lead to safer, more precise, and less invasion for the patient, and makes it easy to construct an image, depending on the purpose, in 5-10 minutes using Synapse Vincent. Moreover, if the lesion is in the parenchyma or sub-bronchial lumen, it helps to perform simulation with virtual skeletal subtraction to estimate potential lesion movement. By using virtual navigation system for simulation, bronchial intervention was performed with no complications safely and precisely. Preoperative simulation using virtual navigation bronchial intervention reduces the surgeon's stress levels, particularly when highly skilled techniques are needed to operate on lesions. This task, including both preoperative simulation and intraoperative navigation, leads to greater safety and precision. These technological instruments

  6. Using wide area differential GPS to improve total system error for precision flight operations

    NASA Astrophysics Data System (ADS)

    Alter, Keith Warren

    Total System Error (TSE) refers to an aircraft's total deviation from the desired flight path. TSE can be divided into Navigational System Error (NSE), the error attributable to the aircraft's navigation system, and Flight Technical Error (FTE), the error attributable to pilot or autopilot control. Improvement in either NSE or FTE reduces TSE and leads to the capability to fly more precise flight trajectories. The Federal Aviation Administration's Wide Area Augmentation System (WAAS) became operational for non-safety critical applications in 2000 and will become operational for safety critical applications in 2002. This navigation service will provide precise 3-D positioning (demonstrated to better than 5 meters horizontal and vertical accuracy) for civil aircraft in the United States. Perhaps more importantly, this navigation system, which provides continuous operation across large regions, enables new flight instrumentation concepts which allow pilots to fly aircraft significantly more precisely, both for straight and curved flight paths. This research investigates the capabilities of some of these new concepts, including the Highway-In-The Sky (HITS) display, which not only improves FTE but also reduces pilot workload when compared to conventional flight instrumentation. Augmentation to the HITS display, including perspective terrain and terrain alerting, improves pilot situational awareness. Flight test results from demonstrations in Juneau, AK, and Lake Tahoe, CA, provide evidence of the overall feasibility of integrated, low-cost flight navigation systems based on these concepts. These systems, requiring no more computational power than current-generation low-end desktop computers, have immediate applicability to general aviation flight from Cessnas to business jets and can support safer and ultimately more economical flight operations. Commercial airlines may also, over time, benefit from these new technologies.

  7. Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

    PubMed

    Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

    2008-01-01

    Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

  8. Study on UKF based federal integrated navigation for high dynamic aviation

    NASA Astrophysics Data System (ADS)

    Zhao, Gang; Shao, Wei; Chen, Kai; Yan, Jie

    2011-08-01

    High dynamic aircraft is a very attractive new generation vehicles, in which provides near space aviation with large flight envelope both speed and altitude, for example the hypersonic vehicles. The complex flight environments for high dynamic vehicles require high accuracy and stability navigation scheme. Since the conventional Strapdown Inertial Navigation System (SINS) and Global Position System (GPS) federal integrated scheme based on EKF (Extended Kalman Filter) is invalidation in GPS single blackout situation because of high speed flight, a new high precision and stability integrated navigation approach is presented in this paper, in which the SINS, GPS and Celestial Navigation System (CNS) is combined as a federal information fusion configuration based on nonlinear Unscented Kalman Filter (UKF) algorithm. Firstly, the new integrated system state error is modeled. According to this error model, the SINS system is used as the navigation solution mathematic platform. The SINS combine with GPS constitute one error estimation filter subsystem based on UKF to obtain local optimal estimation, and the SINS combine with CNS constitute another error estimation subsystem. A non-reset federated configuration filter based on partial information is proposed to fuse two local optimal estimations to get global optimal error estimation, and the global optimal estimation is used to correct the SINS navigation solution. The χ 2 fault detection method is used to detect the subsystem fault, and the fault subsystem is isolation through fault interval to protect system away from the divergence. The integrated system takes advantages of SINS, GPS and CNS to an immense improvement for high accuracy and reliably high dynamic navigation application. Simulation result shows that federated fusion of using GPS and CNS to revise SINS solution is reasonable and availably with good estimation performance, which are satisfied with the demands of high dynamic flight navigation. The UKF is

  9. a New Survey on Self-Tuning Integrated Low-Cost Gps/ins Vehicle Navigation System in Harsh Environment

    NASA Astrophysics Data System (ADS)

    Navidi, N.; Landry, R., Jr.

    2015-08-01

    Nowadays, Global Positioning System (GPS) receivers are aided by some complementary radio navigation systems and Inertial Navigation Systems (INS) to obtain more accuracy and robustness in land vehicular navigation. Extended Kalman Filter (EKF) is an acceptable conventional method to estimate the position, the velocity, and the attitude of the navigation system when INS measurements are fused with GPS data. However, the usage of the low-cost Inertial Measurement Units (IMUs) based on the Micro-Electro-Mechanical Systems (MEMS), for the land navigation systems, reduces the precision and stability of the navigation system due to their inherent errors. The main goal of this paper is to provide a new model for fusing low-cost IMU and GPS measurements. The proposed model is based on EKF aided by Fuzzy Inference Systems (FIS) as a promising method to solve the mentioned problems. This model considers the parameters of the measurement noise to adjust the measurement and noise process covariance. The simulation results show the efficiency of the proposed method to reduce the navigation system errors compared with EKF.

  10. Navigation accuracy comparing non-covered frame and use of plastic sterile drapes to cover the reference frame in 3D acquisition.

    PubMed

    Corenman, Donald S; Strauch, Eric L; Dornan, Grant J; Otterstrom, Eric; Zalepa King, Lisa

    2017-09-01

    Advancements in surgical navigation technology coupled with 3-dimensional (3D) radiographic data have significantly enhanced the accuracy and efficiency of spinal fusion implant placement. Increased usage of such technology has led to rising concerns regarding maintenance of the sterile field, as makeshift drape systems are fraught with breaches thus presenting increased risk of surgical site infections (SSIs). A clinical need exists for a sterile draping solution with these techniques. Our objective was to quantify expected accuracy error associated with 2MM and 4MM thickness Sterile-Z Patient Drape ® using Medtronic O-Arm ® Surgical Imaging with StealthStation ® S7 ® Navigation System. Camera distance to reference frame was investigated for contribution to accuracy error. A testing jig was placed on the radiolucent table and the Medtronic passive reference frame was attached to jig. The StealthStation ® S7 ® navigation camera was placed at various distances from testing jig and the geometry error of reference frame was captured for three different drape configurations: no drape, 2MM drape and 4MM drape. The O-Arm ® gantry location and StealthStation ® S7 ® camera position was maintained and seven 3D acquisitions for each of drape configurations were measured. Data was analyzed by a two-factor analysis of variance (ANOVA) and Bonferroni comparisons were used to assess the independent effects of camera angle and drape on accuracy error. Median (and maximum) measurement accuracy error was higher for the 2MM than for the 4MM drape for each camera distance. The most extreme error observed (4.6 mm) occurred when using the 2MM and the 'far' camera distance. The 4MM drape was found to induce an accuracy error of 0.11 mm (95% confidence interval, 0.06-0.15; P<0.001) relative to the no drape testing, regardless of camera distance. Medium camera distance produced lower accuracy error than either the close (additional 0.08 mm error; 95% CI, 0-0.15; P=0.035) or far

  11. Sex differences in accuracy and precision when judging time to arrival: data from two Internet studies.

    PubMed

    Sanders, Geoff; Sinclair, Kamila

    2011-12-01

    We report two Internet studies that investigated sex differences in the accuracy and precision of judging time to arrival. We used accuracy to mean the ability to match the actual time to arrival and precision to mean the consistency with which each participant made their judgments. Our task was presented as a computer game in which a toy UFO moved obliquely towards the participant through a virtual three-dimensional space on route to a docking station. The UFO disappeared before docking and participants pressed their space bar at the precise moment they thought the UFO would have docked. Study 1 showed it was possible to conduct quantitative studies of spatiotemporal judgments in virtual reality via the Internet and confirmed reports that men are more accurate because women underestimate, but found no difference in precision measured as intra-participant variation. Study 2 repeated Study 1 with five additional presentations of one condition to provide a better measure of precision. Again, men were more accurate than women but there were no sex differences in precision. However, within the coincidence-anticipation timing (CAT) literature, of those studies that report sex differences, a majority found that males are both more accurate and more precise than females. Noting that many CAT studies report no sex differences, we discuss appropriate interpretations of such null findings. While acknowledging that CAT performance may be influenced by experience we suggest that the sex difference may have originated among our ancestors with the evolutionary selection of men for hunting and women for gathering.

  12. Precision Landing and Hazard Avoidance Doman

    NASA Technical Reports Server (NTRS)

    Robertson, Edward A.; Carson, John M., III

    2016-01-01

    The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

  13. Analysis of precision and accuracy in a simple model of machine learning

    NASA Astrophysics Data System (ADS)

    Lee, Julian

    2017-12-01

    Machine learning is a procedure where a model for the world is constructed from a training set of examples. It is important that the model should capture relevant features of the training set, and at the same time make correct prediction for examples not included in the training set. I consider the polynomial regression, the simplest method of learning, and analyze the accuracy and precision for different levels of the model complexity.

  14. Accuracy, precision, and economic efficiency for three methods of thrips (Thysanoptera: Thripidae) population density assessment.

    PubMed

    Sutherland, Andrew M; Parrella, Michael P

    2011-08-01

    Western flower thrips, Frankliniella occidentalis (Pergande) (Thysanoptera: Thripidae), is a major horticultural pest and an important vector of plant viruses in many parts of the world. Methods for assessing thrips population density for pest management decision support are often inaccurate or imprecise due to thrips' positive thigmotaxis, small size, and naturally aggregated populations. Two established methods, flower tapping and an alcohol wash, were compared with a novel method, plant desiccation coupled with passive trapping, using accuracy, precision and economic efficiency as comparative variables. Observed accuracy was statistically similar and low (37.8-53.6%) for all three methods. Flower tapping was the least expensive method, in terms of person-hours, whereas the alcohol wash method was the most expensive. Precision, expressed by relative variation, depended on location within the greenhouse, location on greenhouse benches, and the sampling week, but it was generally highest for the flower tapping and desiccation methods. Economic efficiency, expressed by relative net precision, was highest for the flower tapping method and lowest for the alcohol wash method. Advantages and disadvantages are discussed for all three methods used. If relative density assessment methods such as these can all be assumed to accurately estimate a constant proportion of absolute density, then high precision becomes the methodological goal in terms of measuring insect population density, decision making for pest management, and pesticide efficacy assessments.

  15. Evaluating the clinical accuracy of two continuous glucose sensors using continuous glucose-error grid analysis.

    PubMed

    Clarke, William L; Anderson, Stacey; Farhy, Leon; Breton, Marc; Gonder-Frederick, Linda; Cox, Daniel; Kovatchev, Boris

    2005-10-01

    To compare the clinical accuracy of two different continuous glucose sensors (CGS) during euglycemia and hypoglycemia using continuous glucose-error grid analysis (CG-EGA). FreeStyle Navigator (Abbott Laboratories, Alameda, CA) and MiniMed CGMS (Medtronic, Northridge, CA) CGSs were applied to the abdomens of 16 type 1 diabetic subjects (age 42 +/- 3 years) 12 h before the initiation of the study. Each system was calibrated according to the manufacturer's recommendations. Each subject underwent a hyperinsulinemic-euglycemic clamp (blood glucose goal 110 mg/dl) for 70-210 min followed by a 1-mg.dl(-1).min(-1) controlled reduction in blood glucose toward a nadir of 40 mg/dl. Arterialized blood glucose was determined every 5 min using a Beckman Glucose Analyzer (Fullerton, CA). CGS glucose recordings were matched to the reference blood glucose with 30-s precision, and rates of glucose change were calculated for 5-min intervals. CG-EGA was used to quantify the clinical accuracy of both systems by estimating combined point and rate accuracy of each system in the euglycemic (70-180 mg/dl) and hypoglycemic (<70 mg/dl) ranges. A total of 1,104 data pairs were recorded in the euglycemic range and 250 data pairs in the hypoglycemic range. Overall correlation between CGS and reference glucose was similar for both systems (Navigator, r = 0.84; CGMS, r = 0.79, NS). During euglycemia, both CGS systems had similar clinical accuracy (Navigator zones A + B, 88.8%; CGMS zones A + B, 89.3%, NS). However, during hypoglycemia, the Navigator was significantly more clinically accurate than the CGMS (zones A + B = 82.4 vs. 61.6%, Navigator and CGMS, respectively, P < 0.0005). CG-EGA is a helpful tool for evaluating and comparing the clinical accuracy of CGS systems in different blood glucose ranges. CG-EGA provides accuracy details beyond other methods of evaluation, including correlational analysis and the original EGA.

  16. Accuracy and precision of protein-ligand interaction kinetics determined from chemical shift titrations.

    PubMed

    Markin, Craig J; Spyracopoulos, Leo

    2012-12-01

    NMR-monitored chemical shift titrations for the study of weak protein-ligand interactions represent a rich source of information regarding thermodynamic parameters such as dissociation constants (K ( D )) in the micro- to millimolar range, populations for the free and ligand-bound states, and the kinetics of interconversion between states, which are typically within the fast exchange regime on the NMR timescale. We recently developed two chemical shift titration methods wherein co-variation of the total protein and ligand concentrations gives increased precision for the K ( D ) value of a 1:1 protein-ligand interaction (Markin and Spyracopoulos in J Biomol NMR 53: 125-138, 2012). In this study, we demonstrate that classical line shape analysis applied to a single set of (1)H-(15)N 2D HSQC NMR spectra acquired using precise protein-ligand chemical shift titration methods we developed, produces accurate and precise kinetic parameters such as the off-rate (k ( off )). For experimentally determined kinetics in the fast exchange regime on the NMR timescale, k ( off ) ~ 3,000 s(-1) in this work, the accuracy of classical line shape analysis was determined to be better than 5 % by conducting quantum mechanical NMR simulations of the chemical shift titration methods with the magnetic resonance toolkit GAMMA. Using Monte Carlo simulations, the experimental precision for k ( off ) from line shape analysis of NMR spectra was determined to be 13 %, in agreement with the theoretical precision of 12 % from line shape analysis of the GAMMA simulations in the presence of noise and protein concentration errors. In addition, GAMMA simulations were employed to demonstrate that line shape analysis has the potential to provide reasonably accurate and precise k ( off ) values over a wide range, from 100 to 15,000 s(-1). The validity of line shape analysis for k ( off ) values approaching intermediate exchange (~100 s(-1)), may be facilitated by more accurate K ( D ) measurements

  17. Automated Gravimetric Calibration to Optimize the Accuracy and Precision of TECAN Freedom EVO Liquid Handler

    PubMed Central

    Bessemans, Laurent; Jully, Vanessa; de Raikem, Caroline; Albanese, Mathieu; Moniotte, Nicolas; Silversmet, Pascal; Lemoine, Dominique

    2016-01-01

    High-throughput screening technologies are increasingly integrated into the formulation development process of biopharmaceuticals. The performance of liquid handling systems is dependent on the ability to deliver accurate and precise volumes of specific reagents to ensure process quality. We have developed an automated gravimetric calibration procedure to adjust the accuracy and evaluate the precision of the TECAN Freedom EVO liquid handling system. Volumes from 3 to 900 µL using calibrated syringes and fixed tips were evaluated with various solutions, including aluminum hydroxide and phosphate adjuvants, β-casein, sucrose, sodium chloride, and phosphate-buffered saline. The methodology to set up liquid class pipetting parameters for each solution was to split the process in three steps: (1) screening of predefined liquid class, including different pipetting parameters; (2) adjustment of accuracy parameters based on a calibration curve; and (3) confirmation of the adjustment. The run of appropriate pipetting scripts, data acquisition, and reports until the creation of a new liquid class in EVOware was fully automated. The calibration and confirmation of the robotic system was simple, efficient, and precise and could accelerate data acquisition for a wide range of biopharmaceutical applications. PMID:26905719

  18. Pulsar Timing and Its Application for Navigation and Gravitational Wave Detection

    NASA Astrophysics Data System (ADS)

    Becker, Werner; Kramer, Michael; Sesana, Alberto

    2018-02-01

    Pulsars are natural cosmic clocks. On long timescales they rival the precision of terrestrial atomic clocks. Using a technique called pulsar timing, the exact measurement of pulse arrival times allows a number of applications, ranging from testing theories of gravity to detecting gravitational waves. Also an external reference system suitable for autonomous space navigation can be defined by pulsars, using them as natural navigation beacons, not unlike the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location (e.g. the solar system barycenter), the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. We describe the unique properties of pulsars that suggest that such a navigation system will certainly have its application in future astronautics. We also describe the on-going experiments to use the clock-like nature of pulsars to "construct" a galactic-sized gravitational wave detector for low-frequency (f_{GW}˜ 10^{-9} - 10^{-7} Hz) gravitational waves. We present the current status and provide an outlook for the future.

  19. To address accuracy and precision using methods from analytical chemistry and computational physics.

    PubMed

    Kozmutza, Cornelia; Picó, Yolanda

    2009-04-01

    In this work the pesticides were determined by liquid chromatography-mass spectrometry (LC-MS). In present study the occurrence of imidacloprid in 343 samples of oranges, tangerines, date plum, and watermelons from Valencian Community (Spain) has been investigated. The nine additional pesticides were chosen as they have been recommended for orchard treatment together with imidacloprid. The Mulliken population analysis has been applied to present the charge distribution in imidacloprid. Partitioned energy terms and the virial ratios have been calculated for certain molecules entering in interaction. A new technique based on the comparison of the decomposed total energy terms at various configurations is demonstrated in this work. The interaction ability could be established correctly in the studied case. An attempt is also made in this work to address accuracy and precision. These quantities are well-known in experimental measurements. In case precise theoretical description is achieved for the contributing monomers and also for the interacting complex structure some properties of this latter system can be predicted to quite a good accuracy. Based on simple hypothetical considerations we estimate the impact of applying computations on reducing the amount of analytical work.

  20. A Strapdown Interial Navigation System/Beidou/Doppler Velocity Log Integrated Navigation Algorithm Based on a Cubature Kalman Filter

    PubMed Central

    Gao, Wei; Zhang, Ya; Wang, Jianguo

    2014-01-01

    The integrated navigation system with strapdown inertial navigation system (SINS), Beidou (BD) receiver and Doppler velocity log (DVL) can be used in marine applications owing to the fact that the redundant and complementary information from different sensors can markedly improve the system accuracy. However, the existence of multisensor asynchrony will introduce errors into the system. In order to deal with the problem, conventionally the sampling interval is subdivided, which increases the computational complexity. In this paper, an innovative integrated navigation algorithm based on a Cubature Kalman filter (CKF) is proposed correspondingly. A nonlinear system model and observation model for the SINS/BD/DVL integrated system are established to more accurately describe the system. By taking multi-sensor asynchronization into account, a new sampling principle is proposed to make the best use of each sensor's information. Further, CKF is introduced in this new algorithm to enable the improvement of the filtering accuracy. The performance of this new algorithm has been examined through numerical simulations. The results have shown that the positional error can be effectively reduced with the new integrated navigation algorithm. Compared with the traditional algorithm based on EKF, the accuracy of the SINS/BD/DVL integrated navigation system is improved, making the proposed nonlinear integrated navigation algorithm feasible and efficient. PMID:24434842

  1. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

    PubMed

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

    2017-03-25

    Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

  2. Introductory Course on Satellite Navigation

    ERIC Educational Resources Information Center

    Giger, Kaspar; Knogl, J. Sebastian

    2012-01-01

    Satellite navigation is widely used for personal navigation and more and more in precise and safety-critical applications. Thus, the subject is suited for attracting the interest of young people in science and engineering. The practical applications allow catching the students' attention for the theoretical background. Educational material on the…

  3. Autonomous Navigation Using Celestial Objects

    NASA Technical Reports Server (NTRS)

    Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

    1999-01-01

    In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler

  4. Use of single-representative reverse-engineered surface-models for RSA does not affect measurement accuracy and precision.

    PubMed

    Seehaus, Frank; Schwarze, Michael; Flörkemeier, Thilo; von Lewinski, Gabriela; Kaptein, Bart L; Jakubowitz, Eike; Hurschler, Christof

    2016-05-01

    Implant migration can be accurately quantified by model-based Roentgen stereophotogrammetric analysis (RSA), using an implant surface model to locate the implant relative to the bone. In a clinical situation, a single reverse engineering (RE) model for each implant type and size is used. It is unclear to what extent the accuracy and precision of migration measurement is affected by implant manufacturing variability unaccounted for by a single representative model. Individual RE models were generated for five short-stem hip implants of the same type and size. Two phantom analyses and one clinical analysis were performed: "Accuracy-matched models": one stem was assessed, and the results from the original RE model were compared with randomly selected models. "Accuracy-random model": each of the five stems was assessed and analyzed using one randomly selected RE model. "Precision-clinical setting": implant migration was calculated for eight patients, and all five available RE models were applied to each case. For the two phantom experiments, the 95%CI of the bias ranged from -0.28 mm to 0.30 mm for translation and -2.3° to 2.5° for rotation. In the clinical setting, precision is less than 0.5 mm and 1.2° for translation and rotation, respectively, except for rotations about the proximodistal axis (<4.1°). High accuracy and precision of model-based RSA can be achieved and are not biased by using a single representative RE model. At least for implants similar in shape to the investigated short-stem, individual models are not necessary. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 34:903-910, 2016. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

  5. An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles

    NASA Astrophysics Data System (ADS)

    Liu, Yahui; Fan, Xiaoqian; Lv, Chen; Wu, Jian; Li, Liang; Ding, Dawei

    2018-02-01

    Information fusion method of INS/GPS navigation system based on filtering technology is a research focus at present. In order to improve the precision of navigation information, a navigation technology based on Adaptive Kalman Filter with attenuation factor is proposed to restrain noise in this paper. The algorithm continuously updates the measurement noise variance and processes noise variance of the system by collecting the estimated and measured values, and this method can suppress white noise. Because a measured value closer to the current time would more accurately reflect the characteristics of the noise, an attenuation factor is introduced to increase the weight of the current value, in order to deal with the noise variance caused by environment disturbance. To validate the effectiveness of the proposed algorithm, a series of road tests are carried out in urban environment. The GPS and IMU data of the experiments were collected and processed by dSPACE and MATLAB/Simulink. Based on the test results, the accuracy of the proposed algorithm is 20% higher than that of a traditional Adaptive Kalman Filter. It also shows that the precision of the integrated navigation can be improved due to the reduction of the influence of environment noise.

  6. A comparative effectiveness analysis of three continuous glucose monitors: the Navigator, G4 Platinum, and Enlite.

    PubMed

    Damiano, Edward R; McKeon, Katherine; El-Khatib, Firas H; Zheng, Hui; Nathan, David M; Russell, Steven J

    2014-07-01

    The effectiveness and safety of continuous glucose monitors (CGMs) is dependent on their accuracy and reliability. The objective of this study was to compare 3 CGMs in adult and pediatric subjects with type 1 diabetes under closed-loop blood-glucose (BG) control. Twenty-four subjects (12 adults) with type 1 diabetes each participated in one 48-hour closed-loop BG control experiment. Venous plasma glucose (PG) measurements obtained every 15 minutes (4657 values) were paired in time with corresponding CGM glucose (CGMG) measurements obtained from 3 CGMs (FreeStyle Navigator, Abbott Diabetes Care; G4 Platinum, Dexcom; Enlite, Medtronic) worn simultaneously by each subject. The Navigator and G4 Platinum (G4) had the best overall accuracy, with an aggregate mean absolute relative difference (MARD) of all paired points of 12.3 ± 12.1% and 10.8 ± 9.9%, respectively. Both had lower MARDs of all paired points than Enlite (17.9 ± 15.8%, P < .005). Very large errors (MARD > 50%) were less common with the G4 (0.5%) than with the Enlite (4.3%, P = .0001) while the number of very large errors with the Navigator (1.4%) was intermediate between the G4 and Enlite (P = .1 and P = .06, respectively). The average MARD for experiments in adolescent subjects were lower than in adult subjects for the Navigator and G4, while there was no difference for Enlite. All 3 devices had similar reliability. A comprehensive head-to-head-to-head comparison of 3 CGMs revealed marked differences in both accuracy and precision. The Navigator and G4 were found to outperform the Enlite in these areas. © 2014 Diabetes Technology Society.

  7. Precision and accuracy of commonly used dental age estimation charts for the New Zealand population.

    PubMed

    Baylis, Stephanie; Bassed, Richard

    2017-08-01

    Little research has been undertaken for the New Zealand population in the field of dental age estimation. This research to date indicates there are differences in dental developmental rates between the New Zealand population and other global population groups, and within the New Zealand population itself. Dental age estimation methods range from dental development charts to complex biometric analysis. Dental development charts are not the most accurate method of dental age estimation, but are time saving in their use. They are an excellent screening tool, particularly for post-mortem identification purposes, and for assessing variation from population norms in living individuals. The aim of this study was to test the precision and accuracy of three dental development charts (Schour and Massler, Blenkin and Taylor, and the London Atlas), used to estimate dental age of a sample of New Zealand juveniles between the ages of 5 and 18 years old (n=875). Percentage 'best fit' to correct age category and to expected chart stage were calculated to determine which chart was the most precise for the sample. Chronological ages were compared to estimated dental ages using a two-tailed paired t-test (P<0.05) for each of the three methods. The mean differences between CA and DA were calculated to determine bias and the absolute mean differences were calculated to indicate accuracy. The results of this study show that while accuracy and precision were low for all charts tested against the New Zealand population sample, the Blenkin and Taylor Australian charts performed best overall. Copyright © 2017 Elsevier B.V. All rights reserved.

  8. Accuracy of screw fixation using the O-arm® and StealthStation® navigation system for unstable pelvic ring fractures.

    PubMed

    Takeba, Jun; Umakoshi, Kensuke; Kikuchi, Satoshi; Matsumoto, Hironori; Annen, Suguru; Moriyama, Naoki; Nakabayashi, Yuki; Sato, Norio; Aibiki, Mayuki

    2018-04-01

    Screw fixation for unstable pelvic ring fractures is generally performed using the C-arm. However, some studies reported erroneous piercing with screws, nerve injuries, and vessel injuries. Recent studies have reported the efficacy of screw fixations using navigation systems. The purpose of this retrospective study was to investigate the accuracy of screw fixation using the O-arm ® imaging system and StealthStation ® navigation system for unstable pelvic ring fractures. The participants were 10 patients with unstable pelvic ring fractures, who underwent screw fixations using the O-arm StealthStation navigation system (nine cases with iliosacral screw and one case with lateral compression screw). We investigated operation duration, bleeding during operation, the presence of complications during operation, and the presence of cortical bone perforation by the screws based on postoperative CT scan images. We also measured the difference in screw tip positions between intraoperative navigation screen shot images and postoperative CT scan images. The average operation duration was 71 min, average bleeding was 12 ml, and there were no nerve or vessel injuries during the operation. There was no cortical bone perforation by the screws. The average difference between intraoperative navigation images and postoperative CT images was 2.5 ± 0.9 mm, for all 18 screws used in this study. Our results suggest that the O-arm StealthStation navigation system provides accurate screw fixation for unstable pelvic ring fractures.

  9. Fractal dimension and the navigational information provided by natural scenes.

    PubMed

    Shamsyeh Zahedi, Moosarreza; Zeil, Jochen

    2018-01-01

    Recent work on virtual reality navigation in humans has suggested that navigational success is inversely correlated with the fractal dimension (FD) of artificial scenes. Here we investigate the generality of this claim by analysing the relationship between the fractal dimension of natural insect navigation environments and a quantitative measure of the navigational information content of natural scenes. We show that the fractal dimension of natural scenes is in general inversely proportional to the information they provide to navigating agents on heading direction as measured by the rotational image difference function (rotIDF). The rotIDF determines the precision and accuracy with which the orientation of a reference image can be recovered or maintained and the range over which a gradient descent in image differences will find the minimum of the rotIDF, that is the reference orientation. However, scenes with similar fractal dimension can differ significantly in the depth of the rotIDF, because FD does not discriminate between the orientations of edges, while the rotIDF is mainly affected by edge orientation parallel to the axis of rotation. We present a new equation for the rotIDF relating navigational information to quantifiable image properties such as contrast to show (1) that for any given scene the maximum value of the rotIDF (its depth) is proportional to pixel variance and (2) that FD is inversely proportional to pixel variance. This contrast dependence, together with scene differences in orientation statistics, explains why there is no strict relationship between FD and navigational information. Our experimental data and their numerical analysis corroborate these results.

  10. A real-time algorithm for integrating differential satellite and inertial navigation information during helicopter approach. M.S. Thesis

    NASA Technical Reports Server (NTRS)

    Hoang, TY

    1994-01-01

    A real-time, high-rate precision navigation Kalman filter algorithm is developed and analyzed. This Navigation algorithm blends various navigation data collected during terminal area approach of an instrumented helicopter. Navigation data collected include helicopter position and velocity from a global position system in differential mode (DGPS) as well as helicopter velocity and attitude from an inertial navigation system (INS). The goal of the Navigation algorithm is to increase the DGPS accuracy while producing navigational data at the 64 Hertz INS update rate. It is important to note that while the data was post flight processed, the Navigation algorithm was designed for real-time analysis. The design of the Navigation algorithm resulted in a nine-state Kalman filter. The Kalman filter's state matrix contains position, velocity, and velocity bias components. The filter updates positional readings with DGPS position, INS velocity, and velocity bias information. In addition, the filter incorporates a sporadic data rejection scheme. This relatively simple model met and exceeded the ten meter absolute positional requirement. The Navigation algorithm results were compared with truth data derived from a laser tracker. The helicopter flight profile included terminal glideslope angles of 3, 6, and 9 degrees. Two flight segments extracted during each terminal approach were used to evaluate the Navigation algorithm. The first segment recorded small dynamic maneuver in the lateral plane while motion in the vertical plane was recorded by the second segment. The longitudinal, lateral, and vertical averaged positional accuracies for all three glideslope approaches are as follows (mean plus or minus two standard deviations in meters): longitudinal (-0.03 plus or minus 1.41), lateral (-1.29 plus or minus 2.36), and vertical (-0.76 plus or minus 2.05).

  11. [Navigated retinal laser therapy].

    PubMed

    Kernt, M; Ulbig, M; Kampik, A; Neubauer, A S

    2013-08-01

    Navigated laser therapy introduces for the first time computerized assistance systems for retinal laser therapy. The Navilas system offers high precision and safety and provides additional benefits regarding standardization of planning, execution, documentation and quality assurance. The current focus of clinical application for navigated laser therapy besides laser treatment after retinal vein occlusion and panretinal laser photocoagulation in proliferative diabetic retinopathy (PDR) is diabetic macular edema. Recent data indicate that combined initial anti-vascular endothelial growth factor (anti-VEGF) and navigated macular laser therapy allows achievement and maintenance of treatment success with a minimum number of interventions. Despite very promising results the current assessment of navigated laser therapy is still limited by the evidence available worldwide.

  12. How does electromagnetic navigation stack up against infrared navigation in minimally invasive total knee arthroplasties?

    PubMed

    Lionberger, David R; Weise, Jennifer; Ho, David M; Haddad, John L

    2008-06-01

    Forty-six primary total knee arthroplasties were performed using either an electromagnetic (EM) or infrared (IR) navigation system. In this IRB-approved study, patients were evaluated clinically and for accuracy using spiral computed tomographic imaging and 36-in standing radiographs. Although EM navigation was subject to metal interference, it was not as drastic as line-of-sight interference with IR navigation. Mechanical alignment was ideal in 92.9% of EM and 90.0% of IR cases based on spiral computed tomographic imaging and 100% of EM and 95% of IR cases based on x-ray. Individual measurements of component varus/valgus and sagittal measurements showed EM to be equivalent to IR, with both systems producing subdegree accuracy in 95% of the readings.

  13. Accuracy assessment of the Precise Point Positioning method applied for surveys and tracking moving objects in GIS environment

    NASA Astrophysics Data System (ADS)

    Ilieva, Tamara; Gekov, Svetoslav

    2017-04-01

    The Precise Point Positioning (PPP) method gives the users the opportunity to determine point locations using a single GNSS receiver. The accuracy of the determined by PPP point locations is better in comparison to the standard point positioning, due to the precise satellite orbit and clock corrections that are developed and maintained by the International GNSS Service (IGS). The aim of our current research is the accuracy assessment of the PPP method applied for surveys and tracking moving objects in GIS environment. The PPP data is collected by using preliminary developed by us software application that allows different sets of attribute data for the measurements and their accuracy to be used. The results from the PPP measurements are directly compared within the geospatial database to different other sets of terrestrial data - measurements obtained by total stations, real time kinematic and static GNSS.

  14. Investigation of practical and theoretical accuracy of wireless indoor-positioning system UBISENSE

    NASA Astrophysics Data System (ADS)

    Wozniak, Marek; Odziemczyk, Waldemar; Nagorski, Kamil

    2013-04-01

    The development of Real Time Locating Systems has become an important add-on to many existing location aware systems. While Global Navigation Satelite System has solved most of the outdoor problems, it fails to repeat this success indoors. Wireless indoor positioning systems have become very popular in recent years. One of them is UBISENSE system. This system requires to carry an identity tag that is detected by sensors, which typically use triangulation to determine location. This paper presents the results of the investigation of accuracy of tag position using precise geodetic measurements and geometric analysis. Experimental measurements were carried out on the field polygon using precise tacheometer TCRP 1201+ and complete equipment of Ubisense. Results of experimental measurements were analyzed and presented graphically using Surfer 8. The paper presents the results of the investigation the teoretical and practical positioning accuracy according to the various working conditions.

  15. A Bionic Polarization Navigation Sensor and Its Calibration Method.

    PubMed

    Zhao, Huijie; Xu, Wujian

    2016-08-03

    The polarization patterns of skylight which arise due to the scattering of sunlight in the atmosphere can be used by many insects for deriving compass information. Inspired by insects' polarized light compass, scientists have developed a new kind of navigation method. One of the key techniques in this method is the polarimetric sensor which is used to acquire direction information from skylight. In this paper, a polarization navigation sensor is proposed which imitates the working principles of the polarization vision systems of insects. We introduce the optical design and mathematical model of the sensor. In addition, a calibration method based on variable substitution and non-linear curve fitting is proposed. The results obtained from the outdoor experiments provide support for the feasibility and precision of the sensor. The sensor's signal processing can be well described using our mathematical model. A relatively high degree of accuracy in polarization measurement can be obtained without any error compensation.

  16. A Bionic Polarization Navigation Sensor and Its Calibration Method

    PubMed Central

    Zhao, Huijie; Xu, Wujian

    2016-01-01

    The polarization patterns of skylight which arise due to the scattering of sunlight in the atmosphere can be used by many insects for deriving compass information. Inspired by insects’ polarized light compass, scientists have developed a new kind of navigation method. One of the key techniques in this method is the polarimetric sensor which is used to acquire direction information from skylight. In this paper, a polarization navigation sensor is proposed which imitates the working principles of the polarization vision systems of insects. We introduce the optical design and mathematical model of the sensor. In addition, a calibration method based on variable substitution and non-linear curve fitting is proposed. The results obtained from the outdoor experiments provide support for the feasibility and precision of the sensor. The sensor’s signal processing can be well described using our mathematical model. A relatively high degree of accuracy in polarization measurement can be obtained without any error compensation. PMID:27527171

  17. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

    PubMed Central

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

    2017-01-01

    Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance. PMID:28346346

  18. Interactive navigation system for shock wave applications.

    PubMed

    Hagelauer, U; Russo, S; Gigliotti, S; de Durante, C; Corrado, E M

    2001-01-01

    The latest generation of shock wave lithotripters, with therapy heads mounted on articulated arms, have found widespread application in the treatment of orthopedic diseases. Currently, integration of an ultrasound probe in the therapy head is the dominant modality for positioning the shock wave focus on the treatment area. For orthopedic applications, however, X-ray imaging is often preferred. This article describes a new method to locate the therapy head of a lithotripter. In the first step, the surgeon positions the tissue to be treated at the isocenter of a C-arc. This is achieved using AP and 30-degree lateral projections, with corresponding horizontal and vertical movements of the patient under fluoroscopic guidance. These movements register the anatomic location in the coordinate system of the C-arc. In the second step, the therapy head is navigated to align the shock wave focus with the isocenter. Position data are reported from an optical tracker mounted on the X-ray system, which tracks an array of infrared LEDs on the therapy head. The accuracy of the tracking system was determined on a test bench, and was calculated to be 1.55 mm (RMS) for an angular movement of +/-15 degrees around a calibrated position. Free-hand navigation and precise alignment are performed with a single virtual reality display. The display is calculated by a computer system in real time, and uses graphical symbols to represent the shock wave path and isocenter. In an interactive process, the physician observes the display while navigating the therapy head towards the isocenter. Precise alignment is achieved by displaying an enlarged view of the intersecting graphical symbols. Results from the first tests on 100 patients demonstrate the feasibility of this approach in a clinical environment. Copyright 2001 Wiley-Liss, Inc.

  19. Precision and accuracy of suggested maxillary and mandibular landmarks with cone-beam computed tomography for regional superimpositions: An in vitro study.

    PubMed

    Lemieux, Genevieve; Carey, Jason P; Flores-Mir, Carlos; Secanell, Marc; Hart, Adam; Lagravère, Manuel O

    2016-01-01

    Our objective was to identify and evaluate the accuracy and precision (intrarater and interrater reliabilities) of various anatomic landmarks for use in 3-dimensional maxillary and mandibular regional superimpositions. We used cone-beam computed tomography reconstructions of 10 human dried skulls to locate 10 landmarks in the maxilla and the mandible. Precision and accuracy were assessed with intrarater and interrater readings. Three examiners located these landmarks in the cone-beam computed tomography images 3 times with readings scheduled at 1-week intervals. Three-dimensional coordinates were determined (x, y, and z coordinates), and the intraclass correlation coefficient was computed to determine intrarater and interrater reliabilities, as well as the mean error difference and confidence intervals for each measurement. Bilateral mental foramina, bilateral infraorbital foramina, anterior nasal spine, incisive canal, and nasion showed the highest precision and accuracy in both intrarater and interrater reliabilities. Subspinale and bilateral lingulae had the lowest precision and accuracy in both intrarater and interrater reliabilities. When choosing the most accurate and precise landmarks for 3-dimensional cephalometric analysis or plane-derived maxillary and mandibular superimpositions, bilateral mental and infraorbital foramina, landmarks in the anterior region of the maxilla, and nasion appeared to be the best options of the analyzed landmarks. Caution is needed when using subspinale and bilateral lingulae because of their higher mean errors in location. Copyright © 2016 American Association of Orthodontists. Published by Elsevier Inc. All rights reserved.

  20. Accuracy of 3D white light scanning of abutment teeth impressions: evaluation of trueness and precision.

    PubMed

    Jeon, Jin-Hun; Kim, Hae-Young; Kim, Ji-Hwan; Kim, Woong-Chul

    2014-12-01

    This study aimed to evaluate the accuracy of digitizing dental impressions of abutment teeth using a white light scanner and to compare the findings among teeth types. To assess precision, impressions of the canine, premolar, and molar prepared to receive all-ceramic crowns were repeatedly scanned to obtain five sets of 3-D data (STL files). Point clouds were compared and error sizes were measured (n=10 per type). Next, to evaluate trueness, impressions of teeth were rotated by 10°-20° and scanned. The obtained data were compared with the first set of data for precision assessment, and the error sizes were measured (n=5 per type). The Kruskal-Wallis test was performed to evaluate precision and trueness among three teeth types, and post-hoc comparisons were performed using the Mann-Whitney U test with Bonferroni correction (α=.05). Precision discrepancies for the canine, premolar, and molar were 3.7 µm, 3.2 µm, and 7.3 µm, respectively, indicating the poorest precision for the molar (P<.001). Trueness discrepancies for teeth types were 6.2 µm, 11.2 µm, and 21.8 µm, respectively, indicating the poorest trueness for the molar (P=.007). In respect to accuracy the molar showed the largest discrepancies compared with the canine and premolar. Digitizing of dental impressions of abutment teeth using a white light scanner was assessed to be a highly accurate method and provided discrepancy values in a clinically acceptable range. Further study is needed to improve digitizing performance of white light scanning in axial wall.

  1. Isotope ratios of trace elements in samples from human nutrition studies determined by TIMS and ICP-MS: precision and accuracy compared.

    PubMed

    Turnlund, Judith R; Keyes, William R

    2002-09-01

    Stable isotopes are used with increasing frequency to trace the metabolic fate of minerals in human nutrition studies. The precision of the analytical methods used must be sufficient to permit reliable measurement of low enrichments and the accuracy should permit comparisons between studies. Two methods most frequently used today are thermal ionization mass spectrometry (TIMS) and inductively coupled plasma mass spectrometry (ICP-MS). This study was conducted to compare the two methods. Multiple natural samples of copper, zinc, molybdenum, and magnesium were analyzed by both methods to compare their internal and external precision. Samples with a range of isotopic enrichments that were collected from human studies or prepared from standards were analyzed to compare their accuracy. TIMS was more precise and accurate than ICP-MS. However, the cost, ease, and speed of analysis were better for ICP-MS. Therefore, for most purposes, ICP-MS is the method of choice, but when the highest degrees of precision and accuracy are required and when enrichments are very low, TIMS is the method of choice.

  2. Number-Density Measurements of CO2 in Real Time with an Optical Frequency Comb for High Accuracy and Precision

    NASA Astrophysics Data System (ADS)

    Scholten, Sarah K.; Perrella, Christopher; Anstie, James D.; White, Richard T.; Al-Ashwal, Waddah; Hébert, Nicolas Bourbeau; Genest, Jérôme; Luiten, Andre N.

    2018-05-01

    Real-time and accurate measurements of gas properties are highly desirable for numerous real-world applications. Here, we use an optical-frequency comb to demonstrate absolute number-density and temperature measurements of a sample gas with state-of-the-art precision and accuracy. The technique is demonstrated by measuring the number density of 12C16O2 with an accuracy of better than 1% and a precision of 0.04% in a measurement and analysis cycle of less than 1 s. This technique is transferable to numerous molecular species, thus offering an avenue for near-universal gas concentration measurements.

  3. Improving Precision, Maintaining Accuracy, and Reducing Acquisition Time for Trace Elements in EPMA

    NASA Astrophysics Data System (ADS)

    Donovan, J.; Singer, J.; Armstrong, J. T.

    2016-12-01

    Trace element precision in electron probe micro analysis (EPMA) is limited by intrinsic random variation in the x-ray continuum. Traditionally we characterize background intensity by measuring on either side of the emission line and interpolating the intensity underneath the peak to obtain the net intensity. Alternatively, we can measure the background intensity at the on-peak spectrometer position using a number of standard materials that do not contain the element of interest. This so-called mean atomic number (MAN) background calibration (Donovan, et al., 2016) uses a set of standard measurements, covering an appropriate range of average atomic number, to iteratively estimate the continuum intensity for the unknown composition (and hence average atomic number). We will demonstrate that, at least for materials with a relatively simple matrix such as SiO2, TiO2, ZrSiO4, etc. where one may obtain a matrix matched standard for use in the so called "blank correction", we can obtain trace element accuracy comparable to traditional off-peak methods, and with improved precision, in about half the time. Donovan, Singer and Armstrong, A New EPMA Method for Fast Trace Element Analysis in Simple Matrices ", American Mineralogist, v101, p1839-1853, 2016 Figure 1. Uranium concentration line profiles from quantitative x-ray maps (20 keV, 100 nA, 5 um beam size and 4000 msec per pixel), for both off-peak and MAN background methods without (a), and with (b), the blank correction applied. We see precision significantly improved compared with traditional off-peak measurements while, in this case, the blank correction provides a small but discernable improvement in accuracy.

  4. Autonomous Relative Navigation for Formation-Flying Satellites Using GPS

    NASA Technical Reports Server (NTRS)

    Gramling, Cheryl; Carpenter, J. Russell; Long, Anne; Kelbel, David; Lee, Taesul

    2000-01-01

    The Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for a formation of four eccentric, medium-altitude Earth-orbiting satellites using Global Positioning System (GPS) Standard Positioning Service (SPS) and "GPS-like " intersatellite measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that an autonomous relative navigation position accuracy of 1meter root-mean-square can be achieved by differencing high-accuracy filtered solutions if only measurements from common GPS space vehicles are used in the independently estimated solutions.

  5. Accuracy and precision of stream reach water surface slopes estimated in the field and from maps

    USGS Publications Warehouse

    Isaak, D.J.; Hubert, W.A.; Krueger, K.L.

    1999-01-01

    The accuracy and precision of five tools used to measure stream water surface slope (WSS) were evaluated. Water surface slopes estimated in the field with a clinometer or from topographic maps used in conjunction with a map wheel or geographic information system (GIS) were significantly higher than WSS estimated in the field with a surveying level (biases of 34, 41, and 53%, respectively). Accuracy of WSS estimates obtained with an Abney level did not differ from surveying level estimates, but conclusions regarding the accuracy of Abney levels and clinometers were weakened by intratool variability. The surveying level estimated WSS most precisely (coefficient of variation [CV] = 0.26%), followed by the GIS (CV = 1.87%), map wheel (CV = 6.18%), Abney level (CV = 13.68%), and clinometer (CV = 21.57%). Estimates of WSS measured in the field with an Abney level and estimated for the same reaches with a GIS used in conjunction with l:24,000-scale topographic maps were significantly correlated (r = 0.86), but there was a tendency for the GIS to overestimate WSS. Detailed accounts of the methods used to measure WSS and recommendations regarding the measurement of WSS are provided.

  6. GPS vertical axis performance enhancement for helicopter precision landing approach

    NASA Technical Reports Server (NTRS)

    Denaro, Robert P.; Beser, Jacques

    1986-01-01

    Several areas were investigated for improving vertical accuracy for a rotorcraft using the differential Global Positioning System (GPS) during a landing approach. Continuous deltaranging was studied and the potential improvement achieved by estimating acceleration was studied by comparing the performance on a constant acceleration turn and a rough landing profile of several filters: a position-velocity (PV) filter, a position-velocity-constant acceleration (PVAC) filter, and a position-velocity-turning acceleration (PVAT) filter. In overall statistics, the PVAC filter was found to be most efficient with the more complex PVAT performing equally well. Vertical performance was not significantly different among the filters. Satellite selection algorithms based on vertical errors only (vertical dilution of precision or VDOP) and even-weighted cross-track and vertical errors (XVDOP) were tested. The inclusion of an altimeter was studied by modifying the PVAC filter to include a baro bias estimate. Improved vertical accuracy during degraded DOP conditions resulted. Flight test results for raw differential results excluding filter effects indicated that the differential performance significantly improved overall navigation accuracy. A landing glidepath steering algorithm was devised which exploits the flexibility of GPS in determining precise relative position. A method for propagating the steering command over the GPS update interval was implemented.

  7. Reliability of image-free navigation to monitor lower-limb alignment.

    PubMed

    Pearle, Andrew D; Goleski, Patrick; Musahl, Volker; Kendoff, Daniel

    2009-02-01

    Proper alignment of the mechanical axis of the lower limb is the principal goal of a high tibial osteotomy. A well-accepted and relevant technical specification is the coronal plane lower-limb alignment. Target values for coronal plane alignment after high tibial osteotomy include 2 degrees of overcorrection, while tolerances for this specification have been established as 2 degrees to 4 degrees. However, the role of axial plane and sagittal plane realignment after high tibial osteotomy is poorly understood; consequently, targets and tolerance for this technical specification remain undefined. This article reviews the literature concerning the reliability and precision of navigation in monitoring the clinically relevant specification of lower-limb alignment in high tibial osteotomy. We conclude that image-free navigation registration may be clinically useful for intraoperative monitoring of the coronal plane only. Only fair and poor results for the axial and sagittal planes can be obtained by image-free navigation systems. In the future, combined image-based data, such as those from radiographs, magnetic resonance imaging, and gait analysis, may be used to help to improve the accuracy and reproducibility of quantitative intraoperative monitoring of lower-limb alignment.

  8. Cobalt: Development and Maturation of GN&C Technologies for Precision Landing

    NASA Technical Reports Server (NTRS)

    Carson, John M.; Restrepo, Carolina; Seubert, Carl; Amzajerdian, Farzin

    2016-01-01

    The CoOperative Blending of Autonomous Landing Technologies (COBALT) instrument is a terrestrial test platform for development and maturation of guidance, navigation and control (GN&C) technologies for precision landing. The project is developing a third-generation Langley Research Center (LaRC) navigation doppler lidar (NDL) for ultra-precise velocity and range measurements, which will be integrated and tested with the Jet Propulsion Laboratory (JPL) lander vision system (LVS) for terrain relative navigation (TRN) position estimates. These technologies together provide precise navigation knowledge that is critical for a controlled and precise touchdown. The COBALT hardware will be integrated in 2017 into the GN&C subsystem of the Xodiac rocket-propulsive vertical test bed (VTB) developed by Masten Space Systems, and two terrestrial flight campaigns will be conducted: one open-loop (i.e., passive) and one closed-loop (i.e., active).

  9. Obtaining identical results with double precision global accuracy on different numbers of processors in parallel particle Monte Carlo simulations

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Cleveland, Mathew A., E-mail: cleveland7@llnl.gov; Brunner, Thomas A.; Gentile, Nicholas A.

    2013-10-15

    We describe and compare different approaches for achieving numerical reproducibility in photon Monte Carlo simulations. Reproducibility is desirable for code verification, testing, and debugging. Parallelism creates a unique problem for achieving reproducibility in Monte Carlo simulations because it changes the order in which values are summed. This is a numerical problem because double precision arithmetic is not associative. Parallel Monte Carlo, both domain replicated and decomposed simulations, will run their particles in a different order during different runs of the same simulation because the non-reproducibility of communication between processors. In addition, runs of the same simulation using different domain decompositionsmore » will also result in particles being simulated in a different order. In [1], a way of eliminating non-associative accumulations using integer tallies was described. This approach successfully achieves reproducibility at the cost of lost accuracy by rounding double precision numbers to fewer significant digits. This integer approach, and other extended and reduced precision reproducibility techniques, are described and compared in this work. Increased precision alone is not enough to ensure reproducibility of photon Monte Carlo simulations. Non-arbitrary precision approaches require a varying degree of rounding to achieve reproducibility. For the problems investigated in this work double precision global accuracy was achievable by using 100 bits of precision or greater on all unordered sums which where subsequently rounded to double precision at the end of every time-step.« less

  10. Impact of orbit, clock and EOP errors in GNSS Precise Point Positioning

    NASA Astrophysics Data System (ADS)

    Hackman, C.

    2012-12-01

    Precise point positioning (PPP; [1]) has gained ever-increasing usage in GNSS carrier-phase positioning, navigation and timing (PNT) since its inception in the late 1990s. In this technique, high-precision satellite clocks, satellite ephemerides and earth-orientation parameters (EOPs) are applied as fixed input by the user in order to estimate receiver/location-specific quantities such as antenna coordinates, troposphere delay and receiver-clock corrections. This is in contrast to "network" solutions, in which (typically) less-precise satellite clocks, satellite ephemerides and EOPs are used as input, and in which these parameters are estimated simultaneously with the receiver/location-specific parameters. The primary reason for increased PPP application is that it offers most of the benefits of a network solution with a smaller computing cost. In addition, the software required to do PPP positioning can be simpler than that required for network solutions. Finally, PPP permits high-precision positioning of single or sparsely spaced receivers that may have few or no GNSS satellites in common view. A drawback of PPP is that the accuracy of the results depend directly on the accuracy of the supplied orbits, clocks and EOPs, since these parameters are not adjusted during the processing. In this study, we will examine the impact of orbit, EOP and satellite clock estimates on PPP solutions. Our primary focus will be the impact of these errors on station coordinates; however the study may be extended to error propagation into receiver-clock corrections and/or troposphere estimates if time permits. Study motivation: the United States Naval Observatory (USNO) began testing PPP processing using its own predicted orbits, clocks and EOPs in Summer 2012 [2]. The results of such processing could be useful for real- or near-real-time applications should they meet accuracy/precision requirements. Understanding how errors in satellite clocks, satellite orbits and EOPs propagate

  11. BiopSee® - transperineal stereotactic navigated prostate biopsy.

    PubMed

    Zogal, Pawel; Sakas, Georgios; Rösch, Woerner; Baltas, Dimos

    2011-06-01

    In the recent years, prostate cancer was the most commonly diagnosed cancer in men. Currently secure diagnosis confirmation is done by a transrectal biopsy and following histopathological examination. Conventional transrectal biopsy success rates are rather low with ca. 30% detection upon the first and ca 20% after re-biopsy. The paper presents a novel system for stereotactic navigated prostate biopsy. The approach results into higher accuracy, reproducibility and unrestricted and effective access to all prostate regions. Custom designed ultrasound, new template design and integrated 2-axes stepper allows superior 2D and 3D prostate imaging quality and precise needle navigation. DICOM functionality and image fusion enable to import pre-operative datasets (e.g. multiparametric MRI, targets etc.) and overlay all available radiological information into the biopsy planning and guiding procedure. The biopsy needle insertion itself is performed under augmented reality ultrasound guidance. Each procedure step is automatically documented in order to provide quality assurance and permit data re-usage for the further treatment. First clinical results indicates success rates of ca. 70% by first biopsies by our approach.

  12. Accuracy and precision of estimating age of gray wolves by tooth wear

    USGS Publications Warehouse

    Gipson, P.S.; Ballard, W.B.; Nowak, R.M.; Mech, L.D.

    2000-01-01

    We evaluated the accuracy and precision of tooth wear for aging gray wolves (Canis lupus) from Alaska, Minnesota, and Ontario based on 47 known-age or known-minimum-age skulls. Estimates of age using tooth wear and a commercial cementum annuli-aging service were useful for wolves up to 14 years old. The precision of estimates from cementum annuli was greater than estimates from tooth wear, but tooth wear estimates are more applicable in the field. We tended to overestimate age by 1-2 years and occasionally by 3 or 4 years. The commercial service aged young wolves with cementum annuli to within ?? 1 year of actual age, but under estimated ages of wolves ???9 years old by 1-3 years. No differences were detected in tooth wear patterns for wild wolves from Alaska, Minnesota, and Ontario, nor between captive and wild wolves. Tooth wear was not appropriate for aging wolves with an underbite that prevented normal wear or severely broken and missing teeth.

  13. An evaluation of skylight polarization patterns for navigation.

    PubMed

    Ma, Tao; Hu, Xiaoping; Zhang, Lilian; Lian, Junxiang; He, Xiaofeng; Wang, Yujie; Xian, Zhiwen

    2015-03-10

    Skylight polarization provides a significant navigation cue for certain polarization-sensitive animals. However, the precision of the angle of polarization (AOP) of skylight for vehicle orientation is not clear. An evaluation of AOP must be performed before it is utilized. This paper reports an evaluation of AOP of skylight by measuring the skylight polarization patterns of clear and cloudy skies using a full-sky imaging polarimetry system. AOP measurements of skylight are compared with the pattern calculated by the single-scattering Rayleigh model and these differences are quantified. The relationship between the degree of polarization (DOP) and the deviation of AOP of skylight is thoroughly studied. Based on these, a solar meridian extracted method is presented. The results of experiments reveal that the DOP is a key parameter to indicate the accuracy of AOP measurements, and all the output solar meridian orientations extracted by our method in both clear and cloudy skies can achieve a high accuracy for vehicle orientation.

  14. An Evaluation of Skylight Polarization Patterns for Navigation

    PubMed Central

    Ma, Tao; Hu, Xiaoping; Zhang, Lilian; Lian, Junxiang; He, Xiaofeng; Wang, Yujie; Xian, Zhiwen

    2015-01-01

    Skylight polarization provides a significant navigation cue for certain polarization-sensitive animals. However, the precision of the angle of polarization (AOP) of skylight for vehicle orientation is not clear. An evaluation of AOP must be performed before it is utilized. This paper reports an evaluation of AOP of skylight by measuring the skylight polarization patterns of clear and cloudy skies using a full-sky imaging polarimetry system. AOP measurements of skylight are compared with the pattern calculated by the single-scattering Rayleigh model and these differences are quantified. The relationship between the degree of polarization (DOP) and the deviation of AOP of skylight is thoroughly studied. Based on these, a solar meridian extracted method is presented. The results of experiments reveal that the DOP is a key parameter to indicate the accuracy of AOP measurements, and all the output solar meridian orientations extracted by our method in both clear and cloudy skies can achieve a high accuracy for vehicle orientation. PMID:25763652

  15. Navigation of the Galileo mission

    NASA Technical Reports Server (NTRS)

    Miller, L. J.; Miller, J. K.; Kirhofer, W. E.

    1983-01-01

    An overview of the navigation of the Galileo mission is given. Predicted navigation performance for the various mission phases is discussed with particular emphasis given to the tour phase. Orbit determination strategies and resulting accuracies are discussed for various data types. In particular, the results of combining a new Very Long Baseline Interferometry (VLBI) data type called Differential One-Way Range (DOR) with conventional radio and optical data types are presented. Maneuver strategy results include the effects of maneuver placement and various targeting methods on propellant consumption and delivery accuracy. Emphasis is placed on new results obtained using asymptote and split targeting.

  16. A novel platform for electromagnetic navigated ultrasound bronchoscopy (EBUS).

    PubMed

    Sorger, Hanne; Hofstad, Erlend Fagertun; Amundsen, Tore; Langø, Thomas; Leira, Håkon Olav

    2016-08-01

    Endobronchial ultrasound transbronchial needle aspiration (EBUS-TBNA) of mediastinal lymph nodes is essential for lung cancer staging and distinction between curative and palliative treatment. Precise sampling is crucial. Navigation and multimodal imaging may improve the efficiency of EBUS-TBNA. We demonstrate a novel EBUS-TBNA navigation system in a dedicated airway phantom. Using a convex probe EBUS bronchoscope (CP-EBUS) with an integrated sensor for electromagnetic (EM) position tracking, we performed navigated CP-EBUS in a phantom. Preoperative computed tomography (CT) and real-time ultrasound (US) images were integrated into a navigation platform for EM navigated bronchoscopy. The coordinates of targets in CT and US volumes were registered in the navigation system, and the position deviation was calculated. The system visualized all tumor models and displayed their fused CT and US images in correct positions in the navigation system. Navigating the EBUS bronchoscope was fast and easy. Mean error observed between US and CT positions for 11 target lesions (37 measurements) was [Formula: see text] mm, maximum error was 5.9 mm. The feasibility of our novel navigated CP-EBUS system was successfully demonstrated. An EBUS navigation system is needed to meet future requirements of precise mediastinal lymph node mapping, and provides new opportunities for procedure documentation in EBUS-TBNA.

  17. A literature review of anthropometric studies of school students for ergonomics purposes: Are accuracy, precision and reliability being considered?

    PubMed

    Bravo, G; Bragança, S; Arezes, P M; Molenbroek, J F M; Castellucci, H I

    2018-05-22

    Despite offering many benefits, direct manual anthropometric measurement method can be problematic due to their vulnerability to measurement errors. The purpose of this literature review was to determine, whether or not the currently published anthropometric studies of school children, related to ergonomics, mentioned or evaluated the variables precision, reliability or accuracy in the direct manual measurement method. Two bibliographic databases, and the bibliographic references of all the selected papers were used for finding relevant published papers in the fields considered in this study. Forty-six (46) studies met the criteria previously defined for this literature review. However, only ten (10) studies mentioned at least one of the analyzed variables, and none has evaluated all of them. Only reliability was assessed by three papers. Moreover, in what regards the factors that affect precision, reliability and accuracy, the reviewed papers presented large differences. This was particularly clear in the instruments used for the measurements, which were not consistent throughout the studies. Additionally, it was also clear that there was a lack of information regarding the evaluators' training and procedures for anthropometric data collection, which are assumed to be the most important issues that affect precision, reliability and accuracy. Based on the review of the literature, it was possible to conclude that the considered anthropometric studies had not focused their attention to the analysis of precision, reliability and accuracy of the manual measurement methods. Hence, and with the aim of avoiding measurement errors and misleading data, anthropometric studies should put more efforts and care on testing measurement error and defining the procedures used to collect anthropometric data.

  18. Conceptual Design of a Communication-Based Deep Space Navigation Network

    NASA Technical Reports Server (NTRS)

    Anzalone, Evan J.; Chuang, C. H.

    2012-01-01

    As the need grows for increased autonomy and position knowledge accuracy to support missions beyond Earth orbit, engineers must push and develop more advanced navigation sensors and systems that operate independent of Earth-based analysis and processing. Several spacecraft are approaching this problem using inter-spacecraft radiometric tracking and onboard autonomous optical navigation methods. This paper proposes an alternative implementation to aid in spacecraft position fixing. The proposed method Network-Based Navigation technique takes advantage of the communication data being sent between spacecraft and between spacecraft and ground control to embed navigation information. The navigation system uses these packets to provide navigation estimates to an onboard navigation filter to augment traditional ground-based radiometric tracking techniques. As opposed to using digital signal measurements to capture inherent information of the transmitted signal itself, this method relies on the embedded navigation packet headers to calculate a navigation estimate. This method is heavily dependent on clock accuracy and the initial results show the promising performance of a notional system.

  19. Evaluation of the Terminal Area Precision Scheduling and Spacing System for Performance-Based Navigation Arrivals

    NASA Technical Reports Server (NTRS)

    Jung, Jaewoo; Swenson, Harry; Thipphavong, Jane; Martin, Lynne Hazel; Chen, Liang; Nguyen, Jimmy

    2013-01-01

    The growth of global demand for air transportation has put increasing strain on the nation's air traffic management system. To relieve this strain, the International Civil Aviation Organization has urged all nations to adopt Performance-Based Navigation (PBN), which can help to reduce air traffic congestion, decrease aviation fuel consumption, and protect the environment. NASA has developed a Terminal Area Precision Scheduling and Spacing (TAPSS) system that can support increased use of PBN during periods of high traffic, while supporting fuel-efficient, continuous descent approaches. In the original development of this system, arrival aircraft are assigned fuel-efficient Area Navigation (RNAV) Standard Terminal Arrival Routes before their initial descent from cruise, with routing defined to a specific runway. The system also determines precise schedules for these aircraft that facilitate continuous descent through the assigned routes. To meet these schedules, controllers are given a set of advisory tools to precisely control aircraft. The TAPSS system has been evaluated in a series of human-in-the-loop (HITL) air traffic simulations during 2010 and 2011. Results indicated increased airport arrival throughput up to 10 over current operations, and maintained fuel-efficient aircraft decent profiles from the initial descent to landing with reduced controller workload. This paper focuses on results from a joint NASA and FAA HITL simulation conducted in 2012. Due to the FAA rollout of the advance terminal area PBN procedures at mid-sized airports first, the TAPSS system was modified to manage arrival aircraft as they entered Terminal Radar Approach Control (TRACON). Dallas-Love Field airport (DAL) was selected by the FAA as a representative mid-sized airport within a constrained TRACON airspace due to the close proximity of a major airport, in this case Dallas-Ft Worth International Airport, one of the busiest in the world. To address this constraint, RNAV routes and

  20. Targeting Accuracy, Procedure Times and User Experience of 240 Experimental MRI Biopsies Guided by a Clinical Add-On Navigation System.

    PubMed

    Busse, Harald; Riedel, Tim; Garnov, Nikita; Thörmer, Gregor; Kahn, Thomas; Moche, Michael

    2015-01-01

    MRI is of great clinical utility for the guidance of special diagnostic and therapeutic interventions. The majority of such procedures are performed iteratively ("in-and-out") in standard, closed-bore MRI systems with control imaging inside the bore and needle adjustments outside the bore. The fundamental limitations of such an approach have led to the development of various assistance techniques, from simple guidance tools to advanced navigation systems. The purpose of this work was to thoroughly assess the targeting accuracy, workflow and usability of a clinical add-on navigation solution on 240 simulated biopsies by different medical operators. Navigation relied on a virtual 3D MRI scene with real-time overlay of the optically tracked biopsy needle. Smart reference markers on a freely adjustable arm ensured proper registration. Twenty-four operators - attending (AR) and resident radiologists (RR) as well as medical students (MS) - performed well-controlled biopsies of 10 embedded model targets (mean diameter: 8.5 mm, insertion depths: 17-76 mm). Targeting accuracy, procedure times and 13 Likert scores on system performance were determined (strong agreement: 5.0). Differences in diagnostic success rates (AR: 93%, RR: 88%, MS: 81%) were not significant. In contrast, between-group differences in biopsy times (AR: 4:15, RR: 4:40, MS: 5:06 min:sec) differed significantly (p<0.01). Mean overall rating was 4.2. The average operator would use the system again (4.8) and stated that the outcome justifies the extra effort (4.4). Lowest agreement was reported for the robustness against external perturbations (2.8). The described combination of optical tracking technology with an automatic MRI registration appears to be sufficiently accurate for instrument guidance in a standard (closed-bore) MRI environment. High targeting accuracy and usability was demonstrated on a relatively large number of procedures and operators. Between groups with different expertise there were

  1. Targeting Accuracy, Procedure Times and User Experience of 240 Experimental MRI Biopsies Guided by a Clinical Add-On Navigation System

    PubMed Central

    Busse, Harald; Riedel, Tim; Garnov, Nikita; Thörmer, Gregor; Kahn, Thomas; Moche, Michael

    2015-01-01

    Objectives MRI is of great clinical utility for the guidance of special diagnostic and therapeutic interventions. The majority of such procedures are performed iteratively ("in-and-out") in standard, closed-bore MRI systems with control imaging inside the bore and needle adjustments outside the bore. The fundamental limitations of such an approach have led to the development of various assistance techniques, from simple guidance tools to advanced navigation systems. The purpose of this work was to thoroughly assess the targeting accuracy, workflow and usability of a clinical add-on navigation solution on 240 simulated biopsies by different medical operators. Methods Navigation relied on a virtual 3D MRI scene with real-time overlay of the optically tracked biopsy needle. Smart reference markers on a freely adjustable arm ensured proper registration. Twenty-four operators – attending (AR) and resident radiologists (RR) as well as medical students (MS) – performed well-controlled biopsies of 10 embedded model targets (mean diameter: 8.5 mm, insertion depths: 17-76 mm). Targeting accuracy, procedure times and 13 Likert scores on system performance were determined (strong agreement: 5.0). Results Differences in diagnostic success rates (AR: 93%, RR: 88%, MS: 81%) were not significant. In contrast, between-group differences in biopsy times (AR: 4:15, RR: 4:40, MS: 5:06 min:sec) differed significantly (p<0.01). Mean overall rating was 4.2. The average operator would use the system again (4.8) and stated that the outcome justifies the extra effort (4.4). Lowest agreement was reported for the robustness against external perturbations (2.8). Conclusions The described combination of optical tracking technology with an automatic MRI registration appears to be sufficiently accurate for instrument guidance in a standard (closed-bore) MRI environment. High targeting accuracy and usability was demonstrated on a relatively large number of procedures and operators. Between

  2. Accuracy and Precision in Measurements of Biomass Oxidative Ratio and Carbon Oxidation State

    NASA Astrophysics Data System (ADS)

    Gallagher, M. E.; Masiello, C. A.; Randerson, J. T.; Chadwick, O. A.; Robertson, G. P.

    2007-12-01

    Ecosystem oxidative ratio (OR) is a critical parameter in the apportionment of anthropogenic CO2 between the terrestrial biosphere and ocean carbon reservoirs. OR is the ratio of O2 to CO2 in gas exchange fluxes between the terrestrial biosphere and atmosphere. Ecosystem OR is linearly related to biomass carbon oxidation state (Cox), a fundamental property of the earth system describing the bonding environment of carbon in molecules. Cox can range from -4 to +4 (CH4 to CO2). Variations in both Cox and OR are driven by photosynthesis, respiration, and decomposition. We are developing several techniques to accurately measure variations in ecosystem Cox and OR; these include elemental analysis, bomb calorimetry, and 13C nuclear magnetic resonance spectroscopy. A previous study, comparing the accuracy and precision of elemental analysis versus bomb calorimetry for pure chemicals, showed that elemental analysis-based measurements are more accurate, while calorimetry- based measurements yield more precise data. However, the limited biochemical range of natural samples makes it possible that calorimetry may ultimately prove most accurate, as well as most cost-effective. Here we examine more closely the accuracy of Cox and OR values generated by calorimetry on a large set of natural biomass samples collected from the Kellogg Biological Station-Long Term Ecological Research (KBS-LTER) site in Michigan.

  3. Compact Intraoperative MRI: Stereotactic Accuracy and Future Directions.

    PubMed

    Markowitz, Daniel; Lin, Dishen; Salas, Sussan; Kohn, Nina; Schulder, Michael

    2017-01-01

    Intraoperative imaging must supply data that can be used for accurate stereotactic navigation. This information should be at least as accurate as that acquired from diagnostic imagers. The aim of this study was to compare the stereotactic accuracy of an updated compact intraoperative MRI (iMRI) device based on a 0.15-T magnet to standard surgical navigation on a 1.5-T diagnostic scan MRI and to navigation with an earlier model of the same system. The accuracy of each system was assessed using a water-filled phantom model of the brain. Data collected with the new system were compared to those obtained in a previous study assessing the older system. The accuracy of the new iMRI was measured against standard surgical navigation on a 1.5-T MRI using T1-weighted (W) images. The mean error with the iMRI using T1W images was lower than that based on images from the 1.5-T scan (1.24 vs. 2.43 mm). T2W images from the newer iMRI yielded a lower navigation error than those acquired with the prior model (1.28 vs. 3.15 mm). Improvements in magnet design can yield progressive increases in accuracy, validating the concept of compact, low-field iMRI. Avoiding the need for registration between image and surgical space increases navigation accuracy. © 2017 S. Karger AG, Basel.

  4. Precision Airdrop (Largage de precision)

    DTIC Science & Technology

    2005-12-01

    NAVIGATION TO A PRECISION AIRDROP OVERVIEW RTO-AG-300-V24 2 - 9 the point from various compass headings. As the tests are conducted, the resultant...rate. This approach avoids including a magnetic compass for the heading reference, which has difficulties due to local changes in the magnetic field...Scientifica della Difesa ROYAUME-UNI Via XX Settembre 123 Dstl Knowledge Services ESPAGNE 00187 Roma Information Centre, Building 247 SDG TECEN / DGAM

  5. Inertial navigation without accelerometers

    NASA Astrophysics Data System (ADS)

    Boehm, M.

    The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

  6. Real-Time seismic waveforms monitoring with BeiDou Navigation Satellite System (BDS) observations for the 2015 Mw 7.8 Nepal earthquake

    NASA Astrophysics Data System (ADS)

    Geng, T.

    2015-12-01

    Nowadays more and more high-rate Global Navigation Satellite Systems (GNSS) data become available in real time, which provide more opportunities to monitor the seismic waveforms. China's GNSS, BeiDou Navigation Satellite System (BDS), has already satisfied the requirement of stand-alone precise positioning in Asia-Pacific region with 14 in-orbit satellites, which promisingly suggests that BDS could be applied to the high-precision earthquake monitoring as GPS. In the present paper, real-time monitoring of seismic waveforms using BDS measurements is assessed. We investigate a so-called "variometric" approach to measure real-time seismic waveforms with high-rate BDS observations. This approach is based on time difference technique and standard broadcast products which are routinely available in real time. The 1HZ BDS data recorded by Beidou Experimental Tracking Stations (BETS) during the 2015 Mw 7.8 Nepal earthquake is analyzed. The results indicate that the accuracies of velocity estimation from BDS are 2-3 mm/s in horizontal components and 8-9 mm/s in vertical component, respectively, which are consistent with GPS. The seismic velocity waveforms during earthquake show good agreement between BDS and GPS. Moreover, the displacement waveforms is reconstructed by an integration of velocity time series with trend removal. The displacement waveforms with the accuracy of 1-2 cm are derived by comparing with post-processing GPS precise point positioning (PPP).

  7. Accuracy of computer-assisted navigation: significant augmentation by facial recognition software.

    PubMed

    Glicksman, Jordan T; Reger, Christine; Parasher, Arjun K; Kennedy, David W

    2017-09-01

    Over the past 20 years, image guidance navigation has been used with increasing frequency as an adjunct during sinus and skull base surgery. These devices commonly utilize surface registration, where varying pressure of the registration probe and loss of contact with the face during the skin tracing process can lead to registration inaccuracies, and the number of registration points incorporated is necessarily limited. The aim of this study was to evaluate the use of novel facial recognition software for image guidance registration. Consecutive adults undergoing endoscopic sinus surgery (ESS) were prospectively studied. Patients underwent image guidance registration via both conventional surface registration and facial recognition software. The accuracy of both registration processes were measured at the head of the middle turbinate (MTH), middle turbinate axilla (MTA), anterior wall of sphenoid sinus (SS), and nasal tip (NT). Forty-five patients were included in this investigation. Facial recognition was accurate to within a mean of 0.47 mm at the MTH, 0.33 mm at the MTA, 0.39 mm at the SS, and 0.36 mm at the NT. Facial recognition was more accurate than surface registration at the MTH by an average of 0.43 mm (p = 0.002), at the MTA by an average of 0.44 mm (p < 0.001), and at the SS by an average of 0.40 mm (p < 0.001). The integration of facial recognition software did not adversely affect registration time. In this prospective study, automated facial recognition software significantly improved the accuracy of image guidance registration when compared to conventional surface registration. © 2017 ARS-AAOA, LLC.

  8. Evaluation of a technique to simplify area navigation and required navigation performance charts

    DOT National Transportation Integrated Search

    2013-06-30

    Performance based navigation (PBN), an enabler for the Federal Aviation Administration's Next Generation Air Transportation System (NextGEN), supports the design of more precise flight procedures. However, these new procedures can be visually complex...

  9. Radiation- and reference base-free navigation procedure for placement of instruments and implants: application to retrograde drilling of osteochondral lesions of the knee joint.

    PubMed

    Müller, Matthias; Gras, Florian; Marintschev, Ivan; Mückley, Thomas; Hofmann, Gunter O

    2009-01-01

    A novel, radiation- and reference base-free procedure for placement of navigated instruments and implants was developed and its practicability and precision in retrograde drillings evaluated in an experimental setting. Two different guidance techniques were used: One experimental group was operated on using the radiation- and reference base-free navigation technique (Fluoro Free), and the control group was operated on using standard fluoroscopy for guidance. For each group, 12 core decompressions were simulated by retrograde drillings in different artificial femurs following arthroscopic determination of the osteochondral lesions. The final guide-wire position was evaluated by postoperative CT analysis using vector calculation. High precision was achieved in both groups, but operating time was significantly reduced in the navigated group as compared to the control group. This was due to a 100% first-pass accuracy of drilling in the navigated group; in the control group a mean of 2.5 correction maneuvers per drilling were necessary. Additionally, the procedure was free of radiation in the navigated group, whereas 17.2 seconds of radiation exposure time were measured in the fluoroscopy-guided group. The developed Fluoro Free procedure is a promising and simplified approach to navigating different instruments as well as implants in relation to visually or tactilely placed pointers or objects without the need for radiation exposure or invasive fixation of a dynamic reference base in the bone.

  10. CPM Signals for Satellite Navigation in the S and C Bands.

    PubMed

    Xue, Rui; Sun, Yanbo; Zhao, Danfeng

    2015-06-05

    Frequency allocations in the L band suitable for global navigation satellite system (GNSS) services are getting crowded and system providers face an ever tougher job when they try to bring in new signals and services while maintaining radio frequency compatibility. With the successive opening of the S and C bands to GNSS service, the multi-band combined navigation is predicted to become a key technology for future high-precision positioning navigation systems, and a single modulation scheme satisfying the requirements in each band is a promising solution for reducing user terminal complexity. A universal modulation scheme based on the continuous phase modulation (CPM) family suitable for the above bands' demands is proposed. Moreover, this paper has put forward two specific CPM signals for the S and C bands, respectively. Then the proposed modulation schemes, together with existing candidates, are comprehensively evaluated. Simulation results show that the proposed CPM signals can not only satisfy the constraint condition of compatibility in different bands well and reduce user terminal complexity, but also provide superior performance in terms of tracking accuracy, multi-path mitigation and anti-jamming compared to other candidate modulation schemes.

  11. The JPL roadmap for Deep Space navigation

    NASA Technical Reports Server (NTRS)

    Martin-Mur, Tomas J.; Abraham, Douglas S.; Berry, David; Bhaskaran, Shyam; Cesarone, Robert J.; Wood, Lincoln

    2006-01-01

    This paper reviews the tentative set of deep space missions that will be supported by NASA's Deep Space Mission System in the next twenty-five years, and extracts the driving set of navigation capabilities that these missions will require. There will be many challenges including the support of new mission navigation approaches such as formation flying and rendezvous in deep space, low-energy and low-thrust orbit transfers, precise landing and ascent vehicles, and autonomous navigation. Innovative strategies and approaches will be needed to develop and field advanced navigation capabilities.

  12. Conic state extrapolation. [computer program for space shuttle navigation and guidance requirements

    NASA Technical Reports Server (NTRS)

    Shepperd, S. W.; Robertson, W. M.

    1973-01-01

    The Conic State Extrapolation Routine provides the capability to conically extrapolate any spacecraft inertial state vector either backwards or forwards as a function of time or as a function of transfer angle. It is merely the coded form of two versions of the solution of the two-body differential equations of motion of the spacecraft center of mass. Because of its relatively fast computation speed and moderate accuracy, it serves as a preliminary navigation tool and as a method of obtaining quick solutions for targeting and guidance functions. More accurate (but slower) results are provided by the Precision State Extrapolation Routine.

  13. Results of the Magnetometer Navigation (MAGNAV)lnflight Experiment

    NASA Technical Reports Server (NTRS)

    Thienel, Julie K.; Harman, Richard R.; Bar-Itzhack, Itzhack Y.; Lambertson, Mike

    2004-01-01

    The Magnetometer Navigation (MAGNAV) algorithm is currently running as a flight experiment as part of the Wide Field Infrared Explorer (WIRE) Post-Science Engineering Testbed. Initialization of MAGNAV occurred on September 4, 2003. MAGNAV is designed to autonomously estimate the spacecraft orbit, attitude, and rate using magnetometer and sun sensor data. Since the Earth's magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed magnetic field and measured magnetic field components, as measured by the magnetometer throughout the entire spacecraft orbit, are a function of the spacecraft trajectory and attitude errors. Therefore, these errors are used to estimate both trajectory and attitude. In addition, the time rate of change of the magnetic field vector is used to estimate the spacecraft rotation rate. The estimation of the attitude and trajectory is augmented with the rate estimation into an Extended Kalman filter blended with a pseudo-linear Kalman filter. Sun sensor data is also used to improve the accuracy and observability of the attitude and rate estimates. This test serves to validate MAGNAV as a single low cost navigation system which utilizes reliable, flight qualified sensors. MAGNAV is intended as a backup algorithm, an initialization algorithm, or possibly a prime navigation algorithm for a mission with coarse requirements. Results from the first six months of operation are presented.

  14. Navigating Space by the Stars

    NASA Image and Video Library

    2018-06-19

    A tool that has helped guide sailors across oceans for centuries is now being tested aboard the International Space Station as a potential emergency navigation tool for guiding future spacecraft across the cosmos. The Sextant Navigation investigation tests use of a hand-held sextant aboard the space station. Sextants have a telescope-like optical sight to take precise angle measurements between pairs of stars from land or sea, enabling navigation without computer assistance. NASA’s Gemini missions conducted the first sextant sightings from a spacecraft, and designers built a sextant into Apollo vehicles as a navigation backup in the event the crew lost communications from their spacecraft. Jim Lovell demonstrated on Apollo 8 that sextant navigation could return a space vehicle home. Astronauts conducted additional sextant experiments on Skylab. Read more about the Sextant experiment happening aboard the space station: https://www.nasa.gov/mission_pages/station/research/news/Sextant_ISS HD Download: https://archive.org/details/jsc2018m000418_Navigating_Space_by_the_Stars

  15. 'Bodily precision': a predictive coding account of individual differences in interoceptive accuracy.

    PubMed

    Ainley, Vivien; Apps, Matthew A J; Fotopoulou, Aikaterini; Tsakiris, Manos

    2016-11-19

    Individuals differ in their awareness of afferent information from within their bodies, which is typically assessed by a heartbeat perception measure of 'interoceptive accuracy' (IAcc). Neural and behavioural correlates of this trait have been investigated, but a theoretical explanation has yet to be presented. Building on recent models that describe interoception within the free energy/predictive coding framework, this paper applies similar principles to IAcc, proposing that individual differences in IAcc depend on 'precision' in interoceptive systems, i.e. the relative weight accorded to 'prior' representations and 'prediction errors' (that part of incoming interoceptive sensation not accounted for by priors), at various levels within the cortical hierarchy and between modalities. Attention has the effect of optimizing precision both within and between sensory modalities. Our central assumption is that people with high IAcc are able, with attention, to prioritize interoception over other sensory modalities and can thus adjust the relative precision of their interoceptive priors and prediction errors, where appropriate, given their personal history. This characterization explains key findings within the interoception literature; links results previously seen as unrelated or contradictory; and may have important implications for understanding cognitive, behavioural and psychopathological consequences of both high and low interoceptive awareness.This article is part of the themed issue 'Interoception beyond homeostasis: affect, cognition and mental health'. © 2016 The Author(s).

  16. Sensitivity of Magnetospheric Multi-Scale (MMS) Mission Navigation Accuracy to Major Error Sources

    NASA Technical Reports Server (NTRS)

    Olson, Corwin; Long, Anne; Car[emter. Russell

    2011-01-01

    The Magnetospheric Multiscale (MMS) mission consists of four satellites flying in formation in highly elliptical orbits about the Earth, with a primary objective of studying magnetic reconnection. The baseline navigation concept is independent estimation of each spacecraft state using GPS pseudorange measurements referenced to an Ultra Stable Oscillator (USO) with accelerometer measurements included during maneuvers. MMS state estimation is performed onboard each spacecraft using the Goddard Enhanced Onboard Navigation System (GEONS), which is embedded in the Navigator GPS receiver. This paper describes the sensitivity of MMS navigation performance to two major error sources: USO clock errors and thrust acceleration knowledge errors.

  17. [Interest of non invasive navigation in total knee arthroplasty].

    PubMed

    Zorman, D; Leclercq, G; Cabanas, J Juanos; Jennart, H

    2015-01-01

    During surgery of total knee arthroplasty, we use a computerized non invasive navigation (Brainlab Victor Vision CT-free) to assess the accuracy of the bone cuts (navigation expresse). The purpose of this study is to evaluate non invasive navigation when a total knee arthroplasty is achieved by conventional instrumentation. The study is based on forty total knee arthroplasties. The accuracy of the tibial and distal femoral bone cuts, checked by non invasive navigation, is evaluated prospectively. In our clinical series, we have obtained, with the conventional instrumentation, a correction of the mechanical axis only in 90 % of cases (N = 36). With non invasive navigation, we improved the positioning of implants and obtained in all cases the desired axiometry in the frontal plane. Although operative time is increased by about 15 minutes, the non invasive navigation does not induce intraoperative or immediate postoperative complications. Despite the cost of this technology, we believe that the reliability of the procedure is enhanced by a simple and reproducible technique.

  18. Mariner 9 navigation

    NASA Technical Reports Server (NTRS)

    Neil, W. J.; Jordan, J. F.; Zielenbach, J. W.; Wong, S. K.; Mitchell, R. T.; Webb, W. A.; Koskela, P. E.

    1973-01-01

    A final, comprehensive description of the navigation of Mariner 9-the first U.S. spacecraft to orbit another planet is provided. The Mariner 9 navigation function included not only precision flight path control but also pointing of the spacecraft's scientific instruments mounted on a two degree of freedom scan platform. To the extent appropriate, each section describes the perflight analyses on which the operational strategies and performance predictions were based. Inflight results are then discussed and compared with the preflight predictions. Postflight analyses, which were primarily concerned with developing a thorough understanding of unexpected in-flight results, are also presented.

  19. Autonomous Navigation Improvements for High-Earth Orbiters Using GPS

    NASA Technical Reports Server (NTRS)

    Long, Anne; Kelbel, David; Lee, Taesul; Garrison, James; Carpenter, J. Russell; Bauer, F. (Technical Monitor)

    2000-01-01

    The Goddard Space Flight Center is currently developing autonomous navigation systems for satellites in high-Earth orbits where acquisition of the GPS signals is severely limited This paper discusses autonomous navigation improvements for high-Earth orbiters and assesses projected navigation performance for these satellites using Global Positioning System (GPS) Standard Positioning Service (SPS) measurements. Navigation performance is evaluated as a function of signal acquisition threshold, measurement errors, and dynamic modeling errors using realistic GPS signal strength and user antenna models. These analyses indicate that an autonomous navigation position accuracy of better than 30 meters root-mean-square (RMS) can be achieved for high-Earth orbiting satellites using a GPS receiver with a very stable oscillator. This accuracy improves to better than 15 meters RMS if the GPS receiver's signal acquisition threshold can be reduced by 5 dB-Hertz to track weaker signals.

  20. Adaptive Resampling Particle Filters for GPS Carrier-Phase Navigation and Collision Avoidance System

    NASA Astrophysics Data System (ADS)

    Hwang, Soon Sik

    This dissertation addresses three problems: 1) adaptive resampling technique (ART) for Particle Filters, 2) precise relative positioning using Global Positioning System (GPS) Carrier-Phase (CP) measurements applied to nonlinear integer resolution problem for GPS CP navigation using Particle Filters, and 3) collision detection system based on GPS CP broadcasts. First, Monte Carlo filters, called Particle Filters (PF), are widely used where the system is non-linear and non-Gaussian. In real-time applications, their estimation accuracies and efficiencies are significantly affected by the number of particles and the scheduling of relocating weights and samples, the so-called resampling step. In this dissertation, the appropriate number of particles is estimated adaptively such that the error of the sample mean and variance stay in bounds. These bounds are given by the confidence interval of a normal probability distribution for a multi-variate state. Two required number of samples maintaining the mean and variance error within the bounds are derived. The time of resampling is determined when the required sample number for the variance error crosses the required sample number for the mean error. Second, the PF using GPS CP measurements with adaptive resampling is applied to precise relative navigation between two GPS antennas. In order to make use of CP measurements for navigation, the unknown number of cycles between GPS antennas, the so called integer ambiguity, should be resolved. The PF is applied to this integer ambiguity resolution problem where the relative navigation states estimation involves nonlinear observations and nonlinear dynamics equation. Using the PF, the probability density function of the states is estimated by sampling from the position and velocity space and the integer ambiguities are resolved without using the usual hypothesis tests to search for the integer ambiguity. The ART manages the number of position samples and the frequency of the

  1. Improved precision and accuracy in quantifying plutonium isotope ratios by RIMS

    DOE PAGES

    Isselhardt, B. H.; Savina, M. R.; Kucher, A.; ...

    2015-09-01

    Resonance ionization mass spectrometry (RIMS) holds the promise of rapid, isobar-free quantification of actinide isotope ratios in as-received materials (i.e. not chemically purified). Recent progress in achieving this potential using two Pu test materials is presented. RIMS measurements were conducted multiple times over a period of two months on two different Pu solutions deposited on metal surfaces. Measurements were bracketed with a Pu isotopic standard, and yielded absolute accuracies of the measured 240Pu/ 239Pu ratios of 0.7% and 0.58%, with precisions (95% confidence intervals) of 1.49% and 0.91%. In conclusion, the minor isotope 238Pu was also quantified despite the presencemore » of a significant quantity of 238U in the samples.« less

  2. Relative receiver autonomous integrity monitoring for future GNSS-based aircraft navigation

    NASA Astrophysics Data System (ADS)

    Gratton, Livio Rafael

    The Global Positioning System (GPS) has enabled reliable, safe, and practical aircraft positioning for en-route and non-precision phases of flight for more than a decade. Intense research is currently devoted to extending the use of Global Navigation Satellite Systems (GNSS), including GPS, to precision approach and landing operations. In this context, this work is focused on the development, analysis, and verification of the concept of Relative Receiver Autonomous Integrity Monitoring (RRAIM) and its potential applications to precision approach navigation. RRAIM fault detection algorithms are developed, and associated mathematical bounds on position error are derived. These are investigated as possible solutions to some current key challenges in precision approach navigation, discussed below. Augmentation systems serving continent-size areas (like the Wide Area Augmentation System or WAAS) allow certain precision approach operations within the covered region. More and better satellites, with dual frequency capabilities, are expected to be in orbit in the mid-term future, which will potentially allow WAAS-like capabilities worldwide with a sparse ground station network. Two main challenges in achieving this goal are (1) ensuring that navigation fault detection functions are fast enough to alert worldwide users of hazardously misleading information, and (2) minimizing situations in which navigation is unavailable because the user's local satellite geometry is insufficient for safe position estimation. Local augmentation systems (implemented at individual airports, like the Local Area Augmentation System or LAAS) have the potential to allow precision approach and landing operations by providing precise corrections to user-satellite range measurements. An exception to these capabilities arises during ionospheric storms (caused by solar activity), when hazardous situations can exist with residual range errors several orders of magnitudes higher than nominal. Until dual

  3. Inattentional blindness increased with augmented reality surgical navigation.

    PubMed

    Dixon, Benjamin J; Daly, Michael J; Chan, Harley H L; Vescan, Allan; Witterick, Ian J; Irish, Jonathan C

    2014-01-01

    Augmented reality (AR) surgical navigation systems, designed to increase accuracy and efficiency, have been shown to negatively impact on attention. We wished to assess the effect "head-up" AR displays have on attention, efficiency, and accuracy, while performing a surgical task, compared with the same information being presented on a submonitor (SM). Fifty experienced otolaryngology surgeons (n = 42) and senior otolaryngology trainees (n = 8) performed an endoscopic surgical navigation exercise on a predissected cadaveric model. Computed tomography-generated anatomic contours were fused with the endoscopic image to provide an AR view. Subjects were randomized to perform the task with a standard endoscopic monitor with the AR navigation displayed on an SM or with AR as a single display. Accuracy, task completion time, and the recognition of unexpected findings (a foreign body and a critical complication) were recorded. Recognition of the foreign body was significantly better in the SM group (15/25 [60%]) compared with the AR alone group (8/25 [32%]; p = 0.02). There was no significant difference in task completion time (p = 0.83) or accuracy (p = 0.78) between the two groups. Providing identical surgical navigation on a SM, rather than on a single head-up display, reduced the level of inattentional blindness as measured by detection of unexpected findings. These gains were achieved without any measurable impact on efficiency or accuracy. AR displays may distract the user and we caution injudicious adoption of this technology for medical procedures.

  4. The Use of Scale-Dependent Precision to Increase Forecast Accuracy in Earth System Modelling

    NASA Astrophysics Data System (ADS)

    Thornes, Tobias; Duben, Peter; Palmer, Tim

    2016-04-01

    At the current pace of development, it may be decades before the 'exa-scale' computers needed to resolve individual convective clouds in weather and climate models become available to forecasters, and such machines will incur very high power demands. But the resolution could be improved today by switching to more efficient, 'inexact' hardware with which variables can be represented in 'reduced precision'. Currently, all numbers in our models are represented as double-precision floating points - each requiring 64 bits of memory - to minimise rounding errors, regardless of spatial scale. Yet observational and modelling constraints mean that values of atmospheric variables are inevitably known less precisely on smaller scales, suggesting that this may be a waste of computer resources. More accurate forecasts might therefore be obtained by taking a scale-selective approach whereby the precision of variables is gradually decreased at smaller spatial scales to optimise the overall efficiency of the model. To study the effect of reducing precision to different levels on multiple spatial scales, we here introduce a new model atmosphere developed by extending the Lorenz '96 idealised system to encompass three tiers of variables - which represent large-, medium- and small-scale features - for the first time. In this chaotic but computationally tractable system, the 'true' state can be defined by explicitly resolving all three tiers. The abilities of low resolution (single-tier) double-precision models and similar-cost high resolution (two-tier) models in mixed-precision to produce accurate forecasts of this 'truth' are compared. The high resolution models outperform the low resolution ones even when small-scale variables are resolved in half-precision (16 bits). This suggests that using scale-dependent levels of precision in more complicated real-world Earth System models could allow forecasts to be made at higher resolution and with improved accuracy. If adopted, this new

  5. Accuracy, Precision, Ease-Of-Use, and Cost of Methods to Test Ebola-Relevant Chlorine Solutions

    PubMed Central

    Wells, Emma; Wolfe, Marlene K.; Murray, Anna; Lantagne, Daniele

    2016-01-01

    To prevent transmission in Ebola Virus Disease (EVD) outbreaks, it is recommended to disinfect living things (hands and people) with 0.05% chlorine solution and non-living things (surfaces, personal protective equipment, dead bodies) with 0.5% chlorine solution. In the current West African EVD outbreak, these solutions (manufactured from calcium hypochlorite (HTH), sodium dichloroisocyanurate (NaDCC), and sodium hypochlorite (NaOCl)) have been widely used in both Ebola Treatment Unit and community settings. To ensure solution quality, testing is necessary, however test method appropriateness for these Ebola-relevant concentrations has not previously been evaluated. We identified fourteen commercially-available methods to test Ebola-relevant chlorine solution concentrations, including two titration methods, four DPD dilution methods, and six test strips. We assessed these methods by: 1) determining accuracy and precision by measuring in quintuplicate five different 0.05% and 0.5% chlorine solutions manufactured from NaDCC, HTH, and NaOCl; 2) conducting volunteer testing to assess ease-of-use; and, 3) determining costs. Accuracy was greatest in titration methods (reference-12.4% error compared to reference method), then DPD dilution methods (2.4–19% error), then test strips (5.2–48% error); precision followed this same trend. Two methods had an accuracy of <10% error across all five chlorine solutions with good precision: Hach digital titration for 0.05% and 0.5% solutions (recommended for contexts with trained personnel and financial resources), and Serim test strips for 0.05% solutions (recommended for contexts where rapid, inexpensive, and low-training burden testing is needed). Measurement error from test methods not including pH adjustment varied significantly across the five chlorine solutions, which had pH values 5–11. Volunteers found test strip easiest and titration hardest; costs per 100 tests were $14–37 for test strips and $33–609 for titration

  6. Human factors research on performance-based navigation instrument procedures for NextGEN

    DOT National Transportation Integrated Search

    2012-10-14

    Area navigation (RNAV) and required navigation performance (RNP) are key components of performance-based navigation (PBN). Instrument procedures that use RNAV and RNP can have more flexible and precise paths than conventional routes that are defined ...

  7. Evaluation of a regional real-time precise positioning system based on GPS/BeiDou observations in Australia

    NASA Astrophysics Data System (ADS)

    Ding, Wenwu; Tan, Bingfeng; Chen, Yongchang; Teferle, Felix Norman; Yuan, Yunbin

    2018-02-01

    The performance of real-time (RT) precise positioning can be improved by utilizing observations from multiple Global Navigation Satellite Systems (GNSS) instead of one particular system. Since the end of 2012, BeiDou, independently established by China, began to provide operational services for users in the Asia-Pacific regions. In this study, a regional RT precise positioning system is developed to evaluate the performance of GPS/BeiDou observations in Australia in providing high precision positioning services for users. Fixing three hourly updated satellite orbits, RT correction messages are generated and broadcasted by processing RT observation/navigation data streams from the national network of GNSS Continuously Operating Reference Stations in Australia (AUSCORS) at the server side. At the user side, RT PPP is realized by processing RT data streams and the RT correction messages received. RT clock offsets, for which the accuracy reached 0.07 and 0.28 ns for GPS and BeiDou, respectively, can be determined. Based on these corrections, an accuracy of 12.2, 30.0 and 45.6 cm in the North, East and Up directions was achieved for the BeiDou-only solution after 30 min while the GPS-only solution reached 5.1, 15.3 and 15.5 cm for the same components at the same time. A further improvement of 43.7, 36.9 and 45.0 percent in the three directions, respectively, was achieved for the combined GPS/BeiDou solution. After the initialization process, the North, East and Up positioning accuracies were 5.2, 8.1 and 17.8 cm, respectively, for the BeiDou-only solution, while 1.5, 3.0, and 4.7 cm for the GPS-only solution. However, we only noticed a 20.9% improvement in the East direction was obtained for the GPS/BeiDou solution, while no improvements in the other directions were detected. It is expected that such improvements may become bigger with the increasing accuracy of the BeiDou-only solution.

  8. GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints

    PubMed Central

    He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

    2016-01-01

    When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580

  9. GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints.

    PubMed

    He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

    2016-04-01

    When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component.

  10. Autonomous navigation system based on GPS and magnetometer data

    NASA Technical Reports Server (NTRS)

    Julie, Thienel K. (Inventor); Richard, Harman R. (Inventor); Bar-Itzhack, Itzhack Y. (Inventor)

    2004-01-01

    This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability.

  11. Quantum imaging for underwater arctic navigation

    NASA Astrophysics Data System (ADS)

    Lanzagorta, Marco

    2017-05-01

    The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

  12. High-Precision Global Geodetic Systems: Revolution And Revelation In Fluid And 'Solid' Earth Tracking (Invited)

    NASA Astrophysics Data System (ADS)

    Minster, J. H.; Altamimi, Z.; Blewitt, G.; Carter, W. E.; Cazenave, A. A.; Davis, J. L.; Dragert, H.; Feary, D. A.; Herring, T.; Larson, K. M.; Ries, J. C.; Sandwell, D. T.; Wahr, J. M.

    2009-12-01

    Over the past half-century, space geodetic technologies have changed profoundly the way we look at the planet, not only in the matter of details and accuracy, but also in the matter of how the entire planet changes with time, even on “human” time scales. The advent of space geodesy has provided exquisite images of the ever-changing land and ocean topography and global gravity field of the planet. We now enjoy an International Terrestrial Reference System with a time-dependent geocenter position accurate to a few millimeters. We can image small and large tectonic deformations of the surface before, during, and after earthquakes and volcanic eruptions. We measure both the past subtle changes as well as the recent dramatic changes in the ice sheets, and track global and regional sea-level change to a precision of a millimeter per year or better. The remarkable achievements of Earth observing missions over the past two decades, and the success of future international missions described in the Decadal Survey depend both implicitly and explicitly on the continued availability and enhancement of a reliable and resilient global infrastructure for precise geodesy, and on ongoing advances in geodetic science that are linked to it. This allows us to deal with global scientific, technological and social issues such as climate change and natural hazards, but the impact of the global precise geodetic infrastructure also permeates our everyday lives. Nowadays drivers, aviators, and sailors can determine their positions inexpensively to meter precision in real time, anywhere on the planet. In the foreseeable future, not only will we be able to know a vehicle’s position to centimeter accuracy in real time, but also to control that position, and thus introduce autonomous navigation systems for many tasks which are beyond the reach of “manual” navigation capabilities. This vision will only be realized with sustained international support of the precise global geodetic

  13. LAI-2000 Accuracy, Precision, and Application to Visual Estimation of Leaf Area Index of Loblolly Pine

    Treesearch

    Jason A. Gatch; Timothy B. Harrington; James P. Castleberry

    2002-01-01

    Leaf area index (LAI) is an important parameter of forest stand productivity that has been used to diagnose stand vigor and potential fertilizer response of southern pines. The LAI-2000 was tested for its ability to provide accurate and precise estimates of LAI of loblolly pine (Pinus taeda L.). To test instrument accuracy, regression was used to...

  14. Delta-DOR: The One-Nanoradian Navigation Measurement System of the Deep Space Network --- History, Architecture, and Componentry

    NASA Astrophysics Data System (ADS)

    Curkendall, D. W.; Border, J. S.

    2013-05-01

    Doppler and range data alone supported navigation for the earliest missions into deep space. Though extremely precise in line-of-sight coordinates, the navigation system built on these data had a weakness for determining the spacecraft declination component. To address this, the Deep Space Network (DSN) developed the capability for very long baseline interferometry measurements beginning in the late 1970s. Both the implementation of the interferometric system and the importance of such measurements to flight projects have evolved significantly over the past three decades. Innovations introduced through research and development programs have led to continuous improvements in performance. Today's system provides data approaching one-nanoradian accuracy with reliability of 98 percent. This article provides an overview of the development and use of interferometric tracking techniques in the DSN starting with the Viking era and continuing with a description of the current system and its planned use to support interplanetary cruise navigation of the Mars Science Laboratory spacecraft.

  15. Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

    NASA Astrophysics Data System (ADS)

    Khaghani, M.; Skaloud, J.

    2016-03-01

    This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs on-board. This is achieved with no extra sensor added to the conventional INS/GNSS setup. This improvement is of special interest in case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the solution to VDM equations provides the estimate of position, velocity, and attitude, which is updated within the navigation filter based on available observations, such as IMU data or GNSS measurements. The VDM is also fed with the control input to the UAV, which is available within the control/autopilot system. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS navigation system during the autonomous phase, when satellite signals are not available due to physical obstruction or electromagnetic interference for example. In case of GNSS outages of a few minutes, position and attitude accuracy experiences improvements of orders of magnitude compared to inertial coasting. It means that during such scenario, the position-velocity-attitude (PVA) determination is sufficiently accurate to navigate the UAV to a home position without any signal that depends on vehicle environment.

  16. Navigation Guidelines for Orbital Formation Flying Missions

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell

    2003-01-01

    Some simple guidelines based on the accuracy in determining a satellite formation's semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver time, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member's semi-major axis are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or vice versa. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

  17. Precise Time - Naval Oceanography Portal

    Science.gov Websites

    section Advanced Search... Sections Home Time Earth Orientation Astronomy Meteorology Oceanography Ice You are here: Home › USNO › Precise Time USNO Logo USNO Navigation Master Clock GPS Display Clocks TWSTT Telephone Time NTP Info Precise Time The U. S. Naval Observatory is charged with maintaining the

  18. Performance Evaluation and Requirements Assessment for Gravity Gradient Referenced Navigation

    PubMed Central

    Lee, Jisun; Kwon, Jay Hyoun; Yu, Myeongjong

    2015-01-01

    In this study, simulation tests for gravity gradient referenced navigation (GGRN) are conducted to verify the effects of various factors such as database (DB) and sensor errors, flight altitude, DB resolution, initial errors, and measurement update rates on the navigation performance. Based on the simulation results, requirements for GGRN are established for position determination with certain target accuracies. It is found that DB and sensor errors and flight altitude have strong effects on the navigation performance. In particular, a DB and sensor with accuracies of 0.1 E and 0.01 E, respectively, are required to determine the position more accurately than or at a level similar to the navigation performance of terrain referenced navigation (TRN). In most cases, the horizontal position error of GGRN is less than 100 m. However, the navigation performance of GGRN is similar to or worse than that of a pure inertial navigation system when the DB and sensor errors are 3 E or 5 E each and the flight altitude is 3000 m. Considering that the accuracy of currently available gradiometers is about 3 E or 5 E, GGRN does not show much advantage over TRN at present. However, GGRN is expected to exhibit much better performance in the near future when accurate DBs and gravity gradiometer are available. PMID:26184212

  19. Precision insertion of percutaneous sacroiliac screws using a novel augmented reality-based navigation system: a pilot study.

    PubMed

    Wang, Huixiang; Wang, Fang; Leong, Anthony Peng Yew; Xu, Lu; Chen, Xiaojun; Wang, Qiugen

    2016-09-01

    Augmented reality (AR) enables superimposition of virtual images onto the real world. The aim of this study is to present a novel AR-based navigation system for sacroiliac screw insertion and to evaluate its feasibility and accuracy in cadaveric experiments. Six cadavers with intact pelvises were employed in our study. They were CT scanned and the pelvis and vessels were segmented into 3D models. The ideal trajectory of the sacroiliac screw was planned and represented visually as a cylinder. For the intervention, the head mounted display created a real-time AR environment by superimposing the virtual 3D models onto the surgeon's field of view. The screws were drilled into the pelvis as guided by the trajectory represented by the cylinder. Following the intervention, a repeat CT scan was performed to evaluate the accuracy of the system, by assessing the screw positions and the deviations between the planned trajectories and inserted screws. Post-operative CT images showed that all 12 screws were correctly placed with no perforation. The mean deviation between the planned trajectories and the inserted screws was 2.7 ± 1.2 mm at the bony entry point, 3.7 ± 1.1 mm at the screw tip, and the mean angular deviation between the two trajectories was 2.9° ± 1.1°. The mean deviation at the nerve root tunnels region on the sagittal plane was 3.6 ± 1.0 mm. This study suggests an intuitive approach for guiding screw placement by way of AR-based navigation. This approach was feasible and accurate. It may serve as a valuable tool for assisting percutaneous sacroiliac screw insertion in live surgery.

  20. Development of Navigation Doppler Lidar for Future Landing Mission

    NASA Technical Reports Server (NTRS)

    Amzajerdian, Farzin; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Pierrottet, Diego F.; Carson, John M., III

    2016-01-01

    A coherent Navigation Doppler Lidar (NDL) sensor has been developed under the Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project to support future NASA missions to planetary bodies. This lidar sensor provides accurate surface-relative altitude and vector velocity data during the descent phase that can be used by an autonomous Guidance, Navigation, and Control (GN&C) system to precisely navigate the vehicle from a few kilometers above the ground to a designated location and execute a controlled soft touchdown. The operation and performance of the NDL was demonstrated through closed-loop flights onboard the rocket-propelled Morpheus vehicle in 2014. In Morpheus flights, conducted at the NASA Kennedy Space Center, the NDL data was used by an autonomous GN&C system to navigate and land the vehicle precisely at the selected location surrounded by hazardous rocks and craters. Since then, development efforts for the NDL have shifted toward enhancing performance, optimizing design, and addressing spaceflight size and mass constraints and environmental and reliability requirements. The next generation NDL, with expanded operational envelope and significantly reduced size, will be demonstrated in 2017 through a new flight test campaign onboard a commercial rocketpropelled test vehicle.

  1. Calibration of gyro G-sensitivity coefficients with FOG monitoring on precision centrifuge

    NASA Astrophysics Data System (ADS)

    Lu, Jiazhen; Yang, Yanqiang; Li, Baoguo; Liu, Ming

    2017-07-01

    The advantages of mechanical gyros, such as high precision, endurance and reliability, make them widely used as the core parts of inertial navigation systems (INS) utilized in the fields of aeronautics, astronautics and underground exploration. In a high-g environment, the accuracy of gyros is degraded. Therefore, the calibration and compensation of the gyro G-sensitivity coefficients is essential when the INS operates in a high-g environment. A precision centrifuge with a counter-rotating platform is the typical equipment for calibrating the gyro, as it can generate large centripetal acceleration and keep the angular rate close to zero; however, its performance is seriously restricted by the angular perturbation in the high-speed rotating process. To reduce the dependence on the precision of the centrifuge and counter-rotating platform, an effective calibration method for the gyro g-sensitivity coefficients under fiber-optic gyroscope (FOG) monitoring is proposed herein. The FOG can efficiently compensate spindle error and improve the anti-interference ability. Harmonic analysis is performed for data processing. Simulations show that the gyro G-sensitivity coefficients can be efficiently estimated to up to 99% of the true value and compensated using a lookup table or fitting method. Repeated tests indicate that the G-sensitivity coefficients can be correctly calibrated when the angular rate accuracy of the precision centrifuge is as low as 0.01%. Verification tests are performed to demonstrate that the attitude errors can be decreased from 0.36° to 0.08° in 200 s. The proposed measuring technology is generally applicable in engineering, as it can reduce the accuracy requirements for the centrifuge and the environment.

  2. Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

    NASA Technical Reports Server (NTRS)

    Carson, John M. III; Robertson, Edward A.; Trawny, Nikolas; Amzajerdian, Farzin

    2015-01-01

    A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a LIDAR-based Hazard Detection System (HDS), a Navigation Doppler LIDAR (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus vehicle involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight. The ALHAT sensor measurements were integrated into a common navigation solution through a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

  3. Navigation integrity monitoring and obstacle detection for enhanced-vision systems

    NASA Astrophysics Data System (ADS)

    Korn, Bernd; Doehler, Hans-Ullrich; Hecker, Peter

    2001-08-01

    Typically, Enhanced Vision (EV) systems consist of two main parts, sensor vision and synthetic vision. Synthetic vision usually generates a virtual out-the-window view using databases and accurate navigation data, e. g. provided by differential GPS (DGPS). The reliability of the synthetic vision highly depends on both, the accuracy of the used database and the integrity of the navigation data. But especially in GPS based systems, the integrity of the navigation can't be guaranteed. Furthermore, only objects that are stored in the database can be displayed to the pilot. Consequently, unexpected obstacles are invisible and this might cause severe problems. Therefore, additional information has to be extracted from sensor data to overcome these problems. In particular, the sensor data analysis has to identify obstacles and has to monitor the integrity of databases and navigation. Furthermore, if a lack of integrity arises, navigation data, e.g. the relative position of runway and aircraft, has to be extracted directly from the sensor data. The main contribution of this paper is about the realization of these three sensor data analysis tasks within our EV system, which uses the HiVision 35 GHz MMW radar of EADS, Ulm as the primary EV sensor. For the integrity monitoring, objects extracted from radar images are registered with both database objects and objects (e. g. other aircrafts) transmitted via data link. This results in a classification into known and unknown radar image objects and consequently, in a validation of the integrity of database and navigation. Furthermore, special runway structures are searched for in the radar image where they should appear. The outcome of this runway check contributes to the integrity analysis, too. Concurrent to this investigation a radar image based navigation is performed without using neither precision navigation nor detailed database information to determine the aircraft's position relative to the runway. The performance of our

  4. Positional Accuracy of Airborne Integrated Global Positioning and Inertial Navigation Systems for Mapping in Glen Canyon, Arizona

    USGS Publications Warehouse

    Sanchez, Richard D.; Hothem, Larry D.

    2002-01-01

    High-resolution airborne and satellite image sensor systems integrated with onboard data collection based on the Global Positioning System (GPS) and inertial navigation systems (INS) may offer a quick and cost-effective way to gather accurate topographic map information without ground control or aerial triangulation. The Applanix Corporation?s Position and Orientation Solutions for Direct Georeferencing of aerial photography was used in this project to examine the positional accuracy of integrated GPS/INS for terrain mapping in Glen Canyon, Arizona. The research application in this study yielded important information on the usefulness and limits of airborne integrated GPS/INS data-capture systems for mapping.

  5. Intraoperative Localization of Tantalum Markers for Proton Beam Radiation of Choroidal Melanoma by an Opto-Electronic Navigation System: A Novel Technique

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Amstutz, Christoph A., E-mail: christoph.amstutz@usz.ch; Bechrakis, Nikolaos E.; Foerster, Michael H.

    2012-03-15

    Purpose: External beam proton radiation therapy has been used since 1975 to treat choroidal melanoma. For tumor location determination during proton radiation treatment, surgical tantalum clips are registered with image data. This report introduces the intraoperative application of an opto-electronic navigation system to determine with high precision the position of the tantalum markers and their spatial relationship to the tumor and anatomical landmarks. The application of the technique in the first 4 patients is described. Methods and Materials: A navigated reference base was attached noninvasively to the eye, and a navigated pointer device was used to record the spatial positionmore » of the tantalum markers, the tumor, and anatomical landmarks. Measurement accuracy was assessed on ex vivo porcine eye specimen by repetitive recording of the tantalum marker positions. The method was applied intraoperatively on 4 patients undergoing routine tantalum clip surgery. The spatial position information delivered by the navigation system was compared to the geometric data generated by the EYEPLAN software. Results: In the ex vivo experiments, the maximum repetition error was 0.34 mm. For the intraoperative application, the root mean square error of paired-points matching of the marker positions from the navigation system and from the EYEPLAN software was 0.701-1.25 mm. Conclusions: Navigation systems are a feasible tool for accurate localization of tantalum markers and anatomic landmarks. They can provide additional geometric information, and therefore have the potential to increase the reliability and accuracy of external beam proton radiation therapy for choroidal melanoma.« less

  6. Advanced Navigation Strategies For Asteroid Sample Return Missions

    NASA Technical Reports Server (NTRS)

    Getzandanner, K.; Bauman, J.; Williams, B.; Carpenter, J.

    2010-01-01

    Flyby and rendezvous missions to asteroids have been accomplished using navigation techniques derived from experience gained in planetary exploration. This paper presents analysis of advanced navigation techniques required to meet unique challenges for precision navigation to acquire a sample from an asteroid and return it to Earth. These techniques rely on tracking data types such as spacecraft-based laser ranging and optical landmark tracking in addition to the traditional Earth-based Deep Space Network radio metric tracking. A systematic study of navigation strategy, including the navigation event timeline and reduction in spacecraft-asteroid relative errors, has been performed using simulation and covariance analysis on a representative mission.

  7. Relative navigation for spacecraft formation flying

    NASA Technical Reports Server (NTRS)

    Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

    1998-01-01

    The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-1) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross-link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

  8. Relative Navigation for Spacecraft Formation Flying

    NASA Technical Reports Server (NTRS)

    Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

    1998-01-01

    The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-l) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross- link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

  9. The accuracy of a hand-held navigation system in total knee arthroplasty.

    PubMed

    Loh, Bryan; Chen, Jerry Yongqiang; Yew, Andy Khye Soon; Pang, Hee Nee; Tay, Darren Keng Jin; Chia, Shi-Lu; Lo, Ngai Nung; Yeo, Seng Jin

    2017-03-01

    This study aims to evaluate the effectiveness of a new hand-held navigation system. The authors of this study hypothesize that this navigation system will improve overall lower limb alignment and implant placement without causing a delay in surgery. Two hundred consecutive patients diagnosed with tricompartmental osteoarthritis and underwent total knee arthroplasty by a senior surgeon were included in this study. One hundred patients underwent TKA using the hand-held navigation system, while the other 100 patients underwent TKA using the conventional technique. The primary outcomes of this study were the overall alignment of the lower limb and the position of the components. This was determined radiologically using the: (1) Hip-Knee-Ankle angle (HKA) for lower limb alignment; (2) Coronal Femoral-Component angle (CFA); and (3) Coronal Tibia-Component angle (CTA) for component position. Normal alignment was taken as 180° ± 3° for the HKA and 90° ± 3° for both the CFA and CTA. For the CFA, the proportion of outliers was 7 and 17% in the hand-held navigation and conventional group, respectively (p = 0.030). For the HKA and CTA, there was no difference in the proportion of outliers between the two groups. The duration of surgery was 73 ± 9 min and 87 ± 15 min in the hand-held navigation and conventional group, respectively (p < 0.001). This hand-held navigation system is an effective intraoperative tool for reducing the proportion of outliers for femoral implant placement as well as the duration of surgery. The authors conclude that it can be considered for use to check femoral implant placement intra-operatively. III.

  10. Implant alignment in total elbow arthroplasty: conventional vs. navigated techniques

    NASA Astrophysics Data System (ADS)

    McDonald, Colin P.; Johnson, James A.; King, Graham J. W.; Peters, Terry M.

    2009-02-01

    Incorrect selection of the native flexion-extension axis during implant alignment in elbow replacement surgery is likely a significant contributor to failure of the prosthesis. Computer and image-assisted surgery is emerging as a useful surgical tool in terms of improving the accuracy of orthopaedic procedures. This study evaluated the accuracy of implant alignment using an image-based navigation technique compared against a conventional non-navigated approach. Implant alignment error was 0.8 +/- 0.3 mm in translation and 1.1 +/- 0.4° in rotation for the navigated alignment, compared with 3.1 +/- 1.3 mm and 5.0 +/- 3.8° for the non-navigated alignment. Five (5) of the 11 non-navigated alignments were malaligned greater than 5° while none of the navigated alignments were placed with an error of greater than 2.0°. It is likely that improved implant positioning will lead to reduced implant loading and wear, resulting in fewer implantrelated complications and revision surgeries.

  11. A true minimally invasive approach for cochlear implantation: high accuracy in cranial base navigation through flat-panel-based volume computed tomography.

    PubMed

    Majdani, Omid; Bartling, Soenke H; Leinung, Martin; Stöver, Timo; Lenarz, Minoo; Dullin, Christian; Lenarz, Thomas

    2008-02-01

    High-precision intraoperative navigation using high-resolution flat-panel volume computed tomography makes feasible the possibility of minimally invasive cochlear implant surgery, including cochleostomy. Conventional cochlear implant surgery is typically performed via mastoidectomy with facial recess to identify and avoid damage to vital anatomic landmarks. To accomplish this procedure via a minimally invasive approach--without performing mastoidectomy--in a precise fashion, image-guided technology is necessary. With such an approach, surgical time and expertise may be reduced, and hearing preservation may be improved. Flat-panel volume computed tomography was used to scan 4 human temporal bones. A drilling channel was planned preoperatively from the mastoid surface to the round window niche, providing a margin of safety to all functional important structures (e.g., facial nerve, chorda tympani, incus). Postoperatively, computed tomographic imaging and conventional surgical exploration of the drilled route to the cochlea were performed. All 4 specimens showed a cochleostomy located at the scala tympani anterior inferior to the round window. The chorda tympani was damaged in 1 specimen--this was preoperatively planned as a narrow facial recess was encountered. Using flat-panel volume computed tomography for image-guided surgical navigation, we were able to perform minimally invasive cochlear implant surgery defined as a narrow, single-channel mastoidotomy with cochleostomy. Although this finding is preliminary, it is technologically achievable.

  12. Accuracy of sun localization in the second step of sky-polarimetric Viking navigation for north determination: a planetarium experiment.

    PubMed

    Farkas, Alexandra; Száz, Dénes; Egri, Ádám; Blahó, Miklós; Barta, András; Nehéz, Dóra; Bernáth, Balázs; Horváth, Gábor

    2014-07-01

    It is a widely discussed hypothesis that Viking seafarers might have been able to locate the position of the occluded sun by means of dichroic or birefringent crystals, the mysterious sunstones, with which they could analyze skylight polarization. Although the atmospheric optical prerequisites and certain aspects of the efficiency of this sky-polarimetric Viking navigation have been investigated, the accuracy of the main steps of this method has not been quantitatively examined. To fill in this gap, we present here the results of a planetarium experiment in which we measured the azimuth and elevation errors of localization of the invisible sun. In the planetarium sun localization was performed in two selected celestial points on the basis of the alignments of two small sections of two celestial great circles passing through the sun. In the second step of sky-polarimetric Viking navigation the navigator needed to determine the intersection of two such celestial circles. We found that the position of the sun (solar elevation θ(S), solar azimuth φ(S)) was estimated with an average error of +0.6°≤Δθ≤+8.8° and -3.9°≤Δφ≤+2.0°. We also calculated the compass direction error when the estimated sun position is used for orienting with a Viking sun-compass. The northern direction (ω(North)) was determined with an error of -3.34°≤Δω(North)≤+6.29°. The inaccuracy of the second step of this navigation method was high (Δω(North)=-16.3°) when the solar elevation was 5°≤θ(S)≤25°, and the two selected celestial points were far from the sun (at angular distances 95°≤γ(1), γ(2)≤115°) and each other (125°≤δ≤145°). Considering only this second step, the sky-polarimetric navigation could be more accurate in the mid-summer period (June and July), when in the daytime the sun is high above the horizon for long periods. In the spring (and autumn) equinoctial period, alternative methods (using a twilight board, for example) might be more

  13. Mapping stream habitats with a global positioning system: Accuracy, precision, and comparison with traditional methods

    USGS Publications Warehouse

    Dauwalter, D.C.; Fisher, W.L.; Belt, K.C.

    2006-01-01

    We tested the precision and accuracy of the Trimble GeoXT??? global positioning system (GPS) handheld receiver on point and area features and compared estimates of stream habitat dimensions (e.g., lengths and areas of riffles and pools) that were made in three different Oklahoma streams using the GPS receiver and a tape measure. The precision of differentially corrected GPS (DGPS) points was not affected by the number of GPS position fixes (i.e., geographic location estimates) averaged per DGPS point. Horizontal error of points ranged from 0.03 to 2.77 m and did not differ with the number of position fixes per point. The error of area measurements ranged from 0.1% to 110.1% but decreased as the area increased. Again, error was independent of the number of position fixes averaged per polygon corner. The estimates of habitat lengths, widths, and areas did not differ when measured using two methods of data collection (GPS and a tape measure), nor did the differences among methods change at three stream sites with contrasting morphologies. Measuring features with a GPS receiver was up to 3.3 times faster on average than using a tape measure, although signal interference from high streambanks or overhanging vegetation occasionally limited satellite signal availability and prolonged measurements with a GPS receiver. There were also no differences in precision of habitat dimensions when mapped using a continuous versus a position fix average GPS data collection method. Despite there being some disadvantages to using the GPS in stream habitat studies, measuring stream habitats with a GPS resulted in spatially referenced data that allowed the assessment of relative habitat position and changes in habitats over time, and was often faster than using a tape measure. For most spatial scales of interest, the precision and accuracy of DGPS data are adequate and have logistical advantages when compared to traditional methods of measurement. ?? 2006 Springer Science+Business Media

  14. Collaborative WiFi Fingerprinting Using Sensor-Based Navigation on Smartphones.

    PubMed

    Zhang, Peng; Zhao, Qile; Li, You; Niu, Xiaoji; Zhuang, Yuan; Liu, Jingnan

    2015-07-20

    This paper presents a method that trains the WiFi fingerprint database using sensor-based navigation solutions. Since micro-electromechanical systems (MEMS) sensors provide only a short-term accuracy but suffer from the accuracy degradation with time, we restrict the time length of available indoor navigation trajectories, and conduct post-processing to improve the sensor-based navigation solution. Different middle-term navigation trajectories that move in and out of an indoor area are combined to make up the database. Furthermore, we evaluate the effect of WiFi database shifts on WiFi fingerprinting using the database generated by the proposed method. Results show that the fingerprinting errors will not increase linearly according to database (DB) errors in smartphone-based WiFi fingerprinting applications.

  15. Collaborative WiFi Fingerprinting Using Sensor-Based Navigation on Smartphones

    PubMed Central

    Zhang, Peng; Zhao, Qile; Li, You; Niu, Xiaoji; Zhuang, Yuan; Liu, Jingnan

    2015-01-01

    This paper presents a method that trains the WiFi fingerprint database using sensor-based navigation solutions. Since micro-electromechanical systems (MEMS) sensors provide only a short-term accuracy but suffer from the accuracy degradation with time, we restrict the time length of available indoor navigation trajectories, and conduct post-processing to improve the sensor-based navigation solution. Different middle-term navigation trajectories that move in and out of an indoor area are combined to make up the database. Furthermore, we evaluate the effect of WiFi database shifts on WiFi fingerprinting using the database generated by the proposed method. Results show that the fingerprinting errors will not increase linearly according to database (DB) errors in smartphone-based WiFi fingerprinting applications. PMID:26205269

  16. Biosonar navigation above water I: estimating flight height.

    PubMed

    Hoffmann, Susanne; Genzel, Daria; Prosch, Selina; Baier, Leonie; Weser, Sabrina; Wiegrebe, Lutz; Firzlaff, Uwe

    2015-02-15

    Locomotion and foraging on the wing require precise navigation in more than just the horizontal plane. Navigation in three dimensions and, specifically, precise adjustment of flight height are essential for flying animals. Echolocating bats drink from water surfaces in flight, which requires an exceptionally precise vertical navigation. Here, we exploit this behavior in the bat, Phyllostomus discolor, to understand the biophysical and neural mechanisms that allow for sonar-guided navigation in the vertical plane. In a set of behavioral experiments, we show that for echolocating bats, adjustment of flight height depends on the tragus in their outer ears. Specifically, the tragus imposes elevation-specific spectral interference patterns on the echoes of the bats' sonar emissions. Head-related transfer functions of our bats show that these interference patterns are most conspicuous in the frequency range ∼55 kHz. This conspicuousness is faithfully preserved in the frequency tuning and spatial receptive fields of cortical single and multiunits recorded from anesthetized animals. In addition, we recorded vertical spatiotemporal response maps that describe neural tuning in elevation over time. One class of units that were very sharply tuned to frequencies ∼55 kHz showed unusual spatiotemporal response characteristics with a preference for paired echoes where especially the first echo originates from very low elevations. These behavioral and neural data provide the first insight into biosonar-based processing and perception of acoustic elevation cues that are essential for bats to navigate in three-dimensional space. Copyright © 2015 the American Physiological Society.

  17. Accuracy and precision of flash glucose monitoring sensors inserted into the abdomen and upper thigh compared with the upper arm.

    PubMed

    Charleer, Sara; Mathieu, Chantal; Nobels, Frank; Gillard, Pieter

    2018-06-01

    Nowadays, most Belgian patients with type 1 diabetes use flash glucose monitoring (FreeStyle Libre [FSL]; Abbott Diabetes Care, Alameda, California) to check their glucose values, but some patients find the sensor on the upper arm too visible. The aim of the present study was to compare the accuracy and precision of FSL sensors when placed on different sites. A total of 23 adults with type 1 diabetes used three FSL sensors simultaneously for 14 days on the upper arm, abdomen and upper thigh. FSL measurements were compared with capillary blood glucose (BG) measurements obtained with a built-in FSL BG meter. The aggregated mean absolute relative difference was 11.8 ± 12.0%, 18.5 ± 18.4% and 12.3 ± 13.8% for the arm, abdomen (P = .002 vs arm) and thigh (P = .5 vs arm), respectively. Results of Clarke error grid analysis for the arm and thigh were similar (zone A: 84.9% vs 84.5%; P = .6), while less accuracy was seen for the abdomen (zone A: 69.4%; P = .01). Apart from the first day, the accuracy of FSL sensors on the arm and thigh was more stable across the 14-day wear duration than accuracy of sensors on the abdomen, which deteriorated mainly during week 2 (P < .0005). The aggregated precision absolute relative difference was markedly lower for the arm/thigh (10.9 ± 11.9%) compared with the arm/abdomen (20.9 ± 22.8%; P = .002). Our results indicate that the accuracy and precision of FSL sensors placed on the upper thigh are similar to the upper arm, whereas the abdomen performed unacceptably poorly. © 2018 John Wiley & Sons Ltd.

  18. Research on navigation of satellite constellation based on an asynchronous observation model using X-ray pulsar

    NASA Astrophysics Data System (ADS)

    Guo, Pengbin; Sun, Jian; Hu, Shuling; Xue, Ju

    2018-02-01

    Pulsar navigation is a promising navigation method for high-altitude orbit space tasks or deep space exploration. At present, an important reason for restricting the development of pulsar navigation is that navigation accuracy is not high due to the slow update of the measurements. In order to improve the accuracy of pulsar navigation, an asynchronous observation model which can improve the update rate of the measurements is proposed on the basis of satellite constellation which has a broad space for development because of its visibility and reliability. The simulation results show that the asynchronous observation model improves the positioning accuracy by 31.48% and velocity accuracy by 24.75% than that of the synchronous observation model. With the new Doppler effects compensation method in the asynchronous observation model proposed in this paper, the positioning accuracy is improved by 32.27%, and the velocity accuracy is improved by 34.07% than that of the traditional method. The simulation results show that without considering the clock error will result in a filtering divergence.

  19. Comparison of three optical tracking systems in a complex navigation scenario.

    PubMed

    Rudolph, Tobias; Ebert, Lars; Kowal, Jens

    2010-01-01

    Three-dimensional rotational X-ray imaging with the SIREMOBIL Iso-C3D (Siemens AG, Medical Solutions, Erlangen, Germany) has become a well-established intra-operative imaging modality. In combination with a tracking system, the Iso-C3D provides inherently registered image volumes ready for direct navigation. This is achieved by means of a pre-calibration procedure. The aim of this study was to investigate the influence of the tracking system used on the overall navigation accuracy of direct Iso-C3D navigation. Three models of tracking system were used in the study: Two Optotrak 3020s, a Polaris P4 and a Polaris Spectra system, with both Polaris systems being in the passive operation mode. The evaluation was carried out at two different sites using two Iso-C3D devices. To measure the navigation accuracy, a number of phantom experiments were conducted using an acrylic phantom equipped with titanium spheres. After scanning, a special pointer was used to pinpoint these markers. The difference between the digitized and navigated positions served as the accuracy measure. Up to 20 phantom scans were performed for each tracking system. The average accuracy measured was 0.86 mm and 0.96 mm for the two Optotrak 3020 systems, 1.15 mm for the Polaris P4, and 1.04 mm for the Polaris Spectra system. For the Polaris systems a higher maximal error was found, but all three systems yielded similar minimal errors. On average, all tracking systems used in this study could deliver similar navigation accuracy. The passive Polaris system showed – as expected – higher maximal errors; however, depending on the application constraints, this might be negligible.

  20. Very high precision and accuracy analysis of triple isotopic ratios of water. A critical instrumentation comparison study.

    NASA Astrophysics Data System (ADS)

    Gkinis, Vasileios; Holme, Christian; Morris, Valerie; Thayer, Abigail Grace; Vaughn, Bruce; Kjaer, Helle Astrid; Vallelonga, Paul; Simonsen, Marius; Jensen, Camilla Marie; Svensson, Anders; Maffrezzoli, Niccolo; Vinther, Bo; Dallmayr, Remi

    2017-04-01

    We present a performance comparison study between two state of the art Cavity Ring Down Spectrometers (Picarro L2310-i, L2140-i). The comparison took place during the Continuous Flow Analysis (CFA) campaign for the measurement of the Renland ice core, over a period of three months. Instant and complete vaporisation of the ice core melt stream, as well as of in-house water reference materials is achieved by accurate control of microflows of liquid into a homemade calibration system by following simple principles of the Hagen-Poiseuille law. Both instruments share the same vaporisation unit in a configuration that minimises sample preparation discrepancies between the two analyses. We describe our SMOW-SLAP calibration and measurement protocols for such a CFA application and present quality control metrics acquired during the full period of the campaign on a daily basis. The results indicate an unprecedented performance for all 3 isotopic ratios (δ2H, δ17O, δ18O ) in terms of precision, accuracy and resolution. We also comment on the precision and accuracy of the second order excess parameters of HD16O and H217O over H218O (Dxs, Δ17O ). To our knowledge these are the first reported CFA measurements at this level of precision and accuracy for all three isotopic ratios. Differences on the performance of the two instruments are carefully assessed during the measurement and reported here. Our quality control protocols extend to the area of low water mixing ratios, a regime in which often atmospheric vapour measurements take place and Cavity Ring Down Analysers show a poorer performance due to the lower signal to noise ratios. We address such issues and propose calibration protocols from which water vapour isotopic analyses can benefit from.

  1. 6DOF Testing of the SLS Inertial Navigation Unit

    NASA Technical Reports Server (NTRS)

    Geohagan, Kevin; Bernard, Bill; Oliver, T. Emerson; Leggett, Jared; Strickland, Dennis

    2018-01-01

    The Navigation System on the NASA Space Launch System (SLS) Block 1 vehicle performs initial alignment of the Inertial Navigation System (INS) navigation frame through gyrocompass alignment (GCA). Because the navigation architecture for the SLS Block 1 vehicle is a purely inertial system, the accuracy of the achieved orbit relative to mission requirements is very sensitive to initial alignment accuracy. The assessment of this sensitivity and many others via simulation is a part of the SLS Model-Based Design and Model-Based Requirements approach. As a part of the aforementioned, 6DOF Monte Carlo simulation is used in large part to develop and demonstrate verification of program requirements. To facilitate this and the GN&C flight software design process, an SLS-Program-controlled Design Math Model (DMM) of the SLS INS was developed by the SLS Navigation Team. The SLS INS model implements all of the key functions of the hardware-namely, GCA, inertial navigation, and FDIR (Fault Detection, Isolation, and Recovery)-in support of SLS GN&C design requirements verification. Despite the strong sensitivity to initial alignment, GCA accuracy requirements were not verified by test due to program cost and schedule constraints. Instead, the system relies upon assessments performed using the SLS INS model. In order to verify SLS program requirements by analysis, the SLS INS model is verified and validated against flight hardware. In lieu of direct testing of GCA accuracy in support of requirement verification, the SLS Navigation Team proposed and conducted an engineering test to, among other things, validate the GCA performance and overall behavior of the SLS INS model through comparison with test data. This paper will detail dynamic hardware testing of the SLS INS, conducted by the SLS Navigation Team at Marshall Space Flight Center's 6DOF Table Facility, in support of GCA performance characterization and INS model validation. A 6-DOF motion platform was used to produce 6DOF

  2. Precise GNSS Positioning Using Smart Devices.

    PubMed

    Realini, Eugenio; Caldera, Stefano; Pertusini, Lisa; Sampietro, Daniele

    2017-10-24

    The recent access to GNSS (Global Navigation Satellite System) phase observations on smart devices, enabled by Google through its Android operating system, opens the possibility to apply precise positioning techniques using off-the-shelf, mass-market devices. The target of this work is to evaluate whether this is feasible, and which positioning accuracy can be achieved by relative positioning of the smart device with respect to a base station. Positioning of a Google/HTC Nexus 9 tablet was performed by means of batch least-squares adjustment of L1 phase double-differenced observations, using the open source goGPS software, over baselines ranging from approximately 10 m to 8 km, with respect to both physical (geodetic or low-cost) and virtual base stations. The same positioning procedure was applied also to a co-located u-blox low-cost receiver, to compare the performance between the receiver and antenna embedded in the Nexus 9 and a standard low-cost single-frequency receiver with external patch antenna. The results demonstrate that with a smart device providing raw GNSS phase observations, like the Nexus 9, it is possible to reach decimeter-level accuracy through rapid-static surveys, without phase ambiguity resolution. It is expected that sub-centimeter accuracy could be achieved, as demonstrated for the u-blox case, if integer phase ambiguities were correctly resolved.

  3. Precise GNSS Positioning Using Smart Devices

    PubMed Central

    Caldera, Stefano; Pertusini, Lisa

    2017-01-01

    The recent access to GNSS (Global Navigation Satellite System) phase observations on smart devices, enabled by Google through its Android operating system, opens the possibility to apply precise positioning techniques using off-the-shelf, mass-market devices. The target of this work is to evaluate whether this is feasible, and which positioning accuracy can be achieved by relative positioning of the smart device with respect to a base station. Positioning of a Google/HTC Nexus 9 tablet was performed by means of batch least-squares adjustment of L1 phase double-differenced observations, using the open source goGPS software, over baselines ranging from approximately 10 m to 8 km, with respect to both physical (geodetic or low-cost) and virtual base stations. The same positioning procedure was applied also to a co-located u-blox low-cost receiver, to compare the performance between the receiver and antenna embedded in the Nexus 9 and a standard low-cost single-frequency receiver with external patch antenna. The results demonstrate that with a smart device providing raw GNSS phase observations, like the Nexus 9, it is possible to reach decimeter-level accuracy through rapid-static surveys, without phase ambiguity resolution. It is expected that sub-centimeter accuracy could be achieved, as demonstrated for the u-blox case, if integer phase ambiguities were correctly resolved. PMID:29064417

  4. [Precision and accuracy of a dental spectrophotometer in gingival color measurement of maxillary anterior gingival].

    PubMed

    Du, Yang; Tan, Jian-guo; Chen, Li; Wang, Fang-ping; Tan, Yao; Zhou, Jian-feng

    2012-08-18

    To explore a gingival shade matching method and to evaluate the precision and accuracy of a dental spectrophotometer modified to be used in gingival color measurement. Crystaleye, a dental spectrophotometer (Olympus, Tokyo, Japan) with a custom shading cover was tested. For precision assessment, two experienced experimenters measured anterior maxillary incisors five times for each tooth. A total of 20 healthy gingival sites (attached gingiva, free gingiva and medial gingival papilla in anterior maxillary region) were measured,the Commission Internationale de I' Eclairage (CIE) color parameters (CIE L*a*b*) of which were analyzed using the supporting software. For accuracy assessment, a rectangular area of approximately 3 mm×3 mm was chosen in the attached gingival portion for spectral analysis. PR715 (SpectraScan;Photo Research Inc.,California, USA), a spectroradiometer, was utilized as standard control. Average color differences (ΔE) between the values from PR715 and Crystaleye were calculated. In precision assessment,ΔL* between the values in all the test sites and average values were from(0.28±0.16)to(0.78±0.57), with Δa*and Δb* from(0.28±0.15)to (0.87±0.65),from(0.19±0.09)to( 0.58±0.78), respectively. Average ΔE between values in all test sites and average values were from (0.62 ± 0.17) to (1.25 ± 0.98) CIELAB units, with a total average ΔE(0.90 ± 0.18). In accuracy assessment, ΔL* with control device were from(0.58±0.50)to(2.22±1.89),with Δa*and Δb* from(1.03±0.67)to(2.99±1.32),from(0.68±0.78)to(1.26±0.83), respectively. Average ΔE with the control device were from (2.44±0.82) to (3.51±1.03) CIELAB units, with a total average ΔE (2.96 ± 1.08). With appropriate modification, Crystaleye, the spectrophotometer, has demonstrated relative minor color variations that can be useful in gingival color measurement.

  5. Precision and accuracy in smFRET based structural studies—A benchmark study of the Fast-Nano-Positioning System

    NASA Astrophysics Data System (ADS)

    Nagy, Julia; Eilert, Tobias; Michaelis, Jens

    2018-03-01

    Modern hybrid structural analysis methods have opened new possibilities to analyze and resolve flexible protein complexes where conventional crystallographic methods have reached their limits. Here, the Fast-Nano-Positioning System (Fast-NPS), a Bayesian parameter estimation-based analysis method and software, is an interesting method since it allows for the localization of unknown fluorescent dye molecules attached to macromolecular complexes based on single-molecule Förster resonance energy transfer (smFRET) measurements. However, the precision, accuracy, and reliability of structural models derived from results based on such complex calculation schemes are oftentimes difficult to evaluate. Therefore, we present two proof-of-principle benchmark studies where we use smFRET data to localize supposedly unknown positions on a DNA as well as on a protein-nucleic acid complex. Since we use complexes where structural information is available, we can compare Fast-NPS localization to the existing structural data. In particular, we compare different dye models and discuss how both accuracy and precision can be optimized.

  6. Precision and Accuracy of a Digital Impression Scanner in Full-Arch Implant Rehabilitation.

    PubMed

    Pesce, Paolo; Pera, Francesco; Setti, Paolo; Menini, Maria

    To evaluate the accuracy and precision of a digital scanner used to scan four implants positioned according to an immediate loading implant protocol and to assess the accuracy of an aluminum framework fabricated from a digital impression. Five master casts reproducing different edentulous maxillae with four tilted implants were used. Four scan bodies were screwed onto the low-profile abutments, and a digital intraoral scanner was used to perform five digital impressions of each master cast. To assess trueness, a metal framework of the best digital impression was produced with computer-aided design/computer-assisted manufacture (CAD/CAM) technology and passive fit was assessed with the Sheffield test. Gaps between the frameworks and the implant analogs were measured with a stereomicroscope. To assess precision, three-dimensional (3D) point cloud processing software was used to measure the deviations between the five digital impressions of each cast by producing a color map. The deviation values were grouped in three classes, and differences were assessed between class 2 (representing lower discrepancies) and the assembled classes 1 and 3 (representing the higher negative and positive discrepancies, respectively). The frameworks showed a mean gap of < 30 μm (range: 2 to 47 μm). A statistically significant difference was found between the two groups by the 3D point cloud software, with higher frequencies of points in class 2 than in grouped classes 1 and 3 (P < .001). Within the limits of this in vitro study, it appears that a digital impression may represent a reliable method for fabricating full-arch implant frameworks with good passive fit when tilted implants are present.

  7. Navigation system for robot-assisted intra-articular lower-limb fracture surgery.

    PubMed

    Dagnino, Giulio; Georgilas, Ioannis; Köhler, Paul; Morad, Samir; Atkins, Roger; Dogramadzi, Sanja

    2016-10-01

    In the surgical treatment for lower-leg intra-articular fractures, the fragments have to be positioned and aligned to reconstruct the fractured bone as precisely as possible, to allow the joint to function correctly again. Standard procedures use 2D radiographs to estimate the desired reduction position of bone fragments. However, optimal correction in a 3D space requires 3D imaging. This paper introduces a new navigation system that uses pre-operative planning based on 3D CT data and intra-operative 3D guidance to virtually reduce lower-limb intra-articular fractures. Physical reduction in the fractures is then performed by our robotic system based on the virtual reduction. 3D models of bone fragments are segmented from CT scan. Fragments are pre-operatively visualized on the screen and virtually manipulated by the surgeon through a dedicated GUI to achieve the virtual reduction in the fracture. Intra-operatively, the actual position of the bone fragments is provided by an optical tracker enabling real-time 3D guidance. The motion commands for the robot connected to the bone fragment are generated, and the fracture physically reduced based on the surgeon's virtual reduction. To test the system, four femur models were fractured to obtain four different distal femur fracture types. Each one of them was subsequently reduced 20 times by a surgeon using our system. The navigation system allowed an orthopaedic surgeon to virtually reduce the fracture with a maximum residual positioning error of [Formula: see text] (translational) and [Formula: see text] (rotational). Correspondent physical reductions resulted in an accuracy of 1.03 ± 0.2 mm and [Formula: see text], when the robot reduced the fracture. Experimental outcome demonstrates the accuracy and effectiveness of the proposed navigation system, presenting a fracture reduction accuracy of about 1 mm and [Formula: see text], and meeting the clinical requirements for distal femur fracture reduction procedures.

  8. Assessment of xylem phenology: a first attempt to verify its accuracy and precision.

    PubMed

    Lupi, C; Rossi, S; Vieira, J; Morin, H; Deslauriers, A

    2014-01-01

    This manuscript aims to evaluate the precision and accuracy of current methodology for estimating xylem phenology and tracheid production in trees. Through a simple approach, sampling at two positions on the stem of co-dominant black spruce trees in two sites of the boreal forest of Quebec, we were able to quantify variability among sites, between trees and within a tree for different variables. We demonstrated that current methodology is accurate for the estimation of the onset of xylogenesis, while the accuracy for the evaluation of the ending of xylogenesis may be improved by sampling at multiple positions on the stem. The pattern of variability in different phenological variables and cell production allowed us to advance a novel hypothesis on the shift in the importance of various drivers of xylogenesis, from factors mainly varying at the level of site (e.g., climate) at the beginning of the growing season to factors varying at the level of individual trees (e.g., possibly genetic variability) at the end of the growing season.

  9. An accuracy measurement method for star trackers based on direct astronomic observation

    PubMed Central

    Sun, Ting; Xing, Fei; Wang, Xiaochu; You, Zheng; Chu, Daping

    2016-01-01

    Star tracker is one of the most promising optical attitude measurement devices and it is widely used in spacecraft for its high accuracy. However, how to realize and verify such an accuracy remains a crucial but unsolved issue until now. The authenticity of the accuracy measurement method of a star tracker will eventually determine the satellite performance. A new and robust accuracy measurement method for a star tracker based on the direct astronomical observation is proposed here. In comparison with the conventional method with simulated stars, this method utilizes real navigation stars as observation targets which makes the measurement results more authoritative and authentic. Transformations between different coordinate systems are conducted on the account of the precision movements of the Earth, and the error curves of directional vectors are obtained along the three axes. Based on error analysis and accuracy definitions, a three-axis accuracy evaluation criterion has been proposed in this paper, which could determine pointing and rolling accuracy of a star tracker directly. Experimental measurements confirm that this method is effective and convenient to implement. Such a measurement environment is close to the in-orbit conditions and it can satisfy the stringent requirement for high-accuracy star trackers. PMID:26948412

  10. An accuracy measurement method for star trackers based on direct astronomic observation.

    PubMed

    Sun, Ting; Xing, Fei; Wang, Xiaochu; You, Zheng; Chu, Daping

    2016-03-07

    Star tracker is one of the most promising optical attitude measurement devices and it is widely used in spacecraft for its high accuracy. However, how to realize and verify such an accuracy remains a crucial but unsolved issue until now. The authenticity of the accuracy measurement method of a star tracker will eventually determine the satellite performance. A new and robust accuracy measurement method for a star tracker based on the direct astronomical observation is proposed here. In comparison with the conventional method with simulated stars, this method utilizes real navigation stars as observation targets which makes the measurement results more authoritative and authentic. Transformations between different coordinate systems are conducted on the account of the precision movements of the Earth, and the error curves of directional vectors are obtained along the three axes. Based on error analysis and accuracy definitions, a three-axis accuracy evaluation criterion has been proposed in this paper, which could determine pointing and rolling accuracy of a star tracker directly. Experimental measurements confirm that this method is effective and convenient to implement. Such a measurement environment is close to the in-orbit conditions and it can satisfy the stringent requirement for high-accuracy star trackers.

  11. Sensor-Based Inspection of the Formation Accuracy in Ultra-Precision Grinding (UPG) of Aspheric Surface Considering the Chatter Vibration

    NASA Astrophysics Data System (ADS)

    Lei, Yao; Bai, Yue; Xu, Zhijun

    2018-06-01

    This paper proposes an experimental approach for monitoring and inspection of the formation accuracy in ultra-precision grinding (UPG) with respect to the chatter vibration. Two factors related to the grinding progress, the grinding speed of grinding wheel and spindle, and the oil pressure of the hydrostatic bearing are taken into account to determining the accuracy. In the meantime, a mathematical model of the radius deviation caused by the micro vibration is also established and applied in the experiments. The results show that the accuracy is sensitive to the vibration and the forming accuracy is much improved with proper processing parameters. It is found that the accuracy of aspheric surface can be less than 4 μm when the grinding speed is 1400 r/min and the wheel speed is 100 r/min with the oil pressure being 1.1 MPa.

  12. Efficiency improvement by navigated safety inspection involving visual clutter based on the random search model.

    PubMed

    Sun, Xinlu; Chong, Heap-Yih; Liao, Pin-Chao

    2018-06-25

    Navigated inspection seeks to improve hazard identification (HI) accuracy. With tight inspection schedule, HI also requires efficiency. However, lacking quantification of HI efficiency, navigated inspection strategies cannot be comprehensively assessed. This work aims to determine inspection efficiency in navigated safety inspection, controlling for the HI accuracy. Based on a cognitive method of the random search model (RSM), an experiment was conducted to observe the HI efficiency in navigation, for a variety of visual clutter (VC) scenarios, while using eye-tracking devices to record the search process and analyze the search performance. The results show that the RSM is an appropriate instrument, and VC serves as a hazard classifier for navigation inspection in improving inspection efficiency. This suggests a new and effective solution for addressing the low accuracy and efficiency of manual inspection through navigated inspection involving VC and the RSM. It also provides insights into the inspectors' safety inspection ability.

  13. Real-Time Tropospheric Product Establishment and Accuracy Assessment in China

    NASA Astrophysics Data System (ADS)

    Chen, M.; Guo, J.; Wu, J.; Song, W.; Zhang, D.

    2018-04-01

    Tropospheric delay has always been an important issue in Global Navigation Satellite System (GNSS) processing. Empirical tropospheric delay models are difficult to simulate complex and volatile atmospheric environments, resulting in poor accuracy of the empirical model and difficulty in meeting precise positioning demand. In recent years, some scholars proposed to establish real-time tropospheric product by using real-time or near-real-time GNSS observations in a small region, and achieved some good results. This paper uses real-time observing data of 210 Chinese national GNSS reference stations to estimate the tropospheric delay, and establishes ZWD grid model in the country wide. In order to analyze the influence of tropospheric grid product on wide-area real-time PPP, this paper compares the method of taking ZWD grid product as a constraint with the model correction method. The results show that the ZWD grid product estimated based on the national reference stations can improve PPP accuracy and convergence speed. The accuracy in the north (N), east (E) and up (U) direction increase by 31.8 %,15.6 % and 38.3 %, respectively. As with the convergence speed, the accuracy of U direction experiences the most improvement.

  14. Pilot performance: assessing how scan patterns & navigational assessments vary by flight expertise.

    PubMed

    Yang, Ji Hyun; Kennedy, Quinn; Sullivan, Joseph; Fricker, Ronald D

    2013-02-01

    Helicopter overland navigation is a cognitively complex task that requires continuous monitoring of system and environmental parameters and many hours of training to master. This study investigated the effect of expertise on pilots' gaze measurements, navigation accuracy, and subjective assessment of their navigation accuracy in overland navigation on easy and difficult routes. A simulated overland task was completed by 12 military officers who ranged in flight experience as measured by total flight hours (TFH). They first studied a map of a route that included both easy and difficult route sections, and then had to 'fly' this simulated route in a fixed-base helicopter simulator. They also completed pre-task estimations and post-task assessments of the navigational difficulty of the transit to each waypoint in the route. Their scan pattern was tracked via eye tracking systems, which captured both the subject's out-the-window (OTW) and topographical map scan data. TFH was not associated with navigation accuracy or root mean square (RMS) error for any route section. For the easy routes, experts spent less time scanning out the window (p = 0.61) and had shorter OTW dwell (p = -0.66). For the difficult routes, experts appeared to slow down their scan by spending as much time scanning out the window as the novices while also having fewer Map fixations (p = -0.65) and shorter OTW dwell (p = -0.69). However, TFH was not significantly correlated with more accurate estimates of route difficulty. This study found that TFH did not predict navigation accuracy or subjective assessment, but was correlated with some gaze parameters.

  15. Regionalized Lunar South Pole Surface Navigation System Analysis

    NASA Technical Reports Server (NTRS)

    Welch, Bryan W.

    2008-01-01

    Apollo missions utilized Earth-based assets for navigation because the landings took place at lunar locations in constant view from the Earth. The new exploration campaign to the lunar south pole region will have limited Earth visibility, but the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in this region is unknown. This report presents a dilution-of-precision (DoP)-based, stationary surface navigation analysis of the performance of multiple lunar satellite constellations, Earth-based deep space network assets, and combinations thereof. Results show that kinematic and integrated solutions cannot be provided by the Earth-based deep space network stations. Also, the stationary surface navigation system needs to be operated either as a two-way navigation system or as a one-way navigation system with local terrain information, while the position solution is integrated over a short duration of time with navigation signals being provided by a lunar satellite constellation.

  16. Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors

    PubMed Central

    Girard, Gabriel; Côté, Stéphane; Zlatanova, Sisi; Barette, Yannick; St-Pierre, Johanne; van Oosterom, Peter

    2011-01-01

    Many solutions have been proposed for indoor pedestrian navigation. Some rely on pre-installed sensor networks, which offer good accuracy but are limited to areas that have been prepared for that purpose, thus requiring an expensive and possibly time-consuming process. Such methods are therefore inappropriate for navigation in emergency situations since the power supply may be disturbed. Other types of solutions track the user without requiring a prepared environment. However, they may have low accuracy. Offline tracking has been proposed to increase accuracy, however this prevents users from knowing their position in real time. This paper describes a real time indoor navigation system that does not require prepared building environments and provides tracking accuracy superior to previously described tracking methods. The system uses a combination of four techniques: foot-mounted IMU (Inertial Motion Unit), ultrasonic ranging, particle filtering and model-based navigation. The very purpose of the project is to combine these four well-known techniques in a novel way to provide better indoor tracking results for pedestrians. PMID:22164034

  17. Application of Vehicle Dynamic Modeling in Uavs for Precise Determination of Exterior Orientation

    NASA Astrophysics Data System (ADS)

    Khaghani, M.; Skaloud, J.

    2016-06-01

    Advances in unmanned aerial vehicles (UAV) and especially micro aerial vehicle (MAV) technology together with increasing quality and decreasing price of imaging devices have resulted in growing use of MAVs in photogrammetry. The practicality of MAV mapping is seriously enhanced with the ability to determine parameters of exterior orientation (EO) with sufficient accuracy, in both absolute and relative senses (change of attitude between successive images). While differential carrier phase GNSS satisfies cm-level positioning accuracy, precise attitude determination is essential for both direct sensor orientation (DiSO) and integrated sensor orientation (ISO) in corridor mapping or in block configuration imaging over surfaces with low texture. Limited cost, size, and weight of MAVs represent limitations on quality of onboard navigation sensors and puts emphasis on exploiting full capacity of available resources. Typically short flying times (10-30 minutes) also limit the possibility of estimating and/or correcting factors such as sensor misalignment and poor attitude initialization of inertial navigation system (INS). This research aims at increasing the accuracy of attitude determination in both absolute and relative senses with no extra sensors onboard. In comparison to classical INS/GNSS setup, novel approach is presented here to integrated state estimation, in which vehicle dynamic model (VDM) is used as the main process model. Such system benefits from available information from autopilot and physical properties of the platform in enhancing performance of determination of trajectory and parameters of exterior orientation consequently. The navigation system employs a differential carrier phase GNSS receiver and a micro electro-mechanical system (MEMS) grade inertial measurement unit (IMU), together with MAV control input from autopilot. Monte-Carlo simulation has been performed on trajectories for typical corridor mapping and block imaging. Results reveal

  18. Comparing conventional and computer-assisted surgery baseplate and screw placement in reverse shoulder arthroplasty.

    PubMed

    Venne, Gabriel; Rasquinha, Brian J; Pichora, David; Ellis, Randy E; Bicknell, Ryan

    2015-07-01

    Preoperative planning and intraoperative navigation technologies have each been shown separately to be beneficial for optimizing screw and baseplate positioning in reverse shoulder arthroplasty (RSA) but to date have not been combined. This study describes development of a system for performing computer-assisted RSA glenoid baseplate and screw placement, including preoperative planning, intraoperative navigation, and postoperative evaluation, and compares this system with a conventional approach. We used a custom-designed system allowing computed tomography (CT)-based preoperative planning, intraoperative navigation, and postoperative evaluation. Five orthopedic surgeons defined common preoperative plans on 3-dimensional CT reconstructed cadaveric shoulders. Each surgeon performed 3 computer-assisted and 3 conventional simulated procedures. The 3-dimensional CT reconstructed postoperative units were digitally matched to the preoperative model for evaluation of entry points, end points, and angulations of screws and baseplate. Values were used to find accuracy and precision of the 2 groups with respect to the defined placement. Statistical analysis was performed by t tests (α = .05). Comparison of the groups revealed no difference in accuracy or precision of screws or baseplate entry points (P > .05). Accuracy and precision were improved with use of navigation for end points and angulations of 3 screws (P < .05). Accuracy of the inferior screw showed a trend of improvement with navigation (P > .05). Navigated baseplate end point precision was improved (P < .05), with a trend toward improved accuracy (P > .05). We conclude that CT-based preoperative planning and intraoperative navigation allow improved accuracy and precision for screw placement and precision for baseplate positioning with respect to a predefined placement compared with conventional techniques in RSA. Copyright © 2015 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by

  19. Development of a Coherent Lidar for Aiding Precision Soft Landing on Planetary Bodies

    NASA Technical Reports Server (NTRS)

    Amzajerdian, Farzin; Pierrottet, Diego; Tolson, Robert H.; Powell, Richard W.; Davidson, John B.; Peri, Frank

    2005-01-01

    Coherent lidar can play a critical role in future planetary exploration missions by providing key guidance, navigation, and control (GNC) data necessary for navigating planetary landers to the pre-selected site and achieving autonomous safe soft-landing. Although the landing accuracy has steadily improved over time to approximately 35 km for the recent Mars Exploration Rovers due to better approach navigation, a drastically different guidance, navigation and control concept is required to meet future mission requirements. For example, future rovers will require better than 6 km landing accuracy for Mars and better than 1 km for the Moon plus maneuvering capability to avoid hazardous terrain features. For this purpose, an all-fiber coherent lidar is being developed to address the call for advancement of entry, descent, and landing technologies. This lidar will be capable of providing precision range to the ground and approach velocity data, and in the case of landing on Mars, it will also measure the atmospheric wind and density. The lidar obtains high resolution range information from a frequency modulated-continuous wave (FM-CW) laser beam whose instantaneous frequency varies linearly with time, and the ground vector velocity is directly extracted from the Doppler frequency shift. Utilizing the high concentration of aerosols in the Mars atmosphere (approx. two order of magnitude higher than the Earth), the lidar can measure wind velocity with a few watts of optical power. Operating in 1.57 micron wavelength regime, the lidar can use the differential absorption (DIAL) technique to measure the average CO2 concentration along the laser beam using, that is directly proportional to the Martian atmospheric density. Employing fiber optics components allows for the lidar multi-functional operation while facilitating a highly efficient, compact and reliable design suitable for integration into a spacecraft with limited mass, size, and power resources.

  20. Impact of survey workflow on precision and accuracy of terrestrial LiDAR datasets

    NASA Astrophysics Data System (ADS)

    Gold, P. O.; Cowgill, E.; Kreylos, O.

    2009-12-01

    Ground-based LiDAR (Light Detection and Ranging) survey techniques are enabling remote visualization and quantitative analysis of geologic features at unprecedented levels of detail. For example, digital terrain models computed from LiDAR data have been used to measure displaced landforms along active faults and to quantify fault-surface roughness. But how accurately do terrestrial LiDAR data represent the true ground surface, and in particular, how internally consistent and precise are the mosaiced LiDAR datasets from which surface models are constructed? Addressing this question is essential for designing survey workflows that capture the necessary level of accuracy for a given project while minimizing survey time and equipment, which is essential for effective surveying of remote sites. To address this problem, we seek to define a metric that quantifies how scan registration error changes as a function of survey workflow. Specifically, we are using a Trimble GX3D laser scanner to conduct a series of experimental surveys to quantify how common variables in field workflows impact the precision of scan registration. Primary variables we are testing include 1) use of an independently measured network of control points to locate scanner and target positions, 2) the number of known-point locations used to place the scanner and point clouds in 3-D space, 3) the type of target used to measure distances between the scanner and the known points, and 4) setting up the scanner over a known point as opposed to resectioning of known points. Precision of the registered point cloud is quantified using Trimble Realworks software by automatic calculation of registration errors (errors between locations of the same known points in different scans). Accuracy of the registered cloud (i.e., its ground-truth) will be measured in subsequent experiments. To obtain an independent measure of scan-registration errors and to better visualize the effects of these errors on a registered point

  1. Integrated polarization-dependent sensor for autonomous navigation

    NASA Astrophysics Data System (ADS)

    Liu, Ze; Zhang, Ran; Wang, Zhiwen; Guan, Le; Li, Bin; Chu, Jinkui

    2015-01-01

    Based on the navigation strategy of insects utilizing the polarized skylight, an integrated polarization-dependent sensor for autonomous navigation is presented. The navigation sensor has the features of compact structure, high precision, strong robustness, and a simple manufacture technique. The sensor is composed by integrating a complementary-metal-oxide-semiconductor sensor with a multiorientation nanowire grid polarizer. By nanoimprint lithography, the multiorientation nanowire polarizer is fabricated in one step and the alignment error is eliminated. The statistical theory is added to the interval-division algorithm to calculate the polarization angle of the incident light. The laboratory and outdoor tests for the navigation sensor are implemented and the errors of the measured angle are ±0.02 deg and ±1.3 deg, respectively. The results show that the proposed sensor has potential for application in autonomous navigation.

  2. Terminal navigation analysis for the 1980 comet Encke slow flyby mission

    NASA Technical Reports Server (NTRS)

    Jacobson, R. A.; Mcdanell, J. P.; Rinker, G. C.

    1973-01-01

    The initial results of a terminal navigation analysis for the proposed 1980 solar electric slow flyby mission to the comet Encke are presented. The navigation technique employs onboard optical measurements with the scientific television camera, groundbased observations of the spacecraft and comet, and groundbased orbit determination and thrust vector update computation. The knowledge and delivery accuracies of the spacecraft are evaluated as a function of the important parameters affecting the terminal navigation. These include optical measurement accuracy, thruster noise level, duration of the planned terminal coast period, comet ephemeris uncertainty, guidance initiation time, guidance update frequency, and optical data rate.

  3. Interactive navigation-guided ophthalmic plastic surgery: the techniques and utility of 3-dimensional navigation.

    PubMed

    Ali, Mohammad Javed; Naik, Milind N; Kaliki, Swathi; Dave, Tarjani Vivek; Dendukuri, Gautam

    2017-06-01

    To demonstrate the techniques and utility of 3-dimensional reconstruction (3DR) of the target pathologies for subsequent navigation guidance in ophthalmic plastic surgery. Prospective interventional case series. Stereotactic surgeries using 3D reconstruction of target lesions as the intraoperative image-guiding tool were performed in 5 patients with varied etiopathologies. All the surgeries were performed using the intraoperative image-guided StealthStation system in the electromagnetic mode. 3DR was performed using StealthStation 3D model software. The utility of 3D reconstruction for extensive orbital mass lesions, large orbital fractures, intraconal foreign body, and delineation of perilesional intricate structures was studied. The intraoperative ease and usefulness for the navigation of a 3D lesion at crucial phases of the surgery were noted. Intraoperative geometric localization of the 3D lesions was found to be enhanced and precise. 3D reconstruction of the lesion along with the major vessels and nerves in the vicinity helped the surgeon to prevent potential injuries to these structures. The fracture defects could be navigated in a 3D plane and this helped in moderate customization of the implants intraoperatively. Foreign body located in difficult access positions could be accurately targeted for geometric localization before safe retrieval. Detailed preoperative 3D reconstruction by the surgeon was found to be beneficial for successful outcomes. Three-dimensional navigation is very useful in providing detailed anatomical delineation of the targets and enhances the precision in certain complex cases in ophthalmic plastic surgery. Copyright © 2017 Canadian Ophthalmological Society. Published by Elsevier Inc. All rights reserved.

  4. A novel navigation system for maxillary positioning in orthognathic surgery: Preclinical evaluation.

    PubMed

    Lutz, Jean-Christophe; Nicolau, Stéphane; Agnus, Vincent; Bodin, Frédéric; Wilk, Astrid; Bruant-Rodier, Catherine; Rémond, Yves; Soler, Luc

    2015-11-01

    Appropriate positioning of the maxilla is critical in orthognathic surgery. As opposed to splint-based positioning, navigation systems are versatile and appropriate in assessing the vertical dimension. Bulk and disruption to the line of sight are drawbacks of optical navigation systems. Our aim was to develop and assess a novel navigation system based on electromagnetic tracking of the maxilla, including real-time registration of head movements. Since the software interface has proved to greatly influence the accuracy of the procedure, we purposely designed and evaluated an original, user-friendly interface. A sample of 12 surgeons had to navigate the phantom osteotomized maxilla to eight given target positions using the software we have developed. Time and accuracy (translational error and angular error) were compared between a conventional and a navigated session. A questionnaire provided qualitative evaluation. Our system definitely allows a reduction in variability of time and accuracy among different operators. Accuracy was improved in all surgeons (mean terror difference = 1.11 mm, mean aerror difference = 1.32°). Operative time was decreased in trainees. Therefore, they would benefit from such a system that could also serve for educational purposes. The majority of surgeons who strongly agreed that such a navigation system would prove very helpful in complex deformities, also stated that it would be helpful in everyday orthognathic procedures. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

  5. How training citizen scientists affects the accuracy and precision of phenological data

    NASA Astrophysics Data System (ADS)

    Feldman, Richard E.; Žemaitė, Irma; Miller-Rushing, Abraham J.

    2018-05-01

    Monitoring plant and animal phenology is a critical step to anticipating and predicting changes in species interactions and biodiversity. Because phenology necessarily involves frequent and repeated observations over time, citizen scientists have become a vital part of collecting phenological data. However, there is still concern over the accuracy and precision of citizen science data. It is possible that training citizen scientists can improve data quality though there are few comparisons of trained and untrained citizen scientists in the ability of each to accurately and precisely measure phenology. We assessed how three types of observers—experts, trained citizen scientists that make repeated observations, and untrained citizen scientists making once-per-year observations—differ in quantifying temporal change in flower and fruit abundance of American mountain ash trees (Sorbus americana Marsh.) and arthropods in Acadia National Park, Maine, USA. We found that trained more so than untrained citizen science observers over- or under-estimated abundances leading to precise but inaccurate characterizations of phenological patterns. Our results suggest a new type of bias induced by repeated observations: A type of learning takes place that reduces the independence of observations taken on different trees or different dates. Thus, in this and many other cases, having individuals make one-off observations of marked plants may produce data as good if not better than individuals making repeated observations. For citizen science programs related to phenology, our results underscore the importance of (a) attracting the most number of observers possible even if they only make one observation, (b) producing easy-to-use and informative data sheets, and (c) carefully planning effective training programs that are, perhaps, repeated at different points during the data collection period.

  6. How training citizen scientists affects the accuracy and precision of phenological data.

    PubMed

    Feldman, Richard E; Žemaitė, Irma; Miller-Rushing, Abraham J

    2018-05-07

    Monitoring plant and animal phenology is a critical step to anticipating and predicting changes in species interactions and biodiversity. Because phenology necessarily involves frequent and repeated observations over time, citizen scientists have become a vital part of collecting phenological data. However, there is still concern over the accuracy and precision of citizen science data. It is possible that training citizen scientists can improve data quality though there are few comparisons of trained and untrained citizen scientists in the ability of each to accurately and precisely measure phenology. We assessed how three types of observers-experts, trained citizen scientists that make repeated observations, and untrained citizen scientists making once-per-year observations-differ in quantifying temporal change in flower and fruit abundance of American mountain ash trees (Sorbus americana Marsh.) and arthropods in Acadia National Park, Maine, USA. We found that trained more so than untrained citizen science observers over- or under-estimated abundances leading to precise but inaccurate characterizations of phenological patterns. Our results suggest a new type of bias induced by repeated observations: A type of learning takes place that reduces the independence of observations taken on different trees or different dates. Thus, in this and many other cases, having individuals make one-off observations of marked plants may produce data as good if not better than individuals making repeated observations. For citizen science programs related to phenology, our results underscore the importance of (a) attracting the most number of observers possible even if they only make one observation, (b) producing easy-to-use and informative data sheets, and (c) carefully planning effective training programs that are, perhaps, repeated at different points during the data collection period.

  7. A three axis turntable's online initial state measurement method based on the high-accuracy laser gyro SINS

    NASA Astrophysics Data System (ADS)

    Gao, Chunfeng; Wei, Guo; Wang, Qi; Xiong, Zhenyu; Wang, Qun; Long, Xingwu

    2016-10-01

    As an indispensable equipment in inertial technology tests, the three-axis turntable is widely used in the calibration of various types inertial navigation systems (INS). In order to ensure the calibration accuracy of INS, we need to accurately measure the initial state of the turntable. However, the traditional measuring method needs a lot of exterior equipment (such as level instrument, north seeker, autocollimator, etc.), and the test processing is complex, low efficiency. Therefore, it is relatively difficult for the inertial measurement equipment manufacturers to realize the self-inspection of the turntable. Owing to the high precision attitude information provided by the laser gyro strapdown inertial navigation system (SINS) after fine alignment, we can use it as the attitude reference of initial state measurement of three-axis turntable. For the principle that the fixed rotation vector increment is not affected by measuring point, we use the laser gyro INS and the encoder of the turntable to provide the attitudes of turntable mounting plat. Through this way, the high accuracy measurement of perpendicularity error and initial attitude of the three-axis turntable has been achieved.

  8. An Inertial Dual-State State Estimator for Precision Planetary Landing with Hazard Detection and Avoidance

    NASA Technical Reports Server (NTRS)

    Bishop, Robert H.; DeMars, Kyle; Trawny, Nikolas; Crain, Tim; Hanak, Chad; Carson, John M.; Christian, John

    2016-01-01

    The navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative

  9. Space Launch Systems Block 1B Preliminary Navigation System Design

    NASA Technical Reports Server (NTRS)

    Oliver, T. Emerson; Park, Thomas; Anzalone, Evan; Smith, Austin; Strickland, Dennis; Patrick, Sean

    2018-01-01

    NASA is currently building the Space Launch Systems (SLS) Block 1 launch vehicle for the Exploration Mission 1 (EM-1) test flight. In parallel, NASA is also designing the Block 1B launch vehicle. The Block 1B vehicle is an evolution of the Block 1 vehicle and extends the capability of the NASA launch vehicle. This evolution replaces the Interim Cryogenic Propulsive Stage (ICPS) with the Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability, increased robustness for manned missions, and the capability to execute more demanding missions so must the SLS Integrated Navigation System evolved to support those missions. This paper describes the preliminary navigation systems design for the SLS Block 1B vehicle. The evolution of the navigation hard-ware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1B vehicle navigation system is de-signed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. Additionally, the Block 1B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and robust algorithm design, including Fault Detection, Isolation, and Recovery (FDIR) logic.

  10. Precision of computer-assisted core decompression drilling of the knee.

    PubMed

    Beckmann, J; Goetz, J; Bäthis, H; Kalteis, T; Grifka, J; Perlick, L

    2006-06-01

    Core decompression by exact drilling into the ischemic areas is the treatment of choice in early stages of osteonecrosis of the femoral condyle. Computer-aided surgery might enhance the precision of the drilling and lower the radiation exposure time of both staff and patients. The aim of this study was to evaluate the precision of the fluoroscopically based VectorVision-navigation system in an in vitro model. Thirty sawbones were prepared with a defect filled up with a radiopaque gypsum sphere mimicking the osteonecrosis. 20 sawbones were drilled by guidance of an intraoperative navigation system VectorVision (BrainLAB, Munich, Germany). Ten sawbones were drilled by fluoroscopic control only. A statistically significant difference with a mean distance of 0.58 mm in the navigated group and 0.98 mm in the control group regarding the distance to the desired mid-point of the lesion could be stated. Significant difference was further found in the number of drilling corrections as well as radiation time needed. The fluoroscopic-based VectorVision-navigation system shows a high feasibility and precision of computer-guided drilling with simultaneously reduction of radiation time and therefore could be integrated into clinical routine.

  11. An onboard navigation system which fulfills Mars aerocapture guidance requirements

    NASA Technical Reports Server (NTRS)

    Brand, Timothy J.; Fuhry, Douglas P.; Shepperd, Stanley W.

    1989-01-01

    The development of a candidate autonomous onboard Mars approach navigation scheme capable of supporting aerocapture into Mars orbit is discussed. An aerocapture guidance and navigation system which can run independently of the preaerocapture navigation was used to define a preliminary set of accuracy requirements at entry interface. These requirements are used to evaluate the proposed preaerocapture navigation scheme. This scheme uses optical sightings on Deimos with a star tracker and an inertial measurement unit for instrumentation as a source for navigation nformation. Preliminary results suggest that the approach will adequately support aerocaputre into Mars orbit.

  12. Evaluation of accuracy and precision of a smartphone based automated parasite egg counting system in comparison to the McMaster and Mini-FLOTAC methods.

    PubMed

    Scare, J A; Slusarewicz, P; Noel, M L; Wielgus, K M; Nielsen, M K

    2017-11-30

    Fecal egg counts are emphasized for guiding equine helminth parasite control regimens due to the rise of anthelmintic resistance. This, however, poses further challenges, since egg counting results are prone to issues such as operator dependency, method variability, equipment requirements, and time commitment. The use of image analysis software for performing fecal egg counts is promoted in recent studies to reduce the operator dependency associated with manual counts. In an attempt to remove operator dependency associated with current methods, we developed a diagnostic system that utilizes a smartphone and employs image analysis to generate automated egg counts. The aims of this study were (1) to determine precision of the first smartphone prototype, the modified McMaster and ImageJ; (2) to determine precision, accuracy, sensitivity, and specificity of the second smartphone prototype, the modified McMaster, and Mini-FLOTAC techniques. Repeated counts on fecal samples naturally infected with equine strongyle eggs were performed using each technique to evaluate precision. Triplicate counts on 36 egg count negative samples and 36 samples spiked with strongyle eggs at 5, 50, 500, and 1000 eggs per gram were performed using a second smartphone system prototype, Mini-FLOTAC, and McMaster to determine technique accuracy. Precision across the techniques was evaluated using the coefficient of variation. In regards to the first aim of the study, the McMaster technique performed with significantly less variance than the first smartphone prototype and ImageJ (p<0.0001). The smartphone and ImageJ performed with equal variance. In regards to the second aim of the study, the second smartphone system prototype had significantly better precision than the McMaster (p<0.0001) and Mini-FLOTAC (p<0.0001) methods, and the Mini-FLOTAC was significantly more precise than the McMaster (p=0.0228). Mean accuracies for the Mini-FLOTAC, McMaster, and smartphone system were 64.51%, 21.67%, and

  13. Autonomous navigation using lunar beacons

    NASA Technical Reports Server (NTRS)

    Khatib, A. R.; Ellis, J.; French, J.; Null, G.; Yunck, T.; Wu, S.

    1983-01-01

    The concept of using lunar beacon signal transmission for on-board navigation for earth satellites and near-earth spacecraft is described. The system would require powerful transmitters on the earth-side of the moon's surface and black box receivers with antennae and microprocessors placed on board spacecraft for autonomous navigation. Spacecraft navigation requires three position and three velocity elements to establish location coordinates. Two beacons could be soft-landed on the lunar surface at the limits of allowable separation and each would transmit a wide-beam signal with cones reaching GEO heights and be strong enough to be received by small antennae in near-earth orbit. The black box processor would perform on-board computation with one-way Doppler/range data and dynamical models. Alternatively, GEO satellites such as the GPS or TDRSS spacecraft can be used with interferometric techniques to provide decimeter-level accuracy for aircraft navigation.

  14. SU-F-T-255: Accuracy and Precision of Dynamic Tracking Irradiation with VERO-4DRT System

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Hayashi, N; Takada, Y; Mizuno, T

    2016-06-15

    Purpose: The VERO-4DRT system is able to provide dynamic tracking irradiation (DTI) for the target with respiratory motion. This technique requires enough commissioning for clinical implementation. The purpose of this study is to make sure the accuracy and precision of DTI using VERO- 4DRT through commissioning from fundamental evaluation to end-to-end test. Method: We evaluated several contents for DTI commissioning: the accuracy of absorption dose at isocenter in DTI, the field size and penumbra of DTI, the accuracy of 4D modeling in DTI. All evaluations were performed by respiratory motion phantom (Quasar phantom). These contents were compared the results betweenmore » static irradiation and DTI. The shape of radiation field was set to square from 3 cm × 3 cm to 10 cm × 10 cm. The micro 3D chamber and Gafchromic EBT3 film were used for absorbed dose and relative dose distribution measurement, respectively. The sine and irregular shaped waves were used for demonstrative respiratory motion. The visicoil was implanted into the phantom for guidance of respiratory motion. The respiration patterns of frequency and motion amount were set to 10–15 BPM and 1–2 cm, respectively. Results: As the result of absorbed dose of DTI in comparison with static irradiation, the average dose error at isocenter was 0.5% even though various respiratory patterns were set on. As the result of relative dose distribution, the field size (set it on 50% dose line) was not significantly changed in all respiratory patterns. However, the penumbra was larger in greater respiratory motion (up to 4.1 mm). The 4D modeling coincidence between actual and created waves was within 1%. Conclusion: The DTI using VERO-4DRT can provide sufficient accuracy and precision in absorbed dose and distribution. However, the patientspecific quantitative internal margin corresponding respiratory motion should be taken into consideration with image guidance.« less

  15. Accuracy and precision of patient positioning for pelvic MR-only radiation therapy using digitally reconstructed radiographs

    NASA Astrophysics Data System (ADS)

    Kemppainen, R.; Vaara, T.; Joensuu, T.; Kiljunen, T.

    2018-03-01

    Background and Purpose. Magnetic resonance imaging (MRI) has in recent years emerged as an imaging modality to drive precise contouring of targets and organs at risk in external beam radiation therapy. Moreover, recent advances in MRI enable treatment of cancer without computed tomography (CT) simulation. A commercially available MR-only solution, MRCAT, offers a single-modality approach that provides density information for dose calculation and generation of positioning reference images. We evaluated the accuracy of patient positioning based on MRCAT digitally reconstructed radiographs (DRRs) by comparing to standard CT based workflow. Materials and Methods. Twenty consecutive prostate cancer patients being treated with external beam radiation therapy were included in the study. DRRs were generated for each patient based on the planning CT and MRCAT. The accuracy assessment was performed by manually registering the DRR images to planar kV setup images using bony landmarks. A Bayesian linear mixed effects model was used to separate systematic and random components (inter- and intra-observer variation) in the assessment. In addition, method agreement was assessed using a Bland-Altman analysis. Results. The systematic difference between MRCAT and CT based patient positioning, averaged over the study population, were found to be (mean [95% CI])  -0.49 [-0.85 to  -0.13] mm, 0.11 [-0.33 to  +0.57] mm and  -0.05 [-0.23 to  +0.36] mm in vertical, longitudinal and lateral directions, respectively. The increases in total random uncertainty were estimated to be below 0.5 mm for all directions, when using MR-only workflow instead of CT. Conclusions. The MRCAT pseudo-CT method provides clinically acceptable accuracy and precision for patient positioning for pelvic radiation therapy based on planar DRR images. Furthermore, due to the reduction of geometric uncertainty, compared to dual-modality workflow, the approach is likely to improve the total

  16. [Navigation in implantology: Accuracy assessment regarding the literature].

    PubMed

    Barrak, Ibrahim Ádám; Varga, Endre; Piffko, József

    2016-06-01

    Our objective was to assess the literature regarding the accuracy of the different static guided systems. After applying electronic literature search we found 661 articles. After reviewing 139 articles, the authors chose 52 articles for full-text evaluation. 24 studies involved accuracy measurements. Fourteen of our selected references were clinical and ten of them were in vitro (modell or cadaver). Variance-analysis (Tukey's post-hoc test; p < 0.05) was conducted to summarize the selected publications. Regarding 2819 results the average mean error at the entry point was 0.98 mm. At the level of the apex the average deviation was 1.29 mm while the mean of the angular deviation was 3,96 degrees. Significant difference could be observed between the two methods of implant placement (partially and fully guided sequence) in terms of deviation at the entry point, apex and angular deviation. Different levels of quality and quantity of evidence were available for assessing the accuracy of the different computer-assisted implant placement. The rapidly evolving field of digital dentistry and the new developments will further improve the accuracy of guided implant placement. In the interest of being able to draw dependable conclusions and for the further evaluation of the parameters used for accuracy measurements, randomized, controlled single or multi-centered clinical trials are necessary.

  17. Beacons for supporting lunar landing navigation

    NASA Astrophysics Data System (ADS)

    Theil, Stephan; Bora, Leonardo

    2017-03-01

    Current and future planetary exploration missions involve a landing on the target celestial body. Almost all of these landing missions are currently relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. As soon as an infrastructure at the landing site exists, the requirements as well as conditions change for vehicles landing close to this existing infrastructure. This paper investigates the options for ground-based infrastructure supporting the onboard navigation system and analyzes the impact on the achievable navigation accuracy. For that purpose, the paper starts with an existing navigation architecture based on optical navigation and extends it with measurements to support navigation with ground infrastructure. A scenario of lunar landing is simulated and the provided functions of the ground infrastructure as well as the location with respect to the landing site are evaluated. The results are analyzed and discussed.

  18. Design of a laser navigation system for the inspection robot used in substation

    NASA Astrophysics Data System (ADS)

    Zhu, Jing; Sun, Yanhe; Sun, Deli

    2017-01-01

    Aimed at the deficiency of the magnetic guide and RFID parking system used by substation inspection robot now, a laser navigation system is designed, and the system structure, the method of map building and positioning are all introduced. The system performance is tested in a 500kV substation, and the result show that the repetitive precision of navigation system is precise enough to help the robot fulfill inspection tasks.

  19. Nonlinear unbiased minimum-variance filter for Mars entry autonomous navigation under large uncertainties and unknown measurement bias.

    PubMed

    Xiao, Mengli; Zhang, Yongbo; Fu, Huimin; Wang, Zhihua

    2018-05-01

    High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation. IMU/radio beacons integrated navigation is introduced in the simulation, and the result shows that with or without radio blackout, our proposed filter could achieve an accurate state estimation, much better than the conventional unscented Kalman filter, showing the ability of high-precision Mars entry navigation algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  20. 6DOF Testing of the SLS Inertial Navigation Unit

    NASA Technical Reports Server (NTRS)

    Geohagan, Kevin W.; Bernard, William P.; Oliver, T. Emerson; Strickland, Dennis J.; Leggett, Jared O.

    2018-01-01

    The Navigation System on the NASA Space Launch System (SLS) Block 1 vehicle performs initial alignment of the Inertial Navigation System (INS) navigation frame through gyrocompass alignment (GCA). In lieu of direct testing of GCA accuracy in support of requirement verification, the SLS Navigation Team proposed and conducted an engineering test to, among other things, validate the GCA performance and overall behavior of the SLS INS model through comparison with test data. This paper will detail dynamic hardware testing of the SLS INS, conducted by the SLS Navigation Team at Marshall Space Flight Center's 6DOF Table Facility, in support of GCA performance characterization and INS model validation. A 6-DOF motion platform was used to produce 6DOF pad twist and sway dynamics while a simulated SLS flight computer communicated with the INS. Tests conducted include an evaluation of GCA algorithm robustness to increasingly dynamic pad environments, an examination of GCA algorithm stability and accuracy over long durations, and a long-duration static test to gather enough data for Allan Variance analysis. Test setup, execution, and data analysis will be discussed, including analysis performed in support of SLS INS model validation.

  1. Stereotaxy, navigation and the temporal concatenation.

    PubMed

    Apuzzo, M L; Chen, J C

    1999-01-01

    Nautical and cerebral navigation share similar elements of functional need and similar developmental pathways. The need for orientation necessitates the development of appropriate concepts, and such concepts are dependent on technology for practical realization. Occasionally, a concept precedes technology in time and requires periods of delay for appropriate development. A temporal concatenation exists where time allows the additive as need, concept and technology ultimately provide an endpoint of elegant solution. Nautical navigation has proceeded through periods of dead reckoning and celestial navigation to satellite orientation with associated refinements of instrumentation and charts for guidance. Cerebral navigation has progressed from craniometric orientation and burr hole mounted guidance systems to simple rectolinear and arc-centered devices based on radiographs to guidance by complex anatomical and functional maps provided as an amalgam of modern imaging modes. These maps are now augmented by complex frame and frameless systems which allow not only precise orientation, but also point and volumetric action. These complex technical modalities required and developed in part from elements of maritime navigation that have been translated to cerebral navigation in a temporal concatenation. Copyright 2000 S. Karger AG, Basel

  2. Relative Navigation Algorithms for Phase 1 of the MMS Formation

    NASA Technical Reports Server (NTRS)

    Kelbel, David; Lee, Taesul; Long, Anne; Carpenter, Russell; Gramling, Cheryl

    2003-01-01

    This paper evaluates several navigation approaches for the first phase of the Magnetospheric Multiscale (MMS) mission, which consists of a tetrahedral formation of four satellites in highly eccentric Earth orbits of approximately 1.2 by 12 Earth radii at an inclination of 10 degrees. The inter-satellite separation is approximately 10 kilometers near apogees. Navigation approaches were studied using ground station m g e =d two-way Doppler measurements, Global Positioning System (GPS) pseudorange measurements, crosslink range measurements among the members flying in formation, and various combinations of these measurement types. An absolute position accuracy of 10 kilometers or better can be achieved with most of the approaches studied and a relative position accuracy of 100 meters or better can be achieved at apogee in some cases. Among the various approaches studied, the approaches that use a combination of GPS and crosslink measurements were found to be more reliable in terms of absolute and relative navigation accuracies and operational flexibility.

  3. Accuracy and Precision of Three-Dimensional Low Dose CT Compared to Standard RSA in Acetabular Cups: An Experimental Study.

    PubMed

    Brodén, Cyrus; Olivecrona, Henrik; Maguire, Gerald Q; Noz, Marilyn E; Zeleznik, Michael P; Sköldenberg, Olof

    2016-01-01

    Background and Purpose. The gold standard for detection of implant wear and migration is currently radiostereometry (RSA). The purpose of this study is to compare a three-dimensional computed tomography technique (3D CT) to standard RSA as an alternative technique for measuring migration of acetabular cups in total hip arthroplasty. Materials and Methods. With tantalum beads, we marked one cemented and one uncemented cup and mounted these on a similarly marked pelvic model. A comparison was made between 3D CT and standard RSA for measuring migration. Twelve repeated stereoradiographs and CT scans with double examinations in each position and gradual migration of the implants were made. Precision and accuracy of the 3D CT were calculated. Results. The accuracy of the 3D CT ranged between 0.07 and 0.32 mm for translations and 0.21 and 0.82° for rotation. The precision ranged between 0.01 and 0.09 mm for translations and 0.06 and 0.29° for rotations, respectively. For standard RSA, the precision ranged between 0.04 and 0.09 mm for translations and 0.08 and 0.32° for rotations, respectively. There was no significant difference in precision between 3D CT and standard RSA. The effective radiation dose of the 3D CT method, comparable to RSA, was estimated to be 0.33 mSv. Interpretation. Low dose 3D CT is a comparable method to standard RSA in an experimental setting.

  4. Autonomous satellite navigation with the Global Positioning System

    NASA Technical Reports Server (NTRS)

    Fuchs, A. J.; Wooden, W. H., II; Long, A. C.

    1977-01-01

    This paper discusses the potential of using the Global Positioning System (GPS) to provide autonomous navigation capability to NASA satellites in the 1980 era. Some of the driving forces motivating autonomous navigation are presented. These include such factors as advances in attitude control systems, onboard science annotation, and onboard gridding of imaging data. Simulation results which demonstrate baseline orbit determination accuracies using GPS data on Seasat, Landsat-D, and the Solar Maximum Mission are presented. Emphasis is placed on identifying error sources such as GPS time, GPS ephemeris, user timing biases, and user orbit dynamics, and in a parametric sense on evaluating their contribution to the orbit determination accuracies.

  5. High Accuracy Ground-based near-Earth-asteroid Astrometry using Synthetic Tracking

    NASA Astrophysics Data System (ADS)

    Zhai, C.; Shao, M.; Saini, N. S.; Sandhu, J. S.; Werne, T. A.; Choi, P.; Ely, T. A.; Jacobs, C.; Lazio, J.; Martin-Mur, T. J.; Owen, W. K.; Preston, R. A.; Turyshev, S. G.

    2017-12-01

    Accurate astrometry is crucial for determining the orbits of near-Earth-asteroids (NEAs). Further, the future of deep space high data rate communications is likely to be optical communications, such as the Deep Space Optical Communications package to be carried on the Psyche Discovery mission to the Psyche asteroid. We have recently upgraded our instrument on the Pomona College 1 m telescope, at JPL's Table Mountain Facility, for conducting synthetic tracking by taking many short exposure images. These images can be then combined in post-processing to track both asteroid and reference stars to yield accurate astrometry. Utilizing the precision of the current and future Gaia data releases, the JPL-Pomona College effort is now demonstrating precision astrometry on NEAs, which is likely to be of considerable value for cataloging NEAs. Further, treating NEAs as proxies of future spacecraft that carry optical communication lasers, our results serve as a measure of the astrometric accuracy that could be achieved for future plane-of-sky optical navigation.

  6. A Police and Insurance Joint Management System Based on High Precision BDS/GPS Positioning

    PubMed Central

    Zuo, Wenwei; Guo, Chi; Liu, Jingnan; Peng, Xuan; Yang, Min

    2018-01-01

    Car ownership in China reached 194 million vehicles at the end of 2016. The traffic congestion index (TCI) exceeds 2.0 during rush hour in some cities. Inefficient processing for minor traffic accidents is considered to be one of the leading causes for road traffic jams. Meanwhile, the process after an accident is quite troublesome. The main reason is that it is almost always impossible to get the complete chain of evidence when the accident happens. Accordingly, a police and insurance joint management system is developed which is based on high precision BeiDou Navigation Satellite System (BDS)/Global Positioning System (GPS) positioning to process traffic accidents. First of all, an intelligent vehicle rearview mirror terminal is developed. The terminal applies a commonly used consumer electronic device with single frequency navigation. Based on the high precision BDS/GPS positioning algorithm, its accuracy can reach sub-meter level in the urban areas. More specifically, a kernel driver is built to realize the high precision positioning algorithm in an Android HAL layer. Thus the third-party application developers can call the general location Application Programming Interface (API) of the original standard Global Navigation Satellite System (GNSS) to get high precision positioning results. Therefore, the terminal can provide lane level positioning service for car users. Next, a remote traffic accident processing platform is built to provide big data analysis and management. According to the big data analysis of information collected by BDS high precision intelligent sense service, vehicle behaviors can be obtained. The platform can also automatically match and screen the data that uploads after an accident to achieve accurate reproduction of the scene. Thus, it helps traffic police and insurance personnel to complete remote responsibility identification and survey for the accident. Thirdly, a rapid processing flow is established in this article to meet the

  7. A Police and Insurance Joint Management System Based on High Precision BDS/GPS Positioning.

    PubMed

    Zuo, Wenwei; Guo, Chi; Liu, Jingnan; Peng, Xuan; Yang, Min

    2018-01-10

    Car ownership in China reached 194 million vehicles at the end of 2016. The traffic congestion index (TCI) exceeds 2.0 during rush hour in some cities. Inefficient processing for minor traffic accidents is considered to be one of the leading causes for road traffic jams. Meanwhile, the process after an accident is quite troublesome. The main reason is that it is almost always impossible to get the complete chain of evidence when the accident happens. Accordingly, a police and insurance joint management system is developed which is based on high precision BeiDou Navigation Satellite System (BDS)/Global Positioning System (GPS) positioning to process traffic accidents. First of all, an intelligent vehicle rearview mirror terminal is developed. The terminal applies a commonly used consumer electronic device with single frequency navigation. Based on the high precision BDS/GPS positioning algorithm, its accuracy can reach sub-meter level in the urban areas. More specifically, a kernel driver is built to realize the high precision positioning algorithm in an Android HAL layer. Thus the third-party application developers can call the general location Application Programming Interface (API) of the original standard Global Navigation Satellite System (GNSS) to get high precision positioning results. Therefore, the terminal can provide lane level positioning service for car users. Next, a remote traffic accident processing platform is built to provide big data analysis and management. According to the big data analysis of information collected by BDS high precision intelligent sense service, vehicle behaviors can be obtained. The platform can also automatically match and screen the data that uploads after an accident to achieve accurate reproduction of the scene. Thus, it helps traffic police and insurance personnel to complete remote responsibility identification and survey for the accident. Thirdly, a rapid processing flow is established in this article to meet the

  8. Navigating Space by the Stars - 16x9

    NASA Image and Video Library

    2018-06-18

    A tool that has helped guide sailors across oceans for centuries is now being tested aboard the International Space Station as a potential emergency navigation tool for guiding future spacecraft across the cosmos. The Sextant Navigation investigation tests use of a hand-held sextant aboard the space station. Sextants have a telescope-like optical sight to take precise angle measurements between pairs of stars from land or sea, enabling navigation without computer assistance. NASA’s Gemini missions conducted the first sextant sightings from a spacecraft, and designers built a sextant into Apollo vehicles as a navigation backup in the event the crew lost communications from their spacecraft. Jim Lovell demonstrated on Apollo 8 that sextant navigation could return a space vehicle home. Astronauts conducted additional sextant experiments on Skylab. Read more about the Sextant experiment happening aboard the space station: https://www.nasa.gov/mission_pages/station/research/news/Sextant_ISS HD Download: https://archive.org/details/jsc2018m000418_Navigating_Space_by_the_Stars

  9. Calibration Of An Omnidirectional Vision Navigation System Using An Industrial Robot

    NASA Astrophysics Data System (ADS)

    Oh, Sung J.; Hall, Ernest L.

    1989-09-01

    The characteristics of an omnidirectional vision navigation system were studied to determine position accuracy for the navigation and path control of a mobile robot. Experiments for calibration and other parameters were performed using an industrial robot to conduct repetitive motions. The accuracy and repeatability of the experimental setup and the alignment between the robot and the sensor provided errors of less than 1 pixel on each axis. Linearity between zenith angle and image location was tested at four different locations. Angular error of less than 1° and radial error of less than 1 pixel were observed at moderate speed variations. The experimental information and the test of coordinated operation of the equipment provide understanding of characteristics as well as insight into the evaluation and improvement of the prototype dynamic omnivision system. The calibration of the sensor is important since the accuracy of navigation influences the accuracy of robot motion. This sensor system is currently being developed for a robot lawn mower; however, wider applications are obvious. The significance of this work is that it adds to the knowledge of the omnivision sensor.

  10. Research of autonomous celestial navigation based on new measurement model of stellar refraction

    NASA Astrophysics Data System (ADS)

    Yu, Cong; Tian, Hong; Zhang, Hui; Xu, Bo

    2014-09-01

    Autonomous celestial navigation based on stellar refraction has attracted widespread attention for its high accuracy and full autonomy.In this navigation method, establishment of accurate stellar refraction measurement model is the fundament and key issue to achieve high accuracy navigation. However, the existing measurement models are limited due to the uncertainty of atmospheric parameters. Temperature, pressure and other factors which affect the stellar refraction within the height of earth's stratosphere are researched, and the varying model of atmosphere with altitude is derived on the basis of standard atmospheric data. Furthermore, a novel measurement model of stellar refraction in a continuous range of altitudes from 20 km to 50 km is produced by modifying the fixed altitude (25 km) measurement model, and equation of state with the orbit perturbations is established, then a simulation is performed using the improved Extended Kalman Filter. The results show that the new model improves the navigation accuracy, which has a certain practical application value.

  11. Accounting of fundamental components of the rotation parameters of the Earth in the formation of a high-accuracy orbit of navigation satellites

    NASA Astrophysics Data System (ADS)

    Markov, Yu. G.; Mikhailov, M. V.; Pochukaev, V. N.

    2012-07-01

    An analysis of perturbing factors influencing the motion of a navigation satellite (NS) is carried out, and the degree of influence of each factor on the GLONASS orbit is estimated. It is found that fundamental components of the Earth's rotation parameters (ERP) are one substantial factor commensurable with maximum perturbations. Algorithms for the calculation of orbital perturbations caused by these parameters are given; these algorithms can be implemented in a consumer's equipment. The daily prediction of NS coordinates is performed on the basis of real GLONASS satellite ephemerides transmitted to a consumer, using the developed prediction algorithms taking the ERP into account. The obtained accuracy of the daily prediction of GLONASS ephemerides exceeds by tens of times the accuracy of the daily prediction performed using algorithms recommended in interface control documents.

  12. Precise orbit determination and rapid orbit recovery supported by time synchronization

    NASA Astrophysics Data System (ADS)

    Guo, Rui; Zhou, JianHua; Hu, XiaoGong; Liu, Li; Tang, Bo; Li, XiaoJie; Wu, Shan

    2015-06-01

    In order to maintain optimal signal coverage, GNSS satellites have to experience orbital maneuvers. For China's COMPASS system, precise orbit determination (POD) as well as rapid orbit recovery after maneuvers contribute to the overall Positioning, Navigation and Timing (PNT) service performance in terms of accuracy and availability. However, strong statistical correlations between clock offsets and the radial component of a satellite's positions require long data arcs for POD to converge. We propose here a new strategy which relies on time synchronization between ground tracking stations and in-orbit satellites. By fixing satellite clock offsets measured by the satellite station two-way synchronization (SSTS) systems and receiver clock offsets, POD and orbital recovery performance can be improved significantly. Using the Satellite Laser Ranging (SLR) as orbital accuracy evaluation, we find the 4-hr recovered orbit achieves about 0.71 m residual root mean square (RMS) error of fit SLR data, the recovery time is improved from 24-hr to 4-hr compared with the conventional POD without time synchronization support. In addition, SLR evaluation shows that for 1-hr prediction, about 1.47 m accuracy is achieved with the new proposed POD strategy.

  13. Deep-space navigation applications of improved ground-based optical astrometry

    NASA Technical Reports Server (NTRS)

    Null, G. W.; Owen, W. M., Jr.; Synnott, S. P.

    1992-01-01

    Improvements in ground-based optical astrometry will eventually be required for navigation of interplanetary spacecraft when these spacecraft communicate at optical wavelengths. Although such spacecraft may be some years off, preliminary versions of the astrometric technology can also be used to obtain navigational improvements for the Galileo and Cassini missions. This article describes a technology-development and observational program to accomplish this, including a cooperative effort with U.S. Naval Observatory Flagstaff Station. For Galileo, Earth-based astrometry of Jupiter's Galilean satellites may improve their ephemeris accuracy by a factor of 3 to 6. This would reduce the requirements for onboard optical navigation pictures, so that more of the data transmission capability (currently limited by high-gain antenna deployment problems) can be used for science data. Also, observations of European Space Agency (ESA) Hipparcos stars with asteroid 243 Ida may provide significantly improved navigation accuracy for a planned August 1993 Galileo spacecraft encounter.

  14. Intraoperative computed tomography with integrated navigation system in spinal stabilizations.

    PubMed

    Zausinger, Stefan; Scheder, Ben; Uhl, Eberhard; Heigl, Thomas; Morhard, Dominik; Tonn, Joerg-Christian

    2009-12-15

    STUDY DESIGN.: A prospective interventional case-series study plus a retrospective analysis of historical patients for comparison of data. OBJECTIVE.: To evaluate workflow, feasibility, and clinical outcome of navigated stabilization procedures with data acquisition by intraoperative computed tomography. SUMMARY OF BACKGROUND DATA.: Routine fluoroscopy to assess pedicle screw placement is not consistently reliable. Our hypothesis was that image-guided spinal navigation using an intraoperative CT-scanner can improve the safety and precision of spinal stabilization surgery. METHODS.: CT data of 94 patients (thoracolumbar [n = 66], C1/2 [n = 12], cervicothoracic instability [n = 16]) were acquired after positioning the patient in the final surgical position. A sliding gantry 40-slice CT was used for image acquisition. Data were imported to a frameless infrared-based neuronavigation workstation. Intraoperative CT was obtained to assess the accuracy of instrumentation and, if necessary, the extent of decompression. All patients were clinically evaluated by Odom-criteria after surgery and after 3 months. RESULTS.: Computed accuracy of the navigation system reached <2 mm (0.95 +/- 0.3 mm) in all cases. Additional time necessary for the preoperative image acquisition including data transfer was 14 +/- 5 minutes. The duration of interrupting the surgical process for iCT until resumption of surgery was 9 +/- 2.5 minutes. Control-iCT revealed incorrect screw position >/=2 mm without persistent neurologic or vascular damage in 20/414 screws (4.8%) leading to immediate correction of 10 screws (2.4%). Control-iCT changed the course of surgery in 8 cases (8.5% of all patients). The overall revision rate was 8.5% (4 wound revisions, 2 CSF fistulas, and 2 epidural hematomas). There was no reoperation due to implant malposition. According to Odom-criteria all patients experienced a clinical improvement. A retrospective analysis of 182 patients with navigated thoracolumbar

  15. Variometric approach for real-time GNSS navigation: First demonstration of Kin-VADASE capabilities

    NASA Astrophysics Data System (ADS)

    Branzanti, Mara; Colosimo, Gabriele; Mazzoni, Augusto

    2017-06-01

    The use of Global Navigation Satellite Systems (GNSS) kinematic positioning for navigational applications dramatically increased over the last decade. Real-time high performance navigation (positioning accuracy from one to few centimeters) can be achieved with established techniques such as Real Time Kinematic (RTK), and Precise Point Positioning (PPP). Despite their potential, the application of these techniques is limited mainly by their high cost. This work proposes the Kinematic implementation of the Variometric Approach for Displacement Analysis Standalone Engine (Kin-VADASE) and gives a demonstration of its performances in the field of GNSS navigation. VADASE is a methodology for the real-time detection of a standalone GNSS receiver displacements. It was originally designed for seismology and monitoring applications, where the receiver is supposed to move for few minutes, in the range of few meters, around a predefined position. Kin-VADASE overcomes the aforementioned limitations and aims to be a complete methodology with fully kinematic capabilities. Here, for the first time, we present its application to two test cases in order to estimate high rate (i.e., 10 Hz) kinematic parameters of moving vehicles. In this demonstration, data are collected and processed in the office, but the same results can be obtained in real-time through the implementation of Kin-VADASE in the firmware of a GNSS receiver. All the Kin-VADASE processing were carried out using double and single frequency observations in order to investigate the potentialities of the software with geodetic class and low-cost single frequency receivers. Root Mean Square Errors in 3D with respect to differential positioning are at the level of 50 cm for dual frequency and better than 1 meter for single frequency data. This reveals how Kin-VADASE features the main advantage of the standalone approach and the single frequency capability and, although with slightly lower accuracy with respect to the

  16. Precise Orbit Determination for ALOS

    NASA Technical Reports Server (NTRS)

    Nakamura, Ryo; Nakamura, Shinichi; Kudo, Nobuo; Katagiri, Seiji

    2007-01-01

    The Advanced Land Observing Satellite (ALOS) has been developed to contribute to the fields of mapping, precise regional land coverage observation, disaster monitoring, and resource surveying. Because the mounted sensors need high geometrical accuracy, precise orbit determination for ALOS is essential for satisfying the mission objectives. So ALOS mounts a GPS receiver and a Laser Reflector (LR) for Satellite Laser Ranging (SLR). This paper deals with the precise orbit determination experiments for ALOS using Global and High Accuracy Trajectory determination System (GUTS) and the evaluation of the orbit determination accuracy by SLR data. The results show that, even though the GPS receiver loses lock of GPS signals more frequently than expected, GPS-based orbit is consistent with SLR-based orbit. And considering the 1 sigma error, orbit determination accuracy of a few decimeters (peak-to-peak) was achieved.

  17. A Novel Grid SINS/DVL Integrated Navigation Algorithm for Marine Application

    PubMed Central

    Kang, Yingyao; Zhao, Lin; Cheng, Jianhua; Fan, Xiaoliang

    2018-01-01

    Integrated navigation algorithms under the grid frame have been proposed based on the Kalman filter (KF) to solve the problem of navigation in some special regions. However, in the existing study of grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated navigation algorithms, the Earth models of the filter dynamic model and the SINS mechanization are not unified. Besides, traditional integrated systems with the KF based correction scheme are susceptible to measurement errors, which would decrease the accuracy and robustness of the system. In this paper, an adaptive robust Kalman filter (ARKF) based hybrid-correction grid SINS/DVL integrated navigation algorithm is designed with the unified reference ellipsoid Earth model to improve the navigation accuracy in middle-high latitude regions for marine application. Firstly, to unify the Earth models, the mechanization of grid SINS is introduced and the error equations are derived based on the same reference ellipsoid Earth model. Then, a more accurate grid SINS/DVL filter model is designed according to the new error equations. Finally, a hybrid-correction scheme based on the ARKF is proposed to resist the effect of measurement errors. Simulation and experiment results show that, compared with the traditional algorithms, the proposed navigation algorithm can effectively improve the navigation performance in middle-high latitude regions by the unified Earth models and the ARKF based hybrid-correction scheme. PMID:29373549

  18. Note: electronic circuit for two-way time transfer via a single coaxial cable with picosecond accuracy and precision.

    PubMed

    Prochazka, Ivan; Kodet, Jan; Panek, Petr

    2012-11-01

    We have designed, constructed, and tested the overall performance of the electronic circuit for the two-way time transfer between two timing devices over modest distances with sub-picosecond precision and a systematic error of a few picoseconds. The concept of the electronic circuit enables to carry out time tagging of pulses of interest in parallel to the comparison of the time scales of these timing devices. The key timing parameters of the circuit are: temperature change of the delay is below 100 fs/K, timing stability time deviation better than 8 fs for averaging time from minutes to hours, sub-picosecond time transfer precision, and a few picoseconds time transfer accuracy.

  19. A Leapfrog Navigation System

    NASA Astrophysics Data System (ADS)

    Opshaug, Guttorm Ringstad

    There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position

  20. System using leo satellites for centimeter-level navigation

    NASA Technical Reports Server (NTRS)

    Rabinowitz, Matthew (Inventor); Parkinson, Bradford W. (Inventor); Cohen, Clark E. (Inventor); Lawrence, David G. (Inventor)

    2002-01-01

    Disclosed herein is a system for rapidly resolving position with centimeter-level accuracy for a mobile or stationary receiver [4]. This is achieved by estimating a set of parameters that are related to the integer cycle ambiguities which arise in tracking the carrier phase of satellite downlinks [5,6]. In the preferred embodiment, the technique involves a navigation receiver [4] simultaneously tracking transmissions [6] from Low Earth Orbit Satellites (LEOS) [2] together with transmissions [5] from GPS navigation satellites [1]. The rapid change in the line-of-sight vectors from the receiver [4] to the LEO signal sources [2], due to the orbital motion of the LEOS, enables the resolution with integrity of the integer cycle ambiguities of the GPS signals [5] as well as parameters related to the integer cycle ambiguity on the LEOS signals [6]. These parameters, once identified, enable real-time centimeter-level positioning of the receiver [4]. In order to achieve high-precision position estimates without the use of specialized electronics such as atomic clocks, the technique accounts for instabilities in the crystal oscillators driving the satellite transmitters, as well as those in the reference [3] and user [4] receivers. In addition, the algorithm accommodates as well as to LEOS that receive signals from ground-based transmitters, then re-transmit frequency-converted signals to the ground.

  1. A Contamination-Free Ultrahigh Precision Formation Flying Method for Micro-, Nano-, and Pico-Satellites with Nanometer Accuracy

    NASA Astrophysics Data System (ADS)

    Bae, Young K.

    2006-01-01

    Formation flying of clusters of micro-, nano- and pico-satellites has been recognized to be more affordable, robust and versatile than building a large monolithic satellite in implementing next generation space missions requiring large apertures or large sample collection areas and sophisticated earth imaging/monitoring. We propose a propellant free, thus contamination free, method that enables ultrahigh precision satellite formation flying with intersatellite distance accuracy of nm (10-9 m) at maximum estimated distances in the order of tens of km. The method is based on ultrahigh precision CW intracavity photon thrusters and tethers. The pushing-out force of the intracavity photon thruster and the pulling-in force of the tether tension between satellites form the basic force structure to stabilize crystalline-like structures of satellites and/or spacecrafts with a relative distance accuracy better than nm. The thrust of the photons can be amplified by up to tens of thousand times by bouncing them between two mirrors located separately on pairing satellites. For example, a 10 W photon thruster, suitable for micro-satellite applications, is theoretically capable of providing thrusts up to mN, and its weight and power consumption are estimated to be several kgs and tens of W, respectively. The dual usage of photon thruster as a precision laser source for the interferometric ranging system further simplifies the system architecture and minimizes the weight and power consumption. The present method does not require propellant, thus provides significant propulsion system mass savings, and is free from propellant exhaust contamination, ideal for missions that require large apertures composed of highly sensitive sensors. The system can be readily scaled down for the nano- and pico-satellite applications.

  2. 7.3 Communications and Navigation

    NASA Technical Reports Server (NTRS)

    Manning, Rob

    2005-01-01

    This presentation gives an overview of the networks NASA currently uses to support space communications and navigation, and the requirements for supporting future deep space missions, including manned lunar and Mars missions. The presentation addresses the Space Network, Deep Space Network, and Ground Network, why new support systems are needed, and the potential for catastrophic failure of aging antennas. Space communications and navigation are considered during Aerocapture, Entry, Descent and Landing (AEDL) only in order to precisely position, track and interact with the spacecraft at its destination (moon, Mars and Earth return) arrival. The presentation recommends a combined optical/radio frequency strategy for deep space communications.

  3. LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

    PubMed

    Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

    2015-07-10

    A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

  4. Effect of two layouts on high technology AAC navigation and content location by people with aphasia.

    PubMed

    Wallace, Sarah E; Hux, Karen

    2014-03-01

    Navigating high-technology augmentative and alternative communication (AAC) devices with dynamic displays can be challenging for people with aphasia. The purpose of this study was to determine which of two AAC interfaces two people with aphasia could use most efficiently and accurately. The researchers used a BCB'C' alternating treatment design to provide device-use instruction to two people with severe aphasia regarding two personalised AAC interfaces that had different navigation layouts but identical content. One interface had static buttons for homepage and go-back features, and the other interface had static buttons in a navigation ring layout. Throughout treatment, the researchers monitored participants' mastery patterns regarding navigation efficiency and accuracy when locating target messages. Participants' accuracy and efficiency improved with both interfaces given intervention; however, the navigation ring layout appeared more transparent and better facilitated navigation than the homepage layout. People with aphasia can learn to navigate computerised devices; however, interface layout can substantially affect the efficiency and accuracy with which they locate messages. Given intervention incorporating errorless learning principles, people with chronic aphasia can learn to navigate across multiple device levels to locate target sentences. Both navigation ring and homepage interfaces may be used by people with aphasia. Some people with aphasia may be more consistent and efficient in finding target sentences using the navigation ring interface than the homepage interface. Additionally, the navigation ring interface may be more transparent and easier for people with aphasia to master--that is, they may require fewer intervention sessions to learn to navigate the navigation ring interface. Generalisation of learning may result from use of the navigation ring interface. Specifically, people with aphasia may improve navigation with the homepage interface as a

  5. Design and simulation of a descent controller for strategic four-dimensional aircraft navigation. M.S. Thesis

    NASA Technical Reports Server (NTRS)

    Lax, F. M.

    1975-01-01

    A time-controlled navigation system applicable to the descent phase of flight for airline transport aircraft was developed and simulated. The design incorporates the linear discrete-time sampled-data version of the linearized continuous-time system describing the aircraft's aerodynamics. Using optimal linear quadratic control techniques, an optimal deterministic control regulator which is implementable on an airborne computer is designed. The navigation controller assists the pilot in complying with assigned times of arrival along a four-dimensional flight path in the presence of wind disturbances. The strategic air traffic control concept is also described, followed by the design of a strategic control descent path. A strategy for determining possible times of arrival at specified waypoints along the descent path and for generating the corresponding route-time profiles that are within the performance capabilities of the aircraft is presented. Using a mathematical model of the Boeing 707-320B aircraft along with a Boeing 707 cockpit simulator interfaced with an Adage AGT-30 digital computer, a real-time simulation of the complete aircraft aerodynamics was achieved. The strategic four-dimensional navigation controller for longitudinal dynamics was tested on the nonlinear aircraft model in the presence of 15, 30, and 45 knot head-winds. The results indicate that the controller preserved the desired accuracy and precision of a time-controlled aircraft navigation system.

  6. Interplanetary approach optical navigation with applications

    NASA Technical Reports Server (NTRS)

    Jerath, N.

    1978-01-01

    The use of optical data from onboard television cameras for the navigation of interplanetary spacecraft during the planet approach phase is investigated. Three optical data types were studied: the planet limb with auxiliary celestial references, the satellite-star, and the planet-star two-camera methods. Analysis and modelling issues related to the nature and information content of the optical methods were examined. Dynamic and measurement system modelling, data sequence design, measurement extraction, model estimation and orbit determination, as relating optical navigation, are discussed, and the various error sources were analyzed. The methodology developed was applied to the Mariner 9 and the Viking Mars missions. Navigation accuracies were evaluated at the control and knowledge points, with particular emphasis devoted to the combined use of radio and optical data. A parametric probability analysis technique was developed to evaluate navigation performance as a function of system reliabilities.

  7. Asynchronous RTK precise DGNSS positioning method for deriving a low-latency high-rate output

    NASA Astrophysics Data System (ADS)

    Liang, Zhang; Hanfeng, Lv; Dingjie, Wang; Yanqing, Hou; Jie, Wu

    2015-07-01

    Low-latency high-rate (1 Hz) precise real-time kinematic (RTK) can be applied in high-speed scenarios such as aircraft automatic landing, precise agriculture and intelligent vehicle. The classic synchronous RTK (SRTK) precise differential GNSS (DGNSS) positioning technology, however, is not able to obtain a low-latency high-rate output for the rover receiver because of long data link transmission time delays (DLTTD) from the reference receiver. To overcome the long DLTTD, this paper proposes an asynchronous real-time kinematic (ARTK) method using asynchronous observations from two receivers. The asynchronous observation model (AOM) is developed based on undifferenced carrier phase observation equations of the two receivers at different epochs with short baseline. The ephemeris error and atmosphere delay are the possible main error sources on positioning accuracy in this model, and they are analyzed theoretically. In a short DLTTD and during a period of quiet ionosphere activity, the main error sources decreasing positioning accuracy are satellite orbital errors: the "inverted ephemeris error" and the integration of satellite velocity error which increase linearly along with DLTTD. The cycle slip of asynchronous double-differencing carrier phase is detected by TurboEdit method and repaired by the additional ambiguity parameter method. The AOM can deal with synchronous observation model (SOM) and achieve precise positioning solution with synchronous observations as well, since the SOM is only a specific case of AOM. The proposed method not only can reduce the cost of data collection and transmission, but can also support the mobile phone network data link transfer mode for the data of the reference receiver. This method can avoid data synchronizing process besides ambiguity initialization step, which is very convenient for real-time navigation of vehicles. The static and kinematic experiment results show that this method achieves 20 Hz or even higher rate output in

  8. Navigation systems. [for interplanetary flight

    NASA Technical Reports Server (NTRS)

    Jordan, J. F.

    1985-01-01

    The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

  9. Reliable Location-Based Services from Radio Navigation Systems

    PubMed Central

    Qiu, Di; Boneh, Dan; Lo, Sherman; Enge, Per

    2010-01-01

    Loran is a radio-based navigation system originally designed for naval applications. We show that Loran-C’s high-power and high repeatable accuracy are fantastic for security applications. First, we show how to derive a precise location tag—with a sensitivity of about 20 meters—that is difficult to project to an exact location. A device can use our location tag to block or allow certain actions, without knowing its precise location. To ensure that our tag is reproducible we make use of fuzzy extractors, a mechanism originally designed for biometric authentication. We build a fuzzy extractor specifically designed for radio-type errors and give experimental evidence to show its effectiveness. Second, we show that our location tag is difficult to predict from a distance. For example, an observer cannot predict the location tag inside a guarded data center from a few hundreds of meters away. As an application, consider a location-aware disk drive that will only work inside the data center. An attacker who steals the device and is capable of spoofing Loran-C signals, still cannot make the device work since he does not know what location tag to spoof. We provide experimental data supporting our unpredictability claim. PMID:22163532

  10. Reliable location-based services from radio navigation systems.

    PubMed

    Qiu, Di; Boneh, Dan; Lo, Sherman; Enge, Per

    2010-01-01

    Loran is a radio-based navigation system originally designed for naval applications. We show that Loran-C's high-power and high repeatable accuracy are fantastic for security applications. First, we show how to derive a precise location tag--with a sensitivity of about 20 meters--that is difficult to project to an exact location. A device can use our location tag to block or allow certain actions, without knowing its precise location. To ensure that our tag is reproducible we make use of fuzzy extractors, a mechanism originally designed for biometric authentication. We build a fuzzy extractor specifically designed for radio-type errors and give experimental evidence to show its effectiveness. Second, we show that our location tag is difficult to predict from a distance. For example, an observer cannot predict the location tag inside a guarded data center from a few hundreds of meters away. As an application, consider a location-aware disk drive that will only work inside the data center. An attacker who steals the device and is capable of spoofing Loran-C signals, still cannot make the device work since he does not know what location tag to spoof. We provide experimental data supporting our unpredictability claim.

  11. [Navigated drilling for femoral head necrosis. Experimental and clinical results].

    PubMed

    Beckmann, J; Tingart, M; Perlick, L; Lüring, C; Grifka, J; Anders, S

    2007-05-01

    In the early stages of osteonecrosis of the femoral head, core decompression by exact drilling into the ischemic areas can reduce pain and achieve reperfusion. Using computer aided surgery, the precision of the drilling can be improved while simultaneously lowering radiation exposure time for both staff and patients. We describe the experimental and clinical results of drilling under the guidance of the fluoroscopically-based VectorVision navigation system (BrainLAB, Munich, Germany). A total of 70 sawbones were prepared mimicking an osteonecrosis of the femoral head. In two experimental models, bone only and obesity, as well as in a clinical setting involving ten patients with osteonecrosis of the femoral head, the precision and the duration of radiation exposure were compared between the VectorVision system and conventional drilling. No target was missed. For both models, there was a statistically significant difference in terms of the precision, the number of drilling corrections as well as the radiation exposure time. The average distance to the desired midpoint of the lesion of both models was 0.48 mm for navigated drilling and 1.06 mm for conventional drilling, the average drilling corrections were 0.175 and 2.1, and the radiation exposure time less than 1 s and 3.6 s, respectively. In the clinical setting, the reduction of radiation exposure (below 1 s for navigation compared to 56 s for the conventional technique) as well as of drilling corrections (0.2 compared to 3.4) was also significant. Computer guided drilling using the fluoroscopically based VectorVision navigation system shows a clearly improved precision with a enormous simultaneous reduction in radiation exposure. It is therefore recommended for clinical routine.

  12. Relative Navigation Strategies for the Magnetopheric Multiscale Mission

    NASA Technical Reports Server (NTRS)

    Gramling, Cheryl; Carpenter, Russell; Lee, Taesul; Long, Anne

    2004-01-01

    This paper evaluates several navigation approaches for the Magnetospheric Multiscale (MMS) mission, which consists of a tetrahedral formation of satellites flying in highly eccentric Earth orbits. For this investigation, inter-satellite separations of approximately 10 kilometers near apogee are used for the first two phases of the MMS mission. Navigation approaches were studied using ground station two-way Doppler measurements, Global Positioning System (GPS) pseudorange measurements, and cross-link range measurements between the members of the formation. An absolute position accuracy of 15 kilometers or better can be achieved with most of the approaches studied, and a relative position accuracy of 100 meters or better can be achieved at apogee in several cases.

  13. Enhanced differential evolution to combine optical mouse sensor with image structural patches for robust endoscopic navigation.

    PubMed

    Luo, Xiongbiao; Jayarathne, Uditha L; McLeod, A Jonathan; Mori, Kensaku

    2014-01-01

    Endoscopic navigation generally integrates different modalities of sensory information in order to continuously locate an endoscope relative to suspicious tissues in the body during interventions. Current electromagnetic tracking techniques for endoscopic navigation have limited accuracy due to tissue deformation and magnetic field distortion. To avoid these limitations and improve the endoscopic localization accuracy, this paper proposes a new endoscopic navigation framework that uses an optical mouse sensor to measure the endoscope movements along its viewing direction. We then enhance the differential evolution algorithm by modifying its mutation operation. Based on the enhanced differential evolution method, these movement measurements and image structural patches in endoscopic videos are fused to accurately determine the endoscope position. An evaluation on a dynamic phantom demonstrated that our method provides a more accurate navigation framework. Compared to state-of-the-art methods, it improved the navigation accuracy from 2.4 to 1.6 mm and reduced the processing time from 2.8 to 0.9 seconds.

  14. Mars Reconnaissance Orbiter Navigation During the Primary Science Phase

    NASA Technical Reports Server (NTRS)

    Highsmith, Dolan; You, Tung-Han; Demcak, Stuart; Graat, Eric; Higa, Earl; Long, Stacia; Bhat, Ram; Mottinger, Neil; Halsell, Allen; Peralta, Fernando

    2008-01-01

    The Mars Reconnaissance Orbiter began science operations in November 2006, with a suite of seven instruments and investigations, some of which required navigation accuracies much better than previous Mars missions. This paper describes the driving performance requirements levied on Navigation and how well those requirements have been met thus far. Trending analyses that have a direct impact on the Navigation performance, such as atmospheric bias determination, are covered in detail, as well as dynamic models, estimation strategy, tracking data reduction techniques, and residual noise.

  15. Real-time, autonomous precise satellite orbit determination using the global positioning system

    NASA Astrophysics Data System (ADS)

    Goldstein, David Ben

    2000-10-01

    The desire for autonomously generated, rapidly available, and highly accurate satellite ephemeris is growing with the proliferation of constellations of satellites and the cost and overhead of ground tracking resources. Autonomous Orbit Determination (OD) may be done on the ground in a post-processing mode or in real-time on board a satellite and may be accomplished days, hours or immediately after observations are processed. The Global Positioning System (GPS) is now widely used as an alternative to ground tracking resources to supply observation data for satellite positioning and navigation. GPS is accurate, inexpensive, provides continuous coverage, and is an excellent choice for autonomous systems. In an effort to estimate precise satellite ephemeris in real-time on board a satellite, the Goddard Space Flight Center (GSFC) created the GPS Enhanced OD Experiment (GEODE) flight navigation software. This dissertation offers alternative methods and improvements to GEODE to increase on board autonomy and real-time total position accuracy and precision without increasing computational burden. First, GEODE is modified to include a Gravity Acceleration Approximation Function (GAAF) to replace the traditional spherical harmonic representation of the gravity field. Next, an ionospheric correction method called Differenced Range Versus Integrated Doppler (DRVID) is applied to correct for ionospheric errors in the GPS measurements used in GEODE. Then, Dynamic Model Compensation (DMC) is added to estimate unmodeled and/or mismodeled forces in the dynamic model and to provide an alternative process noise variance-covariance formulation. Finally, a Genetic Algorithm (GA) is implemented in the form of Genetic Model Compensation (GMC) to optimize DMC forcing noise parameters. Application of GAAF, DRVID and DMC improved GEODE's position estimates by 28.3% when applied to GPS/MET data collected in the presence of Selective Availability (SA), 17.5% when SA is removed from the GPS

  16. Multitemporal Accuracy and Precision Assessment of Unmanned Aerial System Photogrammetry for Slope-Scale Snow Depth Maps in Alpine Terrain

    NASA Astrophysics Data System (ADS)

    Adams, Marc S.; Bühler, Yves; Fromm, Reinhard

    2017-12-01

    Reliable and timely information on the spatio-temporal distribution of snow in alpine terrain plays an important role for a wide range of applications. Unmanned aerial system (UAS) photogrammetry is increasingly applied to cost-efficiently map the snow depth at very high resolution with flexible applicability. However, crucial questions regarding quality and repeatability of this technique are still under discussion. Here we present a multitemporal accuracy and precision assessment of UAS photogrammetry for snow depth mapping on the slope-scale. We mapped a 0.12 km2 large snow-covered study site, located in a high-alpine valley in Western Austria. 12 UAS flights were performed to acquire imagery at 0.05 m ground sampling distance in visible (VIS) and near-infrared (NIR) wavelengths with a modified commercial, off-the-shelf sensor mounted on a custom-built fixed-wing UAS. The imagery was processed with structure-from-motion photogrammetry software to generate orthophotos, digital surface models (DSMs) and snow depth maps (SDMs). Accuracy of DSMs and SDMs were assessed with terrestrial laser scanning and manual snow depth probing, respectively. The results show that under good illumination conditions (study site in full sunlight), the DSMs and SDMs were acquired with an accuracy of ≤ 0.25 and ≤ 0.29 m (both at 1σ), respectively. In case of poorly illuminated snow surfaces (study site shadowed), the NIR imagery provided higher accuracy (0.19 m; 0.23 m) than VIS imagery (0.49 m; 0.37 m). The precision of the UASSDMs was 0.04 m for a small, stable area and below 0.33 m for the whole study site (both at 1σ).

  17. Endoscopic trans-nasal approach for biopsy of orbital tumours using image-guided neuro-navigation system.

    PubMed

    Sieskiewicz, A; Lyson, T; Mariak, Z; Rogowski, M

    2008-05-01

    Histopathological diagnosis of intraorbital tumours is of crucial value for planning further therapy. The aim of the study was to explore clinical utility of image-guided endoscopy for biopsy of orbital tumours. Trans-nasal endoscopic biopsy of intraorbital mass lesions was performed in 6 patients using a neuro-navigation system (Medtronic Stealth Station Treon plus). The CT and MRI 1 mm slice images were fused by the system in order to visualise both bony and soft tissue structures. The anatomic fiducial registration protocol was used during the procedure. All lesions were precisely localised and the biopsies could be taken from the representative part of the pathological mass. None of the patients developed aggravation of ocular symptoms after the procedure. The operative corridor as well as the size of orbital wall fenestration could be limited to a minimum. The accuracy of neuro-navigation remained high and stable during the entire procedure. The image-guided neuro-navigation system facilitated endoscopic localisation and biopsy of intraorbital tumours and contributed to the reduction of surgical trauma during the procedure. The technique was particularly useful in small, medially located, retrobulbar tumours and in unclear situations when the structure of the lesion resembled surrounding intraorbital tissue.

  18. Development of a robust and cost-effective 3D respiratory motion monitoring system using the kinect device: Accuracy comparison with the conventional stereovision navigation system.

    PubMed

    Bae, Myungsoo; Lee, Sangmin; Kim, Namkug

    2018-07-01

    To develop and validate a robust and cost-effective 3D respiratory monitoring system based on a Kinect device with a custom-made simple marker. A 3D respiratory monitoring system comprising the simple marker and the Microsoft Kinect v2 device was developed. The marker was designed for simple and robust detection, and the tracking algorithm was developed using the depth, RGB, and infra-red images acquired from the Kinect sensor. A Kalman filter was used to suppress movement noises. The major movements of the marker attached to the four different locations of body surface were determined from the initially collected tracking points of the marker while breathing. The signal level of respiratory motion with the tracking point was estimated along the major direction vector. The accuracy of the results was evaluated through a comparison with those of the conventional stereovision navigation system (NDI Polaris Spectra). Sixteen normal volunteers were enrolled to evaluate the accuracy of this system. The correlation coefficients between the respiratory motion signal from the Kinect device and conventional navigation system ranged from 0.970 to 0.999 and from 0.837 to 0.995 at the abdominal and thoracic surfaces, respectively. The respiratory motion signal from this system was obtained at 27-30 frames/s. This system with the Kinect v2 device and simple marker could be used for cost-effective, robust and accurate 3D respiratory motion monitoring. In addition, this system is as reliable for respiratory motion signal generation and as practically useful as the conventional stereovision navigation system and is less sensitive to patient posture. Copyright © 2018 Elsevier B.V. All rights reserved.

  19. Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

    NASA Technical Reports Server (NTRS)

    Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Restrepo, Carolina I.

    2017-01-01

    A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

  20. The effect of clock, media, and station location errors on Doppler measurement accuracy

    NASA Technical Reports Server (NTRS)

    Miller, J. K.

    1993-01-01

    Doppler tracking by the Deep Space Network (DSN) is the primary radio metric data type used by navigation to determine the orbit of a spacecraft. The accuracy normally attributed to orbits determined exclusively with Doppler data is about 0.5 microradians in geocentric angle. Recently, the Doppler measurement system has evolved to a high degree of precision primarily because of tracking at X-band frequencies (7.2 to 8.5 GHz). However, the orbit determination system has not been able to fully utilize this improved measurement accuracy because of calibration errors associated with transmission media, the location of tracking stations on the Earth's surface, the orientation of the Earth as an observing platform, and timekeeping. With the introduction of Global Positioning System (GPS) data, it may be possible to remove a significant error associated with the troposphere. In this article, the effect of various calibration errors associated with transmission media, Earth platform parameters, and clocks are examined. With the introduction of GPS calibrations, it is predicted that a Doppler tracking accuracy of 0.05 microradians is achievable.

  1. Integrity Analysis of Real-Time Ppp Technique with Igs-Rts Service for Maritime Navigation

    NASA Astrophysics Data System (ADS)

    El-Diasty, M.

    2017-10-01

    Open sea and inland waterways are the most widely used mode for transporting goods worldwide. It is the International Maritime Organization (IMO) that defines the requirements for position fixing equipment for a worldwide radio-navigation system, in terms of accuracy, integrity, continuity, availability and coverage for the various phases of navigation. Satellite positioning systems can contribute to meet these requirements, as well as optimize marine transportation. Marine navigation usually consists of three major phases identified as Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking with alert limit ranges from 25 m to 0.25 m. GPS positioning is widely used for many applications and is currently recognized by IMO for a future maritime navigation. With the advancement in autonomous GPS positioning techniques such as Precise Point Positioning (PPP) and with the advent of new real-time GNSS correction services such as IGS-Real-Time-Service (RTS), it is necessary to investigate the integrity of the PPP-based positioning technique along with IGS-RTS service in terms of availability and reliability for safe navigation in maritime application. This paper monitors the integrity of an autonomous real-time PPP-based GPS positioning system using the IGS real-time service (RTS) for maritime applications that require minimum availability of integrity of 99.8 % to fulfil the IMO integrity standards. To examine the integrity of the real-time IGS-RTS PPP-based technique for maritime applications, kinematic data from a dual frequency GPS receiver is collected onboard a vessel and investigated with the real-time IGS-RTS PPP-based GPS positioning technique. It is shown that the availability of integrity of the real-time IGS-RTS PPP-based GPS solution is 100 % for all navigation phases and therefore fulfil the IMO integrity standards (99.8 % availability) immediately (after 1 second), after 2 minutes and after

  2. Juvenile Osprey Navigation during Trans-Oceanic Migration

    PubMed Central

    Horton, Travis W.; Bierregaard, Richard O.; Zawar-Reza, Peyman; Holdaway, Richard N.; Sagar, Paul

    2014-01-01

    To compensate for drift, an animal migrating through air or sea must be able to navigate. Although some species of bird, fish, insect, mammal, and reptile are capable of drift compensation, our understanding of the spatial reference frame, and associated coordinate space, in which these navigational behaviors occur remains limited. Using high resolution satellite-monitored GPS track data, we show that juvenile ospreys (Pandion haliaetus) are capable of non-stop constant course movements over open ocean spanning distances in excess of 1500 km despite the perturbing effects of winds and the lack of obvious landmarks. These results are best explained by extreme navigational precision in an exogenous spatio-temporal reference frame, such as positional orientation relative to Earth's magnetic field and pacing relative to an exogenous mechanism of keeping time. Given the age (<1 year-old) of these birds and knowledge of their hatching site locations, we were able to transform Enhanced Magnetic Model coordinate locations such that the origin of the magnetic coordinate space corresponded with each bird's nest. Our analyses show that trans-oceanic juvenile osprey movements are consistent with bicoordinate positional orientation in transformed magnetic coordinate or geographic space. Through integration of movement and meteorological data, we propose a new theoretical framework, chord and clock navigation, capable of explaining the precise spatial orientation and temporal pacing performed by juvenile ospreys during their long-distance migrations over open ocean. PMID:25493430

  3. DARPA looks beyond GPS for positioning, navigating, and timing

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Kramer, David

    Cold-atom interferometry, microelectromechanical systems, signals of opportunity, and atomic clocks are some of the technologies the defense agency is pursuing to provide precise navigation when GPS is unavailable.

  4. a Precise, Low-Cost Rtk Gnss System for Uav Applications

    NASA Astrophysics Data System (ADS)

    Stempfhuber, W.; Buchholz, M.

    2011-09-01

    High accuracy with real-time positioning of moving objects has been considered a standard task of engineering geodesy for 10 to 15 years. An absolute positioning accuracy of 1-3 cm is generally possible worldwide and is further used in many areas of machine guidance (machine control and guidance), and farming (precision farming) as well as for various special applications (e.g. railway trolley, mining, etc.). The cost of the measuring instruments required for the use of geodetic L1/L2 receivers with a local reference station amounts to approximately USD 30,000 to 50,000. Therefore, dual frequency RTK GNSS receivers are not used in the mass market. Affordable GPS/GNSS modules have already reached the mass market in various areas such as mobile phones, car navigation, the leisure industry, etc. Kinematic real-time positioning applications with centimetre or decimetre levels could also evolve into a mass product. In order for this to happen, the costs for such systems must lie between USD 1,000 to 2,000. What exactly low-cost means is determined by the precise specifications of the given individual application. Several university studies in geodesy focus on the approach of high-accuracy positioning by means of single frequency receivers for static applications [e.g. GLABSCH et. al. 2009, SCHWIEGER and GLÄSER 2005, ALKAN 2010, REALINI et. al. 2010, KORTH and HOFMANN 2011]. Although intelligent approaches have been developed that compute a trajectory in the post-processing mode [REALINI et. al., 2010], at present, there are only a very few GNSS Low-Cost Systems that enable real-time processing. This approach to precise position determination by means of the computation of static raw data with single frequency receivers is currently being explored in a research project at the Beuth Hochschule für Technik Berlin - and is being further developed for kinematic applications. The project is embedded in the European Social Fund. It is a follow-up project in the area of

  5. Accuracy and precision of polyurethane dental arch models fabricated using a three-dimensional subtractive rapid prototyping method with an intraoral scanning technique

    PubMed Central

    Kim, Jae-Hong; Kim, Ki-Baek; Kim, Woong-Chul; Kim, Ji-Hwan

    2014-01-01

    Objective This study aimed to evaluate the accuracy and precision of polyurethane (PUT) dental arch models fabricated using a three-dimensional (3D) subtractive rapid prototyping (RP) method with an intraoral scanning technique by comparing linear measurements obtained from PUT models and conventional plaster models. Methods Ten plaster models were duplicated using a selected standard master model and conventional impression, and 10 PUT models were duplicated using the 3D subtractive RP technique with an oral scanner. Six linear measurements were evaluated in terms of x, y, and z-axes using a non-contact white light scanner. Accuracy was assessed using mean differences between two measurements, and precision was examined using four quantitative methods and the Bland-Altman graphical method. Repeatability was evaluated in terms of intra-examiner variability, and reproducibility was assessed in terms of inter-examiner and inter-method variability. Results The mean difference between plaster models and PUT models ranged from 0.07 mm to 0.33 mm. Relative measurement errors ranged from 2.2% to 7.6% and intraclass correlation coefficients ranged from 0.93 to 0.96, when comparing plaster models and PUT models. The Bland-Altman plot showed good agreement. Conclusions The accuracy and precision of PUT dental models for evaluating the performance of oral scanner and subtractive RP technology was acceptable. Because of the recent improvements in block material and computerized numeric control milling machines, the subtractive RP method may be a good choice for dental arch models. PMID:24696823

  6. Accuracy and precision of polyurethane dental arch models fabricated using a three-dimensional subtractive rapid prototyping method with an intraoral scanning technique.

    PubMed

    Kim, Jae-Hong; Kim, Ki-Baek; Kim, Woong-Chul; Kim, Ji-Hwan; Kim, Hae-Young

    2014-03-01

    This study aimed to evaluate the accuracy and precision of polyurethane (PUT) dental arch models fabricated using a three-dimensional (3D) subtractive rapid prototyping (RP) method with an intraoral scanning technique by comparing linear measurements obtained from PUT models and conventional plaster models. Ten plaster models were duplicated using a selected standard master model and conventional impression, and 10 PUT models were duplicated using the 3D subtractive RP technique with an oral scanner. Six linear measurements were evaluated in terms of x, y, and z-axes using a non-contact white light scanner. Accuracy was assessed using mean differences between two measurements, and precision was examined using four quantitative methods and the Bland-Altman graphical method. Repeatability was evaluated in terms of intra-examiner variability, and reproducibility was assessed in terms of inter-examiner and inter-method variability. The mean difference between plaster models and PUT models ranged from 0.07 mm to 0.33 mm. Relative measurement errors ranged from 2.2% to 7.6% and intraclass correlation coefficients ranged from 0.93 to 0.96, when comparing plaster models and PUT models. The Bland-Altman plot showed good agreement. The accuracy and precision of PUT dental models for evaluating the performance of oral scanner and subtractive RP technology was acceptable. Because of the recent improvements in block material and computerized numeric control milling machines, the subtractive RP method may be a good choice for dental arch models.

  7. Computer assisted positioning of the proximal segment after sagittal split osteotomy of the mandible: Preclinical investigation of a novel electromagnetic navigation system.

    PubMed

    Nova, Igor; Kallus, Sebastian; Berger, Moritz; Ristow, Oliver; Eisenmann, Urs; Freudlsperger, Christian; Hoffmann, Jürgen; Dickhaus, Hartmut

    2017-05-01

    Modifications of the temporomandibular joint position after mandible osteotomy are reluctantly accepted in orthognathic surgery. To tackle this problem, we developed a new navigation system using miniaturized electromagnetic sensors. Our imageless navigation approach is therefore optimized to avoid complications of previously proposed optical approaches such as the interference with established surgical procedures and the line of sight problem. High oblique sagittal split osteotomies were performed on 6 plastic skull mandibles in a laboratory under conditions comparable to the operating theatre. The subsequent condyle reposition was guided by an intuitive user interface and performed by electromagnetic navigation. To prove the suitability and accuracy of this novel approach for condyle navigation, the positions of 3 titanium marker screws placed on each of the proximal segments were compared using pre- and postoperative Cone Beam Computed Tomography (CBCT) imaging. Guided by the electromagnetic navigation system, positioning of the condyles was highly accurate in all dimensions. Translational discrepancies up to 0,65 mm and rotations up to 0,38° in mean could be measured postoperatively. There were no statistically significant differences between navigation results and CBCT measurements. The intuitive user interface provides a simple way to precisely restore the initial position and orientation of the proximal mandibular segments. Our electromagnetic navigation system therefore yields a promising approach for orthognathic surgery applications. Copyright © 2017 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

  8. Distribution and mitigation of higher-order ionospheric effects on precise GNSS processing

    NASA Astrophysics Data System (ADS)

    Hernández-Pajares, Manuel; Aragón-Ángel, Àngela; Defraigne, Pascale; Bergeot, Nicolas; Prieto-Cerdeira, Roberto; García-Rigo, Alberto

    2014-04-01

    Higher-order ionospheric effects (I2+) are one of the main limiting factors in very precise Global Navigation Satellite Systems (GNSS) processing, for applications where millimeter accuracy is demanded. This paper summarizes a comprehensive study of the I2+ effects in range and in GNSS precise products such as receiver position and clock, tropospheric delay, geocenter offset, and GNSS satellite position and clock. All the relevant higher-order contributions are considered: second and third orders, geometric bending, and slant total electron content (dSTEC) bending (i.e., the difference between the STEC for straight and bent paths). Using a realistic simulation with representative solar maximum conditions on GPS signals, both the effects and mitigation errors are analyzed. The usage of the combination of multifrequency L band observations has to be rejected due to its increased noise level. The results of the study show that the main two effects in range are the second-order ionospheric and dSTEC terms, with peak values up to 2 cm. Their combined impacts on the precise GNSS satellite products affects the satellite Z coordinates (up to +1 cm) and satellite clocks (more than ±20 ps). Other precise products are affected at the millimeter level. After correction the impact on all the precise GNSS products is reduced below 5 mm. We finally show that the I2+ impact on a Precise Point Positioning (PPP) user is lower than the current uncertainties of the PPP solutions, after applying consistently the precise products (satellite orbits and clocks) obtained under I2+ correction.

  9. Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.

    2013-01-01

    GPS has been used for spacecraft navigation for many years center dot In support of this, the US has committed that future GPS satellites will continue to provide signals in the Space Service Volume center dot NASA is working with international agencies to obtain similar commitments from other providers center dot In support of this effort, I simulated multi-constellation navigation in the Space Service Volume In this presentation, I extend the work to examine the navigational benefits and drawbacks of the new constellations center dot A major benefit is the reduced geometric dilution of precision (GDOP). I show that there is a substantial reduction in GDOP by using all of the GNSS constellations center dot The increased number of GNSS satellites broadcasting does produce mutual interference, raising the noise floor. A near/far signal problem can also occur where a nearby satellite drowns out satellites that are far away. - In these simulations, no major effect was observed Typically, the use of multi-constellation GNSS navigation improves GDOP by a factor of two or more over GPS alone center dot In addition, at the higher altitudes, four satellite solutions can be obtained much more often center dot This show the value of having commitments to provide signals in the Space Service Volume Besides a commitment to provide a minimum signal in the Space Service Volume, detailed signal gain information is useful for mission planning center dot Knowledge of group and phase delay over the pattern would also reduce the navigational uncertainty

  10. Remote controlled robot assisted cardiac navigation: feasibility assessment and validation in a porcine model.

    PubMed

    Ganji, Yusof; Janabi-Sharifi, Farrokh; Cheema, Asim N

    2011-12-01

    Despite the recent advances in catheter design and technology, intra-cardiac navigation during electrophysiology procedures remains challenging. Incorporation of imaging along with magnetic or robotic guidance may improve navigation accuracy and procedural safety. In the present study, the in vivo performance of a novel remote controlled Robot Assisted Cardiac Navigation System (RACN) was evaluated in a porcine model. The navigation catheter and target sensor were advanced to the right atrium using fluoroscopic and intra-cardiac echo guidance. The target sensor was positioned at three target locations in the right atrium (RA) and the navigation task was completed by an experienced physician using both manual and RACN guidance. The navigation time, final distance between the catheter tip and target sensor, and variability in final catheter tip position were determined and compared for manual and RACN guided navigation. The experiments were completed in three animals and five measurements recorded for each target location. The mean distance (mm) between catheter tip and target sensor at the end of the navigation task was significantly less using RACN guidance compared with manual navigation (5.02 ± 0.31 vs. 9.66 ± 2.88, p = 0.050 for high RA, 9.19 ± 1.13 vs. 13.0 ± 1.00, p = 0.011 for low RA and 6.77 ± 0.59 vs. 15.66 ± 2.51, p = 0.003 for tricuspid valve annulus). The average time (s) needed to complete the navigation task was significantly longer by RACN guided navigation compared with manual navigation (43.31 ± 18.19 vs. 13.54 ± 1.36, p = 0.047 for high RA, 43.71 ± 11.93 vs. 22.71 ± 3.79, p = 0.043 for low RA and 37.84 ± 3.71 vs. 16.13 ± 4.92, p = 0.003 for tricuspid valve annulus. RACN guided navigation resulted in greater consistency in performance compared with manual navigation as evidenced by lower variability in final distance measurements (0.41 vs. 0.99 mm, p = 0

  11. LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

    PubMed Central

    Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

    2015-01-01

    A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

  12. Improving BeiDou real-time precise point positioning with numerical weather models

    NASA Astrophysics Data System (ADS)

    Lu, Cuixian; Li, Xingxing; Zus, Florian; Heinkelmann, Robert; Dick, Galina; Ge, Maorong; Wickert, Jens; Schuh, Harald

    2017-09-01

    Precise positioning with the current Chinese BeiDou Navigation Satellite System is proven to be of comparable accuracy to the Global Positioning System, which is at centimeter level for the horizontal components and sub-decimeter level for the vertical component. But the BeiDou precise point positioning (PPP) shows its limitation in requiring a relatively long convergence time. In this study, we develop a numerical weather model (NWM) augmented PPP processing algorithm to improve BeiDou precise positioning. Tropospheric delay parameters, i.e., zenith delays, mapping functions, and horizontal delay gradients, derived from short-range forecasts from the Global Forecast System of the National Centers for Environmental Prediction (NCEP) are applied into BeiDou real-time PPP. Observational data from stations that are capable of tracking the BeiDou constellation from the International GNSS Service (IGS) Multi-GNSS Experiments network are processed, with the introduced NWM-augmented PPP and the standard PPP processing. The accuracy of tropospheric delays derived from NCEP is assessed against with the IGS final tropospheric delay products. The positioning results show that an improvement in convergence time up to 60.0 and 66.7% for the east and vertical components, respectively, can be achieved with the NWM-augmented PPP solution compared to the standard PPP solutions, while only slight improvement in the solution convergence can be found for the north component. A positioning accuracy of 5.7 and 5.9 cm for the east component is achieved with the standard PPP that estimates gradients and the one that estimates no gradients, respectively, in comparison to 3.5 cm of the NWM-augmented PPP, showing an improvement of 38.6 and 40.1%. Compared to the accuracy of 3.7 and 4.1 cm for the north component derived from the two standard PPP solutions, the one of the NWM-augmented PPP solution is improved to 2.0 cm, by about 45.9 and 51.2%. The positioning accuracy for the up component

  13. Solar oscillation time delay measurement assisted celestial navigation method

    NASA Astrophysics Data System (ADS)

    Ning, Xiaolin; Gui, Mingzhen; Zhang, Jie; Fang, Jiancheng; Liu, Gang

    2017-05-01

    Solar oscillation, which causes the sunlight intensity and spectrum frequency change, has been studied in great detail, both observationally and theoretically. In this paper, owing to the existence of solar oscillation, the time delay between the sunlight coming from the Sun directly and the sunlight reflected by the other celestial body such as the satellite of planet or asteroid can be obtained with two optical power meters. Because the solar oscillation time delay is determined by the relative positions of the spacecraft, reflective celestial body and the Sun, it can be adopted as the navigation measurement to estimate the spacecraft's position. The navigation accuracy of single solar oscillation time delay navigation system depends on the time delay measurement accuracy, and is influenced by the distance between spacecraft and reflective celestial body. In this paper, we combine it with the star angle measurement and propose a solar oscillation time delay measurement assisted celestial navigation method for deep space exploration. Since the measurement model of time delay is an implicit function, the Implicit Unscented Kalman Filter (IUKF) is applied. Simulations demonstrate the effectiveness and superiority of this method.

  14. Flight test and evaluation of Omega navigation for general aviation

    NASA Technical Reports Server (NTRS)

    Hwoschinsky, P. V.

    1975-01-01

    A seventy hour flight test program was performed to determine the suitability and accuracy of a low cost Omega navigation receiver in a general aviation aircraft. An analysis was made of signal availability in two widely separated geographic areas. Comparison is made of the results of these flights with other navigation systems. Conclusions drawn from the test experience indicate that developmental system improvement is necessary before a competent fail safe or fail soft area navigation system is offered to general aviation.

  15. Accuracy and precision of four value-added blood glucose meters: the Abbott Optium, the DDI Prodigy, the HDI True Track, and the HypoGuard Assure Pro.

    PubMed

    Sheffield, Catherine A; Kane, Michael P; Bakst, Gary; Busch, Robert S; Abelseth, Jill M; Hamilton, Robert A

    2009-09-01

    This study compared the accuracy and precision of four value-added glucose meters. Finger stick glucose measurements in diabetes patients were performed using the Abbott Diabetes Care (Alameda, CA) Optium, Diagnostic Devices, Inc. (Miami, FL) DDI Prodigy, Home Diagnostics, Inc. (Fort Lauderdale, FL) HDI True Track Smart System, and Arkray, USA (Minneapolis, MN) HypoGuard Assure Pro. Finger glucose measurements were compared with laboratory reference results. Accuracy was assessed by a Clarke error grid analysis (EGA), a Parkes EGA, and within 5%, 10%, 15%, and 20% of the laboratory value criteria (chi2 analysis). Meter precision was determined by calculating absolute mean differences in glucose values between duplicate samples (Kruskal-Wallis test). Finger sticks were obtained from 125 diabetes patients, of which 90.4% were Caucasian, 51.2% were female, 83.2% had type 2 diabetes, and average age of 59 years (SD 14 years). Mean venipuncture blood glucose was 151 mg/dL (SD +/-65 mg/dL; range, 58-474 mg/dL). Clinical accuracy by Clarke EGA was demonstrated in 94% of Optium, 82% of Prodigy, 61% of True Track, and 77% of the Assure Pro samples (P < 0.05 for Optium and True Track compared to all others). By Parkes EGA, the True Track was significantly less accurate than the other meters. Within 5% accuracy was achieved in 34%, 24%, 29%, and 13%, respectively (P < 0.05 for Optium, Prodigy, and Assure Pro compared to True Track). Within 10% accuracy was significantly greater for the Optium, Prodigy, and Assure Pro compared to True Track. Significantly more Optium results demonstrated within 15% and 20% accuracy compared to the other meter systems. The HDI True Track was significantly less precise than the other meter systems. The Abbott Optium was significantly more accurate than the other meter systems, whereas the HDI True Track was significantly less accurate and less precise compared to the other meter systems.

  16. A randomized clinical trial comparing guided implant surgery (bone- or mucosa-supported) with mental navigation or the use of a pilot-drill template.

    PubMed

    Vercruyssen, Marjolein; Cox, Catherine; Coucke, Wim; Naert, Ignace; Jacobs, Reinhilde; Quirynen, Marc

    2014-07-01

    To assess the accuracy of guided surgery (mucosa and bone-supported) compared to mental navigation or the use of a surgical template, in fully edentulous jaws, in a randomized controlled study. Fifty-nine patients (72 jaws), requiring four to six implants (maxilla or mandible), were consecutively recruited and randomly assigned to one of the following treatment groups; guidance via Materialise Universal(®)/mucosa, Materialise Universal(®)/bone, Facilitate™/mucosa, Facilitate™/bone, or mental navigation or a pilot-drill template. The precision was assessed by matching the planning computed tomography (CT) with a post-operative cone beam CT. A significant lower mean deviation at the entry point (1.4 mm, range: 0.3-3.7), at the apex (1.6 mm, range: 0.2-3.7) and angular deviation (3.0°, range: 0.2-16°) was observed for the guiding systems when compared to mental navigation (2.7 mm, range: 0.3-8.3; 2.9 mm, range: 0.5-7.4 and 9.9°, range: 1.5-27.8) and to the surgical template group (3.0 mm, range: 0.6-6.6; 3.4 mm, range: 0.3-7.5 and 8.4°, range: 0.6-21.3°). Differences between bone and mucosa support or type of guidance were negligible. Jaw and implant location (posterior-anterior, left-right), however, had a significant influence on the accuracy when guided. Based on these findings, guided implant placement appears to offer clear accuracy benefits. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  17. A novel navigation method used in a ballistic missile

    NASA Astrophysics Data System (ADS)

    Qian, Hua-ming; Sun, Long; Cai, Jia-nan; Peng, Yu

    2013-10-01

    The traditional strapdown inertial/celestial integrated navigation method used in a ballistic missile cannot accurately estimate the accelerometer bias. It might cause a divergence of navigation errors. To solve this problem, a new navigation method named strapdown inertial/starlight refractive celestial integrated navigation is proposed. To verify the feasibility of the proposed method, a simulated program of a ballistic missile is presented. The simulation results indicated that, when multiple refraction stars are used, the proposed method can accurately estimate the accelerometer bias, and suppress the divergence of navigation errors completely. Specifically, in order to apply this method to a ballistic missile, a novel measurement equation based on stellar refraction was developed. Furthermore a method to calculate the number of refraction stars observed by the stellar sensor was given. Finally, the relationship between the number of refraction stars used and the navigation accuracy is analysed.

  18. Integrating Terrain Maps Into a Reactive Navigation Strategy

    NASA Technical Reports Server (NTRS)

    Howard, Ayanna; Werger, Barry; Seraji, Homayoun

    2006-01-01

    An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

  19. The Application of Surgical Navigation in the Treatment of Temporomandibular Joint Ankylosis.

    PubMed

    Sun, Guowen; Lu, Mingxing; Hu, Qingang

    2015-11-01

    The purpose of this study was to assess the safety and the accuracy of surgical navigation technology in the resection of severe ankylosis of the mandibular condyle with the middle cranial fossa. The computed tomography scan data were transferred to a Windows-based computer workstation, and the patient's individual anatomy was assessed in multiplanar views at the workstation. In the operation, the patient and the virtual image were matched by individual registration with the reference points which were set on the skull bone surface and the teeth. Then, the real-time navigation can be performed. The acquisition of the data sets was uncomplicated, and image quality was sufficient to assess the operative result in 2 cases. Both of the operations were performed successfully with the guidance of real-time navigation. The application of surgical navigation has enhanced the safety and the accuracy of the surgery for bony ankylosis of temporomandibular joint. The use of surgical navigation resulted in the promotion of accurate and safe surgical excision of the ankylosed skull base tissue.

  20. Navigation system for minimally invasive esophagectomy: experimental study in a porcine model.

    PubMed

    Nickel, Felix; Kenngott, Hannes G; Neuhaus, Jochen; Sommer, Christof M; Gehrig, Tobias; Kolb, Armin; Gondan, Matthias; Radeleff, Boris A; Schaible, Anja; Meinzer, Hans-Peter; Gutt, Carsten N; Müller-Stich, Beat-Peter

    2013-10-01

    Navigation systems potentially facilitate minimally invasive esophagectomy and improve patient outcome by improving intraoperative orientation, position estimation of instruments, and identification of lymph nodes and resection margins. The authors' self-developed navigation system is highly accurate in static environments. This study aimed to test the overall accuracy of the navigation system in a realistic operating room scenario and to identify the different sources of error altering accuracy. To simulate a realistic environment, a porcine model (n = 5) was used with endoscopic clips in the esophagus as navigation targets. Computed tomography imaging was followed by image segmentation and target definition with the medical imaging interaction toolkit software. Optical tracking was used for registration and localization of animals and navigation instruments. Intraoperatively, the instrument was displayed relative to segmented organs in real time. The target registration error (TRE) of the navigation system was defined as the distance between the target and the navigation instrument tip. The TRE was measured on skin targets with the animal in the 0° supine and 25° anti-Trendelenburg position and on the esophagus during laparoscopic transhiatal preparation. On skin targets, the TRE was significantly higher in the 25° position, at 14.6 ± 2.7 mm, compared with the 0° position, at 3.2 ± 1.3 mm. The TRE on the esophagus was 11.2 ± 2.4 mm. The main source of error was soft tissue deformation caused by intraoperative positioning, pneumoperitoneum, surgical manipulation, and tissue dissection. The navigation system obtained acceptable accuracy with a minimally invasive transhiatal approach to the esophagus in a realistic experimental model. Thus the system has the potential to improve intraoperative orientation, identification of lymph nodes and adequate resection margins, and visualization of risk structures. Compensation methods for soft tissue

  1. Libration Point Navigation Concepts Supporting the Vision for Space Exploration

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Folta, David C.; Moreau, Michael C.; Quinn, David A.

    2004-01-01

    This work examines the autonomous navigation accuracy achievable for a lunar exploration trajectory from a translunar libration point lunar navigation relay satellite, augmented by signals from the Global Positioning System (GPS). We also provide a brief analysis comparing the libration point relay to lunar orbit relay architectures, and discuss some issues of GPS usage for cis-lunar trajectories.

  2. Three-dimensional navigation is more accurate than two-dimensional navigation or conventional fluoroscopy for percutaneous sacroiliac screw fixation in the dysmorphic sacrum: a randomized multicenter study.

    PubMed

    Matityahu, Amir; Kahler, David; Krettek, Christian; Stöckle, Ulrich; Grutzner, Paul Alfred; Messmer, Peter; Ljungqvist, Jan; Gebhard, Florian

    2014-12-01

    To evaluate the accuracy of computer-assisted sacral screw fixation compared with conventional techniques in the dysmorphic versus normal sacrum. Review of a previous study database. Database of a multinational study with 9 participating trauma centers. The reviewed group included 130 patients, 72 from the navigated group and 58 from the conventional group. Of these, 109 were in the nondysmorphic group and 21 in the dysmorphic group. Placement of sacroiliac (SI) screws was performed using standard fluoroscopy for the conventional group and BrainLAB navigation software with either 2-dimensional or 3-dimensional (3D) navigation for the navigated group. Accuracy of SI screw placement by 2-dimensional and 3D navigation versus conventional fluoroscopy in dysmorphic and nondysmorphic patients, as evaluated by 6 observers using postoperative computerized tomography imaging at least 1 year after initial surgery. Intraobserver agreement was also evaluated. There were 11.9% (13/109) of patients with misplaced screws in the nondysmorphic group and 28.6% (6/21) of patients with misplaced screws in the dysmorphic group, none of which were in the 3D navigation group. Raw agreement between the 6 observers regarding misplaced screws was 32%. However, the percent overall agreement was 69.0% (kappa = 0.38, P < 0.05). The use of 3D navigation to improve intraoperative imaging for accurate insertion of SI screws is magnified in the dysmorphic proximal sacral segment. We recommend the use of 3D navigation, where available, for insertion of SI screws in patients with normal and dysmorphic proximal sacral segments. Therapeutic level I.

  3. Is computer navigation when used in the surgery of iliosacral pelvic bone tumours safer for the patient?

    PubMed

    Laitinen, M K; Parry, M C; Albergo, J I; Grimer, R J; Jeys, L M

    2017-02-01

    Due to the complex anatomy of the pelvis, limb-sparing resections of pelvic tumours achieving adequate surgical margins, can often be difficult. The advent of computer navigation has improved the precision of resection of these lesions, though there is little evidence comparing resection with or without the assistance of navigation. Our aim was to evaluate the efficacy of navigation-assisted surgery for the resection of pelvic bone tumours involving the posterior ilium and sacrum. Using our prospectively updated institutional database, we conducted a retrospective case control study of 21 patients who underwent resection of the posterior ilium and sacrum, for the treatment of a primary sarcoma of bone, between 1987 and 2015. The resection was performed with the assistance of navigation in nine patients and without navigation in 12. We assessed the accuracy of navigation-assisted surgery, as defined by the surgical margin and how this affects the rate of local recurrence, the disease-free survival and the effects on peri-and post-operative morbidity. The mean age of the patients was 36.4 years (15 to 66). The mean size of the tumour was 10.9 cm. In the navigation-assisted group, the margin was wide in two patients (16.7%), marginal in six (66.7%) and wide-contaminated in one (11.1%) with no intralesional margin. In the non-navigated-assisted group; the margin was wide in two patients (16.7%), marginal in five (41.7%), intralesional in three (25.0%) and wide-contaminated in two (16.7%). Local recurrence occurred in two patients in the navigation-assisted group (22.2%) and six in the non-navigation-assisted group (50.0%). The disease-free survival was significantly better when operated with navigation-assistance (p = 0.048). The blood loss and operating time were less in the navigated-assisted group, as was the risk of a foot drop post-operatively. The introduction of navigation-assisted surgery for the resection of tumours of the posterior ilium and sacrum has

  4. COMPASS time synchronization and dissemination—Toward centimetre positioning accuracy

    NASA Astrophysics Data System (ADS)

    Wang, ZhengBo; Zhao, Lu; Wang, ShiGuang; Zhang, JianWei; Wang, Bo; Wang, LiJun

    2014-09-01

    In this paper we investigate methods to achieve highly accurate time synchronization among the satellites of the COMPASS global navigation satellite system (GNSS). Owing to the special design of COMPASS which implements several geo-stationary satellites (GEO), time synchronization can be highly accurate via microwave links between ground stations to the GEO satellites. Serving as space-borne relay stations, the GEO satellites can further disseminate time and frequency signals to other satellites such as the inclined geo-synchronous (IGSO) and mid-earth orbit (MEO) satellites within the system. It is shown that, because of the accuracy in clock synchronization, the theoretical accuracy of COMPASS positioning and navigation will surpass that of the GPS. In addition, the COMPASS system can function with its entire positioning, navigation, and time-dissemination services even without the ground link, thus making it much more robust and secure. We further show that time dissemination using the COMPASS-GEO satellites to earth-fixed stations can achieve very high accuracy, to reach 100 ps in time dissemination and 3 cm in positioning accuracy, respectively. In this paper, we also analyze two feasible synchronization plans. All special and general relativistic effects related to COMPASS clocks frequency and time shifts are given. We conclude that COMPASS can reach centimeter-level positioning accuracy and discuss potential applications.

  5. Experimental assessment of precision and accuracy of radiostereometric analysis for the determination of polyethylene wear in a total hip replacement model.

    PubMed

    Bragdon, Charles R; Malchau, Henrik; Yuan, Xunhua; Perinchief, Rebecca; Kärrholm, Johan; Börlin, Niclas; Estok, Daniel M; Harris, William H

    2002-07-01

    The purpose of this study was to develop and test a phantom model based on actual total hip replacement (THR) components to simulate the true penetration of the femoral head resulting from polyethylene wear. This model was used to study both the accuracy and the precision of radiostereometric analysis, RSA, in measuring wear. We also used this model to evaluate optimum tantalum bead configuration for this particular cup design when used in a clinical setting. A physical model of a total hip replacement (a phantom) was constructed which could simulate progressive, three-dimensional (3-D) penetration of the femoral head into the polyethylene component of a THR. Using a coordinate measuring machine (CMM) the positioning of the femoral head using the phantom was measured to be accurate to within 7 microm. The accuracy and precision of an RSA analysis system was determined from five repeat examinations of the phantom using various experimental set-ups of the phantom. The accuracy of the radiostereometric analysis, in this optimal experimental set-up studied was 33 microm for the medial direction, 22 microm for the superior direction, 86 microm for the posterior direction and 55 microm for the resultant 3-D vector length. The corresponding precision at the 95% confidence interval of the test results for repositioning the phantom five times, measured 8.4 microm for the medial direction, 5.5 microm for the superior direction, 16.0 microm for the posterior direction, and 13.5 microm for the resultant 3-D vector length. This in vitro model is proposed as a useful tool for developing a standard for the evaluation of radiostereometric and other radiographic methods used to measure in vivo wear.

  6. Mathematical Models for Doppler Measurements

    NASA Technical Reports Server (NTRS)

    Lear, William M.

    1987-01-01

    Error analysis increases precision of navigation. Report presents improved mathematical models of analysis of Doppler measurements and measurement errors of spacecraft navigation. To take advantage of potential navigational accuracy of Doppler measurements, precise equations relate measured cycle count to position and velocity. Drifts and random variations in transmitter and receiver oscillator frequencies taken into account. Mathematical models also adapted to aircraft navigation, radar, sonar, lidar, and interferometry.

  7. SLS Block 1-B and Exploration Upper Stage Navigation System Design

    NASA Technical Reports Server (NTRS)

    Oliver, T. Emerson; Park, Thomas B.; Smith, Austin; Anzalone, Evan; Bernard, Bill; Strickland, Dennis; Geohagan, Kevin; Green, Melissa; Leggett, Jarred

    2018-01-01

    The SLS Block 1B vehicle is planned to extend NASA's heavy lift capability beyond the initial SLS Block 1 vehicle. The most noticeable change for this vehicle from SLS Block 1 is the swapping of the upper stage from the Interim Cryogenic Propulsion stage (ICPS), a modified Delta IV upper stage, to the more capable Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability and execute more demanding missions so must the SLS Integrated Navigation System to support those missions. The SLS Block 1 vehicle carries two independent navigation systems. The responsibility of the two systems is delineated between ascent and upper stage flight. The Block 1 navigation system is responsible for the phase of flight between the launch pad and insertion into Low-Earth Orbit (LEO). The upper stage system assumes the mission from LEO to payload separation. For the Block 1B vehicle, the two functions are combined into a single system intended to navigate from ground to payload insertion. Both are responsible for self-disposal once payload delivery is achieved. The evolution of the navigation hardware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1-B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1-B vehicle navigation system is designed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. This is measured in terms of payload impact and stage disposal requirements. Additionally, the Block 1-B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and Fault Detection, Isolation, and Recovery (FDIR) logic. The preliminary Block 1B integrated navigation system design is presented along with the challenges associated with

  8. Space shuttle entry and landing navigation analysis

    NASA Technical Reports Server (NTRS)

    Jones, H. L.; Crawford, B. S.

    1974-01-01

    A navigation system for the entry phase of a Space Shuttle mission which is an aided-inertial system which uses a Kalman filter to mix IMU data with data derived from external navigation aids is evaluated. A drag pseudo-measurement used during radio blackout is treated as an additional external aid. A comprehensive truth model with 101 states is formulated and used to generate detailed error budgets at several significant time points -- end-of-blackout, start of final approach, over runway threshold, and touchdown. Sensitivity curves illustrating the effect of variations in the size of individual error sources on navigation accuracy are presented. The sensitivity of the navigation system performance to filter modifications is analyzed. The projected overall performance is shown in the form of time histories of position and velocity error components. The detailed results are summarized and interpreted, and suggestions are made concerning possible software improvements.

  9. Pharmacological evidence is consistent with a prominent role of spatial memory in complex navigation

    PubMed Central

    2016-01-01

    The ability to learn about the spatial environment plays an important role in navigation, migration, dispersal, and foraging. However, our understanding of both the role of cognition in the development of navigation strategies and the mechanisms underlying these strategies is limited. We tested the hypothesis that complex navigation is facilitated by spatial memory in a population of Chrysemys picta that navigate with extreme precision (±3.5 m) using specific routes that must be learned prior to age three. We used scopolamine, a muscarinic acetylcholine receptor antagonist, to manipulate the cognitive spatial abilities of free-living turtles during naturally occurring overland movements. Experienced adults treated with scopolamine diverted markedly from their precise navigation routes. Naive juveniles lacking experience (and memory) were not affected by scopolamine, and thereby served as controls for perceptual or non-spatial cognitive processes associated with navigation. Further, neither adult nor juvenile movement was affected by methylscopolamine, a form of scopolamine that does not cross the blood–brain barrier, a control for the peripheral effects of scopolamine. Together, these results are consistent with a role of spatial cognition in complex navigation and highlight a cellular mechanism that might underlie spatial cognition. Overall, our findings expand our understanding of the development of complex cognitive abilities of vertebrates and the neurological mechanisms of navigation. PMID:26865305

  10. Navigational ultrasound imaging: A novel imaging tool for aiding interventional therapies of equine musculoskeletal injuries.

    PubMed

    Lustgarten, M; Redding, W R; Schnabel, L V; Prange, T; Seiler, G S

    2016-03-01

    Navigational ultrasound imaging, also known as fusion imaging, is a novel technology that allows real-time ultrasound imaging to be correlated with a previously acquired computed tomography (CT) or magnetic resonance imaging (MRI) study. It has been used in man to aid interventional therapies and has been shown to be valuable for sampling and assessing lesions diagnosed with MRI or CT that are equivocal on ultrasonography. To date, there are no reports of the use of this modality in veterinary medicine. To assess whether navigational ultrasound imaging can be used to assist commonly performed interventional therapies for the treatment of equine musculoskeletal injuries diagnosed with MRI and determine the appropriateness of regional anatomical landmarks as registration sites. Retrospective, descriptive clinical study. Horses with musculoskeletal injuries of the distal limb diagnosed with MRI scheduled for ultrasound-guided interventional therapies were evaluated (n = 17 horses with a total of 29 lesions). Anatomical landmarks used for image registration for the navigational procedure were documented. Accuracy of lesion location and success of the procedure were assessed subjectively and described using a grading scale. All procedures were accurately registered using regional anatomical landmarks and considered successful based on our criteria. Anatomical landmarks were described for each lesion type. The addition of navigational imaging was considered to greatly aid the procedures in 59% of cases and added information to the remainder of the procedures. The technique was considered to improve the precision of these interventional procedures. Navigational ultrasound imaging is a complementary imaging modality that can be used for the treatment of equine soft tissue musculoskeletal injuries diagnosed with MRI. © 2015 EVJ Ltd.

  11. Doppler lidar sensor for precision navigation in GPS-deprived environment

    NASA Astrophysics Data System (ADS)

    Amzajerdian, F.; Pierrottet, D. F.; Hines, G. D.; Petway, L. B.; Barnes, B. W.

    2013-05-01

    Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.

  12. Doppler Lidar Sensor for Precision Navigation in GPS-Deprived Environment

    NASA Technical Reports Server (NTRS)

    Amzajerdian, F.; Pierrottet, D. F.; Hines, G. D.; Hines, G. D.; Petway, L. B.; Barnes, B. W.

    2013-01-01

    Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.

  13. Navigation Concepts for the James Webb Space Telescope

    NASA Technical Reports Server (NTRS)

    Long, Anne; Leung, Dominic; Kelbel, David; Beckman, Mark; Grambling, Cheryl

    2003-01-01

    This paper evaluates the performance that can be achieved using candidate ground and onboard navigation approaches for operation of the James Webb Space Telescope, which will be in an orbit about the Sun-Earth L2 libration point. The ground navigation approach processes standard range and Doppler measurements from the Deep Space Network The onboard navigation approach processes celestial object measurements and/or ground-to- spacecraft Doppler measurements to autonomously estimate the spacecraft s position and velocity and Doppler reference frequency. Particular attention is given to assessing the absolute position and velocity accuracy that can be achieved in the presence of the frequent spacecraft reorientations and momentum unloads planned for this mission. The ground navigation approach provides stable navigation solutions using a tracking schedule of one 30-minute contact per day. The onboard navigation approach that uses only optical quality celestial object measurements provides stable autonomous navigation solutions. This study indicates that unmodeled changes in the solar radiation pressure cross-sectional area and modeled momentum unload velocity changes are the major error sources. These errors can be mitigated by modeling these changes, by estimating corrections to compensate for the changes, or by including acceleration measurements.

  14. High Accuracy Ground-based near-Earth-asteroid Astrometry using Synthetic Tracking

    NASA Astrophysics Data System (ADS)

    Zhai, Chengxing; Shao, Michael; Saini, Navtej; Sandhu, Jagmit; Werne, Thomas; Choi, Philip; Ely, Todd A.; Jacobs, Chirstopher S.; Lazio, Joseph; Martin-Mur, Tomas J.; Owen, William M.; Preston, Robert; Turyshev, Slava; Michell, Adam; Nazli, Kutay; Cui, Isaac; Monchama, Rachel

    2018-01-01

    Accurate astrometry is crucial for determining the orbits of near-Earth-asteroids (NEAs). Further, the future of deep space high data rate communications is likely to be optical communications, such as the Deep Space Optical Communications package that is part of the baseline payload for the planned Psyche Discovery mission to the Psyche asteroid. We have recently upgraded our instrument on the Pomona College 1 m telescope, at JPL's Table Mountain Facility, for conducting synthetic tracking by taking many short exposure images. These images can be then combined in post-processing to track both asteroid and reference stars to yield accurate astrometry. Utilizing the precision of the current and future Gaia data releases, the JPL-Pomona College effort is now demonstrating precision astrometry on NEAs, which is likely to be of considerable value for cataloging NEAs. Further, treating NEAs as proxies of future spacecraft that carry optical communication lasers, our results serve as a measure of the astrometric accuracy that could be achieved for future plane-of-sky optical navigation.

  15. Precision and Accuracy of Analysis for Boron in ITP Samples

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Tovo, L.L.

    'Inductively Coupled Plasma Emission Spectroscopy (ICPES) has been used by the Analytical Development Section (ADS) to measure boron in catalytic tetraphenylboron decomposition studies performed by the Waste Processing Technology (WPT) section. Analysis of these samples is complicated due to the presence of high concentrations of sodium and organic compounds. Previously, we found signal suppression in samples analyzed "as received". We suspected that the suppression was due to the high organic concentration (up to 0.01 molar organic decomposition products) in the samples. When the samples were acid digested prior to analysis, the suppression was eliminated. The precision of the reported boronmore » concentration was estimated as 10 percent based on the known precision of the inorganic boron standard used for calibration and quality control check of the ICPES analysis. However, a precision better than 10 percent was needed to evaluate ITP process operating parameters. Therefore, the purpose of this work was (1) to measure, instead of estimating, the precision of the boron measurement on ITP samples and (2) to determine the optimum precision attainable with current instrumentation.'« less

  16. Navigation Assistance: A Trade-Off between Wayfinding Support and Configural Learning Support

    ERIC Educational Resources Information Center

    Munzer, Stefan; Zimmer, Hubert D.; Baus, Jorg

    2012-01-01

    Current GPS-based mobile navigation assistance systems support wayfinding, but they do not support learning about the spatial configuration of an environment. The present study examined effects of visual presentation modes for navigation assistance on wayfinding accuracy, route learning, and configural learning. Participants (high-school students)…

  17. Improved DORIS accuracy for precise orbit determination and geodesy

    NASA Technical Reports Server (NTRS)

    Willis, Pascal; Jayles, Christian; Tavernier, Gilles

    2004-01-01

    In 2001 and 2002, 3 more DORIS satellites were launched. Since then, all DORIS results have been significantly improved. For precise orbit determination, 20 cm are now available in real-time with DIODE and 1.5 to 2 cm in post-processing. For geodesy, 1 cm precision can now be achieved regularly every week, making now DORIS an active part of a Global Observing System for Geodesy through the IDS.

  18. Minimally Invasive Spinal Surgery with Intraoperative Image-Guided Navigation

    PubMed Central

    Kim, Terrence T.; Johnson, J. Patrick; Pashman, Robert; Drazin, Doniel

    2016-01-01

    We present our perioperative minimally invasive spine surgery technique using intraoperative computed tomography image-guided navigation for the treatment of various lumbar spine pathologies. We present an illustrative case of a patient undergoing minimally invasive percutaneous posterior spinal fusion assisted by the O-arm system with navigation. We discuss the literature and the advantages of the technique over fluoroscopic imaging methods: lower occupational radiation exposure for operative room personnel, reduced need for postoperative imaging, and decreased revision rates. Most importantly, we demonstrate that use of intraoperative cone beam CT image-guided navigation has been reported to increase accuracy. PMID:27213152

  19. The DGPS based navigation and positioning system of the Helsinki University of Technology Short SC7 Skyvan research aircraft

    DOE Office of Scientific and Technical Information (OSTI.GOV)

    Tauriainen, S.; Ahola, P.; Hallikainen, M.

    1996-10-01

    The typical airborne remote sensing measurements conducted by the Helsinki University of Technology laboratory of space technology require very precise navigation over the selected measurement sites. This means that both system performance as far as positioning is concerned and the actual flight track of the aircraft has to be within 10 meters. To meet these requirements, a custom made navigation system was designed and installed in the SHORT SC7 Skyvan research aircraft of the Helsinki University of Technology. The system is based on the Finnish national Differential GPS network providing positioning accuracy within a few meters within Finland. For pilotmore » guidance, a graphical user interface with mission specific software is used to give the pilots an overview of the relative position and orientation to the measurement target. In addition, the system is used to synchronize the scientific instruments and record the actual flight track. 2 refs., 2 figs.« less

  20. The accuracy, precision and sustainability of different techniques for tablet subdivision: breaking by hand and the use of tablet splitters or a kitchen knife.

    PubMed

    van Riet-Nales, Diana A; Doeve, Myrthe E; Nicia, Agnes E; Teerenstra, Steven; Notenboom, Kim; Hekster, Yechiel A; van den Bemt, Bart J F

    2014-05-15

    Tablets are frequently subdivided to lower the dose, to facilitate swallowing by e.g. children or older people or to save costs. Splitting devices are commonly used when hand breaking is difficult or painful. Three techniques for tablet subdivision were investigated: hand breaking, tablet splitter, kitchen knife. A best case drug (paracetamol), tablet (round, flat, uncoated, 500 mg) and operator (24-year student) were applied. Hundred tablets were subdivided by hand and by three devices of each of the following types: Fit & Healthy, Health Care Logistics, Lifetime, PillAid, PillTool, Pilomat tablet splitter; Blokker kitchen knife. The intra and inter device accuracy, precision and sustainability were investigated. The compliance to (adapted) regulatory requirements was investigated also. The accuracy and precision of hand broken tablets was 104/97% resp. 2.8/3.2% (one part per tablet considered; parts right/left side operator). The right/left accuracies of the splitting devices varied between 60 and 133%; the precisions 4.0 and 29.6%. The devices did not deteriorate over 100-fold use. Only hand broken tablets complied with all regulatory requirements. Health care professionals should realize that tablet splitting may result in inaccurate dosing. Authorities should undertake appropriate measures to assure good function of tablet splitters and, where feasible, to reduce the need for their use. Copyright © 2014 The Authors. Published by Elsevier B.V. All rights reserved.

  1. The Accuracy and Precision of Flow Measurements Using Phase Contrast Techniques

    NASA Astrophysics Data System (ADS)

    Tang, Chao

    Quantitative volume flow rate measurements using the magnetic resonance imaging technique are studied in this dissertation because the volume flow rates have a special interest in the blood supply of the human body. The method of quantitative volume flow rate measurements is based on the phase contrast technique, which assumes a linear relationship between the phase and flow velocity of spins. By measuring the phase shift of nuclear spins and integrating velocity across the lumen of the vessel, we can determine the volume flow rate. The accuracy and precision of volume flow rate measurements obtained using the phase contrast technique are studied by computer simulations and experiments. The various factors studied include (1) the partial volume effect due to voxel dimensions and slice thickness relative to the vessel dimensions; (2) vessel angulation relative to the imaging plane; (3) intravoxel phase dispersion; (4) flow velocity relative to the magnitude of the flow encoding gradient. The partial volume effect is demonstrated to be the major obstacle to obtaining accurate flow measurements for both laminar and plug flow. Laminar flow can be measured more accurately than plug flow in the same condition. Both the experiment and simulation results for laminar flow show that, to obtain the accuracy of volume flow rate measurements to within 10%, at least 16 voxels are needed to cover the vessel lumen. The accuracy of flow measurements depends strongly on the relative intensity of signal from stationary tissues. A correction method is proposed to compensate for the partial volume effect. The correction method is based on a small phase shift approximation. After the correction, the errors due to the partial volume effect are compensated, allowing more accurate results to be obtained. An automatic program based on the correction method is developed and implemented on a Sun workstation. The correction method is applied to the simulation and experiment results. The

  2. Use of a 3D Skull Model to Improve Accuracy in Cranioplasty for Autologous Flap Resorption in a 3-Year-Old Child.

    PubMed

    Maduri, Rodolfo; Viaroli, Edoardo; Levivier, Marc; Daniel, Roy T; Messerer, Mahmoud

    2017-01-01

    Cranioplasty is considered a simple reconstructive procedure, usually performed in a single stage. In some clinical conditions, such as in children with multifocal flap osteolysis, it could represent a surgical challenge. In these patients, the partially resorbed autologous flap should be removed and replaced with a precustomed prosthesis which should perfectly match the expected bone defect. We describe the technique used for a navigated cranioplasty in a 3-year-old child with multifocal autologous flap osteolysis. We decided to perform a cranioplasty using a custom-made hydroxyapatite porous ceramic flap. The prosthesis was produced with an epoxy resin 3D skull model of the patient, which included a removable flap corresponding to the planned cranioplasty. Preoperatively, a CT scan of the 3D skull model was performed without the removable flap. The CT scan images of the 3D skull model were merged with the preoperative 3D CT scan of the patient and navigated during the cranioplasty to define with precision the cranioplasty margins. After removal of the autologous resorbed flap, the hydroxyapatite prosthesis matched perfectly with the skull defect. The anatomical result was excellent. Thus, the implementation of cranioplasty with image merge navigation of a 3D skull model may improve cranioplasty accuracy, allowing precise anatomic reconstruction in complex skull defect cases. © 2017 S. Karger AG, Basel.

  3. An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing

    NASA Astrophysics Data System (ADS)

    Wu, Mouyan; Ding, Jicheng; Zhao, Lin; Kang, Yingyao; Luo, Zhibin

    2018-02-01

    The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.

  4. Autonomous Navigation of the SSTI/Lewis Spacecraft Using the Global Positioning System (GPS)

    NASA Technical Reports Server (NTRS)

    Hart, R. C.; Long, A. C.; Lee, T.

    1997-01-01

    The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) is pursuing the application of Global Positioning System (GPS) technology to improve the accuracy and economy of spacecraft navigation. High-accuracy autonomous navigation algorithms are being flight qualified in conjunction with GSFC's GPS Attitude Determination Flyer (GADFLY) experiment on the Small Satellite Technology Initiative (SSTI) Lewis spacecraft, which is scheduled for launch in 1997. Preflight performance assessments indicate that these algorithms can provide a real-time total position accuracy of better than 10 meters (1 sigma) and velocity accuracy of better than 0.01 meter per second (1 sigma), with selective availability at typical levels. This accuracy is projected to improve to the 2-meter level if corrections to be provided by the GPS Wide Area Augmentation System (WAAS) are included.

  5. Robotic-Arm Assisted Total Knee Arthroplasty Demonstrated Greater Accuracy and Precision to Plan Compared with Manual Techniques.

    PubMed

    Hampp, Emily L; Chughtai, Morad; Scholl, Laura Y; Sodhi, Nipun; Bhowmik-Stoker, Manoshi; Jacofsky, David J; Mont, Michael A

    2018-05-01

    This study determined if robotic-arm assisted total knee arthroplasty (RATKA) allows for more accurate and precise bone cuts and component position to plan compared with manual total knee arthroplasty (MTKA). Specifically, we assessed the following: (1) final bone cuts, (2) final component position, and (3) a potential learning curve for RATKA. On six cadaver specimens (12 knees), a MTKA and RATKA were performed on the left and right knees, respectively. Bone-cut and final-component positioning errors relative to preoperative plans were compared. Median errors and standard deviations (SDs) in the sagittal, coronal, and axial planes were compared. Median values of the absolute deviation from plan defined the accuracy to plan. SDs described the precision to plan. RATKA bone cuts were as or more accurate to plan based on nominal median values in 11 out of 12 measurements. RATKA bone cuts were more precise to plan in 8 out of 12 measurements ( p  ≤ 0.05). RATKA final component positions were as or more accurate to plan based on median values in five out of five measurements. RATKA final component positions were more precise to plan in four out of five measurements ( p  ≤ 0.05). Stacked error results from all cuts and implant positions for each specimen in procedural order showed that RATKA error was less than MTKA error. Although this study analyzed a small number of cadaver specimens, there were clear differences that separated these two groups. When compared with MTKA, RATKA demonstrated more accurate and precise bone cuts and implant positioning to plan. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

  6. Analysis of navigation and guidance requirements for commercial VTOL operations

    NASA Technical Reports Server (NTRS)

    Hoffman, W. C.; Zvara, J.; Hollister, W. M.

    1975-01-01

    The paper presents some results of a program undertaken to define navigation and guidance requirements for commercial VTOL operations in the takeoff, cruise, terminal and landing phases of flight in weather conditions up to and including Category III. Quantitative navigation requirements are given for the parameters range, coverage, operation near obstacles, horizontal accuracy, multiple landing aircraft, multiple pad requirements, inertial/radio-inertial requirements, reliability/redundancy, update rate, and data link requirements in all flight phases. A multi-configuration straw-man navigation and guidance system for commercial VTOL operations is presented. Operation of the system is keyed to a fully automatic approach for navigation, guidance and control, with pilot as monitor-manager. The system is a hybrid navigator using a relatively low-cost inertial sensor with DME updates and MLS in the approach/departure phases.

  7. Rapid measurement of human milk macronutrients in the neonatal intensive care unit: accuracy and precision of fourier transform mid-infrared spectroscopy.

    PubMed

    Smilowitz, Jennifer T; Gho, Deborah S; Mirmiran, Majid; German, J Bruce; Underwood, Mark A

    2014-05-01

    Although it is well established that human milk varies widely in macronutrient content, it remains common for human milk fortification for premature infants to be based on historic mean values. As a result, those caring for premature infants often underestimate protein intake. Rapid precise measurement of human milk protein, fat, and lactose to allow individualized fortification has been proposed for decades but remains elusive due to technical challenges. This study aimed to evaluate the accuracy and precision of a Fourier transform (FT) mid-infrared (IR) spectroscope in the neonatal intensive care unit to measure human milk fat, total protein, lactose, and calculated energy compared with standard chemical analyses. One hundred sixteen breast milk samples across lactation stages from women who delivered at term (n = 69) and preterm (n = 5) were analyzed with the FT mid-IR spectroscope and with standard chemical methods. Ten of the samples were tested in replicate using the FT mid-IR spectroscope to determine repeatability. The agreement between the FT mid-IR spectroscope analysis and reference methods was high for protein and fat and moderate for lactose and energy. The intra-assay coefficients of variation for all outcomes were less than 3%. The FT mid-IR spectroscope demonstrated high accuracy in measurement of total protein and fat of preterm and term milk with high precision.

  8. Context-Aware Personal Navigation Using Embedded Sensor Fusion in Smartphones

    PubMed Central

    Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

    2014-01-01

    Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts—where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone. PMID:24670715

  9. Context-aware personal navigation using embedded sensor fusion in smartphones.

    PubMed

    Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

    2014-03-25

    Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts-where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone.

  10. Science Benefits of Onboard Spacecraft Navigation

    NASA Technical Reports Server (NTRS)

    Cangahuala, Al; Bhaskaran, Shyam; Owen, Bill

    2012-01-01

    Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body-in short, navigate the spacecraft- with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry). Traditionally, the relative trajectory of the spacecraft must be estimated hours to days in advance using images collected by the spacecraft. This is because of (1)!the long round-trip light times between the spacecraft and the Earth and (2)!the time needed to downlink and process navigation data on the ground, make decisions based on the result, and build and uplink instrument pointing sequences from the results. The light time and processing time compromise navigation accuracy considerably, because there is not enough time to use more accurate data collected closer to the target-such data are more accurate because the angular capability of the onboard astrometry is essentially constant as the distance to the target decreases, resulting in better "plane-of- sky" knowledge of the target. Excellent examples of these timing limitations are high-speed comet encounters. Comets are difficult to observe up close; their orbits often limit scientists to brief, rapid flybys, and their coma further restricts viewers from seeing the nucleus in any detail, unless they can view the nucleus at close range. Comet nuclei details are typically discernable for much shorter durations than the roundtrip light time to Earth, so robotic spacecraft must be able to perform onboard navigation. This onboard

  11. Investigation and evaluation of shuttle/GPS navigation system

    NASA Technical Reports Server (NTRS)

    Nilsen, P. W.

    1977-01-01

    Iterative procedures were used to analyze the performance of two preliminary shuttle/GPS navigation system configurations: an early OFT experimental system and a more sophisticated system which consolidates several separate navigation functions thus permitting net cost savings from decreased shuttle avionics weight and power consumption, and from reduced ground data processing. The GPS system can provide on-orbit navigation accuracy an order of magnitude better than the baseline system, with very adequate link margins. The worst-case link margin is 4.3 dB. This link margin accounts for shuttle RF circuit losses which were minimized under the constraints of program schedule and environmental limitations. Implicit in the link analyses are the location trade-offs for preamplifiers and antennas.

  12. Analysis of navigation performance for the Earth Observing System (EOS) using the TDRSS Onboard Navigation System (TONS)

    NASA Technical Reports Server (NTRS)

    Elrod, B.; Kapoor, A.; Folta, David C.; Liu, K.

    1991-01-01

    Use of the Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) was proposed as an alternative to the Global Positioning System (GPS) for supporting the Earth Observing System (EOS) mission. The results are presented of EOS navigation performance evaluation with respect to TONS based orbit, time, and frequency determination (OD/TD/FD). Two TONS modes are considered: one uses scheduled TDRSS forward link service to derive one way Doppler tracking data for OD/FD support (TONS-I); the other uses an unscheduled navigation beacon service (proposed for Advanced TDRSS) to obtain pseudorange and Doppler data for OD/TD/FD support (TONS-II). Key objectives of the analysis were to evaluate nominal performance and potential sensitivities, such as suboptimal tracking geometry, tracking contact scheduling, and modeling parameter selection. OD/TD/FD performance predictions are presented based on covariance and simulation analyses. EOS navigation scenarios and the contributions of principal error sources impacting performance are also described. The results indicate that a TONS mode can be configured to meet current and proposed EOS position accuracy requirements of 100 and 50 m, respectively.

  13. A Prospective Multicenter Evaluation of the Accuracy of a Novel Implanted Continuous Glucose Sensor: PRECISE II.

    PubMed

    Christiansen, Mark P; Klaff, Leslie J; Brazg, Ronald; Chang, Anna R; Levy, Carol J; Lam, David; Denham, Douglas S; Atiee, George; Bode, Bruce W; Walters, Steven J; Kelley, Lynne; Bailey, Timothy S

    2018-03-01

    Persistent use of real-time continuous glucose monitoring (CGM) improves diabetes control in individuals with type 1 diabetes (T1D) and type 2 diabetes (T2D). PRECISE II was a nonrandomized, blinded, prospective, single-arm, multicenter study that evaluated the accuracy and safety of the implantable Eversense CGM system among adult participants with T1D and T2D (NCT02647905). The primary endpoint was the mean absolute relative difference (MARD) between paired Eversense and Yellow Springs Instrument (YSI) reference measurements through 90 days postinsertion for reference glucose values from 40 to 400 mg/dL. Additional endpoints included Clarke Error Grid analysis and sensor longevity. The primary safety endpoint was the incidence of device-related or sensor insertion/removal procedure-related serious adverse events (SAEs) through 90 days postinsertion. Ninety participants received the CGM system. The overall MARD value against reference glucose values was 8.8% (95% confidence interval: 8.1%-9.3%), which was significantly lower than the prespecified 20% performance goal for accuracy (P < 0.0001). Ninety-three percent of CGM values were within 20/20% of reference values over the total glucose range of 40-400 mg/dL. Clarke Error Grid analysis showed 99.3% of samples in the clinically acceptable error zones A (92.8%) and B (6.5%). Ninety-one percent of sensors were functional through day 90. One related SAE (1.1%) occurred during the study for removal of a sensor. The PRECISE II trial demonstrated that the Eversense CGM system provided accurate glucose readings through the intended 90-day sensor life with a favorable safety profile.

  14. Trajectory and navigation system design for robotic and piloted missions to Mars

    NASA Technical Reports Server (NTRS)

    Thurman, S. W.; Matousek, S. E.

    1991-01-01

    Future Mars exploration missions, both robotic and piloted, may utilize Earth to Mars transfer trajectories that are significantly different from one another, depending upon the type of mission being flown and the time period during which the flight takes place. The use of new or emerging technologies for future missions to Mars, such as aerobraking and nuclear rocket propulsion, may yield navigation requirements that are much more stringent than those of past robotic missions, and are very difficult to meet for some trajectories. This article explores the interdependencies between the properties of direct Earth to Mars trajectories and the Mars approach navigation accuracy that can be achieved using different radio metric data types, such as ranging measurements between an approaching spacecraft and Mars orbiting relay satellites, or Earth based measurements such as coherent Doppler and very long baseline interferometry. The trajectory characteristics affecting navigation performance are identified, and the variations in accuracy that might be experienced over the range of different Mars approach trajectories are discussed. The results predict that three sigma periapsis altitude navigation uncertainties of 2 to 10 km can be achieved when a Mars orbiting satellite is used as a navigation aid.

  15. Improved accuracy of screw implantation could decrease the incidence of post-operative hydrothorax? O-arm navigation vs. free-hand in thoracic spinal deformity correction surgery.

    PubMed

    Zhao, Zhihui; Liu, Zhen; Hu, Zongshan; Tseng, Changchun; Li, Jie; Pan, Wei; Qiu, Yong; Zhu, Zezhang

    2018-03-16

    The purpose of this study was to analyze the occurrence of PE after intra-operative O-arm navigation-assisted surgery and determine whether the post-operative PE incidence could be decreased by using O-arm navigation as compared to conventional free-hand technique. A cohort of 27 patients with spinal deformity who were operated upon with an O-arm navigated system (group A) between 2013 and 2016 were enrolled in the study. A total of 27 curve-matched patients treated by conventional free-hand technique were included as the control group (group B). Whole spine posterior-anterior and lateral radiographs, and CT scans were taken pre and post-operation. Radiologic parameters and volume of PE were measured and compared between the two groups. There were no significant differences in age, Cobb angle, and sagittal contour between the two groups pre-operatively. The mean total volume of post-operative PE was significantly larger in the free-hand group (p < 0.001). In the O-arm group, 59 malpositioned screws were identified in 22 patients. In the free-hand group, 88 malpositioned screws were found among 26 patients. The screw perforation rate was higher in the free-hand group than in the O-arm group (p = 0.007). In the O-arm group, the mean volume of PE was significantly larger among patients with malpositioned screws than those without malpositioned screws (p < 0.001), as well as in the free-hand group. The volume of PE after correction surgery can be significantly decreased by application of O-arm navigation system as compared to conventional free-hand technique. We ascribed the improvement to the accuracy of screw implantation navigated by O-arm.

  16. Lunar rover navigation concepts

    NASA Astrophysics Data System (ADS)

    Burke, James D.

    1993-01-01

    With regard to the navigation of mobile lunar vehicles on the surface, candidate techniques are reviewed and progress of simulations and experiments made up to now are described. Progress that can be made through precursor investigations on Earth is considered. In the early seventies the problem was examined in a series of relevant tests made in the California desert. Meanwhile, Apollo rovers made short exploratory sorties and robotic Lunokhods traveled over modest distances on the Moon. In these early missions some of the required methods were demonstrated. The navigation problem for a lunar traverse can be viewed in three parts: to determine the starting point with enough accuracy to enable the desired mission; to determine the event sequence required to reach the site of each traverse objective; and to redetermine actual positions enroute. The navigator's first tool is a map made from overhead imagery. The Moon was almost completely photographed at moderate resolution by spacecraft launched in the sixties, but that data set provides imprecise topographic and selenodetic information. Therefore, more advanced orbital missions are now proposed as part of a resumed lunar exploration program. With the mapping coverage expected from such orbiters, it will be possible to use a combination of visual landmark navigation and external radio and optical references (Earth and Sun) to achieve accurate surface navigation almost everywhere on the near side of the Moon. On the far side and in permanently dark polar areas, there are interesting exploration targets where additional techniques will have to be used.

  17. Accuracy and precision of a custom camera-based system for 2D and 3D motion tracking during speech and nonspeech motor tasks

    PubMed Central

    Feng, Yongqiang; Max, Ludo

    2014-01-01

    Purpose Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories, and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable alternative, provided that they offer high temporal resolution and sub-millimeter accuracy. Method We examined the accuracy and precision of 2D and 3D data recorded with a system that combines consumer-grade digital cameras capturing 60, 120, or 240 frames per second (fps), retro-reflective markers, commercially-available computer software (APAS, Ariel Dynamics), and a custom calibration device. Results Overall mean error (RMSE) across tests was 0.15 mm for static tracking and 0.26 mm for dynamic tracking, with corresponding precision (SD) values of 0.11 and 0.19 mm, respectively. The effect of frame rate varied across conditions, but, generally, accuracy was reduced at 240 fps. The effect of marker size (3 vs. 6 mm diameter) was negligible at all frame rates for both 2D and 3D data. Conclusion Motion tracking with consumer-grade digital cameras and the APAS software can achieve sub-millimeter accuracy at frame rates that are appropriate for kinematic analyses of lip/jaw movements for both research and clinical purposes. PMID:24686484

  18. Joint Line Reconstruction in Navigated Total Knee Arthroplasty Revision

    ClinicalTrials.gov

    2012-05-16

    Revision Total Knee Arthroplasty Because of; Loosening; Instability; Impingement; or Other Reasons Accepted as Indications for TKA Exchange.; The Focus is to Determine the Precision of Joint Line Restoration in Navigated vs. Conventional Revision Total Knee Arthroplasty

  19. Analysis of the Precision of Pulsar Time Clock Modeltwo

    NASA Astrophysics Data System (ADS)

    Zhao, Cheng-shi; Tong, Ming-lei; Gao, Yu-ping; Yang, Ting-gao

    2018-04-01

    Millisecond pulsars have a very high rotation stability, which can be applied to many research fields, such as the establishment of the pulsar time standard, the detection of gravitational wave, the spacecraft navigation by using X-ray pulsars and so on. In this paper, we employ two millisecond pulsars PSR J0437-4715 and J1713+0743, which are observed by the International Pulsar Timing Array (IPTA), to analyze the precision of pulsar clock parameter and the prediction accuracy of pulse time of arrival (TOA). It is found that the uncertainty of spin frequency is 10-15 Hz, the uncertainty of the first derivative of spin frequency is 10-23 s-2, and the precision of measured rotational parameters increases by one order of magnitude with the accumulated observational data every 4∼5 years. In addition, the errors of TOAs within 4.8 yr which are predicted by the clock model established by the 10 yr data of J0437-4715 are less than 1 μs. Therefore, one can use the pulsar time standard to calibrate the atomic clock, and make the atomic time deviate from the TT (Terrestrial Time) less than 1 μs within 4.8 yr.

  20. TDRSS Onboard Navigation System (TONS) experiment for the Explorer Platform (EP)

    NASA Astrophysics Data System (ADS)

    Gramling, C. J.; Hornstein, R. S.; Long, A. C.; Samii, M. V.; Elrod, B. D.

    A TDRSS Onboard Navigation System (TONS) is currently being developed by NASA to provide a high-accuracy autonomous spacecraft navigation capability for users of TDRSS and its successor, the Advanced TDRSS. A TONS experiment will be performed in conjunction with the Explorer Platform (EP)/EUV Explorer mission to flight-qualify TONS Block I. This paper presents an overview of TDRSS on-board navigation goals and plans and the technical objectives of the TONS experiment. The operations concept of the experiment is described, including the characteristics of the ultrastable oscillator, the Doppler extractor, the signal-acquisition process, the TONS ground-support system, and the navigation flight software. A description of the on-board navigation algorithms and the rationale for their selection is also presented.

  1. High precision applications of the global positioning system

    NASA Technical Reports Server (NTRS)

    Lichten, Stephen M.

    1991-01-01

    The Global Positioning System (GPS) is a constellation of U.S. defense navigation satellites which can be used for military and civilian positioning applications. A wide variety of GPS scientific applications were identified and precise positioning capabilities with GPS were already demonstrated with data available from the present partial satellite constellation. Expected applications include: measurements of Earth crustal motion, particularly in seismically active regions; measurements of the Earth's rotation rate and pole orientation; high-precision Earth orbiter tracking; surveying; measurements of media propagation delays for calibration of deep space radiometric data in support of NASA planetary missions; determination of precise ground station coordinates; and precise time transfer worldwide.

  2. Visual photometry: accuracy and precision

    NASA Astrophysics Data System (ADS)

    Whiting, Alan

    2018-01-01

    Visual photometry, estimation by eye of the brightness of stars, remains an important source of data even in the age of widespread precision instruments. However, the eye-brain system differs from electronic detectors and its results may be expected to differ in several respects. I examine a selection of well-observed variables from the AAVSO database to determine several internal characteristics of this data set. Visual estimates scatter around the fitted curves with a standard deviation of 0.14 to 0.34 magnitudes, most clustered in the 0.21-0.25 range. The variation of the scatter does not seem to correlate with color, type of variable, or depth or speed of variation of the star’s brightness. The scatter of an individual observer’s observations changes from star to star, in step with the overall scatter. The shape of the deviations from the fitted curve is non-Gaussian, with positive excess kurtosis (more outlying observations). These results have implications for use of visual data, as well as other citizen science efforts.

  3. A First Look at the Navigation Design and Analysis for the Orion Exploration Mission 2

    NASA Technical Reports Server (NTRS)

    D'Souza, Chris D.; Zenetti, Renato

    2017-01-01

    This paper will detail the navigation and dispersion design and analysis of the first Orion crewed mission. The optical navigation measurement model will be described. The vehicle noise includes the residual acceleration from attitude deadbanding, attitude maneuvers, CO2 venting, wastewater venting, ammonia sublimator venting and solar radiation pressure. The maneuver execution errors account for the contribution of accelerometer scale-factor on the accuracy of the maneuver execution. Linear covariance techniques are used to obtain the navigation errors and the trajectory dispersions as well as the DV performance. Particular attention will be paid to the accuracy of the delivery at Earth Entry Interface and at the Lunar Flyby.

  4. Innovative use of global navigation satellite systems for flight inspection

    NASA Astrophysics Data System (ADS)

    Kim, Eui-Ho

    The International Civil Aviation Organization (ICAO) mandates flight inspection in every country to provide safety during flight operations. Among many criteria of flight inspection, airborne inspection of Instrument Landing Systems (ILS) is very important because the ILS is the primary landing guidance system worldwide. During flight inspection of the ILS, accuracy in ILS landing guidance is checked by using a Flight Inspection System (FIS). Therefore, a flight inspection system must have high accuracy in its positioning capability to detect any deviation so that accurate guidance of the ILS can be maintained. Currently, there are two Automated Flight Inspection Systems (AFIS). One is called Inertial-based AFIS, and the other one is called Differential GPS-based (DGPS-based) AFIS. The Inertial-based AFIS enables efficient flight inspection procedures, but its drawback is high cost because it requires a navigation-grade Inertial Navigation System (INS). On the other hand, the DGPS-based AFIS has relatively low cost, but flight inspection procedures require landing and setting up a reference receiver. Most countries use either one of the systems based on their own preferences. There are around 1200 ILS in the U.S., and each ILS must be inspected every 6 to 9 months. Therefore, it is important to manage the airborne inspection of the ILS in a very efficient manner. For this reason, the Federal Aviation Administration (FAA) mainly uses the Inertial-based AFIS, which has better efficiency than the DGPS-based AFIS in spite of its high cost. Obviously, the FAA spends tremendous resources on flight inspection. This thesis investigates the value of GPS and the FAA's augmentation to GPS for civil aviation called the Wide Area Augmentation System (or WAAS) for flight inspection. Because standard GPS or WAAS position outputs cannot meet the required accuracy for flight inspection, in this thesis, various algorithms are developed to improve the positioning ability of Flight

  5. Development of a surgical navigation system based on augmented reality using an optical see-through head-mounted display.

    PubMed

    Chen, Xiaojun; Xu, Lu; Wang, Yiping; Wang, Huixiang; Wang, Fang; Zeng, Xiangsen; Wang, Qiugen; Egger, Jan

    2015-06-01

    The surgical navigation system has experienced tremendous development over the past decades for minimizing the risks and improving the precision of the surgery. Nowadays, Augmented Reality (AR)-based surgical navigation is a promising technology for clinical applications. In the AR system, virtual and actual reality are mixed, offering real-time, high-quality visualization of an extensive variety of information to the users (Moussa et al., 2012) [1]. For example, virtual anatomical structures such as soft tissues, blood vessels and nerves can be integrated with the real-world scenario in real time. In this study, an AR-based surgical navigation system (AR-SNS) is developed using an optical see-through HMD (head-mounted display), aiming at improving the safety and reliability of the surgery. With the use of this system, including the calibration of instruments, registration, and the calibration of HMD, the 3D virtual critical anatomical structures in the head-mounted display are aligned with the actual structures of patient in real-world scenario during the intra-operative motion tracking process. The accuracy verification experiment demonstrated that the mean distance and angular errors were respectively 0.809±0.05mm and 1.038°±0.05°, which was sufficient to meet the clinical requirements. Copyright © 2015 Elsevier Inc. All rights reserved.

  6. Navigation of space VLBI missions: Radioastron and VSOP

    NASA Technical Reports Server (NTRS)

    Ellis, Jordan

    1993-01-01

    In the mid-1990s, Russian and Japanese space agencies will each place into highly elliptic earth orbit a radio telescope consisting of a large antenna and radio astronomy receivers. Very long baseline interferometry (VLBI) techniques will be used to obtain high resolution images of radio sources observed by the space and ground based antennas. Stringent navigation accuracy requirements are imposed on the space VLBI missions by the need to transfer an ultra-stable ground reference frequency standard to the spacecraft and by the demands of the VLBI correlation process. Orbit determination for the mission will be the joint responsibility of navigation centers in the U.S., Russia, and Japan with orbit estimates based on combining tracking data from NASA, Russian, and Japanese sites. This paper describes the operational plans, the inter-agency coordination, and data exchange between the navigation centers required for space VLBI navigation.

  7. Sub-nanosecond clock synchronization and precision deep space tracking

    NASA Technical Reports Server (NTRS)

    Dunn, Charles; Lichten, Stephen; Jefferson, David; Border, James S.

    1992-01-01

    Interferometric spacecraft tracking is accomplished at the NASA Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals to ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3 ns error in clock synchronization resulting in an 11 nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock synchronization and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft observations without near-simultaneous quasar-based calibrations. Solutions are presented for a global network of GPS receivers in which the formal errors in clock offset parameters are less than 0.5 ns. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry and the examination of clock closure suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

  8. Image navigation as a means to expand the boundaries of fluorescence-guided surgery

    NASA Astrophysics Data System (ADS)

    Brouwer, Oscar R.; Buckle, Tessa; Bunschoten, Anton; Kuil, Joeri; Vahrmeijer, Alexander L.; Wendler, Thomas; Valdés-Olmos, Renato A.; van der Poel, Henk G.; van Leeuwen, Fijs W. B.

    2012-05-01

    Hybrid tracers that are both radioactive and fluorescent help extend the use of fluorescence-guided surgery to deeper structures. Such hybrid tracers facilitate preoperative surgical planning using (3D) scintigraphic images and enable synchronous intraoperative radio- and fluorescence guidance. Nevertheless, we previously found that improved orientation during laparoscopic surgery remains desirable. Here we illustrate how intraoperative navigation based on optical tracking of a fluorescence endoscope may help further improve the accuracy of hybrid surgical guidance. After feeding SPECT/CT images with an optical fiducial as a reference target to the navigation system, optical tracking could be used to position the tip of the fluorescence endoscope relative to the preoperative 3D imaging data. This hybrid navigation approach allowed us to accurately identify marker seeds in a phantom setup. The multispectral nature of the fluorescence endoscope enabled stepwise visualization of the two clinically approved fluorescent dyes, fluorescein and indocyanine green. In addition, the approach was used to navigate toward the prostate in a patient undergoing robot-assisted prostatectomy. Navigation of the tracked fluorescence endoscope toward the target identified on SPECT/CT resulted in real-time gradual visualization of the fluorescent signal in the prostate, thus providing an intraoperative confirmation of the navigation accuracy.

  9. Community-based Approaches to Improving Accuracy, Precision, and Reproducibility in U-Pb and U-Th Geochronology

    NASA Astrophysics Data System (ADS)

    McLean, N. M.; Condon, D. J.; Bowring, S. A.; Schoene, B.; Dutton, A.; Rubin, K. H.

    2015-12-01

    The last two decades have seen a grassroots effort by the international geochronology community to "calibrate Earth history through teamwork and cooperation," both as part of the EARTHTIME initiative and though several daughter projects with similar goals. Its mission originally challenged laboratories "to produce temporal constraints with uncertainties approaching 0.1% of the radioisotopic ages," but EARTHTIME has since exceeded its charge in many ways. Both the U-Pb and Ar-Ar chronometers first considered for high-precision timescale calibration now regularly produce dates at the sub-per mil level thanks to instrumentation, laboratory, and software advances. At the same time new isotope systems, including U-Th dating of carbonates, have developed comparable precision. But the larger, inter-related scientific challenges envisioned at EARTHTIME's inception remain - for instance, precisely calibrating the global geologic timescale, estimating rates of change around major climatic perturbations, and understanding evolutionary rates through time - and increasingly require that data from multiple geochronometers be combined. To solve these problems, the next two decades of uranium-daughter geochronology will require further advances in accuracy, precision, and reproducibility. The U-Th system has much in common with U-Pb, in that both parent and daughter isotopes are solids that can easily be weighed and dissolved in acid, and have well-characterized reference materials certified for isotopic composition and/or purity. For U-Pb, improving lab-to-lab reproducibility has entailed dissolving precisely weighed U and Pb metals of known purity and isotopic composition together to make gravimetric solutions, then using these to calibrate widely distributed tracers composed of artificial U and Pb isotopes. To mimic laboratory measurements, naturally occurring U and Pb isotopes were also mixed in proportions to mimic samples of three different ages, to be run as internal

  10. AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

    PubMed Central

    Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

    2017-01-01

    In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF) are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure. PMID:28531135

  11. Accuracy of Satellite Optical Observations and Precise Orbit Determination

    NASA Astrophysics Data System (ADS)

    Shakun, L.; Koshkin, N.; Korobeynikova, E.; Strakhova, S.; Dragomiretsky, V.; Ryabov, A.; Melikyants, S.; Golubovskaya, T.; Terpan, S.

    The monitoring of low-orbit space objects (LEO-objects) is performed in the Astronomical Observatory of Odessa I.I. Mechnikov National University (Ukraine) for many years. Decades-long archives of these observations are accessible within Ukrainian network of optical observers (UMOS). In this work, we give an example of orbit determination for the satellite with the 1500-km height of orbit based on angular observations in our observatory (Int. No. 086). For estimation of the measurement accuracy and accuracy of determination and propagation of satellite position, we analyze the observations of Ajisai satellite with the well-determined orbit. This allows making justified conclusions not only about random errors of separate measurements, but also to analyze the presence of systematic errors, including external ones to the measurement process. We have shown that the accuracy of one measurement has the standard deviation about 1 arcsec across the track and 1.4 arcsec along the track and systematical shifts in measurements of one track do not exceed 0.45 arcsec. Ajisai position in the interval of the orbit fitting is predicted with accuracy better than 30 m along the orbit and better than 10 m across the orbit for any its point.

  12. Significance of Waterway Navigation Positioning Systems On Ship's Manoeuvring Safety

    NASA Astrophysics Data System (ADS)

    Galor, W.

    The main goal of navigation is to lead the ship to the point of destination safety and efficiently. Various factors may affect ship realisating this process. The ship movement on waterway are mainly limited by water area dimensions (surface and depth). These limitations cause the requirement to realise the proper of ship movement trajectory. In case when this re requirement cant't fulfil then marine accident may happend. This fact is unwanted event caused losses of human health and life, damage or loss of cargo and ship, pollution of natural environment, damage of port structures or blocking the port of its ports and lost of salvage operation. These losses in same cases can be catas- trophical especially while e.i. crude oil spilling could be place. To realise of safety navigation process is needed to embrace the ship's movement trajectory by waterways area. The ship's trajectory is described by manoeuvring lane as a surface of water area which is require to realise of safety ship movement. Many conditions affect to ship manoeuvring line. The main are following: positioning accuracy, ship's manoeuvring features and phenomena's of shore and ship's bulk common affecting. The accuracy of positioning system is most important. This system depends on coast navigation mark- ing which can range many kinds of technical realisation. Mainly used systems based on lights (line), radionavigation (local system or GPS, DGPS), or radars. If accuracy of positiong is higer, then safety of navigation is growing. This article presents these problems exemplifying with approaching channel to ports situated on West Pomera- nian water region.

  13. The Neural Basis of Long-Distance Navigation in Birds.

    PubMed

    Mouritsen, Henrik; Heyers, Dominik; Güntürkün, Onur

    2016-01-01

    Migratory birds can navigate over tens of thousands of kilometers with an accuracy unobtainable for human navigators. To do so, they use their brains. In this review, we address how birds sense navigation- and orientation-relevant cues and where in their brains each individual cue is processed. When little is currently known, we make educated predictions as to which brain regions could be involved. We ask where and how multisensory navigational information is integrated and suggest that the hippocampus could interact with structures that represent maps and compass information to compute and constantly control navigational goals and directions. We also suggest that the caudolateral nidopallium could be involved in weighing conflicting pieces of information against each other, making decisions, and helping the animal respond to unexpected situations. Considering the gaps in current knowledge, some of our suggestions may be wrong. However, our main aim is to stimulate further research in this fascinating field.

  14. Preliminary performance analysis of an interplanetary navigation system using asteroid based beacons

    NASA Technical Reports Server (NTRS)

    Jee, J. Rodney; Khatib, Ahmad R.; Muellerschoen, Ronald J.; Williams, Bobby G.; Vincent, Mark A.

    1988-01-01

    A futuristic interplanetary navigation system using transmitters placed on selected asteroids is introduced. This network of space beacons is seen as a needed alternative to the overly burdened Deep Space Network. Covariance analyses on the potential performance of these space beacons located on a candidate constellation of eight real asteroids are initiated. Simplified analytic calculations are performed to determine limiting accuracies attainable with the network for geometric positioning. More sophisticated computer simulations are also performed to determine potential accuracies using long arcs of range and Doppler data from the beacons. The results from these computations show promise for this navigation system.

  15. Integrated INS/GPS Navigation from a Popular Perspective

    NASA Technical Reports Server (NTRS)

    Omerbashich, Mensur

    2002-01-01

    Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

  16. An analysis of the adaptability of Loran-C to air navigation

    NASA Technical Reports Server (NTRS)

    Littlefield, J. A.

    1981-01-01

    The sources of position errors characteristics of the Loran-C navigation system were identified. Particular emphasis was given to their point on entry as well as their elimination. It is shown that the ratio of realized accuracy to theoretical accuracy of the Loran-C is highly receiver dependent.

  17. The Evolution of Deep Space Navigation: 1989-1999

    NASA Technical Reports Server (NTRS)

    Wood, Lincoln J.

    2008-01-01

    The exploration of the planets of the solar system using robotic vehicles has been underway since the early 1960s. During this time the navigational capabilities employed have increased greatly in accuracy, as required by the scientific objectives of the missions and as enabled by improvements in technology. This paper is the second in a chronological sequence dealing with the evolution of deep space navigation. The time interval covered extends from the 1989 launch of the Magellan spacecraft to Venus through a multiplicity of planetary exploration activities in 1999. The paper focuses on the observational techniques that have been used to obtain navigational information, propellant-efficient means for modifying spacecraft trajectories, and the computational methods that have been employed, tracing their evolution through a dozen planetary missions.

  18. Multi-GNSS real-time precise positioning service and Initial assessment of BDS-3 (G Division Outstanding ECS Award Lecture)

    NASA Astrophysics Data System (ADS)

    Li, Xingxing; Ge, Maaorong; Li, Xin; Zhang, Xiuaohong; Wu, Mingkui; Wickert, Jens; Schuh, Harald

    2017-04-01

    The rapid development of multi-constellation GNSSs (Global Navigation Satellite Systems, e.g., BeiDou, Galileo, GLONASS, GPS) and the IGS (International GNSS Service) Multi-GNSS Experiment (MGEX) bring great opportunities and challenges for real-time precise positioning service. In this contribution, we present a GPS+GLONASS+BeiDou+Galileo four-system model to fully exploit the observations of all these four navigation satellite systems for real-time precise orbit determination, clock estimation and positioning. Meanwhile, an efficient multi-GNSS real-time precise positioning service system is designed and demonstrated by using the Multi-GNSS Experiment (MGEX) and International GNSS Service (IGS) data streams including stations all over the world. The addition of the BeiDou, Galileo and GLONASS systems to the standard GPS-only processing, reduces the convergence time almost by 70%, while the positioning accuracy is improved by about 25%. The successful launch of five new-generation satellites of the Chinese BeiDou Navigation Satellite System (BDS-3) marks a significant step in expanding BeiDou into a navigation system with global coverage. We present an initial characterization and performance assessment for these new-generation BeiDou-3 satellites and their signals. The characteristics of the B1C, B1I, B2a, B2b and B3I signals are evaluated in terms of observed carrier-to-noise density ratio, pseudorange multipath and noise, triple-frequency carrier phase ionosphere-free and geometry-free combination, and double-differenced carrier phase and code residuals. With respect to BeiDou-2 satellites, the analysis of code multipath shows that the elevation-dependent code biases, which have been previously identified to exist in the code observations of BeiDou-2 satellites, seem to be not obvious for all the available signals of new-generation BeiDou-3 satellites. This will significantly benefit precise applications that resolve wide-lane ambiguity based on Melbourne

  19. Reliable Alignment in Total Knee Arthroplasty by the Use of an iPod-Based Navigation System

    PubMed Central

    Koenen, Paola; Schneider, Marco M.; Fröhlich, Matthias; Driessen, Arne; Bouillon, Bertil; Bäthis, Holger

    2016-01-01

    Axial alignment is one of the main objectives in total knee arthroplasty (TKA). Computer-assisted surgery (CAS) is more accurate regarding limb alignment reconstruction compared to the conventional technique. The aim of this study was to analyse the precision of the innovative navigation system DASH® by Brainlab and to evaluate the reliability of intraoperatively acquired data. A retrospective analysis of 40 patients was performed, who underwent CAS TKA using the iPod-based navigation system DASH. Pre- and postoperative axial alignment were measured on standardized radiographs by two independent observers. These data were compared with the navigation data. Furthermore, interobserver reliability was measured. The duration of surgery was monitored. The mean difference between the preoperative mechanical axis by X-ray and the first intraoperatively measured limb axis by the navigation system was 2.4°. The postoperative X-rays showed a mean difference of 1.3° compared to the final navigation measurement. According to radiographic measurements, 88% of arthroplasties had a postoperative limb axis within ±3°. The mean additional time needed for navigation was 5 minutes. We could prove very good precision for the DASH system, which is comparable to established navigation devices with only negligible expenditure of time compared to conventional TKA. PMID:27313898

  20. Simulation and analysis of differential GPS

    NASA Astrophysics Data System (ADS)

    Denaro, R. P.

    NASA is conducting a research program to evaluate differential Global Positioning System (GPS) concepts for civil helicopter navigation. It is pointed out that the civil helicopter community will probably be an early user of GPS because of the unique mission operations in areas where precise navigation aids are not available. However, many of these applications involve accuracy requirements which cannot be satisfied by conventional GPS. Such applications include remote area search and rescue, offshore oil platform approach, remote area precision landing, and other precise navigation operations. Differential GPS provides a promising approach for meeting very demanding accuracy requirements. The considered procedure eliminates some of the common bias errors experienced by conventional GPS. This is done by making use of a second GPS receiver. A simulation process is developed as a tool for analyzing various scenarios of GPS-referenced civil aircraft navigation.