Science.gov

Sample records for 3d-ct navigation system

  1. Registration of 2D C-Arm and 3D CT Images for a C-Arm Image-Assisted Navigation System for Spinal Surgery

    PubMed Central

    Chang, Chih-Ju; Lin, Geng-Li; Tse, Alex; Chu, Hong-Yu; Tseng, Ching-Shiow

    2015-01-01

    C-Arm image-assisted surgical navigation system has been broadly applied to spinal surgery. However, accurate path planning on the C-Arm AP-view image is difficult. This research studies 2D-3D image registration methods to obtain the optimum transformation matrix between C-Arm and CT image frames. Through the transformation matrix, the surgical path planned on preoperative CT images can be transformed and displayed on the C-Arm images for surgical guidance. The positions of surgical instruments will also be displayed on both CT and C-Arm in the real time. Five similarity measure methods of 2D-3D image registration including Normalized Cross-Correlation, Gradient Correlation, Pattern Intensity, Gradient Difference Correlation, and Mutual Information combined with three optimization methods including Powell's method, Downhill simplex algorithm, and genetic algorithm are applied to evaluate their performance in converge range, efficiency, and accuracy. Experimental results show that the combination of Normalized Cross-Correlation measure method with Downhill simplex algorithm obtains maximum correlation and similarity in C-Arm and Digital Reconstructed Radiograph (DRR) images. Spine saw bones are used in the experiment to evaluate 2D-3D image registration accuracy. The average error in displacement is 0.22 mm. The success rate is approximately 90% and average registration time takes 16 seconds. PMID:27018859

  2. Interactive navigation-guided ophthalmic plastic surgery: the utility of 3D CT-DCG-guided dacryolocalization in secondary acquired lacrimal duct obstructions

    PubMed Central

    Ali, Mohammad Javed; Singh, Swati; Naik, Milind N; Kaliki, Swathi; Dave, Tarjani Vivek

    2017-01-01

    Aim The aim of this study was to report the preliminary experience with the techniques and utility of navigation-guided, 3D, computed tomography–dacryocystography (CT-DCG) in the management of secondary acquired lacrimal drainage obstructions. Methods Stereotactic surgeries using CT-DCG as the intraoperative image-guiding tool were performed in 3 patients. One patient had nasolacrimal duct obstruction (NLDO) following a complete maxillectomy for a sinus malignancy, and the other 2 had NLDO following extensive maxillofacial trauma. All patients underwent a 3D CT-DCG. Image-guided dacryolocalization (IGDL) was performed using the intraoperative image-guided StealthStation™ system in the electromagnetic mode. All patients underwent navigation-guided powered endoscopic dacryocystorhinostomy (DCR). The utility of intraoperative dacryocystographic guidance and the ability to localize the lacrimal drainage system in the altered endoscopic anatomical milieu were noted. Results Intraoperative geometric localization of the lacrimal sac and the nasolacrimal duct could be easily achieved. Constant orientation of the lacrimal drainage system was possible while navigating in the vicinity of altered endoscopic perilacrimal anatomy. Useful clues with regard to modifications while performing a powered endoscopic DCR could be obtained. Surgeries could be performed with utmost safety and precision, thereby avoiding complications. Detailed preoperative 3D CT-DCG reconstructions with constant intraoperative dacryolocalization were found to be essential for successful outcomes. Conclusion The 3D CT-DCG-guided navigation procedure is very useful while performing endoscopic DCRs in cases of secondary acquired and complex NLDOs. PMID:28115826

  3. Development of 3D-CT System Using MIRRORCLE-6X

    NASA Astrophysics Data System (ADS)

    Sasaki, M.; Takaku, J.; Hirai, T.; Yamada, H.

    2007-03-01

    The technique of computed tomography (CT) has been used in various fields, such as medical, non-destructive testing (NDT), baggage checking, etc. A 3D-CT system based on the portable synchrotron "MIRRORCLE"-series will be a novel instrument for these fields. The hard x-rays generated from the "MIRRORCLE" have a wide energy spectrum. Light and thin materials create absorption and refraction contrast in x-ray images by the lower energy component (< 60 keV), and heavy and thick materials create absorption contrast by the higher energy component. In addition, images with higher resolutions can be obtained using "MIRRORCLE" with a small source size of micron order. Thus, high resolution 3D-CT images of specimens containing both light and heavy materials can be obtained using "MIRRORCLE" and a 2D-detector with a wide dynamic range. In this paper, the development and output of a 3D-CT system using the "MIRRORCLE-6X" and a flat panel detector are reported. A 3D image of a piece of concrete was obtained. The detector was a flat panel detector (VARIAN, PAXSCAN2520) with 254 μm pixel size. The object and the detector were set at 50 cm and 250 cm respectively from the x-ray source, so that the magnification was 5x. The x-ray source was a 50 μm Pt rod. The rotation stage and the detector were remote-controlled using a computer, which was originally created using LabView and Visual Basic software. The exposure time was about 20 minutes. The reconstruction calculation was based on the Feldkamp algorithm, and the pixel size was 50 μm. We could observe sub-mm holes and density differences in the object. Thus, the "MIRRORCLE-CV" with 1MeV electron energy, which has same x-ray generation principles, will be an excellent x-ray source for medical diagnostics and NDT.

  4. Development of CT and 3D-CT Using Flat Panel Detector Based Real-Time Digital Radiography System

    SciTech Connect

    Ravindran, V. R.; Sreelakshmi, C.; Vibin

    2008-09-26

    The application of Digital Radiography in the Nondestructive Evaluation (NDE) of space vehicle components is a recent development in India. A Real-time DR system based on amorphous silicon Flat Panel Detector has been developed for the NDE of solid rocket motors at Rocket Propellant Plant of VSSC in a few years back. The technique has been successfully established for the nondestructive evaluation of solid rocket motors. The DR images recorded for a few solid rocket specimens are presented in the paper. The Real-time DR system is capable of generating sufficient digital X-ray image data with object rotation for the CT image reconstruction. In this paper the indigenous development of CT imaging based on the Realtime DR system for solid rocket motor is presented. Studies are also carried out to generate 3D-CT image from a set of adjacent CT images of the rocket motor. The capability of revealing the spatial location and characterisation of defect is demonstrated by the CT and 3D-CT images generated.

  5. Development of CT and 3D-CT Using Flat Panel Detector Based Real-Time Digital Radiography System

    NASA Astrophysics Data System (ADS)

    Ravindran, V. R.; Sreelakshmi, C.; Vibin, Vibin

    2008-09-01

    The application of Digital Radiography in the Nondestructive Evaluation (NDE) of space vehicle components is a recent development in India. A Real-time DR system based on amorphous silicon Flat Panel Detector has been developed for the NDE of solid rocket motors at Rocket Propellant Plant of VSSC in a few years back. The technique has been successfully established for the nondestructive evaluation of solid rocket motors. The DR images recorded for a few solid rocket specimens are presented in the paper. The Real-time DR system is capable of generating sufficient digital X-ray image data with object rotation for the CT image reconstruction. In this paper the indigenous development of CT imaging based on the Realtime DR system for solid rocket motor is presented. Studies are also carried out to generate 3D-CT image from a set of adjacent CT images of the rocket motor. The capability of revealing the spatial location and characterisation of defect is demonstrated by the CT and 3D-CT images generated.

  6. Development of a 3D CT-scanner using a cone beam and video-fluoroscopic system.

    PubMed

    Endo, M; Yoshida, K; Kamagata, N; Satoh, K; Okazaki, T; Hattori, Y; Kobayashi, S; Jimbo, M; Kusakabe, M; Tateno, Y

    1998-01-01

    We describe the design and implementation of a system that acquires three-dimensional (3D) data of high-contrast objects such as bone, lung, and blood vessels (enhanced by contrast agent). This 3D computed tomography (CT) system is based on a cone beam and video-fluoroscopic system and yields data that is amenable to 3D image processing. An X-ray tube and a large area two-dimensional detector were mounted on a single frame and rotated around objects in 12 seconds. The large area detector consisted of a fluorescent plate and a charge coupled device (CCD) video camera. While the X-ray tube was rotated around the object, a pulsed X-ray was generated (30 pulses per second) and 360 projected images were collected in a 12-second scan. A 256 x 256 x 256 matrix image was reconstructed using a high-speed parallel processor. Reconstruction required approximately 6 minutes. Two volunteers underwent scans of the head or chest. High-contrast objects such as bronchial, vascular, and mediastinal structures in the thorax, or bones and air cavities in the head were delineated in a "real" 3D format. Our 3D CT-scanner appears to produce data useful for clinical imaging and 3D image processing.

  7. Surgical safety of cervical pedicle screw placement with computer navigation system.

    PubMed

    Shimokawa, Nobuyuki; Takami, Toshihiro

    2017-04-01

    Cervical pedicle screw (CPS) may be the biomechanically best system for posterior cervical segmental fixation, but may carry a surgery-related risk. The purpose of this study was to evaluate the safety of CPS placement using computer navigation system for posterior cervical instrumented fixation and discuss its complication avoidance and management. Posterior cervical instrumented fixation using CPS was performed in a total of 128 patients during the period between 2007 and 2015. Intraoperative image guidance was achieved using a preoperative 3D CT-based or an intraoperative 3D CT-based navigation system. A total of 762 CPSs were placed in the spine level of C2 to Th3. The radiological accuracy of CPS placement was evaluated using postoperative CT. Accuracy of CPS placement using a preoperative 3D CT-based navigation system was 93.6 % (423 of 452 screws) in grade 0; the screw was completely contained in the pedicle, and accuracy of CPS placement using an intraoperative 3D CT-based navigation system was a little bit improved to 97.1 % (301 of 310 screws) in grade 0. CPS misplacement (more than half of screw) was 3.3 % (15 of 452 screws) using a preoperative 3D CT-based navigation system, and CPS misplacement (more than half of screw) was 0.6 % (2 of 310 screws) using an intraoperative 3D CT-based navigation system. In total, 38 screws (5.0 %) were found to perforate the cortex of pedicle, although any neural or vascular complications closely associated with CPS placement were not encountered. Twenty nine of 38 screws (76.3 %) were found to perforate laterally, and seven screws (18.4 %) were found to perforate medially. Image-guided CPS placement has been an important advancement to secure the safe surgery, although the use of CPS placement needs to be carefully determined based on the individual pathology.

  8. Value of 3-D CT in classifying acetabular fractures during orthopedic residency training.

    PubMed

    Garrett, Jeffrey; Halvorson, Jason; Carroll, Eben; Webb, Lawrence X

    2012-05-01

    The complex anatomy of the pelvis and acetabulum have historically made classification and interpretation of acetabular fractures difficult for orthopedic trainees. The addition of 3-dimensional (3-D) computed tomography (CT) scan has gained popularity in preoperative planning, identification, and education of acetabular fractures given their complexity. Therefore, the authors examined the value of 3-D CT compared with conventional radiography in classifying acetabular fractures at different levels of orthopedic training. Their hypothesis was that 3-D CT would improve correct identification of acetabular fractures compared with conventional radiography.The classic Letournel fracture pattern classification system was presented in quiz format to 57 orthopedic residents and 20 fellowship-trained orthopedic traumatologists. A case consisted of (1) plain radiographs and 2-dimensional axial CT scans or (2) 3-D CT scans. All levels of training showed significant improvement in classifying acetabular fractures with 3-D vs 2-D CT, with the greatest benefit from 3-D CT found in junior residents (postgraduate years 1-3).Three-dimensional CT scans can be an effective educational tool for understanding the complex spatial anatomy of the pelvis, learning acetabular fracture patterns, and correctly applying a widely accepted fracture classification system.

  9. 3D CT-Video Fusion for Image-Guided Bronchoscopy

    PubMed Central

    Higgins, William E.; Helferty, James P.; Lu, Kongkuo; Merritt, Scott A.; Rai, Lav; Yu, Kun-Chang

    2008-01-01

    Bronchoscopic biopsy of the central-chest lymph nodes is an important step for lung-cancer staging. Before bronchoscopy, the physician first visually assesses a patient’s three-dimensional (3D) computed tomography (CT) chest scan to identify suspect lymph-node sites. Next, during bronchoscopy, the physician guides the bronchoscope to each desired lymph-node site. Unfortunately, the physician has no link between the 3D CT image data and the live video stream provided during bronchoscopy. Thus, the physician must essentially perform biopsy blindly, and the skill levels between different physicians differ greatly. We describe an approach that enables synergistic fusion between the 3D CT data and the bronchoscopic video. Both the integrated planning and guidance system and the internal CT-video registration and fusion methods are described. Phantom, animal, and human studies illustrate the efficacy of the methods. PMID:18096365

  10. INL Autonomous Navigation System

    SciTech Connect

    2005-03-30

    The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

  11. Algorithm of pulmonary emphysema extraction using thoracic 3D CT images

    NASA Astrophysics Data System (ADS)

    Saita, Shinsuke; Kubo, Mitsuru; Kawata, Yoshiki; Niki, Noboru; Nakano, Yasutaka; Ohmatsu, Hironobu; Tominaga, Keigo; Eguchi, Kenji; Moriyama, Noriyuki

    2007-03-01

    Recently, due to aging and smoking, emphysema patients are increasing. The restoration of alveolus which was destroyed by emphysema is not possible, thus early detection of emphysema is desired. We describe a quantitative algorithm for extracting emphysematous lesions and quantitatively evaluate their distribution patterns using low dose thoracic 3-D CT images. The algorithm identified lung anatomies, and extracted low attenuation area (LAA) as emphysematous lesion candidates. Applying the algorithm to thoracic 3-D CT images and then by follow-up 3-D CT images, we demonstrate its potential effectiveness to assist radiologists and physicians to quantitatively evaluate the emphysematous lesions distribution and their evolution in time interval changes.

  12. Integrated multisensor navigation systems

    NASA Technical Reports Server (NTRS)

    Vangraas, Frank

    1988-01-01

    The multisensor navigation systems research evolved from the availability of several stand alone navigation systems and the growing concern for aircraft navigation reliability and safety. The intent is to develop a multisensor navigation system during the next decade that will be capable of providing reliable aircraft position data. These data will then be transmitted directly, or by satellite, to surveillance centers to aid the process of air traffic flow control. In order to satisfy the requirements for such a system, the following issues need to be examined: performance, coverage, reliability, availability, and integrity. The presence of a multisensor navigation system in all aircraft will improve safety for the aviation community and allow for more economical operation.

  13. Computation of tooth axes of existent and missing teeth from 3D CT images.

    PubMed

    Wang, Yang; Wu, Lin; Guo, Huayan; Qiu, Tiantian; Huang, Yuanliang; Lin, Bin; Wang, Lisheng

    2015-12-01

    Orientations of tooth axes are important quantitative information used in dental diagnosis and surgery planning. However, their computation is a complex problem, and the existing methods have respective limitations. This paper proposes new methods to compute 3D tooth axes from 3D CT images for existent teeth with single root or multiple roots and to estimate 3D tooth axes from 3D CT images for missing teeth. The tooth axis of a single-root tooth will be determined by segmenting the pulp cavity of the tooth and computing the principal direction of the pulp cavity, and the estimation of tooth axes of the missing teeth is modeled as an interpolation problem of some quaternions along a 3D curve. The proposed methods can either avoid the difficult teeth segmentation problem or improve the limitations of existing methods. Their effectiveness and practicality are demonstrated by experimental results of different 3D CT images from the clinic.

  14. Method of Individual Adjustment for 3D CT Analysis: Linear Measurement.

    PubMed

    Kim, Dong Kyu; Choi, Dong Hun; Lee, Jeong Woo; Yang, Jung Dug; Chung, Ho Yun; Cho, Byung Chae; Choi, Kang Young

    2016-01-01

    Introduction. We aim to regularize measurement values in three-dimensional (3D) computed tomography (CT) reconstructed images for higher-precision 3D analysis, focusing on length-based 3D cephalometric examinations. Methods. We measure the linear distances between points on different skull models using Vernier calipers (real values). We use 10 differently tilted CT scans for 3D CT reconstruction of the models and measure the same linear distances from the picture archiving and communication system (PACS). In both cases, each measurement is performed three times by three doctors, yielding nine measurements. The real values are compared with the PACS values. Each PACS measurement is revised based on the display field of view (DFOV) values and compared with the real values. Results. The real values and the PACS measurement changes according to tilt value have no significant correlations (p > 0.05). However, significant correlations appear between the real values and DFOV-adjusted PACS measurements (p < 0.001). Hence, we obtain a correlation expression that can yield real physical values from PACS measurements. The DFOV value intervals for various age groups are also verified. Conclusion. Precise confirmation of individual preoperative length and precise analysis of postoperative improvements through 3D analysis is possible, which is helpful for facial-bone-surgery symmetry correction.

  15. Method of Individual Adjustment for 3D CT Analysis: Linear Measurement

    PubMed Central

    Choi, Dong Hun; Lee, Jeong Woo; Yang, Jung Dug; Chung, Ho Yun; Cho, Byung Chae

    2016-01-01

    Introduction. We aim to regularize measurement values in three-dimensional (3D) computed tomography (CT) reconstructed images for higher-precision 3D analysis, focusing on length-based 3D cephalometric examinations. Methods. We measure the linear distances between points on different skull models using Vernier calipers (real values). We use 10 differently tilted CT scans for 3D CT reconstruction of the models and measure the same linear distances from the picture archiving and communication system (PACS). In both cases, each measurement is performed three times by three doctors, yielding nine measurements. The real values are compared with the PACS values. Each PACS measurement is revised based on the display field of view (DFOV) values and compared with the real values. Results. The real values and the PACS measurement changes according to tilt value have no significant correlations (p > 0.05). However, significant correlations appear between the real values and DFOV-adjusted PACS measurements (p < 0.001). Hence, we obtain a correlation expression that can yield real physical values from PACS measurements. The DFOV value intervals for various age groups are also verified. Conclusion. Precise confirmation of individual preoperative length and precise analysis of postoperative improvements through 3D analysis is possible, which is helpful for facial-bone-surgery symmetry correction. PMID:28070517

  16. Onboard Navigation Systems Characteristics

    NASA Technical Reports Server (NTRS)

    1979-01-01

    The space shuttle onboard navigation systems characteristics are described. A standard source of equations and numerical data for use in error analyses and mission simulations related to space shuttle development is reported. The sensor characteristics described are used for shuttle onboard navigation performance assessment. The use of complete models in the studies depend on the analyses to be performed, the capabilities of the computer programs, and the availability of computer resources.

  17. 3D CT spine data segmentation and analysis of vertebrae bone lesions.

    PubMed

    Peter, R; Malinsky, M; Ourednicek, P; Jan, J

    2013-01-01

    A method is presented aiming at detecting and classifying bone lesions in 3D CT data of human spine, via Bayesian approach utilizing Markov random fields. A developed algorithm for necessary segmentation of individual possibly heavily distorted vertebrae based on 3D intensity modeling of vertebra types is presented as well.

  18. Navigating the System

    MedlinePlus

    ... of Care Navigating The System Related Topics on AIDS.gov Civil Rights Insurance Types of Lab Tests ... InTouch TeleVox OnTimeRx Last revised: 06/01/2012 AIDS.gov HIV/AIDS Basics • Federal Resources • Using New ...

  19. Segmentation of brain blood vessels using projections in 3-D CT angiography images.

    PubMed

    Babin, Danilo; Vansteenkiste, Ewout; Pizurica, Aleksandra; Philips, Wilfried

    2011-01-01

    Segmenting cerebral blood vessels is of great importance in diagnostic and clinical applications, especially in quantitative diagnostics and surgery on aneurysms and arteriovenous malformations (AVM). Segmentation of CT angiography images requires algorithms robust to high intensity noise, while being able to segment low-contrast vessels. Because of this, most of the existing methods require user intervention. In this work we propose an automatic algorithm for efficient segmentation of 3-D CT angiography images of cerebral blood vessels. Our method is robust to high intensity noise and is able to accurately segment blood vessels with high range of luminance values, as well as low-contrast vessels.

  20. Personal Navigation System

    DTIC Science & Technology

    2005-10-31

    the capabilities of prototype hardware for navigation in GPS - denied and significantly challenged environments. Two technologies, developed at...building operational navigation sequence: GPS position initialization, handover to Deep Integration tracking, GPS - denied navigation, and finally satellite...Vertical Gait CEP relative to entry Max Relative Error Position error at entry Entry to exit Time GPS denied or challenged Draper Indoor Course

  1. Association between condylar asymmetry and temporo- mandibular disorders using 3D-CT

    PubMed Central

    Yáñez-Vico, Rosa M.; Iglesias-Linares, Alejandro; Torres-Lagares, Daniel; Solano-Reina, Enrique

    2012-01-01

    Objectives: Using reconstructed three-dimensional computed tomography (3D-CT) models, the purpose of this study was to analyze and compare mandibular condyle morphology in patients with and without temporomandibular disorder (TMD). Study Design: Thirty-two patients were divided into two groups: the first comprised those with TMD (n=18), and the second those who did not have TMD (n=14). A CT of each patient was obtained and reconstructed as a 3D model. The 64 resulting 3D condylar models were evaluated for possible TMD-associated length, width and height asymmetries of the condylar process. Descriptive statistics were used to assess the results and student’s t tests applied to compare the two groups. Results: Statistically significant (p<0.05) vertical, mediolateral and sagittal asymmetries of the condylar process were observed between TMD and non-TMD groups. TMD patients showed less condylar height (p<0.05) in comparison with their asymptomatic counterparts. Conclusions: Using 3D-CT, it was shown that condylar width, height and length asymmetries were a common feature of TMD. Key words:Condilar asymmetry, 3D-computed tomography, X-ray diagnosis , maxillofacial surgery, orthodontics. PMID:22322511

  2. Test of 3D CT reconstructions by EM + TV algorithm from undersampled data

    SciTech Connect

    Evseev, Ivan; Ahmann, Francielle; Silva, Hamilton P. da

    2013-05-06

    Computerized tomography (CT) plays an important role in medical imaging for diagnosis and therapy. However, CT imaging is connected with ionization radiation exposure of patients. Therefore, the dose reduction is an essential issue in CT. In 2011, the Expectation Maximization and Total Variation Based Model for CT Reconstruction (EM+TV) was proposed. This method can reconstruct a better image using less CT projections in comparison with the usual filtered back projection (FBP) technique. Thus, it could significantly reduce the overall dose of radiation in CT. This work reports the results of an independent numerical simulation for cone beam CT geometry with alternative virtual phantoms. As in the original report, the 3D CT images of 128 Multiplication-Sign 128 Multiplication-Sign 128 virtual phantoms were reconstructed. It was not possible to implement phantoms with lager dimensions because of the slowness of code execution even by the CORE i7 CPU.

  3. Two-alternative forced-choice evaluation of 3D CT angiograms

    NASA Astrophysics Data System (ADS)

    Habets, Damiaan F.; Chapman, Brian E.; Fox, Allan J.; Hyde, Derek E.; Holdsworth, David W.

    2001-06-01

    This study describes the development and evaluation of an appropriate methodology to study observer performance when comparing 2D and 3D angiographic techniques. 3D-CT angiograms were obtained from patients with cerebral aneurysms or occlusive carotid artery disease and perspective rendering of this 3D data was performed to produce maximum intensity projections (MIP) at view angles identical to digital subtraction angiography (DSA) images. Two-alternative-forced-choice methodology (2AFC) was then used to determine the percent correct (Pc), which is equivalent to the area Az under the receiver-operating characteristic (RTOC) curve. In a comparison of CRA MIP images and DSA images of the intracranial vasculature, the average value of Pc was 0.90+/- 0.03. Perspective reprojection produces digitally reconstructed radiographs (DRRs) with image quality that is nearly equivalent to conventional DSA, with the additional clinical advantage of providing digitally reconstructed images at an unlimited number of viewing angles.

  4. Space shuttle navigation analysis. Volume 2: Baseline system navigation

    NASA Technical Reports Server (NTRS)

    Jones, H. L.; Luders, G.; Matchett, G. A.; Rains, R. G.

    1980-01-01

    Studies related to the baseline navigation system for the orbiter are presented. The baseline navigation system studies include a covariance analysis of the Inertial Measurement Unit calibration and alignment procedures, postflight IMU error recovery for the approach and landing phases, on-orbit calibration of IMU instrument biases, and a covariance analysis of entry and prelaunch navigation system performance.

  5. 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.

  6. Wellborne inertial navigation system

    SciTech Connect

    Kelsey, J.R.

    1983-01-01

    A phototype wireline tool which includes a downhole inertial platform and a surface computer to spatially map a well is described. The hardware consists of a single-gimbaled inertial platform with accelerometers and gyros to obtain three-axis motion information. The gyroscope and accelerometer outputs are transmitted to a computer at the surface which calculates probe attitude relative to north, east, and vertical. Double integration of the accelerometer data provides the position information. A conventional 7-conductor wireline is used for the system data transmission. System accuracy is enhanced by advances made in the computer software which processes the data received from the tool. The software uses statistical sampling estimation to obtain optimal estimates of the system errors. Measurement errors are determined by periodically stopping the tool during the logging procedure and observing the indicated velocity measurements. This procedure, known as Kalman filtering, results in increased accuracy of the data. Present mapping systems have an X-Y-Z location accuracy of +- 100 to +- 200 feet for a typical well depth of 10,000 feet. Test results show that the new system is accurate to about +- 1 foot per 1000 feet of well depth. Unlike conventional systems, the inertial navigator does not require any sort of projection of the cable length (which may not be accurately known). Also this system provides continuous data throughout the wellbore and logging speeds on the order of 10 ft/sec appear possible. The hardware and software associated with this mapping system are described and the recent field test results are reported.

  7. A fast rigid-registration method of inferior limb X-ray image and 3D CT images for TKA surgery

    NASA Astrophysics Data System (ADS)

    Ito, Fumihito; O. D. A, Prima; Uwano, Ikuko; Ito, Kenzo

    2010-03-01

    In this paper, we propose a fast rigid-registration method of inferior limb X-ray films (two-dimensional Computed Radiography (CR) images) and three-dimensional Computed Tomography (CT) images for Total Knee Arthroplasty (TKA) surgery planning. The position of the each bone, such as femur and tibia (shin bone), in X-ray film and 3D CT images is slightly different, and we must pay attention how to use the two different images, since X-ray film image is captured in the standing position, and 3D CT is captured in decubitus (face up) position, respectively. Though the conventional registration mainly uses cross-correlation function between two images,and utilizes optimization techniques, it takes enormous calculation time and it is difficult to use it in interactive operations. In order to solve these problems, we calculate the center line (bone axis) of femur and tibia (shin bone) automatically, and we use them as initial positions for the registration. We evaluate our registration method by using three patient's image data, and we compare our proposed method and a conventional registration, which uses down-hill simplex algorithm. The down-hill simplex method is an optimization algorithm that requires only function evaluations, and doesn't need the calculation of derivatives. Our registration method is more effective than the downhill simplex method in computational time and the stable convergence. We have developed the implant simulation system on a personal computer, in order to support the surgeon in a preoperative planning of TKA. Our registration method is implemented in the simulation system, and user can manipulate 2D/3D translucent templates of implant components on X-ray film and 3D CT images.

  8. Segmentation of bone structures in 3D CT images based on continuous max-flow optimization

    NASA Astrophysics Data System (ADS)

    Pérez-Carrasco, J. A.; Acha-Piñero, B.; Serrano, C.

    2015-03-01

    In this paper an algorithm to carry out the automatic segmentation of bone structures in 3D CT images has been implemented. Automatic segmentation of bone structures is of special interest for radiologists and surgeons to analyze bone diseases or to plan some surgical interventions. This task is very complicated as bones usually present intensities overlapping with those of surrounding tissues. This overlapping is mainly due to the composition of bones and to the presence of some diseases such as Osteoarthritis, Osteoporosis, etc. Moreover, segmentation of bone structures is a very time-consuming task due to the 3D essence of the bones. Usually, this segmentation is implemented manually or with algorithms using simple techniques such as thresholding and thus providing bad results. In this paper gray information and 3D statistical information have been combined to be used as input to a continuous max-flow algorithm. Twenty CT images have been tested and different coefficients have been computed to assess the performance of our implementation. Dice and Sensitivity values above 0.91 and 0.97 respectively were obtained. A comparison with Level Sets and thresholding techniques has been carried out and our results outperformed them in terms of accuracy.

  9. Crouzon syndrome associated with acanthosis nigricans: prenatal 2D and 3D ultrasound findings and postnatal 3D CT findings

    PubMed Central

    Nørgaard, Pernille; Hagen, Casper Petri; Hove, Hanne; Dunø, Morten; Nissen, Kamilla Rothe; Kreiborg, Sven; Jørgensen, Finn Stener

    2012-01-01

    Crouzon syndrome with acanthosis nigricans (CAN) is a very rare condition with an approximate prevalence of 1 per 1 million newborns. We add the first report on prenatal 2D and 3D ultrasound findings in CAN. In addition we present the postnatal 3D CT findings. The diagnosis was confirmed by molecular testing. PMID:23986840

  10. Integrated navigation method based on inertial navigation system and Lidar

    NASA Astrophysics Data System (ADS)

    Zhang, Xiaoyue; Shi, Haitao; Pan, Jianye; Zhang, Chunxi

    2016-04-01

    An integrated navigation method based on the inertial navigational system (INS) and Lidar was proposed for land navigation. Compared with the traditional integrated navigational method and dead reckoning (DR) method, the influence of the inertial measurement unit (IMU) scale factor and misalignment was considered in the new method. First, the influence of the IMU scale factor and misalignment on navigation accuracy was analyzed. Based on the analysis, the integrated system error model of INS and Lidar was established, in which the IMU scale factor and misalignment error states were included. Then the observability of IMU error states was analyzed. According to the results of the observability analysis, the integrated system was optimized. Finally, numerical simulation and a vehicle test were carried out to validate the availability and utility of the proposed INS/Lidar integrated navigational method. Compared with the test result of a traditional integrated navigation method and DR method, the proposed integrated navigational method could result in a higher navigation precision. Consequently, the IMU scale factor and misalignment error were effectively compensated by the proposed method and the new integrated navigational method is valid.

  11. Low-Frequency Navigational System

    NASA Technical Reports Server (NTRS)

    Wallis, D. E.

    1985-01-01

    Accurate vehicle position determination over 50 by 50-km service area accomplished by low-frequency-radio navigational system comprised of four frequency/phase comparison transmitters and receivers. Use of grid-calibration table permits accurate position determination in vehicle receiver system.

  12. 78 FR 68861 - Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-15

    ..., Navigational Aids, Mapping Systems and Related Software; Institution of Investigation Pursuant to 19 U.S.C... and display systems, radar systems, navigational aids, mapping systems and related software by reason... products, including GPS devices, navigation and display systems, radar systems, navigational aids,...

  13. Global Positioning System Navigation Algorithms

    DTIC Science & Technology

    1977-05-01

    Historical Remarks on Navigation In Greek mythology , Odysseus sailed safely by the Sirens only to encounter the monsters Scylla and Charybdis...TNED 000 00 1(.7 BIBLIOGRAPHY 1. Pinsent, John. Greek Mythology . Paul Hamlyn, London, 1969. 2. Kline, Morris. Mathematical Thought from Ancient to...Algorithms 20. ABS AACT (Continue an reverse sid* If necessary and identify by block nttrnber) The Global Positioning System (CPS) will be a constellation of

  14. Lunar roving vehicle navigation system performance review

    NASA Technical Reports Server (NTRS)

    Smith, E. C.; Mastin, W. C.

    1973-01-01

    The design and operation of the lunar roving vehicle (LRV) navigation system are briefly described. The basis for the premission LRV navigation error analysis is explained and an example included. The real time mission support operations philosophy is presented. The LRV navigation system operation and accuracy during the lunar missions are evaluated.

  15. Autonomous navigation system. [gyroscopic pendulum for air navigation

    NASA Technical Reports Server (NTRS)

    Merhav, S. J. (Inventor)

    1981-01-01

    An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

  16. Precision optical navigation guidance system

    NASA Astrophysics Data System (ADS)

    Starodubov, D.; McCormick, K.; Nolan, P.; Johnson, D.; Dellosa, M.; Volfson, L.; Fallahpour, A.; Willner, A.

    2016-05-01

    We present the new precision optical navigation guidance system approach that provides continuous, high quality range and bearing data to fixed wing aircraft during landing approach to an aircraft carrier. The system uses infrared optical communications to measure range between ship and aircraft with accuracy and precision better than 1 meter at ranges more than 7.5 km. The innovative receiver design measures bearing from aircraft to ship with accuracy and precision better than 0.5 mRad. The system provides real-time range and bearing updates to multiple aircraft at rates up to several kHz, and duplex data transmission between ship and aircraft.

  17. Geometry-based vs. intensity-based medical image registration: A comparative study on 3D CT data.

    PubMed

    Savva, Antonis D; Economopoulos, Theodore L; Matsopoulos, George K

    2016-02-01

    Spatial alignment of Computed Tomography (CT) data sets is often required in numerous medical applications and it is usually achieved by applying conventional exhaustive registration techniques, which are mainly based on the intensity of the subject data sets. Those techniques consider the full range of data points composing the data, thus negatively affecting the required processing time. Alternatively, alignment can be performed using the correspondence of extracted data points from both sets. Moreover, various geometrical characteristics of those data points can be used, instead of their chromatic properties, for uniquely characterizing each point, by forming a specific geometrical descriptor. This paper presents a comparative study reviewing variations of geometry-based, descriptor-oriented registration techniques, as well as conventional, exhaustive, intensity-based methods for aligning three-dimensional (3D) CT data pairs. In this context, three general image registration frameworks were examined: a geometry-based methodology featuring three distinct geometrical descriptors, an intensity-based methodology using three different similarity metrics, as well as the commonly used Iterative Closest Point algorithm. All techniques were applied on a total of thirty 3D CT data pairs with both known and unknown initial spatial differences. After an extensive qualitative and quantitative assessment, it was concluded that the proposed geometry-based registration framework performed similarly to the examined exhaustive registration techniques. In addition, geometry-based methods dramatically improved processing time over conventional exhaustive registration.

  18. Inertial Navigation Components and Systems.

    DTIC Science & Technology

    INERTIAL NAVIGATION , SYMPOSIA, INERTIAL GUIDANCE, INSTRUMENTATION, GYROSCOPES, OPTIMIZATION, STABILIZED PLATFORMS, GYRO COMPASSES, ALIGNMENT, CALIBRATION, COST EFFECTIVENESS, AIR TO SURFACE MISSILES.

  19. Navigation system for flexible endoscopes

    NASA Astrophysics Data System (ADS)

    Hummel, Johann; Figl, Michael; Birkfellner, Wolfgang; Häfner, Michael; Kollmann, Christian; Bergmann, Helmar

    2003-05-01

    Endoscopic Ultrasound (EUS) features flexible endoscopes equipped with a radial or linear array scanhead allowing high resolution examination of organs adjacent to the upper gastrointestinal tract. An optical system based on fibre-glass or a CCD-chip allows additional orientation. However, 3-dimensional orientation and correct identification of the various anatomical structures may be difficult. It therefore seems desirable to merge real-time US images with high resolution CT or MR images acquired prior to EUS to simplify navigation during the intervention. The additional information provided by CT or MR images might facilitate diagnosis of tumors and, ultimately, guided puncture of suspicious lesions. We built a grid with 15 plastic spheres and measured their positions relatively to five fiducial markers placed on the top of the grid. For this measurement we used an optical tracking system (OTS) (Polaris, NDI, Can). Two sensors of an electromagnetic tracking system (EMTS) (Aurora, NDI, Can) were mounted on a flexible endoscope (Pentax GG 38 UX, USA) to enable a free hand ultrasound calibration. To determine the position of the plastic spheres in the emitter coordinate system of the EMTS we applied a point-to-point registration (Horn) using the coordinates of the fiducial markers in both coordinate systems (OTS and EMTS). For the transformation between EMTS to the CT space the Horn algorithm was adopted again using the fiducial markers. Visualization was enabled by the use of the AVW-4.0 library (Biomedical Imaging Resource, Mayo Clinic, Rochester/MN, USA). To evaluate the suitability of our new navigation system we measured the Fiducial Registration Error (FRE) of the diverse registrations and the Target Registration Error (TRE) for the complete transformation from the US space to the CT space. The FRE for the ultrasound calibration amounted to 4.3 mm +/- 4.2 mm, resulting from 10 calibration procedures. For the transformation from the OTS reference system to the

  20. Thoracic Temporal Subtraction Three Dimensional Computed Tomography (3D-CT): Screening for Vertebral Metastases of Primary Lung Cancers

    PubMed Central

    Iwano, Shingo; Ito, Rintaro; Umakoshi, Hiroyasu; Karino, Takatoshi; Inoue, Tsutomu; Li, Yuanzhong; Naganawa, Shinji

    2017-01-01

    Purpose We developed an original, computer-aided diagnosis (CAD) software that subtracts the initial thoracic vertebral three-dimensional computed tomography (3D-CT) image from the follow-up 3D-CT image. The aim of this study was to investigate the efficacy of this CAD software during screening for vertebral metastases on follow-up CT images of primary lung cancer patients. Materials and Methods The interpretation experiment included 30 sets of follow-up CT scans in primary lung cancer patients and was performed by two readers (readers A and B), who each had 2.5 years’ experience reading CT images. In 395 vertebrae from C6 to L3, 46 vertebral metastases were identified as follows: osteolytic metastases (n = 17), osteoblastic metastases (n = 14), combined osteolytic and osteoblastic metastases (n = 6), and pathological fractures (n = 9). Thirty-six lesions were in the anterior component (vertebral body), and 10 lesions were in the posterior component (vertebral arch, transverse process, and spinous process). The area under the curve (AUC) by receiver operating characteristic (ROC) curve analysis and the sensitivity and specificity for detecting vertebral metastases were compared with and without CAD for each observer. Results Reader A detected 47 abnormalities on CT images without CAD, and 33 of them were true-positive metastatic lesions. Using CAD, reader A detected 57 abnormalities, and 38 were true positives. The sensitivity increased from 0.717 to 0.826, and on ROC curve analysis, AUC with CAD was significantly higher than that without CAD (0.849 vs. 0.902, p = 0.021). Reader B detected 40 abnormalities on CT images without CAD, and 36 of them were true-positive metastatic lesions. Using CAD, reader B detected 44 abnormalities, and 39 were true positives. The sensitivity increased from 0.783 to 0.848, and AUC with CAD was nonsignificantly higher than that without CAD (0.889 vs. 0.910, p = 0.341). Both readers detected more osteolytic and osteoblastic

  1. Influence of the Alveolar Cleft Type on Preoperative Estimation Using 3D CT Assessment for Alveolar Cleft

    PubMed Central

    Choi, Hang Suk; Choi, Hyun Gon; Kim, Soon Heum; Park, Hyung Jun; Shin, Dong Hyeok; Jo, Dong In; Kim, Cheol Keun

    2012-01-01

    Background The bone graft for the alveolar cleft has been accepted as one of the essential treatments for cleft lip patients. Precise preoperative measurement of the architecture and size of the bone defect in alveolar cleft has been considered helpful for increasing the success rate of bone grafting because those features may vary with the cleft type. Recently, some studies have reported on the usefulness of three-dimensional (3D) computed tomography (CT) assessment of alveolar bone defect; however, no study on the possible implication of the cleft type on the difference between the presumed and actual value has been conducted yet. We aimed to evaluate the clinical predictability of such measurement using 3D CT assessment according to the cleft type. Methods The study consisted of 47 pediatric patients. The subjects were divided according to the cleft type. CT was performed before the graft operation and assessed using image analysis software. The statistical significance of the difference between the preoperative estimation and intraoperative measurement was analyzed. Results The difference between the preoperative and intraoperative values were -0.1±0.3 cm3 (P=0.084). There was no significant intergroup difference, but the groups with a cleft palate showed a significant difference of -0.2±0.3 cm3 (P<0.05). Conclusions Assessment of the alveolar cleft volume using 3D CT scan data and image analysis software can help in selecting the optimal graft procedure and extracting the correct volume of cancellous bone for grafting. Considering the cleft type, it would be helpful to extract an additional volume of 0.2 cm3 in the presence of a cleft palate. PMID:23094242

  2. Autonomous navigation system and method

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  3. Spatial Database Modeling for Indoor Navigation Systems

    NASA Astrophysics Data System (ADS)

    Gotlib, Dariusz; Gnat, Miłosz

    2013-12-01

    For many years, cartographers are involved in designing GIS and navigation systems. Most GIS applications use the outdoor data. Increasingly, similar applications are used inside buildings. Therefore it is important to find the proper model of indoor spatial database. The development of indoor navigation systems should utilize advanced teleinformation, geoinformatics, geodetic and cartographical knowledge. The authors present the fundamental requirements for the indoor data model for navigation purposes. Presenting some of the solutions adopted in the world they emphasize that navigation applications require specific data to present the navigation routes in the right way. There is presented original solution for indoor data model created by authors on the basis of BISDM model. Its purpose is to expand the opportunities for use in indoor navigation.

  4. A wellbore inertial navigation system

    SciTech Connect

    Kelsey, J.R.

    1983-02-01

    A prototype wireline tool which includes a downhole inertial platform and a surface computer to spatially map a well is described. The hardware consists of a single-gimballed inertial platform with accelerometers and gyros to obtain three-axis motion information. The gyroscope and accelerometer outputs are transmitted to a computer at the surface which calculates probe attitude relative to north, east, and vertical. Double integration of the accelerometer data provides the position information. A conventional 7-conductor wireline is used for the system data transmission. System accuracy is enhanced by advances made in the computer software which processes the data received from the tool. The software uses statistical sampling estimation to obtain optimal estimates of the system errors. Measurement errors are determined by periodically stopping the tool during the logging procedure and observing the indicated velocity measurements. This procedure, known as Kalman filtering, results in increased accuracy of the data. Present mapping systems have an X-Y-Z location accuracy of 100 to 200 feet for a typical well depth of 10,000 feet. Test results show that the new system is accurate to about 1 foot per 1000 feet of well depth. Unlike conventional systems, the inertial navigator does not require any sort of projection of the cable length (which may not be accurately known). Also, this system provides continuous data throughout the wellbore and logging speeds on the order of 10 ft/sec appear possible. The hardware and software associated with this mapping system are described and the recent field test results are reported.

  5. A STOL terminal area navigation system

    NASA Technical Reports Server (NTRS)

    Neuman, F.; Warner, D. N., Jr.

    1974-01-01

    The mechanization and performance of a STOL terminal area navigation system are described. The purpose of the navigation system is to allow flying with precision 4D-guidance along complex flight paths in the terminal area, and to develop requirements for STOL operations in the 1980s. The navigation aids include an experimental microwave landing system, MODILS. The systems description begins with the navigation aids. It is shown how the data are transformed and combined with other data to obtain position and velocity estimates. Also presented are some of the design changes and other features that were introduced as a result of flight testing. The various ways of displaying navigation-derived data are given. Finally, simulator and flight test results are discussed.

  6. Computer-aided diagnosis for osteoporosis using chest 3D CT images

    NASA Astrophysics Data System (ADS)

    Yoneda, K.; Matsuhiro, M.; Suzuki, H.; Kawata, Y.; Niki, N.; Nakano, Y.; Ohmatsu, H.; Kusumoto, M.; Tsuchida, T.; Eguchi, K.; Kaneko, M.

    2016-03-01

    The patients of osteoporosis comprised of about 13 million people in Japan and it is one of the problems the aging society has. In order to prevent the osteoporosis, it is necessary to do early detection and treatment. Multi-slice CT technology has been improving the three dimensional (3-D) image analysis with higher body axis resolution and shorter scan time. The 3-D image analysis using multi-slice CT images of thoracic vertebra can be used as a support to diagnose osteoporosis and at the same time can be used for lung cancer diagnosis which may lead to early detection. We develop automatic extraction and partitioning algorithm for spinal column by analyzing vertebral body structure, and the analysis algorithm of the vertebral body using shape analysis and a bone density measurement for the diagnosis of osteoporosis. Osteoporosis diagnosis support system obtained high extraction rate of the thoracic vertebral in both normal and low doses.

  7. Acceleration of EM-Based 3D CT Reconstruction Using FPGA.

    PubMed

    Choi, Young-Kyu; Cong, Jason

    2016-06-01

    Reducing radiation doses is one of the key concerns in computed tomography (CT) based 3D reconstruction. Although iterative methods such as the expectation maximization (EM) algorithm can be used to address this issue, applying this algorithm to practice is difficult due to the long execution time. Our goal is to decrease this long execution time to an order of a few minutes, so that low-dose 3D reconstruction can be performed even in time-critical events. In this paper we introduce a novel parallel scheme that takes advantage of numerous block RAMs on field-programmable gate arrays (FPGAs). Also, an external memory bandwidth reduction strategy is presented to reuse both the sinogram and the voxel intensity. Moreover, a customized processing engine based on the FPGA is presented to increase overall throughput while reducing the logic consumption. Finally, a hardware and software flow is proposed to quickly construct a design for various CT machines. The complete reconstruction system is implemented on an FPGA-based server-class node. Experiments on actual patient data show that a 26.9 × speedup can be achieved over a 16-thread multicore CPU implementation.

  8. Reconstruction of 4D-CT from a Single Free-Breathing 3D-CT by Spatial-Temporal Image Registration

    PubMed Central

    Wu, Guorong; Wang, Qian; Lian, Jun; Shen, Dinggang

    2011-01-01

    In the radiation therapy of lung cancer, a free-breathing 3D-CT image is usually acquired in the treatment day for image-guided patient setup, by registering with the free-breathing 3D-CT image acquired in the planning day. In this way, the optimal dose plan computed in the planning day can be transferred onto the treatment day for cancer radiotherapy. However, patient setup based on the simple registration of the free-breathing 3D-CT images of the planning and the treatment days may mislead the radiotherapy, since the free-breathing 3D-CT is actually the mixed-phase image, with different slices often acquired from different respiratory phases. Moreover, a 4D-CT that is generally acquired in the planning day for improvement of dose planning is often ignored for guiding patient setup in the treatment day. To overcome these limitations, we present a novel two-step method to reconstruct the 4D-CT from a single free-breathing 3D-CT of the treatment day, by utilizing the 4D-CT model built in the planning day. Specifically, in the first step, we proposed a new spatial-temporal registration algorithm to align all phase images of the 4D-CT acquired in the planning day, for building a 4D-CT model with temporal correspondences established among all respiratory phases. In the second step, we first determine the optimal phase for each slice of the free-breathing (mixed-phase) 3D-CT of the treatment day by comparing with the 4D-CT of the planning day and thus obtain a sequence of partial 3D-CT images for the treatment day, each with only the incomplete image information in certain slices; and then we reconstruct a complete 4D-CT for the treatment day by warping the 4D-CT of the planning day (with complete information) to the sequence of partial 3D-CT images of the treatment day, under the guidance of the 4D-CT model built in the planning day. We have comprehensively evaluated our 4D-CT model building algorithm on a public lung image database, achieving the best registration

  9. Positioning evaluation of corrective osteotomy for the malunited radius: 3-D CT versus 2-D radiographs.

    PubMed

    Vroemen, Joy C; Dobbe, Johannes G G; Strackee, Simon D; Streekstra, Geert J

    2013-02-01

    The authors retrospectively investigated the postoperative position of the distal radius after a corrective osteotomy using 2-dimensional (2-D) and 3-dimensional (3-D) imaging techniques to determine whether malposition correlates with clinical outcome. Twenty-five patients who underwent a corrective osteotomy were available for follow-up. The residual positioning errors of the distal end were determined retrospectively using standard 2-D radiographs and 3-D computed tomography evaluations based on a scan of both forearms, with the contralateral healthy radius serving as reference. For 3-D analysis, use of an anatomical coordinate system for each reference bone allowed the authors to express the residual malalignment parameters in displacements (Δx, Δy, Δz) and rotations (Δφx, Δφy, Δφz) for aligning the affected bone in a standardized way with the corresponding reference bone. The authors investigated possible correlations between malalignment parameters and clinical outcome using patients' questionnaires. Two-dimensional radiographic evaluation showed a radial inclination of 24.9°±6.8°, a palmar tilt of 4.5°±8.6°, and an ulnar variance of 0.8±1.7 mm. With 3-D analysis, residual displacements were 2.6±3 (Δx), 2.4±3 (Δy), and -2.2±4 (Δz) mm. Residual rotations were -6.2°±10° (Δφx), 0.3°±7° (Δφy), and -5.1°±10° (Δφz). The large standard deviation is indicative of persistent malalignment in individual cases. Statistically significant correlations were found between 3-D rotational deficits and clinical outcome but not between 2-D evaluation parameters. Considerable residual malalignments and statistically significant correlations between malalignment parameters and clinical outcome confirm the need for better positioning techniques.

  10. Gravity aided inertial navigation system (GAINS)

    NASA Astrophysics Data System (ADS)

    Jircitano, Albert; Dosch, Daniel E.

    The paper describes a new autonomous covert INS uniquely suited to underwater applications. Unlike the conventional INS, schuler and siderial errors are bounded without external navigation aids or active instrumentation of ground speed. As a result, the system exhibits excellent long-term navigation performance while maintaining the inherent covertness of the INS system. A conventional INS is integrated with a gravity gradiometer capable of measuring gravity field components independently of platform accelerations. This new integration scheme takes advantage of navigation system velocity error observability. Parametric performance results are presented for GAINS, varying gyro, gravimeter, gradiometer, depth sensor quality, and gravity field activity.

  11. The "sagging rope sign" in avascular necrosis in children's hip diseases--confirmation by 3D CT studies.

    PubMed

    Kim, H T; Eisenhauer, E; Wenger, D R

    1995-01-01

    Growth disturbance of the proximal femoral epiphysis and physis secondary to avascular necrosis (AVN) in a variety of children's hip disorders produces changes in the femoral head and neck that make radiographic interpretation difficult. The enlarged overhanging femoral head produces radiographic markings on the femoral neck which are sometimes confusing. These have sometimes been misinterpreted as growth arrest lines. Apley and Wientroub reintroduced Perkins' description of the "sagging rope" sign in AVN of the femoral head, and Clarke clarified that this puzzling radiographic transverse metaphyseal line overlying the femoral neck in fact represents the margin of the femoral head rather than a growth arrest line. Their report was made after studying plain and stereoscopic radiographs alone. Our review of 23 cases of femoral head AVN in children, documented by 3 dimensional computerized tomographic (3D CT) radiographs of the femoral head and pelvis, confirms Clarke's view of the nature of the "sagging rope" sign. These sophisticated radiographic studies provide new detail and understanding of head-neck relationship in AVN which allows better planning for surgical correction of hip disorders in children.

  12. Estimation of aortic valve leaflets from 3D CT images using local shape dictionaries and linear coding

    NASA Astrophysics Data System (ADS)

    Liang, Liang; Martin, Caitlin; Wang, Qian; Sun, Wei; Duncan, James

    2016-03-01

    Aortic valve (AV) disease is a significant cause of morbidity and mortality. The preferred treatment modality for severe AV disease is surgical resection and replacement of the native valve with either a mechanical or tissue prosthetic. In order to develop effective and long-lasting treatment methods, computational analyses, e.g., structural finite element (FE) and computational fluid dynamic simulations, are very effective for studying valve biomechanics. These computational analyses are based on mesh models of the aortic valve, which are usually constructed from 3D CT images though many hours of manual annotation, and therefore an automatic valve shape reconstruction method is desired. In this paper, we present a method for estimating the aortic valve shape from 3D cardiac CT images, which is represented by triangle meshes. We propose a pipeline for aortic valve shape estimation which includes novel algorithms for building local shape dictionaries and for building landmark detectors and curve detectors using local shape dictionaries. The method is evaluated on real patient image dataset using a leave-one-out approach and achieves an average accuracy of 0.69 mm. The work will facilitate automatic patient-specific computational modeling of the aortic valve.

  13. Piecewise-diffeomorphic image registration: application to the motion estimation between 3D CT lung images with sliding conditions.

    PubMed

    Risser, Laurent; Vialard, François-Xavier; Baluwala, Habib Y; Schnabel, Julia A

    2013-02-01

    In this paper, we propose a new strategy for modelling sliding conditions when registering 3D images in a piecewise-diffeomorphic framework. More specifically, our main contribution is the development of a mathematical formalism to perform Large Deformation Diffeomorphic Metric Mapping registration with sliding conditions. We also show how to adapt this formalism to the LogDemons diffeomorphic registration framework. We finally show how to apply this strategy to estimate the respiratory motion between 3D CT pulmonary images. Quantitative tests are performed on 2D and 3D synthetic images, as well as on real 3D lung images from the MICCAI EMPIRE10 challenge. Results show that our strategy estimates accurate mappings of entire 3D thoracic image volumes that exhibit a sliding motion, as opposed to conventional registration methods which are not capable of capturing discontinuous deformations at the thoracic cage boundary. They also show that although the deformations are not smooth across the location of sliding conditions, they are almost always invertible in the whole image domain. This would be helpful for radiotherapy planning and delivery.

  14. Arteriovenous fistula of the superior gluteal artery as a complication of posterior iliac crest bone graft harvesting: 3D-CT angiography and arterial embolization

    PubMed Central

    Kong, Chae-Gwan; Won, Yoo-Dong; Riew, K. Daniel

    2009-01-01

    Superior gluteal artery injuries are rare, but potentially serious complications that occur during posterior iliac crest bone graft harvesting. The authors reported an arteriovenous fistula of the superior gluteal artery, which occurred as a complication during posterior iliac crest bone graft harvesting and was diagnosed with 3D-CT angiography, then treated with arterial embolization. PMID:19294431

  15. NFC internal: an indoor navigation system.

    PubMed

    Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

    2015-03-27

    Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability.

  16. NFC Internal: An Indoor Navigation System

    PubMed Central

    Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

    2015-01-01

    Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability. PMID:25825976

  17. An integrated platform for inertial navigation systems

    NASA Astrophysics Data System (ADS)

    Dumitrascu, Ana; Tamas, Razvan D.; Caruntu, George; Bobirca, Daniel

    2015-02-01

    In this paper we propose a new configuration for an inertial navigation system (INS), type strap down, designed to be used onboard a ship. The system consists of an inertial navigation unit (IMU), using a 9-axis inertial sensor and pressure and temperature sensors, a GPS module, various interfaces for optimal communication and command, a microcontroller for data processing and computing and a power supply.

  18. Inertial Navigation System Aiding Using Vision

    DTIC Science & Technology

    2013-03-01

    INERTIAL NAVIGATION SYSTEM AIDING USING VISION THESIS James O. Quarmyne, Second Lieutenant, USAF AFIT-ENG-13-M-40 DEPARTMENT OF THE AIR FORCE AIR...protection in the United States AFIT-ENG-13-M-40 INERTIAL NAVIGATION SYSTEM AIDING USING VISION THESIS Presented to the Faculty Department of...AIDING USING VISION James O. Quarmyne, B.S.E.E. Second Lieutenant, USAF Approved: Meir Pachter, PhD (Chairman) Date John F. Raquet, PhD (Committee Member

  19. Two Systems of Spatial Representation Underlying Navigation

    PubMed Central

    Lee, Sang Ah; Spelke, Elizabeth S.

    2011-01-01

    We review evidence for two distinct cognitive processes by which humans and animals represent the navigable environment. One process uses the shape of the extended 3D surface layout to specify the navigator’s position and orientation. A second process uses objects and patterns as beacons to specify the locations of significant objects. Although much of the evidence for these processes comes from neurophysiological studies of navigating animals and neuroimaging studies of human adults, behavioral studies of navigating children shed light both on the nature of these systems and on their interactions. PMID:20614214

  20. Inertial navigation system for bladder endoscopy.

    PubMed

    Behrens, Alexander; Grimm, Jonathan; Gross, Sebastian; Aach, Til

    2011-01-01

    The usage of video endoscopes in cystoscopic interventions of the urinary bladder impedes an intuitive navigation. Although image-based solutions such as panorama images can provide extended views of the surgical field, a real-time 3-D navigation is not supported. Furthermore, the integration of common tracking systems in ambulant clinics is often hindered due to low usability and high costs. Thus, we discuss in this paper a first low-cost inertial navigation system. Our evaluation results show that in spite of lower sensor accuracies, mean errors between < 1° and 4° are achieved for solid angles. Using endoscopes with different view angles we apply an extended endoscope model for an adaptive displacement correction. Furthermore, we implement a first guided navigation tool for tumor re-identification in real-time.

  1. The Mathematics of Navigating the Solar System

    NASA Technical Reports Server (NTRS)

    Hintz, Gerald

    2000-01-01

    In navigating spacecraft throughout the solar system, the space navigator relies on three academic disciplines - optimization, estimation, and control - that work on mathematical models of the real world. Thus, the navigator determines the flight path that will consume propellant and other resources in an efficient manner, determines where the craft is and predicts where it will go, and transfers it onto the optimal trajectory that meets operational and mission constraints. Mission requirements, for example, demand that observational measurements be made with sufficient precision that relativity must be modeled in collecting and fitting (the estimation process) the data, and propagating the trajectory. Thousands of parameters are now determined in near real-time to model the gravitational forces acting on a spacecraft in the vicinity of an irregularly shaped body. Completing these tasks requires mathematical models, analyses, and processing techniques. Newton, Gauss, Lambert, Legendre, and others are justly famous for their contributions to the mathematics of these tasks. More recently, graduate students participated in research to update the gravity model of the Saturnian system, including higher order gravity harmonics, tidal effects, and the influence of the rings. This investigation was conducted for the Cassini project to incorporate new trajectory modeling features in the navigation software. The resulting trajectory model will be used in navigating the 4-year tour of the Saturnian satellites. Also, undergraduate students are determining the ephemerides (locations versus time) of asteroids that will be used as reference objects in navigating the New Millennium's Deep Space 1 spacecraft autonomously.

  2. Modified Navigation Instructions for Spatial Navigation Assistance Systems Lead to Incidental Spatial Learning

    PubMed Central

    Gramann, Klaus; Hoepner, Paul; Karrer-Gauss, Katja

    2017-01-01

    Spatial cognitive skills deteriorate with the increasing use of automated GPS navigation and a general decrease in the ability to orient in space might have further impact on independence, autonomy, and quality of life. In the present study we investigate whether modified navigation instructions support incidental spatial knowledge acquisition. A virtual driving environment was used to examine the impact of modified navigation instructions on spatial learning while using a GPS navigation assistance system. Participants navigated through a simulated urban and suburban environment, using navigation support to reach their destination. Driving performance as well as spatial learning was thereby assessed. Three navigation instruction conditions were tested: (i) a control group that was provided with classical navigation instructions at decision points, and two other groups that received navigation instructions at decision points including either (ii) additional irrelevant information about landmarks or (iii) additional personally relevant information (i.e., individual preferences regarding food, hobbies, etc.), associated with landmarks. Driving performance revealed no differences between navigation instructions. Significant improvements were observed in both modified navigation instruction conditions on three different measures of spatial learning and memory: subsequent navigation of the initial route without navigation assistance, landmark recognition, and sketch map drawing. Future navigation assistance systems could incorporate modified instructions to promote incidental spatial learning and to foster more general spatial cognitive abilities. Such systems might extend mobility across the lifespan. PMID:28243219

  3. Modified Navigation Instructions for Spatial Navigation Assistance Systems Lead to Incidental Spatial Learning.

    PubMed

    Gramann, Klaus; Hoepner, Paul; Karrer-Gauss, Katja

    2017-01-01

    Spatial cognitive skills deteriorate with the increasing use of automated GPS navigation and a general decrease in the ability to orient in space might have further impact on independence, autonomy, and quality of life. In the present study we investigate whether modified navigation instructions support incidental spatial knowledge acquisition. A virtual driving environment was used to examine the impact of modified navigation instructions on spatial learning while using a GPS navigation assistance system. Participants navigated through a simulated urban and suburban environment, using navigation support to reach their destination. Driving performance as well as spatial learning was thereby assessed. Three navigation instruction conditions were tested: (i) a control group that was provided with classical navigation instructions at decision points, and two other groups that received navigation instructions at decision points including either (ii) additional irrelevant information about landmarks or (iii) additional personally relevant information (i.e., individual preferences regarding food, hobbies, etc.), associated with landmarks. Driving performance revealed no differences between navigation instructions. Significant improvements were observed in both modified navigation instruction conditions on three different measures of spatial learning and memory: subsequent navigation of the initial route without navigation assistance, landmark recognition, and sketch map drawing. Future navigation assistance systems could incorporate modified instructions to promote incidental spatial learning and to foster more general spatial cognitive abilities. Such systems might extend mobility across the lifespan.

  4. A computer system for geosynchronous satellite navigation

    NASA Technical Reports Server (NTRS)

    Koch, D. W.

    1980-01-01

    A computer system specifically designed to estimate and predict Geostationary Operational Environmental Satellite (GOES-4) navigation parameters using Earth imagery is described. The estimates are needed for spacecraft maneuvers while prediction provide the capability for near real-time image registration. System software is composed of four functional subsystems: (1) data base management; (2) image processing; (3) navigation; and (4) output. Hardware consists of a host minicomputer, a cathode ray tube terminal, a graphics/video display unit, and associated input/output peripherals. System validity is established through the processing of actual imagery obtained by sensors on board the Synchronous Meteorological Satellite (SMS-2). Results indicate the system is capable of operationally providing both accurate GOES-4 navigation estimates and images with a potential registration accuracy of several picture elements (pixels).

  5. Navigation of robotic system using cricket motes

    NASA Astrophysics Data System (ADS)

    Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

    2011-06-01

    This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

  6. Inertial navigation sensor integrated obstacle detection system

    NASA Technical Reports Server (NTRS)

    Bhanu, Bir (Inventor); Roberts, Barry A. (Inventor)

    1992-01-01

    A system that incorporates inertial sensor information into optical flow computations to detect obstacles and to provide alternative navigational paths free from obstacles. The system is a maximally passive obstacle detection system that makes selective use of an active sensor. The active detection typically utilizes a laser. Passive sensor suite includes binocular stereo, motion stereo and variable fields-of-view. Optical flow computations involve extraction, derotation and matching of interest points from sequential frames of imagery, for range interpolation of the sensed scene, which in turn provides obstacle information for purposes of safe navigation.

  7. Research on the airborne SINS/CNS integrated navigation system assisted by BD navigation system

    NASA Astrophysics Data System (ADS)

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

    2016-01-01

    When the star navigation system working during the day, the strong sky background radiation lead to a result that the detect target light is too weak, in the field of view, because of the limitation on the number of the navigation star, usually choose the single star navigation work mode. In order to improve the reliability of the airborne SINS/CNS integrated navigation system, meet the demand of the long-endurance and high precision navigation, use the tight combination way, single star patrol algorithm to get the position and attitude. There exists filtering divergence problem because of the model error and the system measurement noise is uncertain, put forward a new fuzzy adaptive kalman filtering algorithm. Adjust the size of measurement noise to prevent the filter divergence; the positioning accuracy of integrated navigation system can be improved through BeiDou satellite. Without the information of BeiDou satellite, based on the level of the virtual reference, the navigation precision of integrated navigation system can be ensured over a period of time.

  8. 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

  9. Urban, Indoor and Subterranean Navigation Sensors and Systems (Capteurs et systemes de navigation urbains, interieurs et souterrains)

    DTIC Science & Technology

    2010-11-01

    ant’s navigation skill has been extensively studied by R. Wehner, 3-39 University of Zürich Figure 3-49 The navigation skills of sea turtles have...capabilities provided by advanced navigation sensors and systems: • Networked and collaborative operations; • Autonomous land, sea and air vehicles...systems, they can form a dead reckoning navigation system. When used as an aid to an inertial navigation system they provide error growth control

  10. Tracking time interval changes of pulmonary nodules on follow-up 3D CT images via image-based risk score of lung cancer

    NASA Astrophysics Data System (ADS)

    Kawata, Y.; Niki, N.; Ohmatsu, H.; Kusumoto, M.; Tsuchida, T.; Eguchi, K.; Kaneko, M.; Moriyama, N.

    2013-03-01

    In this paper, we present a computer-aided follow-up (CAF) scheme to support physicians to track interval changes of pulmonary nodules on three dimensional (3D) CT images and to decide the treatment strategies without making any under or over treatment. Our scheme involves analyzing CT histograms to evaluate the volumetric distribution of CT values within pulmonary nodules. A variational Bayesian mixture modeling framework translates the image-derived features into an image-based risk score for predicting the patient recurrence-free survival. Through applying our scheme to follow-up 3D CT images of pulmonary nodules, we demonstrate the potential usefulness of the CAF scheme which can provide the trajectories that can characterize time interval changes of pulmonary nodules.

  11. A simple dead-reckoning navigational system

    NASA Technical Reports Server (NTRS)

    Walls, B. F.; Mastin, W. C.; Broussard, P., Jr.

    1972-01-01

    Simple navigation system is designed for vehicles operating in remote locations where it is not feasible to transport extensive equipment. System consists of four main components: directional gyrocompass to establish inertial direction; odometer to measure distance; signal processor to combine measured distance and direction; and sun compass to determine initial direction.

  12. Laparoscopic resection aided by preoperative 3-D CT angiography for rectosigmoid colon cancer associated with a horseshoe kidney: A case report.

    PubMed

    Maeda, Yoshiaki; Shinohara, Toshiki; Nagatsu, Akihisa; Futakawa, Noriaki; Hamada, Tomonori

    2014-11-01

    We herein report a case of laparoscopic high anterior resection with D3 lymph node dissection for rectosigmoid colon cancer with a horseshoe kidney. A 65-year-old Japanese man referred to our hospital for rectosigmoid colon cancer was found to have a horseshoe kidney on a CT scan. On 3-D CT angiography, an aberrant renal artery was visualized feeding the renal isthmus that arises from the aorta just below the root of the inferior mesenteric artery (IMA). Laparoscopic anterior rectal resection with D3 lymph node dissection was performed. During the operation, the IMA, left ureter, left gonadal vessels and hypogastric nerve plexus could be seen passing over the horseshoe kidney isthmus. With the aid of preoperative 3-D CT angiography, the root of the IMA was identified on the temporal side of the isthmus and divided safely just above the hypogastric nerve. As a horseshoe kidney is often accompanied by aberrant renal arteries and/or abnormal running of the ureter, 3-D CT angiography is useful for determining the location of these structures and avoiding intraoperative injury.

  13. Colloquium on Helicopter Guidance and Navigation Systems

    DTIC Science & Technology

    1981-01-01

    34rounded by aluminium sarinds which iarry t.-e auxrtnt as seon in Fig ~ One method of detection is to shine a high frequency mm-wave radar onto the...which are used for survey pux-oses. The accuracy requirement is of the order of 10 metres and this has led to same interesting work which will be...help survey operations in territory in which no ground aids axe available. 3. Possible Navigation S,stoms. The navigation systems which can be considered

  14. Redundant Strapdown Laser Gyro Navigation System

    NASA Technical Reports Server (NTRS)

    Mcpherson, B. W.; Walls, B. F.; White, J. B.

    1976-01-01

    For the last several years, NASA has pursued the development of low-cost high-reliability inertial navigation systems that would satisfy a broad spectrum of future space and avionics missions. Two specific programs have culminated in the construction of a Redundant Strapdown Laser Gyro Navigation System. These two programs were for development of a space ultrareliable modular computer (SUMC) and a redundant laser gyro inertial measurement unit (IMU). The SUMC is a digital computer that employs state-of-the-art large-scale integrated circuits configured in a functional modular breakdown. The redundant laser gyro IMU is a six-pack strapdown sensor package in a dodecahedron configuration which uses six laser gyros to provide incremental angular positions and six accelerometers for linear velocity outputs. The sensor arrangement allows automatic accommodation of two failures; a third failure can be tolerated provided it can be determined. The navigation system also includes redundant power supplies, built-in test-equipment (BITE) circuits for failure detection, and software which provides for navigation, redundancy management, and automatic calibration and alignment.

  15. Land Navigation and Positioning Systems

    DTIC Science & Technology

    2007-11-02

    Global Position System ( GPS ). This TOP incorporates procedures that require automated data collection instrumentation and a reference system that... Global Position System ( GPS ) 44 Survey Control Point (SCP) 16. PRICE CODE 17. SECURITY CLASSIFICATION 18. SECURITY CLASSIFICATION 19. SECURITY...including those aided by the Global Positioning System ( GPS ). The MAPSH comprises the Dynamic Reference Unit Hybrid (DRUH), a Precision Lightweight

  16. OMEGA navigation system status and future plans

    NASA Technical Reports Server (NTRS)

    Nolan, T. P.; Scull, D. C.

    1974-01-01

    OMEGA is described as a very low frequency (VLF) radio navigational system operating in the internationally allocated navigation band in the electromagentic spectrum between 10 and 14 kilohertz. Full system implementation with worldwide coverage from eight transmitting stations is planned for the latter 1970's. Experimental stations have operated since 1966 in support of system evaluation and test. These stations provided coverage over most of the North Atlantic, North American Continent, and eastern portions of the North Pacific. This coverage provided the fundamental basis for further development of the system and has been essential to the demonstrated feasibility of the one to two nautical mile root-mean-square system accuracy. OMEGA is available to users in all nations, both on ships and in aircraft.

  17. Introduction to Global Navigation Satellite System

    NASA Technical Reports Server (NTRS)

    Moreau, Michael

    2005-01-01

    This viewgraph presentation reviews the fundamentals of satellite navigation, and specifically how GPS works. It presents an overview and status of Global Positioning System, for both the current GPS, and plans to modernize it in the future. There is also a overview and status of other Global Navigation Satellite System (GNSS), specifically GLONASS, Galileo, and QZSS. There is also a review of Satellite based time transfer techniques. The topic is of interest to the Time and Frequency Community, because the Global Positioning system has become the primary system for distributing Time and frequency globally, and because it allows users to synchronize clocks and calibrate and control oscillators in any location that has a GPS antenna.

  18. Visual navigation system for autonomous indoor blimps

    NASA Astrophysics Data System (ADS)

    Campos, Mario F.; de Souza Coelho, Lucio

    1999-07-01

    Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several original work opportunities. One of them is the study of visual navigation of UAVs. In the work described in this paper, a Computer Vision and Control system was developed to perform automatically very simple navigation task for a small indoor blimp. The vision system is able to track artificial visual beacons - objects with known geometrical properties - and from them a geometrical methodology can extract information about orientation of the blimp. The tracking of natural landmarks is also a possibility for the vision technique developed. The control system uses that data to keep the dirigible on a programmed orientation. Experimental results showing the correct and efficient functioning of the system are shown and have your implications and future possibilities discussed.

  19. Lunar Navigation Determination System - LaNDS

    NASA Technical Reports Server (NTRS)

    Quinn, David; Talabac, Stephen

    2012-01-01

    A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

  20. An Integrity Framework for Image-Based Navigation Systems

    DTIC Science & Technology

    2010-06-01

    AN INTEGRITY FRAMEWORK FOR IMAGE-BASED NAVIGATION SYSTEMS DISSERTATION Craig D. Larson, Captain, USAF AFIT/DEE/ENG/ 10 -03 DEPARTMENT OF THE AIR FORCE...United States AFIT/DEE/ENG/ 10 -03 AN INTEGRITY FRAMEWORK FOR IMAGE-BASED NAVIGATION SYSTEMS DISSERTATION Presented to the Faculty Graduate School of...UNLIMITED AFIT/DEE/ENG/ 10 -03 Abstract The value of Global Navigation Satellite Systems (GNSS) in a multitude of both military and civilian navigation and

  1. Inertial Navigation Theory (Autonomous Systems)

    DTIC Science & Technology

    1974-12-17

    TRANSLITERATION SYSTEM Block Ita lie Transliteration Block Ita lie Transliteration A a A a A. a P p F R, r 5 0 B $ B, b C c C S, s B ■ B » v. V T...component meters, structurally connected into a single block so that their axes of sensitivity form an orthogonal trihedron, are employed...the newtonometers are located, may be taken as it. 1.4.3. General principles of constructing inertial naviga- tional systems. A typical block diagram

  2. The onboard control system of "Navigator" platform

    NASA Astrophysics Data System (ADS)

    Syrov, A. S.; Smirnov, V. V.; Sokolov, V. N.; Iodko, G. S.; Mischikhin, V. V.; Kosobokov, V. N.; Shatskii, M. A.; Dobrynin, D. A.

    2016-12-01

    A brief description of the design concept, structure and performance of the onboard control system (AOCS) of the "Navigator" satellite platform, on the basis of which the spacecraft "Electro-L' and "Spektr-R" are designed, is presented. The test-flight results of the AOCS attitude accuracy are given. Approaches to the further development of the onboard control equipment for advanced spacecraft are determined and presented.

  3. Obstacle-avoiding navigation system

    DOEpatents

    Borenstein, Johann; Koren, Yoram; Levine, Simon P.

    1991-01-01

    A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.

  4. Fiber optic gyroscopes for vehicle navigation systems

    NASA Astrophysics Data System (ADS)

    Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao

    1994-03-01

    Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.

  5. Inertial navigation system for directional surveying

    SciTech Connect

    Kohler, S.M.

    1982-09-01

    A Wellbore Inertial Navigation System (WINS) was developed and tested. Developed for directional surveying of geothermal, oil, and gas wells, the system uses gyros and accelerometers to obtain survey errors of less than 10 ft (approx. 3 m) in a 10,000-ft (approx. 300-m) well. The tool, which communicates with a computer at the surface, is 4 in. (approx. 10 cm) in diameter and 20 ft (approx. 6.1 m) long. The concept and hardware is based on a system developed by Sandia for flight vehicles.

  6. Navigational and Environmental Measurement System (NEMS)

    NASA Technical Reports Server (NTRS)

    Clem, T. D.

    1988-01-01

    The NEMS concept and design were initiated from the need to measure and record positional and environmental information during aircraft flights of developmental science research instrumentation. The unit was designed as a stand-alone system which could serve the needs of instruments whose developmental nature did not justify the cost and complexity of including these measurements within the instrument data system. Initially, the system was comprised of a Loran-C receiver and a portable IBM compatible computer recording position and time. Later, the system was interfaced with the Wallops aircraft inertial navigation system (INS), and various other sensors were supplied and shared by the Goddard science users. Real-time position mapping on video monitors was added for investigator's use and information. In 1987, the use of a Global Positioning System (GPS) receiver was included in some missions. A total configuration of the system and the various sensors which can be incorporated are shown.

  7. Autonomous underwater pipeline monitoring navigation system

    NASA Astrophysics Data System (ADS)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  8. Omega Navigation System Course Book. Volume 1.

    DTIC Science & Technology

    1994-07-01

    operational information needed to understand the characteristics, operation, and use of the Omega Navigation System. It is designed to be used as a self-paced...guard time) between the signal transmissions in the Omega signal format was chosen to be 0.2 sec? Answer: The interval is designed for the worst...as Radux-Omega, was designed to use the 200 Hz m•Julation to resolve the (approximately) 8 nautical mile "lane"* of the 10 kHz transmission. This

  9. The satellite configuration of satellite-TV navigation system

    NASA Astrophysics Data System (ADS)

    Gao, Yu-Ping

    2001-02-01

    The positioning accuracy and availability of navigation system are affected directly by the quality of satellite configuration. The possible satellite configurations for satellite-TV navigation system are discussed and estimated in this paper. The results show that a well setted configuration or a resonable integration of satellite-TV navigation system and Chinese Loran-C will improve the positioning accuracy and availability of the system.

  10. 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.

  11. Vision enhanced navigation for unmanned systems

    NASA Astrophysics Data System (ADS)

    Wampler, Brandon Loy

    A vision based simultaneous localization and mapping (SLAM) algorithm is evaluated for use on unmanned systems. SLAM is a technique used by a vehicle to build a map of an environment while concurrently keeping track of its location within the map, without a priori knowledge. The work in this thesis is focused on using SLAM as a navigation solution when global positioning system (GPS) service is degraded or temporarily unavailable. Previous work on unmanned systems that lead up to the determination that a better navigation solution than GPS alone is first presented. This previous work includes control of unmanned systems, simulation, and unmanned vehicle hardware testing. The proposed SLAM algorithm follows the work originally developed by Davidson et al. in which they dub their algorithm MonoSLAM [1--4]. A new approach using the Pyramidal Lucas-Kanade feature tracking algorithm from Intel's OpenCV (open computer vision) library is presented as a means of keeping correct landmark correspondences as the vehicle moves through the scene. Though this landmark tracking method is unusable for long term SLAM due to its inability to recognize revisited landmarks, as opposed to the Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), its computational efficiency makes it a good candidate for short term navigation between GPS position updates. Additional sensor information is then considered by fusing INS and GPS information into the SLAM filter. The SLAM system, in its vision only and vision/IMU form, is tested on a table top, in an open room, and finally in an outdoor environment. For the outdoor environment, a form of the slam algorithm that fuses vision, IMU, and GPS information is tested. The proposed SLAM algorithm, and its several forms, are implemented in C++ using an Extended Kalman Filter (EKF). Experiments utilizing a live video feed from a webcam are performed. The different forms of the filter are compared and conclusions are made on

  12. Systems and Methods for Determining Inertial Navigation System Faults

    NASA Technical Reports Server (NTRS)

    Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

    2017-01-01

    An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

  13. Orion Absolute Navigation System Progress and Challenges

    NASA Technical Reports Server (NTRS)

    Holt, Greg N.; D'Souza, Christopher

    2011-01-01

    The Orion spacecraft is being designed as NASA's next-generation exploration vehicle for crewed missions beyond Low-Earth Orbit. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudorange and deltarange, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, pad alignment, cold start are discussed as are

  14. Navigating oceans and cultures: Polynesian and European navigation systems in the late eighteenth century

    NASA Astrophysics Data System (ADS)

    Walker, M.

    2012-05-01

    Significant differences in the rotation of the celestial dome between the tropical and temperate zones did not stop the peoples of either the tropical Pacific or temperate Europe from using geocentric astronomy to guide exploration of the oceans. Although the differences in the night sky contributed to differences between the Pacific Island and European systems for navigation at sea, the two navigation systems exhibit substantial similarities. Both systems define positions on the surface of the Earth using two coordinates that vary at right angles to each other and use stars, and to a lesser extent the sun, to determine directions. This essay explores similarities and differences in the use of geocentric astronomy for navigation at sea by the peoples of Polynesia and Europe in the late eighteenth century. Captain Cook's orders to discover the unknown southern continent after observing the transit of Venus combined with differences in language and culture to obscure the deeper similarities between the navigation systems used by Cook and the Polynesians. Although it was a further 200 years before anthropologists studied Pacific navigation, collaborations in voyaging with communities in Oceania demonstrated the effectiveness of Pacific navigation systems, revived interest in traditional voyaging in island communities around the Pacific, and potentially open the way for further collaborations in other areas.

  15. A microcomputer-based low-cost Omega navigation system

    NASA Technical Reports Server (NTRS)

    Lilley, R. W.; Salter, R. J., Jr.

    1976-01-01

    The application of a low cost, commercially available microcomputer as the navigation processor for a simplified OMEGA navigation system is an area of current research. The interface of a low cost front end OMEGA sensor is described and an example of the phase processing software and navigation routines is given. Emphasis is placed on the description of results obtained with the software version of the OMEGA burst filter known as the memory aided phase locked loop.

  16. An analysis of GDOP in global positioning system navigation

    NASA Technical Reports Server (NTRS)

    Fang, B. T.

    1980-01-01

    The accuracy of user navigation fix based on the NAVSTAR global positioning system is described. The trace of this matrix serves as a convenient navigation performance index and the square root of the trace is called geometric dilution of precision (GDOP). Certain theoretical results concerning the general properties of the navigation performance are derived. An efficient algorithm for the computation of GDOP is given. Applications of the results are illustrated by numerical examples.

  17. An analysis of GDOP in global positioning system navigation

    NASA Astrophysics Data System (ADS)

    Fang, B. T.

    1980-10-01

    The accuracy of user navigation fix based on the NAVSTAR global positioning system is described. The trace of this matrix serves as a convenient navigation performance index and the square root of the trace is called geometric dilution of precision (GDOP). Certain theoretical results concerning the general properties of the navigation performance are derived. An efficient algorithm for the computation of GDOP is given. Applications of the results are illustrated by numerical examples.

  18. Predicting Solar Disturbance Effects on Navigation Systems

    NASA Astrophysics Data System (ADS)

    Lockwood, M.; Wild, M. N.; Stamper, R.; Davis, C. J.; Grande, M.

    A variety of operational systems are vulnerable to disruption by solar disturbances brought to the Earth by the solar wind. Of particular importance to navigation systems are energetic charged particles which can generate temporary malfunctions and permanent damage in satellites. Modern spacecraft technology may prove to be particularly at risk during the next maximum of the solar cycle. In addition, the associated ionospheric disturbances cause phase shifts of transionospheric and ionosphere-reflected signals, giving positioning errors and loss of signal for GPS and Loran-C positioning systems and for over-the-horizon radars. We now have sufficient understanding of the solar wind, and how it interacts with the Earth's magnetic field, to predict statistically the likely effects on operational systems over the next solar cycle. We also have a number of advanced ways of detecting and tracking these disturbances through space but we cannot, as yet, provide accurate forecasts of individual disturbances that could be used to protect satellites and to correct errors. In addition, we have recently discovered long-term changes in the Sun, which mean that the number and severity of the disturbances to operational systems are increasing.

  19. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments.

    PubMed

    Kim, Youngsun; Hwang, Dong-Hwan

    2016-10-12

    In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient.

  20. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

    PubMed Central

    Kim, Youngsun; Hwang, Dong-Hwan

    2016-01-01

    In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient. PMID:27754350

  1. Damping strapdown inertial navigation system based on a Kalman filter

    NASA Astrophysics Data System (ADS)

    Zhao, Lin; Li, Jiushun; Cheng, Jianhua; Hao, Yong

    2016-11-01

    A damping strapdown inertial navigation system (DSINS) can effectively suppress oscillation errors of strapdown inertial navigation systems (SINSs) and improve the navigation accuracy of SINSs. Aiming at overcoming the disadvantages of traditional damping methods, a DSINS, based on a Kalman filter (KF), is proposed in this paper. Using the measurement data of accelerometers and calculated navigation parameters during the navigation process, the expression of the observation equation is derived. The calculation process of the observation in both the internal damping state and the external damping state is presented. Finally, system oscillation errors are compensated by a KF. Simulation and test results show that, compared with traditional damping methods, the proposed method can reduce system overshoot errors and shorten the convergence time of oscillation errors effectively.

  2. Comparative advantage between traditional and smart navigation systems

    NASA Astrophysics Data System (ADS)

    Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan

    2013-03-01

    The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).

  3. 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.

  4. An IR Navigation System for Pleural PDT

    NASA Astrophysics Data System (ADS)

    Zhu, Timothy; Liang, Xing; Kim, Michele; Finlay, Jarod; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles; Friedberg, Joseph; Cengel, Keith

    2015-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light dose uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  5. An IR Navigation System for Pleural PDT.

    PubMed

    Zhu, Timothy C; Liang, Xing; Kim, Michele M; Finlay, Jarod C; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles B; Friedberg, Joseph S; Cengel, Keith A

    2015-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light fluence uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  6. An IR Navigation System for Pleural PDT

    PubMed Central

    Zhu, Timothy C.; Liang, Xing; Kim, Michele M.; Finlay, Jarod C.; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles B.; Friedberg, Joseph S.; Cengel, Keith A.

    2015-01-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 – 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light fluence uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method. PMID:25995987

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

    PubMed

    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

    2016-06-16

    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.

  8. 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

  9. Development of standards for aeronautical satellite navigation system [rapid communication

    NASA Astrophysics Data System (ADS)

    Iatsouk, Victor

    2004-06-01

    One of the work objectives of the International Civil Aviation Organisation (ICAO) is the development of the standards and procedures necessary to support transition to the CNS/ATM systems, which include Global Navigation Satellite System (GNSS). The Global Navigation Satellite System Panel (GNSSP) was established by the ICAO Air Navigation Commission in 1993 with the basic objective to develop ICAO standards and recommended practices (SARPs) and guidance material as required to support aeronautical GNSS applications world-wide. The first package of GNSS SARPs was adopted and published by ICAO in 2001, and further work is under way to introduce new satellite constellations and system elements in an evolutionary fashion.

  10. ACM-based automatic liver segmentation from 3-D CT images by combining multiple atlases and improved mean-shift techniques.

    PubMed

    Ji, Hongwei; He, Jiangping; Yang, Xin; Deklerck, Rudi; Cornelis, Jan

    2013-05-01

    In this paper, we present an autocontext model(ACM)-based automatic liver segmentation algorithm, which combines ACM, multiatlases, and mean-shift techniques to segment liver from 3-D CT images. Our algorithm is a learning-based method and can be divided into two stages. At the first stage, i.e., the training stage, ACM is performed to learn a sequence of classifiers in each atlas space (based on each atlas and other aligned atlases). With the use of multiple atlases, multiple sequences of ACM-based classifiers are obtained. At the second stage, i.e., the segmentation stage, the test image will be segmented in each atlas space by applying each sequence of ACM-based classifiers. The final segmentation result will be obtained by fusing segmentation results from all atlas spaces via a multiclassifier fusion technique. Specially, in order to speed up segmentation, given a test image, we first use an improved mean-shift algorithm to perform over-segmentation and then implement the region-based image labeling instead of the original inefficient pixel-based image labeling. The proposed method is evaluated on the datasets of MICCAI 2007 liver segmentation challenge. The experimental results show that the average volume overlap error and the average surface distance achieved by our method are 8.3% and 1.5 m, respectively, which are comparable to the results reported in the existing state-of-the-art work on liver segmentation.

  11. A hybrid approach for fusing 4D-MRI temporal information with 3D-CT for the study of lung and lung tumor motion

    SciTech Connect

    Yang, Y. X.; Van Reeth, E.; Poh, C. L.; Teo, S.-K.; Tan, C. H.; Tham, I. W. K.

    2015-08-15

    Purpose: Accurate visualization of lung motion is important in many clinical applications, such as radiotherapy of lung cancer. Advancement in imaging modalities [e.g., computed tomography (CT) and MRI] has allowed dynamic imaging of lung and lung tumor motion. However, each imaging modality has its advantages and disadvantages. The study presented in this paper aims at generating synthetic 4D-CT dataset for lung cancer patients by combining both continuous three-dimensional (3D) motion captured by 4D-MRI and the high spatial resolution captured by CT using the authors’ proposed approach. Methods: A novel hybrid approach based on deformable image registration (DIR) and finite element method simulation was developed to fuse a static 3D-CT volume (acquired under breath-hold) and the 3D motion information extracted from 4D-MRI dataset, creating a synthetic 4D-CT dataset. Results: The study focuses on imaging of lung and lung tumor. Comparing the synthetic 4D-CT dataset with the acquired 4D-CT dataset of six lung cancer patients based on 420 landmarks, accurate results (average error <2 mm) were achieved using the authors’ proposed approach. Their hybrid approach achieved a 40% error reduction (based on landmarks assessment) over using only DIR techniques. Conclusions: The synthetic 4D-CT dataset generated has high spatial resolution, has excellent lung details, and is able to show movement of lung and lung tumor over multiple breathing cycles.

  12. 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.

  13. The simulation and analysis of navigation performance for integrated GPS/inertial navigation system

    NASA Astrophysics Data System (ADS)

    Yu, Jixiang; Zhang, Gengsheng

    This paper discusses the navigation performance of an integrated GPS/inertial navigation system (INS) according to the principle of the Kalman filter, the concept of the GDOP, and the results of simulation tests. The accuracies of position and velocity (especially the former) of the integrated system are much better than those of the point solution of the GPS receiver. This comes from the function of Kalman filter which utilizes all the measurement data of the past up to the update time and combines the information from both GPS and INS.

  14. Econosats - Toward an affordable global navigation satellite system?

    NASA Astrophysics Data System (ADS)

    McDonald, Keith

    1993-09-01

    The needs and capabilities of small, low-cost satellites, or Econosats, are assessed in the context of a future civil global navigation satellite system (GNSS). The differences and requirements of the military Global Positioning system and GNSS are compared. Results indicate that a civil navigation satellite system using small, low-cost Econosats are technically feasible and economically attractive compared to the robust, defense-oriented GPS, because Econosats are less complex and functionally limited to satisfying civil requirements.

  15. Airborne Navigation Sensors Using The Global Positioning System (GPS) / Precise Positioning Service (PPS) for Area Navigation (RNAV) in Required Navigation Performance (RNP) Airspace; RNP-20 RNAV Through RNP-0.3 RNAV

    DTIC Science & Technology

    2010-02-11

    GLOBAL POSITIONING SYSTEM ( GPS ) I PRECISE POSITIONING SERVICE (PPS) FOR AREA NAVIGATION (RNA...Navigation Sensors Using The Global Positioning System ( GPS ) / Precise Positioning Service (PPS) For Area Navigation (RNAV) In Required Navigation...Rev. 8-98) Prescribed by ANSI Std Z39-18 Subject: MSO-C145, AIRBORNE NAVIGATION SENSORS USING THE GLOBAL POSITIONING SYSTEM ( GPS

  16. 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.

  17. 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

  18. Omega System Availability as a Global Measure of Navigation Accuracy

    DTIC Science & Technology

    1990-09-01

    Institute of Navigation, vol. 36, no. 1, Spring 1989. 12. Dettman, J.W., Mathematical Methods in Physics and Engineering, McGraw-Hill Book Co., 1969. 13. Kailath , T ., Linear Systems , Prentice-Hall, Inc., 1980. 0 R-1

  19. Satellite Imagery Assisted Road-Based Visual Navigation System

    NASA Astrophysics Data System (ADS)

    Volkova, A.; Gibbens, P. W.

    2016-06-01

    There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

  20. Mapping motion from 4D-MRI to 3D-CT for use in 4D dose calculations: A technical feasibility study

    SciTech Connect

    Boye, Dirk; Lomax, Tony; Knopf, Antje

    2013-06-15

    Purpose: Target sites affected by organ motion require a time resolved (4D) dose calculation. Typical 4D dose calculations use 4D-CT as a basis. Unfortunately, 4D-CT images have the disadvantage of being a 'snap-shot' of the motion during acquisition and of assuming regularity of breathing. In addition, 4D-CT acquisitions involve a substantial additional dose burden to the patient making many, repeated 4D-CT acquisitions undesirable. Here the authors test the feasibility of an alternative approach to generate patient specific 4D-CT data sets. Methods: In this approach motion information is extracted from 4D-MRI. Simulated 4D-CT data sets [which the authors call 4D-CT(MRI)] are created by warping extracted deformation fields to a static 3D-CT data set. The employment of 4D-MRI sequences for this has the advantage that no assumptions on breathing regularity are made, irregularities in breathing can be studied and, if necessary, many repeat imaging studies (and consequently simulated 4D-CT data sets) can be performed on patients and/or volunteers. The accuracy of 4D-CT(MRI)s has been validated by 4D proton dose calculations. Our 4D dose algorithm takes into account displacements as well as deformations on the originating 4D-CT/4D-CT(MRI) by calculating the dose of each pencil beam based on an individual time stamp of when that pencil beam is applied. According to corresponding displacement and density-variation-maps the position and the water equivalent range of the dose grid points is adjusted at each time instance. Results: 4D dose distributions, using 4D-CT(MRI) data sets as input were compared to results based on a reference conventional 4D-CT data set capturing similar motion characteristics. Almost identical 4D dose distributions could be achieved, even though scanned proton beams are very sensitive to small differences in the patient geometry. In addition, 4D dose calculations have been performed on the same patient, but using 4D-CT(MRI) data sets based on

  1. Automatic organ localizations on 3D CT images by using majority-voting of multiple 2D detections based on local binary patterns and Haar-like features

    NASA Astrophysics Data System (ADS)

    Zhou, Xiangrong; Yamaguchi, Shoutarou; Zhou, Xinxin; Chen, Huayue; Hara, Takeshi; Yokoyama, Ryujiro; Kanematsu, Masayuki; Fujita, Hiroshi

    2013-02-01

    This paper describes an approach to accomplish the fast and automatic localization of the different inner organ regions on 3D CT scans. The proposed approach combines object detections and the majority voting technique to achieve the robust and quick organ localization. The basic idea of proposed method is to detect a number of 2D partial appearances of a 3D target region on CT images from multiple body directions, on multiple image scales, by using multiple feature spaces, and vote all the 2D detecting results back to the 3D image space to statistically decide one 3D bounding rectangle of the target organ. Ensemble learning was used to train the multiple 2D detectors based on template matching on local binary patterns and Haar-like feature spaces. A collaborative voting was used to decide the corner coordinates of the 3D bounding rectangle of the target organ region based on the coordinate histograms from detection results in three body directions. Since the architecture of the proposed method (multiple independent detections connected to a majority voting) naturally fits the parallel computing paradigm and multi-core CPU hardware, the proposed algorithm was easy to achieve a high computational efficiently for the organ localizations on a whole body CT scan by using general-purpose computers. We applied this approach to localization of 12 kinds of major organ regions independently on 1,300 torso CT scans. In our experiments, we randomly selected 300 CT scans (with human indicated organ and tissue locations) for training, and then, applied the proposed approach with the training results to localize each of the target regions on the other 1,000 CT scans for the performance testing. The experimental results showed the possibility of the proposed approach to automatically locate different kinds of organs on the whole body CT scans.

  2. Selected bibliography of OMEGA, VLF and LF techniques applied to aircraft navigation systems

    NASA Technical Reports Server (NTRS)

    1974-01-01

    A bibliography is presented which includes references to the OMEGA navigation system, very low frequencies, time-frequency measurements, air traffic control, radio navigation, and applications of OMEGA.

  3. Architecture analysis of the simplified libration point satellite navigation system

    NASA Astrophysics Data System (ADS)

    Zhang, Lei; Xu, Bo

    2016-10-01

    The libration point satellite navigation system is a novel navigation architecture that consists of satellites located in periodic orbits around the Earth-Moon libration points. Superiorities of the proposed system lie in its autonomy and extended navigation capability, which have been proved in our previous works. Based on the candidate architectures obtained before, a detailed analysis of the simplified libration point satellite navigation system, i.e. the Earth-Moon L1,2 two-satellite constellation, is conducted in this work. Firstly, relation between orbits amplitude is derived for the candidate two-satellite constellations to ensure continuous crosslink measurements between libration point satellites. Then, with the use of a reference lunar exploration mission scenario, navigation performances of different constellation configurations are evaluated by Monte-Carlo simulations. The simulation results indicate that the amplitude and initial phase combinations of libration point orbits have direct effect on the performance of the two-satellite constellations. By using a cooperative evolutionary algorithm for configuration parameter optimization, some optimal constellations are finally obtained for the simplified navigation architecture. The results obtained in this paper may be a reference for future system design.

  4. 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.

  5. 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.

  6. North Atlantic OMEGA Navigation System Validation

    DTIC Science & Technology

    1980-07-21

    Coordinates 7-18 7-7 Aeroflot Flight Zone OMEGA Accuracies vs DME or DME /VOR Coordinates 7-18 7-8 Alabama Getty Measurements 7-20 7-9 British Respect...navigation equipment on board the aircraft during the tests consisted of TAC.N VOR/ DME , sextant and a driftmeter. The majority of flight hours were...measurement of two (2) distances from DME , or azimuth and distance for VOR/ DME with distances from the radio beacons of not more than 40 KM. During the

  7. Global positioning system pseudolite-based relative navigation.

    SciTech Connect

    Monda, Eric W.

    2004-03-01

    Though the Global Positioning System has revolutionized navigation in the modern age, it is limited in its capability for some applications because an unobstructed line of sight to a minimum of four satellites is required. One way of augmenting the system in small areas is by employing pseudolites to broadcast additional signals that can be used to improve the user's position solution. At the Navigation Systems Testing Laboratory (NSTL) at NASA's Johnson Space Center in Houston, TX, research has been underway on the use of pseudolites to perform precision relative navigation. Based on the findings of previous research done at the NSTL, the method used to process the pseudolite measurements is an extended Kalman filter of the double differenced carrier phase measurements. By employing simulations of the system, as well as processing previously collected data in a real time manner, sub-meter tracking of a moving receiver with carrier phase measurements in the extended Kalman filter appears to be possible.

  8. An Indoor Navigation System for the Visually Impaired

    PubMed Central

    Guerrero, Luis A.; Vasquez, Francisco; Ochoa, Sergio F.

    2012-01-01

    Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment. PMID:22969398

  9. An indoor navigation system for the visually impaired.

    PubMed

    Guerrero, Luis A; Vasquez, Francisco; Ochoa, Sergio F

    2012-01-01

    Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.

  10. Navigation and geo-tracking system of UAV EO payload

    NASA Astrophysics Data System (ADS)

    Chen, Ying; Zhen, Kang; Xue, Yuanyuan; Zhang, Xiajiang; Li, Yingjuan; Tang, Chao

    2016-01-01

    A multi-function system based on inertial measurement unit (IMU) is introduced, which can fulfill navigation, attitude measurement of LOS in payload, platform stabilization and tracking control. The IMU is integrated with electro-optical sensors and a laser range finder on gimbals, which performs attitude calculation and navigation by constructing navigation coordinates in a mathematic platform, and the platform navigation information is obtained by transformation matrix between platform and gimbal coordinates. The platform comprising of gyros, electro-optical sensors and servo mechanism is capable of stabilizing line of sight and could be used to geo-tracking in the relevant field of view (FOV).The system can determine geography coordinates of the host platform and target only with navigation information and laser ranging data. The geo-tracking system always locked the target image at the center of FOV by calculating spatial geometry and adjusting LOS attitude. This tracking is different from TV tracking and geographical reference image tracking, which may be influenced by fog and obscurant. When the UAV is flying over urban or mountain areas for rescue missions, it can avoid the loss of targets due to strong maneuver or LOS obscuration, and reduce the operation load and improve rescue efficiency.

  11. Concept of the Development of the Ukrainian Navigation Service System

    NASA Astrophysics Data System (ADS)

    Vereshak, A. P.; Piskorzh, V. V.; Zhalilo, A. A.; Litvinov, V. A.; Voloh, K. F.

    The Ukrainian national navigation service is supposed to be based on the signals from the global navigational GPS and GLONASS systems and the geostationary INMARSAT-3 satellites. The differential navigation in Ukraine will be provided by the multifunctional network of reference stations (RS) which is supposed to be integrated into the European segment of the international GNSS-1 system. The basis of the Ukrainian differential system will be a ground-based segment including the main network of regional RS network and local RS networks. The regional RS network (12 RS) will be built on the principles of wide-area navigation using the complex processing of code and carrier-phase L1, L2 observations. The observations will be transmitted to the European GNSS-1 processing data centre for the information and transmission of DCI and integrity through the INMARSAT-3 geostationary satellite. The local RS networks will operate jointly. The possibilities of DCI transmission through a national geostationary communication satellite with a board navigation transponder are also discussed. The injection of this satellite into orbit will give a possibility of increasing the reliability and potentialities of GNSS-1.

  12. Low-frequency radio navigation system

    NASA Technical Reports Server (NTRS)

    Wallis, D. E. (Inventor)

    1983-01-01

    A method of continuous wave navigation using four transmitters operating at sufficiently low frequencies to assure essentially pure groundwave operation is described. The transmitters are keyed to transmit constant bursts (1/4 sec) in a time-multiplexed pattern with phase modulation of at least one transmitter for identification of the transmitters and with the ability to identify the absolute phase of the modulated transmitter and the ability to modulate low rate data for transmission. The transmitters are optimally positioned to provide groundwave coverage over a service region of about 50 by 50 km for the frequencies selected in the range of 200 to 500 kHz, but their locations are not critical because of the beneficial effect of overdetermination of position of a receiver made possible by the fourth transmitter. Four frequencies are used, at least two of which are selected to provide optimal resolution. All transmitters are synchronized to an average phase as received by a monitor receiver.

  13. Orion Absolute Navigation System Progress and Challenge

    NASA Technical Reports Server (NTRS)

    Holt, Greg N.; D'Souza, Christopher

    2012-01-01

    The absolute navigation design of NASA's Orion vehicle is described. It has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary onboard measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudo-range and delta-range, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, and cold start are discussed as are strategies for whole and partial state updates as well as covariance considerations. Strategies are given for dealing with latent measurements and high-rate propagation using multi-rate architecture. The details of the rate groups and the data ow between the elements is discussed and evaluated.

  14. Error Characterization of Vision-Aided Navigation Systems

    DTIC Science & Technology

    2013-03-01

    iv EKF Extended Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . iv GNSS Global Navigation Satellite System...Satellite Systems ( GNSS ), of which GPS is an example, suffer from availability restrictions when satellite signals are physically blocked in areas...ION GNSS 2006, 1093–1103. Sep 2006. [24] Veth, M., J. Raquet, and M. Pachter. “Stochastic Constraints for Efficient Image Correspondence Search”. IEEE

  15. Taux: A System for Evaluating Sound Feedback in Navigational Tasks

    ERIC Educational Resources Information Center

    Lutz, Robert J.

    2008-01-01

    This thesis presents the design and development of an evaluation system for generating audio displays that provide feedback to persons performing navigation tasks. It first develops the need for such a system by describing existing wayfinding solutions, investigating new electronic location-based methods that have the potential of changing these…

  16. The Taxiway Navigation and Situation Awareness (T-NASA) System

    NASA Technical Reports Server (NTRS)

    Foyle, David C.; Sridhar, Banavar (Technical Monitor)

    1997-01-01

    The goal of NASA's Terminal Area Productivity (TAP) Low-Visibility Landing and Surface Operations (LVLASO) subelement is to improve the efficiency of airport surface operations for commercial aircraft operating in weather conditions to Category IIIB while maintaining a high degree of safety. Currently, surface operations are one of the least technologically sophisticated components of the air transport system, being conducted in the 1990's with the same basic technology as in the 1930's. Pilots are given little or no explicit information about their current position, and routing information is limited to ATC communications and airport charts. In TAP/LVLASO, advanced technologies such as satellite navigation systems, digital data communications, advanced information presentation technology, and ground surveillance systems will be integrated into flight deck displays to enable expeditious and safe traffic movement on the airport surface. The cockpit display suite is called the T-NASA (Taxiway Navigation and Situation Awareness) System. This system has three integrated components: 1) Moving Map track-up airport surface display with own-ship, traffic and graphical route guidance 2) Scene-Linked Symbology - route/taxi information virtually projected via a Head-up Display (HUD) onto the forward scene; and, 3) 3-D Audio Ground Collision Avoidance and Navigation system - spatially-localized auditory traffic and navigation alerts. In the current paper, the design philosophy of the T-NASA system will be presented, and the T-NASA system display components described.

  17. 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.

  18. Recent developments with the Soviet Union's VHF satellite navigation system

    NASA Astrophysics Data System (ADS)

    Daly, P.; Perry, G. E.

    1986-03-01

    A description of the Soviet Union's VHF satellite navigation system is presented. The system utilizes constellations of satellites and position-fixing is achieved by low-orbiting satellites in near-polar orbit. The military satellites have orbital spacing intervals of 3 deg with satellite identification numbers 1-9 and civilian satellites have a 45 deg with identification numbers from 11-14. The satellite position data transmitted by the navigation system are examined. Each satellite transmits two coherent frequencies of 150 and 400 MHz and three tone modulations (3, 5, and 7 kHz). The data consist of time indications and orbital information encoded in final 32 bits in each second; a single frame of data lasts 1 min and two sets of four blocks of seven words provide satellite alerts. The launch schedule for the navigation system and the use of identification numbers are discussed. On-board problems with the Cosmos 1333 are analyzed. The COSPAS/SARSAT system is employed to locate ships and aircraft in distress. The code words utilized in the navigation system are studied.

  19. 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.)

  20. Developmental Test of the Honeywell Laser Inertial Navigation System (LINS)

    DTIC Science & Technology

    1975-11-01

    navigation system. The system tested at the CIGTF contained an inertial sensor assembly which contained three ring laser gyros, arranged in an...alignment. The inertial sensor assembly is operated heaterless, thus elimininating the usual warm-up rc4uirement for conventional inertial system...continuous; 6900VA start up transient of 50 milli- seconds. LINS ENGINIEERING HARDWARE BASIC LtS FUN~CTIONiAL BlLOCK DIAGRAMl FIGURE 1. LIINS SYSTEM4 BLOCKt

  1. Data Analysis Techniques for a Lunar Surface Navigation System Testbed

    NASA Technical Reports Server (NTRS)

    Chelmins, David; Sands, O. Scott; Swank, Aaron

    2011-01-01

    NASA is interested in finding new methods of surface navigation to allow astronauts to navigate on the lunar surface. In support of the Vision for Space Exploration, the NASA Glenn Research Center developed the Lunar Extra-Vehicular Activity Crewmember Location Determination System and performed testing at the Desert Research and Technology Studies event in 2009. A significant amount of sensor data was recorded during nine tests performed with six test subjects. This paper provides the procedure, formulas, and techniques for data analysis, as well as commentary on applications.

  2. Ship detection algorithm used in a navigation lock monitored system

    NASA Astrophysics Data System (ADS)

    Li, Jiuxian; Yuan, Xiao-hui; Xia, LiangZheng

    2001-09-01

    A ship detection algorithm used in a navigation lock monitored control system, which helps to improve safety and dependability, is presented. We mean, in this paper, the processed region of river channel is determined through image edge detection. A method of peak-cutting histogram is introduced to restrain illusive movement information resulting from the glisten of water in the navigation lock. A concept of difference compactness from computing the projected density function of difference image is put forward, which helps to detect moving ships more precisely. With the statistical property of histogram of several small regions of river channel: gray scale variance, the detection of stationary ships can be accomplished, and the results can be judged by confidence region. Computer simulation has proved that it contributes a lot to the detection of ships in a navigation lock.

  3. Bidimensional MRI-based navigation system using a PID controller.

    PubMed

    Tamaz, Samer; Gourdeau, Richard; Martel, Sylvain

    2006-01-01

    The feasibility of using 2D real-time control to navigate ferromagnetic entities in an MRI bore for novel medical interventions is assessed. Preliminary experimental results confirm that a simple PID controller can be suitable for several applications where targeting out-of-reach locations within the cardiovascular system is essential.

  4. Information Access of Approach Navigation for Nonlinear Autonomous Systems

    DTIC Science & Technology

    2007-11-02

    superresolution "* 3D-2D "* nonregular sampling - motion detection - new gaze-based representations - collision avoidance 3 Technical Information...the implementation of such a system. Information Access of Approach Navigation Page 4 3.1.3 Superresolution A better understanding of shape

  5. Triply redundant integrated navigation and asset visibility system

    DOEpatents

    Smith, Stephen F.; Moore, James A.

    2013-01-22

    Methods and apparatus are described for a navigation system. A method includes providing a global positioning system fix having a plurality of tracking parameters; providing a theater positioning system fix; monitoring the plurality of tracking parameters for predetermined conditions; and, when the predetermined conditions are met, sending a notifying signal and switching to the theater positioning system fix as a primary fix. An apparatus includes a system controller; a global positioning system receiver coupled to the system controller; a radio frequency locating receiver coupled to the system controller; and an operator interface coupled to the system controller.

  6. Triply redundant integrated navigation and asset visibility system

    DOEpatents

    Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

    2011-11-29

    Methods and apparatus are described for a navigation system. A method includes providing a global positioning system fix having a plurality of tracking parameters; providing a theater positioning system fix; monitoring the plurality of tracking parameters for predetermined conditions; and, when the predetermined conditions are met, sending a notifying signal and switching to the theater positioning system fix as a primary fix. An apparatus includes a system controller; a global positioning system receiver coupled to the system controller; a radio frequency locating receiver coupled to the system controller; and an operator interface coupled to the system controller.

  7. Interoperability of satellite-based augmentation systems for aircraft navigation

    NASA Astrophysics Data System (ADS)

    Dai, Donghai

    The Federal Aviation Administration (FAA) is pioneering a transformation of the national airspace system from its present ground based navigation and landing systems to a satellite based system using the Global Positioning System (GPS). To meet the critical safety-of-life aviation positioning requirements, a Satellite-Based Augmentation System (SBAS), the Wide Area Augmentation System (WAAS), is being implemented to support navigation for all phases of flight, including Category I precision approach. The system is designed to be used as a primary means of navigation, capable of meeting the Required Navigation Performance (RNP), and therefore must satisfy the accuracy, integrity, continuity and availability requirements. In recent years there has been international acceptance of Global Navigation Satellite Systems (GNSS), spurring widespread growth in the independent development of SBASs. Besides the FAA's WAAS, the European Geostationary Navigation Overlay Service System (EGNOS) and the Japan Civil Aviation Bureau's MTSAT-Satellite Augmentation System (MSAS) are also being actively developed. Although all of these SBASs can operate as stand-alone, regional systems, there is increasing interest in linking these SBASs together to reduce costs while improving service coverage. This research investigated the coverage and availability improvements due to cooperative efforts among regional SBAS networks. The primary goal was to identify the optimal interoperation strategies in terms of performance, complexity and practicality. The core algorithms associated with the most promising concepts were developed and demonstrated. Experimental verification of the most promising concepts was conducted using data collected from a joint international test between the National Satellite Test Bed (NSTB) and the EGNOS System Test Bed (ESTB). This research clearly shows that a simple switch between SBASs made by the airborne equipment is the most effective choice for achieving the

  8. A research on SLAM aided INS/GPS navigation system

    NASA Astrophysics Data System (ADS)

    Cao, Menglong; Cui, Pingyuan

    2007-11-01

    Simultaneous Localization and Mapping (SLAM) aided INS/GPS navigation system is a landmark based terrain aided autonomous integrated system that has the capability for online map building and simultaneously utilizing the generated map to bind the errors in the Inertial Navigation System (INS) when GPS is not available. If GPS information is available, the SLAM integrated system builds a landmark-based map using an INS/GPS solution. If GPS is not available, the previously newly generated map is used to constrain the INS errors. The SLAM augmented INS/GPS system shows two capabilities of landmark tracking and mapping using GPS information and more importantly, aiding the INS under GPS denied situation. The validity of the proposed method is demonstrated by computer simulation.

  9. A comparison of two commercial and the terminal configured vehicle area navigation systems

    NASA Technical Reports Server (NTRS)

    Knox, C. E.; Hartnell, D.

    1976-01-01

    A comparison was made of some of the more important features of two commercially available area navigation systems and the Terminal Configured Vehicle (TCV) area navigation system. Topics discussed included system design criteria, system elements, calculation of the navigation solution, and presentation of guidance information.

  10. 77 FR 13350 - Certain Automotive GPS Navigation Systems, Components Thereof, and Products Containing Same...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-03-06

    ... From the Federal Register Online via the Government Publishing Office INTERNATIONAL TRADE COMMISSION Certain Automotive GPS Navigation Systems, Components Thereof, and Products Containing Same... importation of certain automotive GPS navigation systems, components thereof, and products containing the...

  11. The transmission link of CAPS navigation and communication system

    NASA Astrophysics Data System (ADS)

    Cui, Junxia; Shi, Huli; Chen, Jibin; Pei, Jun

    2009-03-01

    The Chinese Area Positioning System (CAPS) is based on communication satellites with integrated capability, which is different from the Global Positioning System (GPS), the International Maritime Satellite Organization (Inmarsat) and so on. CAPS works at C-band, and its navigation information is not directly generated from the satellite, but from the master control station on the ground and transmitted to users via the satellite. The slightly inclined geostationary-satellite orbit (SIGSO) satellites are adopted in CAPS. All of these increase the difficulty in the design of the system and terminals. In this paper, the authors study the CAPS configuration parameters of the navigation master control station, information transmission capability, and the selection of the antenna aperture of the communication center station, as well as the impact of satellite parameters on the whole communication system from the perspective of the transmission link budget. The conclusion of availability of the CAPS navigation system is achieved. The results show that the CAPS inbound communication system forms a new low-data-rate satellite communication system, which can accommodate mass communication terminals with the transmission rate of no more than 1 kbps for every terminal. The communication center station should be configured with a large-aperture antenna (about 10-15 m); spread spectrum communication technology should be used with the spreading gain as high as about 40 dB; reduction of the satellite transponder gain attenuation is beneficial to improving the signal-to-noise ratio of the system, with the attenuation value of 0 or 2 dB as the best choice. The fact that the CAPS navigation system has been checked and accepted by the experts and the operation is stable till now clarifies the rationality of the analysis results. The fact that a variety of experiments and applications of the satellite communication system designed according to the findings in this paper have been

  12. Analysis of test data on the simplex strapdown navigation system

    NASA Technical Reports Server (NTRS)

    1976-01-01

    The results of a study of test data taken on the simplex strapdown navigation system were presented. That system consisted of the following components: strapdown platform, altimeter, digital computer, tape recorder, typewriter, and power source. The objective of these tests was to isolate error sources which may cause degradation of the system's accuracy and to recommend appropriate changes to the system test procedures or computer software. The following recommendations were made: (1) addition of a gyro compassing alignment program into the navigation program, (2) addition of line drivers at the signal processor end of the transmission line, (3) need for extensive laboratory testing to determine sensor misalignments, biases, and scale factors, (4) need to stabilize the power source to prevent transients during power transfer, (5) need to isolate and eliminate the source of the large noise inputs.

  13. Ultra-Wideband Tracking System Design for Relative Navigation

    NASA Technical Reports Server (NTRS)

    Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

    2011-01-01

    This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

  14. Tightly Coupled Inertial Navigation System/Global Positioning System (TCMIG)

    NASA Technical Reports Server (NTRS)

    Watson, Michael D.; Jackson, Kurt (Technical Monitor)

    2002-01-01

    Many NASA applications planned for execution later this decade are seeking high performance, miniaturized, low power Inertial Management Units (IMU). Much research has gone into Micro-Electro-Mechanical System (MEMS) over the past decade as a solution to these needs. While MEMS devices have proven to provide high accuracy acceleration measurements, they have not yet proven to have the accuracy required by many NASA missions in rotational measurements. Therefore, a new solution has been formulated integrating the best of all IMU technologies to address these mid-term needs in the form of a Tightly Coupled Micro Inertial Navigation System (INS)/Global Positioning System (GPS) (TCMIG). The TCMIG consists of an INS and a GPS tightly coupled by a Kalman filter executing on an embedded Field Programmable Gate Array (FPGA) processor. The INS consists of a highly integrated Interferometric Fiber Optic Gyroscope (IFOG) and a MEMS accelerometer. The IFOG utilizes a tightly wound fiber coil to reduce volume and the high level of integration and advanced optical components to reduce power. The MEMS accelerometer utilizes a newly developed deep etch process to increase the proof mass and yield a highly accurate accelerometer. The GPS receiver consists of a low power miniaturized version of the Blackjack receiver. Such an IMU configuration is ideal to meet the mid-term needs of the NASA Science Enterprises and the new launch vehicles being developed for the Space Launch Initiative (SLI).

  15. On-Board Perception System For Planetary Aerobot Balloon Navigation

    NASA Technical Reports Server (NTRS)

    Balaram, J.; Scheid, Robert E.; T. Salomon, Phil

    1996-01-01

    NASA's Jet Propulsion Laboratory is implementing the Planetary Aerobot Testbed to develop the technology needed to operate a robotic balloon aero-vehicle (Aerobot). This earth-based system would be the precursor for aerobots designed to explore Venus, Mars, Titan and other gaseous planetary bodies. The on-board perception system allows the aerobot to localize itself and navigate on a planet using information derived from a variety of celestial, inertial, ground-imaging, ranging, and radiometric sensors.

  16. Borehole survey system utilizing strapdown inertial navigation

    SciTech Connect

    Hulsing, R.H.

    1989-03-14

    A signal processing method is described for use in borehole surveys, consisting of: (a) transforming the acceleration signals in the first coordinate system to obtain inertial signals representative of movement of the probe in a second coordinate system that is fixed relative to the earth, the inertial signals in the second coordinate system including probe velocity signals; (b) generating a signal representative of the amount of cable being fed into the entrance opening of the borehole; (c) processing the signal representative of the amount of cable being feed into the entrance opening of the borehole; (d) transforming the inertial signals representative of movement of the probe in the second coordinate system into inertial signals representative of movement of the probe in the first coordinate system; (e) combining the signal representative of the progress of the probe along the borehole with the inertial signals representative of movement of the probe in the first coordinate system to obtain error signals; (f) transforming the error signals into the second coordinate system to obtain error correction signals; (g) combining the error correction signals with the inertial signals representative of movement of the probe in the second coordinate system to obtain corrected probe velocity signals; and (h) integrating the corrected probe velocity signals to obtain signals representative of the course of the borehole relative to the second coordinate system.

  17. A projective surgical navigation system for cancer resection

    NASA Astrophysics Data System (ADS)

    Gan, Qi; Shao, Pengfei; Wang, Dong; Ye, Jian; Zhang, Zeshu; Wang, Xinrui; Xu, Ronald

    2016-03-01

    Near infrared (NIR) fluorescence imaging technique can provide precise and real-time information about tumor location during a cancer resection surgery. However, many intraoperative fluorescence imaging systems are based on wearable devices or stand-alone displays, leading to distraction of the surgeons and suboptimal outcome. To overcome these limitations, we design a projective fluorescence imaging system for surgical navigation. The system consists of a LED excitation light source, a monochromatic CCD camera, a host computer, a mini projector and a CMOS camera. A software program is written by C++ to call OpenCV functions for calibrating and correcting fluorescence images captured by the CCD camera upon excitation illumination of the LED source. The images are projected back to the surgical field by the mini projector. Imaging performance of this projective navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex-vivo chicken tissue model. In all the experiments, the projected images by the projector match well with the locations of fluorescence emission. Our experimental results indicate that the proposed projective navigation system can be a powerful tool for pre-operative surgical planning, intraoperative surgical guidance, and postoperative assessment of surgical outcome. We have integrated the optoelectronic elements into a compact and miniaturized system in preparation for further clinical validation.

  18. Web API for biology with a workflow navigation system.

    PubMed

    Kwon, Yeondae; Shigemoto, Yasumasa; Kuwana, Yoshikazu; Sugawara, Hideaki

    2009-07-01

    DNA Data Bank of Japan (DDBJ) provides Web-based systems for biological analysis, called Web APIs for biology (WABI). So far, we have developed over 20 SOAP services and several workflows that consist of a series of method invocations. In this article, we present newly developed services of WABI, that is, REST-based Web services, additional workflows and a workflow navigation system. Each Web service and workflow can be used as a complete service or a building block for programmers to construct more complex information processing systems. The workflow navigation system aims to help non-programming biologists perform analysis tasks by providing next applicable services on Web browsers according to the output of a previously selected service. With this function, users can apply multiple services consecutively only by following links without any programming or manual copy-and-paste operations on Web browsers. The listed services are determined automatically by the system referring to the dictionaries of service categories, the input/output types of services and HTML tags. WABI and the workflow navigation system are freely accessible at http://www.xml.nig.ac.jp/index.html and http://cyclamen.ddbj.nig.ac.jp/, respectively.

  19. Vehicle health management for guidance, navigation and control systems

    NASA Technical Reports Server (NTRS)

    Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

    1993-01-01

    The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

  20. Simple nonlinear systems and navigating catastrophes

    NASA Astrophysics Data System (ADS)

    Harré, Michael S.; Atkinson, Simon R.; Hossain, Liaquat

    2013-06-01

    Tipping points are a common occurrence in complex adaptive systems. In such systems feedback dynamics strongly influence equilibrium points and they are one of the principal concerns of research in this area. Tipping points occur as small changes in system parameters result in disproportionately large changes in the global properties of the system. In order to show how tipping points might be managed we use the Maximum Entropy (MaxEnt) method developed by Jaynes to find the fixed points of an economic system in two different ways. In the first, economic agents optimise their choices based solely on their personal benefits. In the second they optimise the total benefits of the system, taking into account the effects of all agent's actions. The effect is to move the game from a recently introduced dual localised Lagrangian problem to that of a single global Lagrangian. This leads to two distinctly different but related solutions where localised optimisation provides more flexibility than global optimisation. This added flexibility allows an economic system to be managed by adjusting the relationship between macro parameters, in this sense such manipulations provide for the possibility of "steering" an economy around potential disasters.

  1. A reactive system for open terrain navigation: Performance and limitations

    NASA Technical Reports Server (NTRS)

    Langer, D.; Rosenblatt, J.; Hebert, M.

    1994-01-01

    We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

  2. Pilot factors guidelines for the operational inspection of navigation systems

    NASA Technical Reports Server (NTRS)

    Sadler, J. F.; Boucek, G. P.

    1988-01-01

    A computerized human engineered inspection technique is developed for use by FAA inspectors in evaluating the pilot factors aspects of aircraft navigation systems. The short title for this project is Nav Handbook. A menu-driven checklist, computer program and data base (Human Factors Design Criteria) were developed and merged to form a self-contained, portable, human factors inspection checklist tool for use in a laboratory or field setting. The automated checklist is tailored for general aviation navigation systems and can be expanded for use with other aircraft systems, transports or military aircraft. The Nav Handbook inspection concept was demonstrated using a lap-top computer and an Omega/VLF CDU. The program generates standardized inspection reports. Automated checklists for LORAN/C and R NAV were also developed. A Nav Handbook User's Guide is included.

  3. A magnetic-resonance-imaging-compatible remote catheter navigation system.

    PubMed

    Tavallaei, Mohammad Ali; Thakur, Yogesh; Haider, Syed; Drangova, Maria

    2013-04-01

    A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within the bore of the magnet. While inside the scanner bore, motion accuracy was characterized during the acquisition of frequently used imaging sequences, including real-time gradient echo. The effect of the catheter navigation system on image signal-to-noise ratio (SNR) was also evaluated. The results show that the master-slave system has a maximum time delay of 41 ± 21 ms in replicating motion; an absolute value error of 2 ± 2° was measured for radial catheter motion replication over 360° and 1.0 ± 0.8 mm in axial catheter motion replication over 100 mm of travel. The worst-case SNR drop was observed to be 2.5%.

  4. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

    PubMed

    Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

    2016-07-26

    This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.

  5. Tele-auscultation support system with mixed reality navigation.

    PubMed

    Hori, Kenta; Uchida, Yusuke; Kan, Tsukasa; Minami, Maya; Naito, Chisako; Kuroda, Tomohiro; Takahashi, Hideya; Ando, Masahiko; Kawamura, Takashi; Kume, Naoto; Okamoto, Kazuya; Takemura, Tadamasa; Yoshihara, Hiroyuki

    2013-01-01

    The aim of this research is to develop an information support system for tele-auscultation. In auscultation, a doctor requires to understand condition of applying a stethoscope, in addition to auscultatory sounds. The proposed system includes intuitive navigation system of stethoscope operation, in addition to conventional audio streaming system of auscultatory sounds and conventional video conferencing system for telecommunication. Mixed reality technology is applied for intuitive navigation of the stethoscope. Information, such as position, contact condition and breath, is overlaid on a view of the patient's chest. The contact condition of the stethoscope is measured by e-textile contact sensors. The breath is measured by a band type breath sensor. In a simulated tele-auscultation experiment, the stethoscope with the contact sensors and the breath sensor were evaluated. The results show that the presentation of the contact condition was not understandable enough for navigating the stethoscope handling. The time series of the breath phases was usable for the remote doctor to understand the breath condition of the patient.

  6. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

    PubMed Central

    Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

    2016-01-01

    This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches. PMID:27472336

  7. 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.

  8. Robust low-frequency spread-spectrum navigation system

    DOEpatents

    Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

    2012-01-03

    Methods and apparatus are described for a navigation system. A process includes providing a plurality of transmitters distributed throughout a desired coverage area; locking the plurality of transmitters to a common timing reference; transmitting a signal from each of the plurality of transmitters. An apparatus includes a plurality of transmitters distributed throughout a desired coverage area; wherein each of the plurality of transmitters comprises a packet generator; and wherein the plurality of transmitters are locked to a common timing reference.

  9. Robust low-frequency spread-spectrum navigation system

    DOEpatents

    Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

    2009-12-01

    Methods and apparatus are described for a navigation system. A process includes providing a plurality of transmitters distributed throughout a desired coverage area; locking the plurality of transmitters to a common timing reference; transmitting a signal from each of the plurality of transmitters. An apparatus includes a plurality of transmitters distributed throughout a desired coverage area; wherein each of the plurality of transmitters comprises a packet generator; and wherein the plurality of transmitters are locked to a common timing reference.

  10. Robust low-frequency spread-spectrum navigation system

    DOEpatents

    Smith, Stephen F; Moore, James A

    2012-10-30

    Methods and apparatus are described for a navigation system. A process includes providing a plurality of transmitters distributed throughout a desired coverage area; locking the plurality of transmitters to a common timing reference; transmitting a signal from each of the plurality of transmitters. An apparatus includes a plurality of transmitters distributed throughout a desired coverage area; wherein each of the plurality of transmitters comprises a packet generator; and wherein the plurality of transmitters are locked to a common timing reference.

  11. Robust low-frequency spread-spectrum navigation system

    SciTech Connect

    Smith, Stephen F; Moore, James A

    2011-01-25

    Methods and apparatus are described for a navigation system. A process includes providing a plurality of transmitters distributed throughout a desired coverage area; locking the plurality of transmitters to a common timing reference; transmitting a signal from each of the plurality of transmitters. An apparatus includes a plurality of transmitters distributed throughout a desired coverage area; wherein each of the plurality of transmitters comprises a packet generator; and wherein the plurality of transmitters are locked to a common timing reference.

  12. 76 FR 25707 - In The Matter of Certain Multimedia Display and Navigation Devices and Systems, Components...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-05-05

    ... From the Federal Register Online via the Government Publishing Office ] INTERNATIONAL TRADE COMMISSION In The Matter of Certain Multimedia Display and Navigation Devices and Systems, Components Thereof... United States after importation of certain multimedia display and navigation devices and...

  13. 76 FR 38417 - In the Matter of Certain Multimedia Display and Navigation Devices and Systems, Components...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-06-30

    ... From the Federal Register Online via the Government Publishing Office INTERNATIONAL TRADE COMMISSION In the Matter of Certain Multimedia Display and Navigation Devices and Systems, Components Thereof... sale within the United States after importation of certain multimedia display and navigation...

  14. A Low Cost Navigation Microprocessor System.

    DTIC Science & Technology

    1977-03-01

    a., 77843. uaed to iteratively update hi ~~~~~~~~~ -~~~- .:S~~~~~~~~~~~~~ . .— a — ~~~~~~~~~. - ~~~~ - . .- . — --- •5 n- -pr~~~ I~~~ ‘77 PIC ~~DU...the altitude above the reference ellipsoid (Ian — feature is implemented as step (6) below . nude —longitude—altitude coordinate system). Since cal

  15. Three-dimensional component alignment and functional outcome in computer-navigated total knee arthroplasty: a prospective, randomized study comparing two navigation systems.

    PubMed

    Harvie, Paul; Sloan, Karen; Beaver, Richard J

    2011-12-01

    Computer navigation in total knee arthroplasty produces better component alignment than conventional techniques. Different navigation systems exist. We undertook a prospective, randomized study comparing 2 navigations systems (Stryker Full Navigation and Stryker Articular Surface Mounted [ASM] navigation systems). Three-dimensional component alignment (Perth computed tomographic knee protocol) and function at 1 year (Knee Society Scores) were assessed. Forty patients participated (20 fully navigated and 20 ASM-navigated total knee arthroplasties). Cohorts were well matched according to sex, age, and body mass index. No statistically significant difference was seen in any parameter of 3-dimensional component alignment or function between cohorts. Operative time for the ASM cohort was significantly less than the fully navigated cohort (P = .001). Both systems performed equally well, and therefore, surgeon preference should determine which system is used.

  16. Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters

    NASA Technical Reports Server (NTRS)

    Karmali, M. S.; Phatak, A. V.

    1982-01-01

    Results of a study to investigate, by means of a computer simulation, the performance sensitivity of helicopter IMC DSAL operations as a function of navigation system parameters are presented. A mathematical model representing generically a navigation system is formulated. The scenario simulated consists of a straight in helicopter approach to landing along a 6 deg glideslope. The deceleration magnitude chosen is 03g. The navigation model parameters are varied and the statistics of the total system errors (TSE) computed. These statistics are used to determine the critical navigation system parameters that affect the performance of the closed-loop navigation, guidance and control system of a UH-1H helicopter.

  17. Improved Modeling in a Matlab-Based Navigation System

    NASA Technical Reports Server (NTRS)

    Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Larimore, Wallace E.

    1999-01-01

    An innovative approach to autonomous navigation is available for low earth orbit satellites. The system is developed in Matlab and utilizes an Extended Kalman Filter (EKF) to estimate the attitude and trajectory based on spacecraft magnetometer and gyro data. Preliminary tests of the system with real spacecraft data from the Rossi X-Ray Timing Explorer Satellite (RXTE) indicate the existence of unmodeled errors in the magnetometer data. Incorporating into the EKF a statistical model that describes the colored component of the effective measurement of the magnetic field vector could improve the accuracy of the trajectory and attitude estimates and also improve the convergence time. This model is identified as a first order Markov process. With the addition of the model, the EKF attempts to identify the non-white components of the noise allowing for more accurate estimation of the original state vector, i.e. the orbital elements and the attitude. Working in Matlab allows for easy incorporation of new models into the EKF and the resulting navigation system is generic and can easily be applied to future missions resulting in an alternative in onboard or ground-based navigation.

  18. AUTOMATIC NAVIGATION.

    DTIC Science & Technology

    NAVIGATION, REPORTS), (*CONTROL SYSTEMS, *INFORMATION THEORY), ABSTRACTS, OPTIMIZATION, DYNAMIC PROGRAMMING, GAME THEORY, NONLINEAR SYSTEMS, CORRELATION TECHNIQUES, FOURIER ANALYSIS, INTEGRAL TRANSFORMS, DEMODULATION, NAVIGATION CHARTS, PATTERN RECOGNITION, DISTRIBUTION THEORY , TIME SHARING, GRAPHICS, DIGITAL COMPUTERS, FEEDBACK, STABILITY

  19. Autonomous navigation system using a fuzzy adaptive nonlinear H∞ filter.

    PubMed

    Outamazirt, Fariz; Li, Fu; Yan, Lin; Nemra, Abdelkrim

    2014-09-19

    Although nonlinear H∞ (NH∞) filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞) filter is proposed for the Unmanned Aerial Vehicle (UAV) localization problem. Based on a real-time Fuzzy Inference System (FIS), the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds  and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter.

  20. Updating inertial navigation systems with VOR/DME information.

    NASA Technical Reports Server (NTRS)

    Bobick, J. C.; Bryson, A. E., Jr.

    1972-01-01

    Demonstration that updating an inertial navigation system (INS) with VOR/DME information (from one or two stations) by means of a maximum-likelihood filter results in substantial improvements in navigational accuracy over that obtained by the use of a single VOR/DME (current practice). When continuously updating, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy. In-flight alignment (or realignment) of an INS to an accuracy comparable to that of ground alignment can be accomplished by using two DMEs. Several reduced-order suboptimal filters were found to perform nearly optimally.

  1. Color night vision system for ground vehicle navigation

    NASA Astrophysics Data System (ADS)

    Ali, E. A.; Qadir, H.; Kozaitis, S. P.

    2014-06-01

    Operating in a degraded visual environment due to darkness can pose a threat to navigation safety. Systems have been developed to navigate in darkness that depend upon differences between objects such as temperature or reflectivity at various wavelengths. However, adding sensors for these systems increases the complexity by adding multiple components that may create problems with alignment and calibration. An approach is needed that is passive and simple for widespread acceptance. Our approach uses a type of augmented display to show fused images from visible and thermal sensors that are continuously updated. Because the raw fused image gave an unnatural color appearance, we used a color transfer process based on a look-up table to replace the false colors with a colormap derived from a daytime reference image obtained from a public database using the GPS coordinates of the vehicle. Although the database image was not perfectly registered, we were able to produce imagery acquired at night that appeared with daylight colors. Such an approach could improve the safety of nighttime navigation.

  2. Individual Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.

    2015-01-01

    Besides providing position, navigation, and timing (PNT) to terrestrial users, GPS is currently used to provide for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Beidou, and Galileo), it will be possible to provide these services by using other GNSS constellations. The paper, "GPS in the Space Service Volume," presented at the ION GNSS 19th International Technical Meeting in 2006 (Ref. 1), defined the Space Service Volume, and analyzed the performance of GPS out to 70,000 km. This paper will report a similar analysis of the performance of each of the additional GNSS and compare them with GPS alone. The Space Service Volume, defined as the volume between 3,000 km altitude and geosynchronous altitude, as compared with the Terrestrial Service Volume between the surface and 3,000 km. In the Terrestrial Service Volume, GNSS performance will be similar to performance on the Earth's surface. The GPS system has established signal requirements for the Space Service Volume. A separate paper presented at the conference covers the use of multiple GNSS in the Space Service Volume.

  3. Reliability of the Planned Pedicle Screw Trajectory versus the Actual Pedicle Screw Trajectory using Intra-operative 3D CT and Image Guidance

    PubMed Central

    Ledonio, Charles G.; Hunt, Matthew A.; Siddiq, Farhan; Polly, David W.

    2016-01-01

    Background Technological advances, including navigation, have been made to improve safety and accuracy of pedicle screw fixation. We evaluated the accuracy of the virtual screw placement (Stealth projection) compared to actual screw placement (intra-operative O-Arm) and examined for differences based on the distance from the reference frame. Methods A retrospective evaluation of prospectively collected data was conducted from January 2013 to September 2013. We evaluated thoracic and lumbosacral pedicle screws placed using intraoperative O-arm and Stealth navigation by obtaining virtual screw projections and intraoperative O-arm images after screw placement. The screw trajectory angle to the midsagittal line and superior endplate was compared in the axial and sagittal views, respectively. Percent error and paired t-test statistics were then performed. Results Thirty-one patients with 240 pedicle screws were analyzed. The mean angular difference between the virtual and actual image in all screws was 2.17° ± 2.20° on axial images and 2.16° ± 2.24° on sagittal images. There was excellent agreement between actual and virtual pedicle screw trajectories in the axial and sagittal plane with ICC = 0.99 (95%CI: 0.992-0.995) (p<0.001) and ICC= 0.81 (95%CI: 0.759-0.855) (p<0.001) respectively. When comparing thoracic and lumbar screws, there was a significant difference in the sagittal angulation between the two distributions. No statistical differences were found distance from the reference frame. Conclusion The virtual projection view is clinically accurate compared to the actual placement on intra-operative CT in both the axial and sagittal views. There is slight imprecision (~2°) in the axial and sagittal planes and a minor difference in the sagittal thoracic and lumbar angulation, although these did not affect clinical outcomes. In general, we find that pedicle screw placement using intraoperative cone beam CT and navigation to be accurate and reliable, and as such

  4. Fault detection and isolation for multisensor navigation systems

    NASA Technical Reports Server (NTRS)

    Kline, Paul A.; Vangraas, Frank

    1991-01-01

    Increasing attention is being given to the problem of erroneous measurement data for multisensor navigation systems. A recursive estimator can be used in conjunction with a 'snapshot' batch estimator to provide fault detection and isolation (FDI) for these systems. A recursive estimator uses past system states to form a new state estimate and compares it to the calculated state based on a new set of measurements. A 'snapshot' batch estimator uses a set of measurements collected simultaneously and compares solutions based on subsets of measurements. The 'snapshot' approach requires redundant measurements in order to detect and isolate faults. FDI is also referred to as Receiver Autonomous Integrity Monitoring (RAIM).

  5. Precision Position, Navigation, and Timing without the Global Positioning System

    DTIC Science & Technology

    2011-01-01

    timing] in GPS - denied environments” as one of the top 12 (in terms of priority) re- search areas that we should emphasize in the near future.6...Navigation Techniques for Position, Navigation, and Timing in GPS - Denied Environments Navigation Using Beacons Beacons (i.e., sources of man-made...wishes to succeed in maintaining precision navigation in GPS - denied environments.  Wright-Patterson AFB, Ohio Platform Dynamics Precise Navigation

  6. Exploitation of Semantic Building Model in Indoor Navigation Systems

    NASA Astrophysics Data System (ADS)

    Anjomshoaa, A.; Shayeganfar, F.; Tjoa, A. Min

    2009-04-01

    There are many types of indoor and outdoor navigation tools and methodologies available. A majority of these solutions are based on Global Positioning Systems (GPS) and instant video and image processing. These approaches are ideal for open world environments where very few information about the target location is available, but for large scale building environments such as hospitals, governmental offices, etc the end-user will need more detailed information about the surrounding context which is especially important in case of people with special needs. This paper presents a smart indoor navigation solution that is based on Semantic Web technologies and Building Information Model (BIM). The proposed solution is also aligned with Google Android's concepts to enlighten the realization of results. Keywords: IAI IFCXML, Building Information Model, Indoor Navigation, Semantic Web, Google Android, People with Special Needs 1 Introduction Built environment is a central factor in our daily life and a big portion of human life is spent inside buildings. Traditionally the buildings are documented using building maps and plans by utilization of IT tools such as computer-aided design (CAD) applications. Documenting the maps in an electronic way is already pervasive but CAD drawings do not suffice the requirements regarding effective building models that can be shared with other building-related applications such as indoor navigation systems. The navigation in built environment is not a new issue, however with the advances in emerging technologies like GPS, mobile and networked environments, and Semantic Web new solutions have been suggested to enrich the traditional building maps and convert them to smart information resources that can be reused in other applications and improve the interpretability with building inhabitants and building visitors. Other important issues that should be addressed in building navigation scenarios are location tagging and end-user communication

  7. TDRSS Onboard Navigation System (TONS) flight qualification experiment

    NASA Astrophysics Data System (ADS)

    Gramling, C. J.; Hart, R. C.; Folta, D. C.; Long, A. C.

    1994-05-01

    The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing an operational Tracking and Data Relay Satellite (TDRS) System (TDRSS) Onboard Navigation System (TONS) to provide realtime, autonomous, high-accuracy navigation products to users of TDRSS. A TONS experiment was implemented on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) spacecraft, launched June 7, 1992, to flight qualify the TONS operational system using TDRSS forward-link communications services. This paper provides a detailed evaluation of the flight hardware, an ultrastable oscillator (USO) and Doppler extractor (DE) card in one of the TDRSS user transponders and the ground-based prototype flight software performance, based on the 1 year of TONS experiment operation. The TONS experiment results are used to project the expected performance of the TONS 1 operational system. TONS 1 processes Doppler data derived from scheduled forward-link S-band services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination and time maintenance. TONS 1 will be the prime navigation system on the Earth Observing System (EOS)-AM1 spacecraft, currently scheduled for launch in 1998. Inflight evaluation of the USO and DE short-term and long-term stability indicates that the performance is excellent. Analysis of the TONS prototype flight software performance indicates that realtime onboard position accuracies of better than 25 meters root-mean-square are achievable with one tracking contact every one to two orbits for the EP/EUVE 525-kilometer altitude, 28.5 degree inclination orbit. The success of the TONS experiment demonstrates the flight readiness of TONS to support the EOS-AM1 mission.

  8. A Topographical Lidar System for Terrain-Relative Navigation

    NASA Technical Reports Server (NTRS)

    Liebe, Carl Christian; Spiers, Gary; Bartman, Randy; Lam, Raymond; Alexander, James; Montgomery, James; Goldberg, Hannah; Johnson, Andrew; Meras, Patrick; Palacios, Peter

    2008-01-01

    An imaging lidar system is being developed for use in navigation, relative to the local terrain. This technology will potentially be used for future spacecraft landing on the Moon. Systems like this one could also be used on Earth for diverse purposes, including mapping terrain, navigating aircraft with respect to terrain and military applications. The system has been field-tested aboard a helicopter in the Mojave Desert. When this system was designed, digitizers with sufficient sampling rate (2 GHz) were only available with very limited memory. Also, it was desirable to limit the amount of data to be transferred between the digitizer and the mass storage between individual frames. One of the novelty design features of this system was to design the system around the limited amount of memory of the digitizer. The system is required to operate over an altitude (distance) range from a few meters to approximately 1 km, but for each scan across the full field of view, the digitizer memory is only able to hold data for an altitude range no more than 100 m. Data acquisition methods in support of the limited 100 m wide altitude range are described.

  9. Clarissa Spoken Dialogue System for Procedure Reading and Navigation

    NASA Technical Reports Server (NTRS)

    Hieronymus, James; Dowding, John

    2004-01-01

    Speech is the most natural modality for humans use to communicate with other people, agents and complex systems. A spoken dialogue system must be robust to noise and able to mimic human conversational behavior, like correcting misunderstandings, answering simple questions about the task and understanding most well formed inquiries or commands. The system aims to understand the meaning of the human utterance, and if it does not, then it discards the utterance as being meant for someone else. The first operational system is Clarissa, a conversational procedure reader and navigator, which will be used in a System Development Test Objective (SDTO) on the International Space Station (ISS) during Expedition 10. In the present environment one astronaut reads the procedure on a Manual Procedure Viewer (MPV) or paper, and has to stop to read or turn pages, shifting focus from the task. Clarissa is designed to read and navigate ISS procedures entirely with speech, while the astronaut has his eyes and hands engaged in performing the task. The system also provides an MPV like graphical interface so the procedure can be read visually. A demo of the system will be given.

  10. Visibility of satellite navigation systems in urban area

    NASA Astrophysics Data System (ADS)

    Januszewski, Jacek

    In open area the accuracy of the observer's position obtained from the satellite navigation systems depends on a number of satellites (ls) visible above masking elevation angle (Hmin) and the geometry of systems - GDOP coefficient. The detailed distributions of satellite azimuths Az (8 intervals, each 45° wide) for different angles Hmin and the distribution of satellite elevations angles for different observer's latitudes φ (9 zones, each 10° wide) calculated for GPS system and the future system Galileo are presented in this paper. It was considered 27 satellites fully operational for both systems. In restricted area (coastal navigation, urban area) the number of satellites visible by the observer depends on the parameters mentioned for open area and the dimensions and position of the obstacles additionally. The calculations were made for the observer situated in the middle of the street for different widths of the street and the heights of obstacles. Street parameters were: the angle between the North and street axis and latitude φ. The number of satellites visible above angle (Hmin) is for Galileo system greater than for GPS system.

  11. Field operations with cesium clocks in HF navigation systems

    NASA Technical Reports Server (NTRS)

    Christy, E. H.; Clayton, D. A.

    1982-01-01

    Networks of HF phase comparison marine navigation stations employing cesium clocks are discussed. The largest permanent network is in the Gulf of Mexico where some fourteen base stations are continuously active and others are activated as needed. These HF phase comparison systems, which operate on a single transmission path, require a clock on the mobile unit as well. Inventory consists of upwards of 70 clocks from two different manufacturers. The maintenance of this network as an operating system requires a coordinated effort involving clock preparation, clock environment control, station performance monitoring and field service.

  12. Space-based augmentation for global navigation satellite systems.

    PubMed

    Grewal, Mohinder S

    2012-03-01

    This paper describes space-based augmentation for global navigation satellite systems (GNSS). Space-based augmentations increase the accuracy and integrity of the GNSS, thereby enhancing users' safety. The corrections for ephemeris, ionospheric delay, and clocks are calculated from reference station measurements of GNSS data in wide-area master stations and broadcast via geostationary earth orbit (GEO) satellites. This paper discusses the clock models, satellite orbit determination, ionospheric delay estimation, multipath mitigation, and GEO uplink subsystem (GUS) as used in the Wide Area Augmentation System developed by the FAA.

  13. Implementation of culturally targeted patient navigation system for screening colonoscopy in a direct referral system.

    PubMed

    Jandorf, Lina; Cooperman, Julia L; Stossel, Lauren M; Itzkowitz, Steven; Thompson, Hayley S; Villagra, Cristina; Thélémaque, Linda D; McGinn, Thomas; Winkel, Gary; Valdimarsdottir, Heiddis; Shelton, Rachel C; Redd, William

    2013-10-01

    Low-income minorities often face system-based and personal barriers to screening colonoscopy (SC). Culturally targeted patient navigation (CTPN) programs employing professional navigators (Pro-PNs) or community-based peer navigators (Peer-PNs) can help overcome barriers but are not widely implemented. In East Harlem, NY, USA, where approximately half the residents participate in SC, 315 African American patients referred for SC at a primary care clinic with a Direct Endoscopic Referral System were recruited between May 2008 and May 2010. After medical clearance, 240 were randomized to receive CTPN delivered by a Pro-PN (n = 106) or Peer-PN (n = 134). Successful navigation was measured by SC adherence rate, patient satisfaction and navigator trust. Study enrollment was 91.4% with no significant differences in SC adherence rates between Pro-PN (80.0%) and Peer-PN (71.3%) (P = 0.178). Participants in both groups reported high levels of satisfaction and trust. These findings suggest that CTPN Pro-PN and Peer-PN programs are effective in this urban primary care setting. We detail how we recruited and trained navigators, how CTPN was implemented and provide a preliminary answer to our questions of the study aims: can peer navigators be as effective as professionals and what is the potential impact of patient navigation on screening adherence?

  14. Combined Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.; Miller, James J.

    2015-01-01

    Besides providing position, navigation, and timing (PNT) services to traditional terrestrial and airborne users, GPS is also being increasingly used as a tool to enable precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis attitude control of Earth orbiting satellites. With additional Global Navigation Satellite System (GNSS) constellations being replenished and coming into service (GLONASS, Beidou, and Galileo), it will become possible to benefit from greater signal availability and robustness by using evolving multi-constellation receivers. The paper, "GPS in the Space Service Volume," presented at the ION GNSS 19th International Technical Meeting in 2006 (Ref. 1), defined the Space Service Volume, and analyzed the performance of GPS out to seventy thousand kilometers. This paper will report a similar analysis of the signal coverage of GPS in the space domain; however, the analyses will also consider signal coverage from each of the additional GNSS constellations noted earlier to specifically demonstrate the expected benefits to be derived from using GPS in conjunction with other foreign systems. The Space Service Volume is formally defined as the volume of space between three thousand kilometers altitude and geosynchronous altitude circa 36,000 km, as compared with the Terrestrial Service Volume between 3,000 km and the surface of the Earth. In the Terrestrial Service Volume, GNSS performance is the same as on or near the Earth's surface due to satellite vehicle availability and geometry similarities. The core GPS system has thereby established signal requirements for the Space Service Volume as part of technical Capability Development Documentation (CDD) that specifies system performance. Besides the technical discussion, we also present diplomatic efforts to extend the GPS Space Service Volume concept to other PNT service providers in an effort to assure that all space users will benefit from the enhanced

  15. A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study

    PubMed Central

    Li, Liang; Yang, Jian; Chu, Yakui; Wu, Wenbo; Xue, Jin; Liang, Ping; Chen, Lei

    2016-01-01

    Objective To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery. Materials and Methods In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems. Results The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons. Conclusion The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon’s skills and knowledge, not as a substitute. PMID:26757365

  16. Evaluation of Galileo navigation system positioning performance in Shanghai

    NASA Astrophysics Data System (ADS)

    Zhang, Yun; Hong, Zhonghua; Han, Yanling; Xu, Lijun; Song, Yushi; Zhang, Kun

    2015-01-01

    European Galileo global navigation system's four in-orbit validation (IOV) satellites (E11, E12, E19, and E20) are able to calculate position accurately. The analysis of the IOV satellites' measurements can provide insight into the performance of the Galileo system. To evaluate the performance of IOV satellites using measurements in the Shanghai, China, area signal-to-noise ratio (SNR) and multipath are used. We also suggest a method to calculate the four frequencies' multipath error. When compared with global positioning system (GPS) satellites' SNR, IOV satellites' signal strength is stronger. In the aspect of multipath error, the IOV satellite is also less than GPS. The accuracy of single point positioning under open sky, under trees, and between tall buildings of a combined GPS/Galileo system is analyzed in the Shanghai area. The positioning result shows that the positioning accuracy of the combined GPS/Galileo system is better than the GPS system alone.

  17. Computer assisted electromagnetic navigation improves accuracy in computed tomography guided interventions: A prospective randomized clinical trial

    PubMed Central

    2017-01-01

    Purpose To assess the accuracy and usability of an electromagnetic navigation system designed to assist Computed Tomography (CT) guided interventions. Materials and methods 120 patients requiring a percutaneous CT intervention (drainage, biopsy, tumor ablation, infiltration, sympathicolysis) were included in this prospective randomized trial. Nineteen radiologists participated. Conventional procedures (CT group) were compared with procedures assisted by a navigation system prototype using an electromagnetic localizer to track the position and orientation of a needle holder (NAV group). The navigation system displays the needle path in real-time on 2D reconstructed CT images extracted from the 3D CT volume. The regional ethics committee approved this study and all patients gave written informed consent. The main outcome was the distance between the planned trajectory and the achieved needle trajectory calculated from the initial needle placement. Results 120 patients were analyzable in intention-to-treat (NAV: 60; CT: 60). Accuracy improved when the navigation system was used: distance error (in millimeters: median[P25%; P75%]) with NAV = 4.1[2.7; 9.1], vs. with CT = 8.9[4.9; 15.1] (p<0.001). After the initial needle placement and first control CT, fewer subsequent CT acquisitions were necessary to reach the target using the navigation system: NAV = 2[2; 3]; CT = 3[2; 4] (p = 0.01). Conclusion The tested system was usable in a standard clinical setting and provided significant improvement in accuracy; furthermore, with the help of navigation, targets could be reached with fewer CT control acquisitions. PMID:28296957

  18. How navigational guidance systems are combined in a desert ant.

    PubMed

    Collett, Matthew

    2012-05-22

    Animals use information from multiple sources in order to navigate between goals. Ants such as Cataglyphis fortis use an odometer and a sun-based compass to provide input for path integration (PI). They also use configurations of visual features to learn both goal locations and habitual routes to the goals. Information is not combined into a unified representation but appears to be exploited by separate expert guidance systems. Visual and PI goal memories are acquired rapidly and provide the consistency for route memories to be formed. Do established route memories then suppress the guidance from PI? A series of manipulations putting PI and route memories into varying levels of conflict found that ants follow compromise trajectories. The guidance systems are therefore active together and share the control of behavior. Route memories do not suppress the other guidance systems. A simple model shows that observed patterns of control could arise from a superposition of the output commands from the guidance systems, potentially approximating Bayesian inference. These results help show how an insect's relatively simple decision-making can produce navigation that is reliable and efficient and that also adapts to changing demands.

  19. Tuning and Robustness Analysis for the Orion Absolute Navigation System

    NASA Technical Reports Server (NTRS)

    Holt, Greg N.; Zanetti, Renato; D'Souza, Christopher

    2013-01-01

    The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test ight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modi cations since its inception, and continues as a work-in-progress. This paper seeks to show the e orts made to-date in tuning the lter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. The results generally show Monte Carlo error performance bounded by the lter uncertainty for all phases of ight. Some future items of investigation are presented related to suspected anomalies in the trajectory truth reference le.

  20. Navigational Heads-Up Display: Will a Shipboard Augmented Electronic Navigation System Sink or Swim?

    DTIC Science & Technology

    2015-03-01

    testbed platform consisted of a virtual environment that fully simulated a conning officer’ s basic tasks in conditions of restricted navigation; this...of a working display platform onboard Navy warships 14. SUBJECT TERl"\\IS Conning, virtual reality, augmented reality, cognitive tunneling, ship 15...testbed platform consisted of a virtual environment that fully simulated a conning officer’s basic tasks in conditions of restricted navigation; this type

  1. A Kinect™ camera based navigation system for percutaneous abdominal puncture

    NASA Astrophysics Data System (ADS)

    Xiao, Deqiang; Luo, Huoling; Jia, Fucang; Zhang, Yanfang; Li, Yong; Guo, Xuejun; Cai, Wei; Fang, Chihua; Fan, Yingfang; Zheng, Huimin; Hu, Qingmao

    2016-08-01

    Percutaneous abdominal puncture is a popular interventional method for the management of abdominal tumors. Image-guided puncture can help interventional radiologists improve targeting accuracy. The second generation of Kinect™ was released recently, we developed an optical navigation system to investigate its feasibility for guiding percutaneous abdominal puncture, and compare its performance on needle insertion guidance with that of the first-generation Kinect™. For physical-to-image registration in this system, two surfaces extracted from preoperative CT and intraoperative Kinect™ depth images were matched using an iterative closest point (ICP) algorithm. A 2D shape image-based correspondence searching algorithm was proposed for generating a close initial position before ICP matching. Evaluation experiments were conducted on an abdominal phantom and six beagles in vivo. For phantom study, a two-factor experiment was designed to evaluate the effect of the operator’s skill and trajectory on target positioning error (TPE). A total of 36 needle punctures were tested on a Kinect™ for Windows version 2 (Kinect™ V2). The target registration error (TRE), user error, and TPE are 4.26  ±  1.94 mm, 2.92  ±  1.67 mm, and 5.23  ±  2.29 mm, respectively. No statistically significant differences in TPE regarding operator’s skill and trajectory are observed. Additionally, a Kinect™ for Windows version 1 (Kinect™ V1) was tested with 12 insertions, and the TRE evaluated with the Kinect™ V1 is statistically significantly larger than that with the Kinect™ V2. For the animal experiment, fifteen artificial liver tumors were inserted guided by the navigation system. The TPE was evaluated as 6.40  ±  2.72 mm, and its lateral and longitudinal component were 4.30  ±  2.51 mm and 3.80  ±  3.11 mm, respectively. This study demonstrates that the navigation accuracy of the proposed system is acceptable

  2. Wellbore inertial navigation system (WINS) software development and test results

    SciTech Connect

    Wardlaw, R. Jr.

    1982-09-01

    The structure and operation of the real-time software developed for the Wellbore Inertial Navigation System (WINS) application are described. The procedure and results of a field test held in a 7000-ft well in the Nevada Test Site are discussed. Calibration and instrumentation error compensation are outlined, as are design improvement areas requiring further test and development. Notes on Kalman filtering and complete program listings of the real-time software are included in the Appendices. Reference is made to a companion document which describes the downhole instrumentation package.

  3. Metrological control of global navigation satellite system (GNSS) equipment

    NASA Astrophysics Data System (ADS)

    Fernández, T.; de Vicente, J.

    2012-04-01

    In recent years various measurement systems have been developed in geomatic applications, all of them based on massive data acquisition in real-time with high metrological quality. New measuring systems provide abundant spatial information and offer significant advantages in many applications in the field of aerospace, automotive, reverse engineering, deformations control, etc. The use of some or other systems will depend on requirements that work or project demands, but in all cases, the measurement systems must regularly have a metrological checking in order to estimate measurement uncertainty and assured its traceability. It could be argued that Global Navigation Satellite System (GNSS) is the main tool used both in those geomatic applications that we must achieve the maximum accuracy. This paper presents the necessity of metrological control of a kind of equipment as specific as that used in the GNSS.

  4. Navigation, guidance, and control systems for V/STOL aircraft.

    NASA Technical Reports Server (NTRS)

    Osder, S. S.; Rouse, W. E.; Young, L. S.

    1973-01-01

    The development of digital autopilots and integrated avionics systems, applicable to many classes of vehicles and missions, was undertaken by Sperry Flight Systems in the mid-sixties. The first application of the system was planned for automatic flight control in the U.S. supersonic transport; the termination of that program, however, thwarted any flight experience. The second application, which has additional navigation and energy management functions, is an airborne simulator of the space shuttle vehicle. The latter system underwent a series of successful flight tests in a CV-990 aircraft under contract with NASA. The third application, which has new electronic displays, air data computation, and time-constrained guidance (i.e., specified position and altitude at a specified time), is in the DOT/NASA STOLAND test program. The STOLAND system is described specifically in this paper.

  5. A Self-Tuning Kalman Filter for Autonomous Navigation Using the Global Positioning System (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, Son H.

    1999-01-01

    Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS (Global Positioning Systems) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

  6. Augmenting the Global Positioning System with Foreign Navigation Systems and Alternative Sensors

    DTIC Science & Technology

    2012-03-01

    17 GLONASS Global Navigation Satellite System . . . . . . . . . . . . . . . . . . . . 18 FDMA Frequency Division Multiple... FDMA ). The frequency spectrum is broken down into two sub-bands from which the GLONASS channels derive their specific frequencies. The channels are

  7. Engineering a Multimission Approach to Navigation Ground Data System Operations

    NASA Technical Reports Server (NTRS)

    Gerasimatos, Dimitrios V.; Attiyah, Ahlam A.

    2012-01-01

    The Mission Design and Navigation (MDNAV) Section at the Jet Propulsion Laboratory (JPL) supports many deep space and earth orbiting missions from formulation to end of mission operations. The requirements of these missions are met with a multimission approach to MDNAV ground data system (GDS) infrastructure capable of being shared and allocated in a seamless and consistent manner across missions. The MDNAV computing infrastructure consists of compute clusters, network attached storage, mission support area facilities, and desktop hardware. The multimission architecture allows these assets, and even personnel, to be leveraged effectively across the project lifecycle and across multiple missions simultaneously. It provides a more robust and capable infrastructure to each mission than might be possible if each constructed its own. It also enables a consistent interface and environment within which teams can conduct all mission analysis and navigation functions including: trajectory design; ephemeris generation; orbit determination; maneuver design; and entry, descent, and landing analysis. The savings of these efficiencies more than offset the costs of increased complexity and other challenges that had to be addressed: configuration management, scheduling conflicts, and competition for resources. This paper examines the benefits of the multimission MDNAV ground data system infrastructure, focusing on the hardware and software architecture. The result is an efficient, robust, scalable MDNAV ground data system capable of supporting more than a dozen active missions at once.

  8. A High Accuracy Hybrid Navigation System for Unmanned Underwater Vehicle

    NASA Astrophysics Data System (ADS)

    Kumagai, Hideo; Numajima, Toru; Sugimoto, Sueo

    The development of small, light weight, low power navigation system for guidance of both tethered and autonomous Unmanned Underwater Vehicle (UUV) is required in applications such as deep salvage, oil and gas well head and pipe line laying and maintenance, etc. All have stringent position requirements in order to define target locations followings the initial find, minimize search time for return missions, as well as support of autopilot functions. In these applications mainly an accurate Sonar Doppler Velocity Log (DVL) was used for Inertial Navigation System (INS) error corrections. But the settlement of DVL is not affordable to various UUV so that not convenient to low cost and small UUV. In this paper we propose a new algorithm for combining the low cost but highly accurate INS with Water Screw Speed (WSS) of the UUV efficiently. In order to evaluate our algorithm we produced the data acquisition system and after several experimental run, we simulated this algorithm searching the error correlation time and noise variance of these estimations.

  9. A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, S. H.

    1999-01-01

    Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

  10. Overcoming urban GPS navigation challenges through the use of MEMS inertial sensors and proper verification of navigation system performance

    NASA Astrophysics Data System (ADS)

    Vinande, Eric T.

    This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.

  11. Inertial Pocket Navigation System: Unaided 3D Positioning

    PubMed Central

    Munoz Diaz, Estefania

    2015-01-01

    Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We propose the first step-and-heading approach based on unaided inertial data solving 3D positioning. We present a step detector for steps up and down and a novel vertical displacement estimator. Our navigation system uses the sensor introduced in the front pocket of the trousers, a likely location of a smartphone. The proposed algorithms are based on the opening angle of the leg or pitch angle. We analyzed our step detector and compared it with the state-of-the-art, as well as our already proposed step length estimator. Lastly, we assessed our vertical displacement estimator in a real-world scenario. We found that our algorithms outperform the literature step and heading algorithms and solve 3D positioning using unaided inertial data. Additionally, we found that with the pitch angle, five activities are distinguishable: standing, sitting, walking, walking up stairs and walking down stairs. This information complements the pedestrian location and is of interest for applications, such as elderly care. PMID:25897501

  12. 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

  13. An efficient navigation-control system for small unmanned aircraft

    NASA Astrophysics Data System (ADS)

    Girwar-Nath, Jonathan Alejandro

    Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging. This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system. In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.

  14. Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.

    1997-01-01

    The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate

  15. High accuracy integrated global positioning system/inertial navigation system LDRD: Final report

    SciTech Connect

    Owen, T.E.; Meindl, M.A.; Fellerhoff, J.R.

    1997-03-01

    This report contains the results of a Sandia National Laboratories Directed Research and Development (LDRD) program to investigate the integration of Global Positioning System (GPS) and inertial navigation system (INS) technologies toward the goal of optimizing the navigational accuracy of the combined GPSANS system. The approach undertaken is to integrate the data from an INS, which has long term drifts, but excellent short term accuracy, with GPS carrier phase signal information, which is accurate to the sub-centimeter level, but requires continuous tracking of the GPS signals. The goal is to maintain a sub-meter accurate navigation solution while the vehicle is in motion by using the GPS measurements to estimate the INS navigation errors and then using the refined INS data to aid the GPS carrier phase cycle slip detection and correction and bridge dropouts in the GPS data. The work was expanded to look at GPS-based attitude determination, using multiple GPS receivers and antennas on a single platform, as a possible navigation aid. Efforts included not only the development of data processing algorithms and software, but also the collection and analysis of GPS and INS flight data aboard a Twin Otter aircraft. Finally, the application of improved navigation system accuracy to synthetic aperture radar (SAR) target location is examined.

  16. The changing world of global navigation satellite systems

    NASA Astrophysics Data System (ADS)

    Dow, John M.; Neilan, Ruth E.; Higgins, Matt; Arias, Felicitas

    The world of global navigation satellite systems (GNSS) has been changing very rapidly during the last years. New constellations are being developed in Europe (Galileo), India (IRNSS), Japan (QZNSS) and China (Compass), while both the US GPS and the Russian GLONASS programmes are engaged in very significant mediumto long-term improvements, which will make them even more valuable in the coming years to an ever wider range of civilian users. In addition, powerful regional augmentation systems are becoming (or have already become) operational, providing users with important real time information concerning the integrity of the signals being broadcast by those two systems: these include the US WAAS, the European EGNOS, the Japanese MSAS, the Indian GAGAN and others. Following a number of United Nations sponsored regional workshops, a report by an ad hoc UN "GNSS Action Team" and several preparatory meetings, the International Committee on GNSS (ICG) was established in December 2005 in Vienna, Austria. The ICG is an informal body with the main objective of promoting cooperation on matters of mutual interest related to civil satellite-based positioning, navigation, timing, and value-added services, as well as compatibility and interoperability among the GNSS systems. A further important objective is to encourage the use of GNSS to support sustainable development, particularly in the developing countries. The United Nations Office for Outer Space Affairs (UNOOSA) plays a key role in facilitating the work of the ICG. The members of the Committee are GNSS system providers, while international organisations representing users of GNSS can qualify for participation in the work of the Committee as associate members or observers. The interests of the space geodetic, mapping and timing communities are represented in particular through ICG associate membership of the IGS, IAG, FIG, IERS, while BIPM is an ICG observer. This paper will highlight the background of these developments

  17. 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.

  18. Automated endoscopic navigation and advisory system from medical image

    NASA Astrophysics Data System (ADS)

    Kwoh, Chee K.; Khan, Gul N.; Gillies, Duncan F.

    1999-05-01

    In this paper, we present a review of the research conducted by our group to design an automatic endoscope navigation and advisory system. The whole system can be viewed as a two-layer system. The first layer is at the signal level, which consists of the processing that will be performed on a series of images to extract all the identifiable features. The information is purely dependent on what can be extracted from the 'raw' images. At the signal level, the first task is performed by detecting a single dominant feature, lumen. Few methods of identifying the lumen are proposed. The first method used contour extraction. Contours are extracted by edge detection, thresholding and linking. This method required images to be divided into overlapping squares (8 by 8 or 4 by 4) where line segments are extracted by using a Hough transform. Perceptual criteria such as proximity, connectivity, similarity in orientation, contrast and edge pixel intensity, are used to group edges both strong and weak. This approach is called perceptual grouping. The second method is based on a region extraction using split and merge approach using spatial domain data. An n-level (for a 2' by 2' image) quadtree based pyramid structure is constructed to find the most homogenous large dark region, which in most cases corresponds to the lumen. The algorithm constructs the quadtree from the bottom (pixel) level upward, recursively and computes the mean and variance of image regions corresponding to quadtree nodes. On reaching the root, the largest uniform seed region, whose mean corresponds to a lumen is selected that is grown by merging with its neighboring regions. In addition to the use of two- dimensional information in the form of regions and contours, three-dimensional shape can provide additional information that will enhance the system capabilities. Shape or depth information from an image is estimated by various methods. A particular technique suitable for endoscopy is the shape from shading

  19. Optimizing Mars Airplane Trajectory with the Application Navigation System

    NASA Technical Reports Server (NTRS)

    Frumkin, Michael; Riley, Derek

    2004-01-01

    Planning complex missions requires a number of programs to be executed in concert. The Application Navigation System (ANS), developed in the NAS Division, can execute many interdependent programs in a distributed environment. We show that the ANS simplifies user effort and reduces time in optimization of the trajectory of a martian airplane. We use a software package, Cart3D, to evaluate trajectories and a shortest path algorithm to determine the optimal trajectory. ANS employs the GridScape to represent the dynamic state of the available computer resources. Then, ANS uses a scheduler to dynamically assign ready task to machine resources and the GridScape for tracking available resources and forecasting completion time of running tasks. We demonstrate system capability to schedule and run the trajectory optimization application with efficiency exceeding 60% on 64 processors.

  20. Algorithms and logic for incorporating ILS NASA TCV B-737 airplane area navigation system

    NASA Technical Reports Server (NTRS)

    Knox, C. E.

    1979-01-01

    The algorithms and logic for use in the implementation of instrument landing system (ILS) localizer deviation signals for the generation of navigation and guidance information are presented. The navigation position estimates, based on range information from a randomly chosen distance measuring equipment (DME) and ILS localizer deviation information, are illustrated. The ILS volumetric coverage and DME geometric checks are described and their addition to area navigation systems with minimum software modification are discussed.

  1. Research and development for Onboard Navigation (ONAV) ground based expert/trainer system: Test report

    NASA Technical Reports Server (NTRS)

    Bochsler, Daniel C.

    1988-01-01

    The test results for the onboard navigation (ONAV) Ground Based Expert System Trainer System for an aircraft/space shuttle navigation entry phase system are described. A summary of the test methods and analysis results are included. Functional inspection and execution, interface tests, default data sources, function call returns, status light indicators, and user interface command acceptance are covered.

  2. 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

  3. Optical flow and inertial navigation system fusion in the UAV navigation

    NASA Astrophysics Data System (ADS)

    Popov, A.; Miller, A.; Miller, B.; Stepanyan, K.

    2016-10-01

    In recent years navigation on the basis of computation of the camera path and the distance to obstacles with the aid of field of image motion velocities (i.e. optical flow, OF) became highly demanded particularly in the area of relatively small and even micro unmanned aerial vehicles (UAV). Video sequences captured by onboard camera gives the possibility of the OF calculation with the aid of relatively simple algorithms like Lucas-Kanade. The complete OF is the linear function of linear and angular velocities of the UAV which provides an additional means for the navigation parameters estimation. Such UAV navigation approach presumes that on-board camera gives the video sequence of the underlying surface images providing the information about the UAV evolutions. Navigation parameters are extracted on the basis of exact OF formulas which gives the observation process description for estimation based on Kalman filtering. One can expect the high accuracy of the estimated parameters (linear and angular velocities) because their number is substantially less than the number of measurements (practically the number of the camera pixels).

  4. Tracking Data Acquisition System (TDAS) for the 1990's. Volume 6: TDAS navigation system architecture

    NASA Technical Reports Server (NTRS)

    Elrod, B. D.; Jacobsen, A.; Cook, R. A.; Singh, R. N. P.

    1983-01-01

    One-way range and Doppler methods for providing user orbit and time determination are examined. Forward link beacon tracking, with on-board processing of independent navigation signals broadcast continuously by TDAS spacecraft; forward link scheduled tracking; with on-board processing of navigation data received during scheduled TDAS forward link service intervals; and return link scheduled tracking; with ground-based processing of user generated navigation data during scheduled TDAS return link service intervals are discussed. A system level definition and requirements assessment for each alternative, an evaluation of potential navigation performance and comparison with TDAS mission model requirements is included. TDAS satellite tracking is also addressed for two alternatives: BRTS and VLBI tracking.

  5. A comparative analysis of area navigation systems in general aviation. M.S. Thesis

    NASA Technical Reports Server (NTRS)

    Dodge, S. M.

    1973-01-01

    Radio navigation systems which offer the capabilities of area navigation to general aviation operators are discussed. The systems considered are: (1) the VORTAC system, (2) the Loran-C system, and (3) the Differential Omega system. The inital analyses are directed toward a comparison of the systems with respect to their compliance to specified performance parameters and to the cost effectiveness of each system in relation to those specifications. Further analyses lead to the development of system cost sensitivity charts, and the employment of these charts allows conclusions to be drawn relative to the cost-effectiveness of the candidate navigation system.

  6. The rotation modulation inertial navigation system for blackout area during hypersonic reentry

    NASA Astrophysics Data System (ADS)

    Li, Jin; Zhao, Jianhui; Sha, Xiaoqiang; Li, Fan

    2016-10-01

    Navigation of Hypersonic vehicles in the radio frequency (RF) blackout area during atmospheric reentry is challenging as the vehicles can only use the inertial navigation system (INS) as autonomous navigation method in this area. In this paper, strapdown inertial navigation system (SINS) based on the Fiber Optic Gyroscope (FOG) is used for navigation in blackout area. However, without external navigation measurement, the errors of SINS caused by the FOG drift and accelerometer bias would cumulate with time and degrade navigation accuracy. To solve this problem, single axis rotation modulation along with the azimuth axis of the body frame is adopted. The Generic Hypersonic Vehicle (GHV) model designed by NASA Langley Research Center is used to build the reentry fight model which can generate navigation information for simulation. Through derivation the error equations of FOG SINS in the North-East-Down (NED) navigation frame, the principle of error compensation by rotation modulation can be well understood. The simulation results show that rotation modulation can effectively decrease the impact of inertial sensor drift and improve the navigation accuracy in blackout area.

  7. Apollo experience report guidance and control systems: Primary guidance, navigation, and control system development

    NASA Technical Reports Server (NTRS)

    Holley, M. D.; Swingle, W. L.; Bachman, S. L.; Leblanc, C. J.; Howard, H. T.; Biggs, H. M.

    1976-01-01

    The primary guidance, navigation, and control systems for both the lunar module and the command module are described. Development of the Apollo primary guidance systems is traced from adaptation of the Polaris Mark II system through evolution from Block I to Block II configurations; the discussion includes design concepts used, test and qualification programs performed, and major problems encountered. The major subsystems (inertial, computer, and optical) are covered. Separate sections on the inertial components (gyroscopes and accelerometers) are presented because these components represent a major contribution to the success of the primary guidance, navigation, and control system.

  8. A Microscopic Optically Tracking Navigation System That Uses High-resolution 3D Computer Graphics.

    PubMed

    Yoshino, Masanori; Saito, Toki; Kin, Taichi; Nakagawa, Daichi; Nakatomi, Hirofumi; Oyama, Hiroshi; Saito, Nobuhito

    2015-01-01

    Three-dimensional (3D) computer graphics (CG) are useful for preoperative planning of neurosurgical operations. However, application of 3D CG to intraoperative navigation is not widespread because existing commercial operative navigation systems do not show 3D CG in sufficient detail. We have developed a microscopic optically tracking navigation system that uses high-resolution 3D CG. This article presents the technical details of our microscopic optically tracking navigation system. Our navigation system consists of three components: the operative microscope, registration, and the image display system. An optical tracker was attached to the microscope to monitor the position and attitude of the microscope in real time; point-pair registration was used to register the operation room coordinate system, and the image coordinate system; and the image display system showed the 3D CG image in the field-of-view of the microscope. Ten neurosurgeons (seven males, two females; mean age 32.9 years) participated in an experiment to assess the accuracy of this system using a phantom model. Accuracy of our system was compared with the commercial system. The 3D CG provided by the navigation system coincided well with the operative scene under the microscope. Target registration error for our system was 2.9 ± 1.9 mm. Our navigation system provides a clear image of the operation position and the surrounding structures. Systems like this may reduce intraoperative complications.

  9. 76 FR 22726 - Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-04-22

    ... COMMISSION Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products... multimedia display and navigation devices and systems, components thereof, and products containing same by... ALJ found that the accused products do not infringe claims 1 and 2 of the '448 patent, claims 1 and...

  10. Navigation system design for a Halley Flyby/Tempel 2 Rendezvous mission using ion drive

    NASA Technical Reports Server (NTRS)

    Wood, L. J.; Hast, S. L.

    1979-01-01

    A dual comet (Hall Flyby/Tempel 2 Rendezvous) mission, making use of the solar electric propulsion system, is under consideration for a 1985 launch. This paper describes the preliminary navigation system design for this mission. Orbit determination and guidance strategies for each mission phase are discussed. Navigation accuracy analyses and parametric senstivity studies for the Tempel 2 rendezvous approach phase are presented.

  11. Archival Automatic Identification System (AIS) Data for Navigation Project Performance Evaluation

    DTIC Science & Technology

    2015-08-01

    Navigation Project Performance Evaluation by Brandan Scully and Kenneth Ned Mitchell PURPOSE: This Coastal and Hydraulics Engineering Technical...applications of AIS data for performance evaluation of navigation projects. In particular, archived AIS data may be used in a variety of investigations and...conditions. Additional uses for modeling and engineering design are currently being investigated through the Navigation Systems (NavSys) research and

  12. Method and phantom to study combined effects of in-plane (x,y) and z-axis resolution for 3D CT imaging.

    PubMed

    Goodenough, David; Levy, Josh; Kristinsson, Smari; Fredriksson, Jesper; Olafsdottir, Hildur; Healy, Austin

    2016-09-01

    Increasingly, the advent of multislice CT scanners, volume CT scanners, and total body spiral acquisition modes has led to the use of Multi Planar Reconstruction and 3D datasets. In considering 3D resolution properties of a CT system it is important to note that both the in-plane (x,y) and z-axis (slice thickness) influence the visualization and detection of objects within the scanned volume. This study investigates ways to consider both the in-plane resolution and the z-axis resolution in a single phantom wherein analytic or visualized analysis can yield information on these combined effects. A new phantom called the "Wave Phantom" is developed that can be used to sample the 3D resolution properties of a CT image, including in-plane (x,y) and z-axis information. The key development in this Wave Phantom is the incorporation of a z-axis aspect of a more traditional step (bar) resolution gauge phantom. The phantom can be examined visually wherein a cutoff level may be seen; and/or the analytic analysis of the various characteristics of the waveform profile by including amplitude, frequency, and slope (rate of climb) of the peaks, can be extracted from the Wave Pattern using mathematical analysis such as the Fourier transform. The combined effect of changes in in-plane resolution and z-axis (thickness), are shown, as well as the effect of changes in either in-plane resolution, or z-axis thickness. Examples of visual images of the Wave pattern as well as the analytic characteristics of the various harmonics of a periodic Wave pattern resulting from changes in resolution filter and/or slice thickness, and position in the field of view are shown. The Wave Phantom offers a promising way to investigate 3D resolution results from combined effect of in-plane (x-y) and z-axis resolution as contrasted to the use of simple 2D resolution gauges that need to be used with separate measures of z-axis dependency, such as angled ramps. It offers both a visual pattern as well as a

  13. Method and phantom to study combined effects of in-plane (x,y) and z-axis resolution for 3D CT imaging.

    PubMed

    Goodenough, David; Levy, Josh; Kristinsson, Smari; Fredriksson, Jesper; Olafsdottir, Hildur; Healy, Austin

    2016-09-08

    Increasingly, the advent of multislice CT scanners, volume CT scanners, and total body spiral acquisition modes has led to the use of Multi Planar Reconstruction and 3D datasets. In considering 3D resolution properties of a CT system it is important to note that both the in-plane (x,y) and z-axis (slice thickness) influence the visual-ization and detection of objects within the scanned volume. This study investigates ways to consider both the in-plane resolution and the z-axis resolution in a single phantom wherein analytic or visualized analysis can yield information on these combined effects. A new phantom called the "Wave Phantom" is developed that can be used to sample the 3D resolution properties of a CT image, including in-plane (x,y) and z-axis information. The key development in this Wave Phantom is the incorporation of a z-axis aspect of a more traditional step (bar) resolution gauge phantom. The phantom can be examined visually wherein a cutoff level may be seen; and/or the analytic analysis of the various characteristics of the waveform profile by including amplitude, frequency, and slope (rate of climb) of the peaks, can be extracted from the Wave Pattern using mathematical analysis such as the Fourier transform. The combined effect of changes in in-plane resolution and z-axis (thickness), are shown, as well as the effect of changes in either in-plane resolu-tion, or z-axis thickness. Examples of visual images of the Wave pattern as well as the analytic characteristics of the various harmonics of a periodic Wave pattern resulting from changes in resolution filter and/or slice thickness, and position in the field of view are shown. The Wave Phantom offers a promising way to investigate 3D resolution results from combined effect of in-plane (x-y) and z-axis resolution as contrasted to the use of simple 2D resolution gauges that need to be used with separate measures of z-axis dependency, such as angled ramps. It offers both a visual pattern as well as a

  14. Individual Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.

    2013-01-01

    The use of individual Global Navigation Satellite Services (GPS, GLONASS, Galileo, and Beidou/COMPASS) for the position, navigation, and timing in the Space Service Volume at altitudes of 300 km, 3000 km, 8000 km, 15000 km, 25000 km, 36500km and 70000 km is examined and the percent availability of at least one and at least four satellites is presented.

  15. Geometrical-Based Navigation System Performance Assessment in the Space Service Volume Using a Multiglobal Navigation Satellite System Methodology

    NASA Technical Reports Server (NTRS)

    Welch, Bryan W.

    2016-01-01

    NASA is participating in the International Committee on Global Navigation Satellite Systems (GNSS) (ICG)'s efforts towards demonstrating the benefits to the space user in the Space Service Volume (SSV) when a multi-GNSS solution space approach is utilized. The ICG Working Group: Enhancement of GNSS Performance, New Services and Capabilities has started a three phase analysis initiative as an outcome of recommendations at the ICG-10 meeting, in preparation for the ICG-11 meeting. The first phase of that increasing complexity and fidelity analysis initiative is based on a pure geometrically-derived access technique. The first phase of analysis has been completed, and the results are documented in this paper.

  16. Visibility and Geometry of Global Satellite Navigation Systems Constellations

    NASA Astrophysics Data System (ADS)

    Januszewski, Jacek

    2015-12-01

    Nowadays (November 2015) there are two global fully operational satellite navigation systems, American GPS and Russian GLONASS. Two next are under construction, Galileo in Europe and BeiDou in China. As the error of observer's position obtained from these systems depends on geometry factor DOP (Dilution Of Precision) among other things the knowledge of the number of satellites visible by this observer above given masking elevation angle Hmin and the distributions of DOP coefficient values, GDOP in particular, is very important. The lowest and the greatest number of satellites visible in open area by the observer at different latitudes for different Hmin, the percentage of satellites visible above angle H (9 intervals, each 10O wide), distributions (in per cent) of satellites azimuths (8 intervals, each 45O wide) and GDOP coefficient values (8 intervals) for Hmin = 5O for all these four systems at different observer's latitudes (9 intervals, each wide 10O wide) are presented in the paper. Additionally the lowest elevation for which the number of satellites visible at different latitudes by the observer in open area above this angle is equal 4 or 3 and the distributions (in per cent) of GDOP coefficient values for different Hmin at observer's latitudes 50-60O for the same four systems are showed. All calculations were made for constellation of GPS 27 satellites, GLONASS 24, Galileo 30 and BeiDou 27 MEO satellites.

  17. Effects of age, system experience, and navigation technique on driving with an advanced traveler information system.

    PubMed

    Dingus, T A; Hulse, M C; Mollenhauer, M A; Fleischman, R N; McGehee, D V; Manakkal, N

    1997-06-01

    This paper explores the effects of age, system experience, and navigation technique on driving, navigation performance, and safety for drivers who used TravTek, an Advanced Traveler Information System. The first two studies investigated various route guidance configurations on the road in a specially equipped instrumented vehicle with an experimenter present. The third was a naturalistic quasi-experimental field study that collected data unobtrusively from more than 1200 TravTek rental car drivers with no in-vehicle experimenter. The results suggest that with increased experience, drivers become familiar with the system and develop strategies for substantially more efficient and safer use. The results also showed that drivers over age 65 had difficulty driving and navigating concurrently. They compensated by driving slowly and more cautiously. Despite this increased caution, older drivers made more safety-related errors than did younger drivers. The results also showed that older drivers benefited substantially from a well-designed ATIS driver interface.

  18. An optical flow-based integrated navigation system inspired by insect vision.

    PubMed

    Pan, Chao; Deng, He; Yin, Xiao Fang; Liu, Jian Guo

    2011-10-01

    Some insects use optic flow (OF) to perform their navigational tasks perfectly. Learning from insects' OF navigation strategies, this article proposes a bio-inspired integrated navigation system based on OF. The integrated navigation system is composed of an OF navigation system (OFNS) and an OF aided navigation system (OFAN). The OFNS uses a simple OF method to measure motion at each step along a path. The position information is then obtained by path integration. However, path integration leads to cumulative position errors which increase rapidly with time. To overcome this problem, the OFAN is employed to assist the OFNS in estimating and correcting these cumulative errors. The OFAN adopts an OF-based Kalman filter (KF) to continuously estimate the position errors. Moreover, based on the OF technique used in the OFNS, we develop a new OF method employed by the OFAN to generate the measurement input of the OF-based KF. As a result, both the OFNS and the OFAN in our integrated navigation system are derived from the same OF method so that they share input signals and some operations. The proposed integrated navigation system can provide accurate position information without interference from cumulative errors yet doing so with low computational effort. Simulations and comparisons have demonstrated its efficiency.

  19. Tuning and Robustness Analysis for the Orion Absolute Navigation System

    NASA Technical Reports Server (NTRS)

    Holt, Greg N.; Zanetti, Renato; D'Souza, Christopher

    2013-01-01

    The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test flight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to show the efforts made to-date in tuning the filter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. Filter performance is affected by many factors: data rates, sensor measurement errors, tuning, and others. This paper focuses mainly on the error characterization and tuning portion. Traditional efforts at tuning a navigation filter have centered around the observation/measurement noise and Gaussian process noise of the Extended Kalman Filter. While the Orion MODE team must certainly address those factors, the team is also looking at residual edit thresholds and measurement underweighting as tuning tools. Tuning analysis is presented with open loop Monte-Carlo simulation results showing statistical errors bounded by the 3-sigma filter uncertainty covariance. The Orion filter design uses 24 Exponentially Correlated Random Variable (ECRV) parameters to estimate the accel/gyro misalignment and nonorthogonality. By design, the time constant and noise terms of these ECRV parameters were set to manufacturer specifications and not used as tuning parameters. They are included in the filter as a more analytically correct method of modeling uncertainties than ad-hoc tuning of the process noise. Tuning is explored for the

  20. The signal design of present satellite navigation system and its inspiration

    NASA Astrophysics Data System (ADS)

    Zhu, Xiangwe; Wang, Feixue

    2005-11-01

    Navigation signals are the basis of satellite navigation systems, which determine the navigation systems' performance (such as tracking accuracy, anti-interference capability etc.), and are determined by some constraints (such as radio frequency resources, construction cost, technology level etc.). The aim of signal design is to select "proper" signals considering these above factors and make tradeoffs between performance and constraints. This paper will summarize the signal structure evolution of present satellite navigation and conclude some principles and issues which will be greatly valuable to our 2nd satellite navigation system. There's four main satellite positioning systems presently, the U.S. Global Positioning System (GPS), the Russian Global Navigation Satellite System (GLONASS), the Europe Galileo satellite navigation system and the Chinese BD-1 satellite positioning system. Among these systems, the signal characteristics of GPS and Galileo are good reference to our 2nd satellite navigation system. The improvement of GPS signals is a main aspect of GPS modernization. The aim of GPS modernization is mainly to modernize its signal structure so as to improve the whole systems' performance. The signal structure of Galileo has been revised for several times, and its present signal is the results of long time signal design. From GPS modernization and Galileo signals status, we can summarize some key specifications of navigation signals and some technologies to support these specifications. Based on this, we'll discuss some problems which should be attentive in our country's 2nd satellite navigation system and give some suggestions. This paper is organized into five sections. The first section will give a brief introduction of present satellite navigation system and their main features. Section two will review the GPS and Galileo signals structure evolution, including GPS modernization, Galileo signals status and the comparison of two systems' signals. In the

  1. Inertial Navigation

    DTIC Science & Technology

    also been well-known for some time. However, inertial navigation systems (called inertial guidance systems in rocket technology) which are composed of... navigation technology has developed rapidly, and the precision of inertial navigation has increased greatly. In 1944, the ’V-2’ rocket made the first...gyroscopes, accelerometers, and electronic computers have only been on the market for a little over twenty years. In the past twenty years, inertial

  2. ODINS: On-Demand Indoor Navigation System RFID Based.

    PubMed

    Bianchi, Federico; Masciadri, Andrea; Salice, Fabio

    2015-01-01

    This paper presents an On-Demand Indoor Navigation System (ODINS) based on RFID technology. ODINS is a distributed infrastructure where a set of information points (Fixed Stations - FS) provides the direction to a user who has to reach the destination point he/she has previously selected. ODINS system is proposed for residencies hosting people with mild cognitive disabilities and elderly but it can be also applied to structures where people could be disoriented. The destination is configured at some reception points or it is a predefined (e.g. the bed room or a selected "safe" point). The destination is associated with a RFID disposable bracelet assigned to her/him. The path is algorithmically computed and spread to all FSs. Every time the user is disoriented, she/he can search for the closest FS that displays the right directition. FSs should be located in strategic positions and provide a user-friendly interface such as bright arrows. The complexity is "system-side" making ODINS usable for everyone.

  3. The Open Service Signal in Space Navigation Data Comparison of the Global Positioning System and the BeiDou Navigation Satellite System

    PubMed Central

    Jan, Shau-Shiun; Tao, An-Lin

    2014-01-01

    More and more Global Navigation Satellite Systems (GNSSs) have been developed and are in operation. Before integrating information on various GNSSs, the differences between the various systems must be studied first. This research focuses on analyzing the navigation data differences between the Chinese BeiDou Navigation Satellite System (BDS) and the United States' Global Positioning System (GPS). In addition to explaining the impact caused by these two different coordinate and time systems, this research uses an actual open service signal in space (SIS) for both GPS and BDS to analyze their current system performance. Five data quality analysis (DQA) mechanisms are proposed in this research to validate both systems' SIS navigation data. These five DQAs evaluate the differences in ephemeris and almanac messages from both systems for stability and accuracy. After all of the DQAs, the different issues related to GPS and BDS satellite information are presented. Finally, based on these DQA results, this research provides suggested resolutions for the combined use of GPS and BDS for navigation and guidance. PMID:25195848

  4. The open service signal in space navigation data comparison of the Global Positioning System and the BeiDou Navigation Satellite System.

    PubMed

    Jan, Shau-Shiun; Tao, An-Lin

    2014-08-19

    More and more Global Navigation Satellite Systems (GNSSs) have been developed and are in operation. Before integrating information on various GNSSs, the differences between the various systems must be studied first. This research focuses on analyzing the navigation data differences between the Chinese BeiDou Navigation Satellite System (BDS) and the United States' Global Positioning System (GPS). In addition to explaining the impact caused by these two different coordinate and time systems, this research uses an actual open service signal in space (SIS) for both GPS and BDS to analyze their current system performance. Five data quality analysis (DQA) mechanisms are proposed in this research to validate both systems' SIS navigation data. These five DQAs evaluate the differences in ephemeris and almanac messages from both systems for stability and accuracy. After all of the DQAs, the different issues related to GPS and BDS satellite information are presented. Finally, based on these DQA results, this research provides suggested resolutions for the combined use of GPS and BDS for navigation and guidance.

  5. Accuracy of optical navigation systems for automatic head surgery: optical tracking versus optical coherence tomography

    NASA Astrophysics Data System (ADS)

    Díaz Díaz, Jesús; Riva, Mauro H.; Majdani, Omid; Ortmaier, Tobias

    2014-03-01

    The choice of a navigation system highly depends on the medical intervention and its accuracy demands. The most commonly used systems for image guided surgery (IGS) are based on optical and magnetic tracking systems. This paper compares two optical systems in terms of accuracy: state of the art triangulation-based optical tracking (OT) and optical coherence tomography (OCT). We use an experimental setup with a combined OCT and cutting laser, and an external OT. We simulate a robotic assisted surgical intervention, including planning, navigation, and processing, and compare the accuracies reached at a specific target with each navigation system.

  6. 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.

  7. Building a Navigation System to Reduce Cancer Disparities in Urban Black Older Adults

    PubMed Central

    Bone, Lee; Edington, Kristen; Rosenberg, Jessica; Wenzel, Jennifer; Garza, Mary A.; Klein, Catherine; Schmitt, Lisa; Ford, Jean G.

    2014-01-01

    Background Although cancer outcomes have improved in recent decades, substantial disparities by race, ethnicity, income and education persist. Increasingly, patient navigation services are demonstrating success in improving cancer detection, treatment and care and in reducing cancer health disparities. To advance progress in developing patient navigation programs, extensive descriptions of each component of the program must be made available to researchers and health service providers. Objective To describe the components of a patient navigation program designed to improve cancer screening based on informed decision-making on cancer screening and cancer treatment services among predominantly Black older adults in Baltimore City. Methods A community-academic participatory approach was used to develop a patient navigation program in Baltimore, Maryland. The components of the patient navigation system included the development of a community academic (advisory) committee (CAC); recruitment and selection of community health workers (CHWs)/navigators and supervisory staff; initial training and continuing education of the CHWs/navigators; and evaluation of CHWs/navigators. The study was approved by the Johns Hopkins Bloomberg School of Public Health Institutional Review Board. Conclusions The incorporation of community-based participatory research (CPBR) principles into each facet of this patient navigation program facilitated the attainment of the intervention’s objectives. This patient navigation program successfully delivered cancer navigation services to 1302 urban Black older adults. Appropriately recruited, selected and trained CHWs monitored by an experienced supervisor and investigators are the key elements in a patient navigation program. This model has the potential to be adapted by research and health service providers. PMID:23793252

  8. Augmented Reality-Based Navigation System for Wrist Arthroscopy: Feasibility

    PubMed Central

    Zemirline, Ahmed; Agnus, Vincent; Soler, Luc; Mathoulin, Christophe L.; Liverneaux, Philippe A.; Obdeijn, Miryam

    2013-01-01

    Purpose In video surgery, and more specifically in arthroscopy, one of the major problems is positioning the camera and instruments within the anatomic environment. The concept of computer-guided video surgery has already been used in ear, nose, and throat (ENT), gynecology, and even in hip arthroscopy. These systems, however, rely on optical or mechanical sensors, which turn out to be restricting and cumbersome. The aim of our study was to develop and evaluate the accuracy of a navigation system based on electromagnetic sensors in video surgery. Methods We used an electromagnetic localization device (Aurora, Northern Digital Inc., Ontario, Canada) to track the movements in space of both the camera and the instruments. We have developed a dedicated application in the Python language, using the VTK library for the graphic display and the OpenCV library for camera calibration. Results A prototype has been designed and evaluated for wrist arthroscopy. It allows display of the theoretical position of instruments onto the arthroscopic view with useful accuracy. Discussion The augmented reality view represents valuable assistance when surgeons want to position the arthroscope or locate their instruments. It makes the maneuver more intuitive, increases comfort, saves time, and enhances concentration. PMID:24436832

  9. Evaluation of Mobile Phone Interference With Aircraft GPS Navigation Systems

    NASA Technical Reports Server (NTRS)

    Pace, Scott; Oria, A. J.; Guckian, Paul; Nguyen, Truong X.

    2004-01-01

    This report compiles and analyzes tests that were conducted to measure cell phone spurious emissions in the Global Positioning System (GPS) radio frequency band that could affect the navigation system of an aircraft. The cell phone in question had, as reported to the FAA (Federal Aviation Administration), caused interference to several GPS receivers on-board a small single engine aircraft despite being compliant with data filed at the time with the FCC by the manufacturer. NASA (National Aeronautics and Space Administration) and industry tests show that while there is an emission in the 1575 MHz GPS band due to a specific combination of amplifier output impedance and load impedance that induces instability in the power amplifier, these spurious emissions (i.e., not the intentional transmit signal) are similar to those measured on non-intentionally transmitting devices such as, for example, laptop computers. Additional testing on a wide sample of different commercial cell phones did not result in any emission in the 1575 MHz GPS Band above the noise floor of the measurement receiver.

  10. Weather-enabled future onboard surveillance and navigation systems

    NASA Astrophysics Data System (ADS)

    Mutuel, L.; Baillon, B.; Barnetche, B.; Delpy, P.

    2009-09-01

    With the increasing traffic and the development of business trajectories, there is a widespread need to anticipate any adverse weather conditions that could impact the performance of the flight or to use of atmospheric parameters to optimize trajectories. Current sensors onboard air transport are challenged to provide the required service, while new products for business jets and general aviation open the door to innovative assimilation of weather information in onboard surveillance and navigation. The paper aims at surveying current technology available to air transport aircraft and pointing out their shortcomings in view of the modernization proposed in SESAR and NextGen implementation plans. Foreseen innovations are then illustrated via results of ongoing research like FLYSAFE or standardization efforts, in particular meteorological datalink services and impact on Human-Machine Interface. The paper covers the operational need to avoid adverse weather like thunderstorm, icing, turbulence, windshear and volcanic ash, but also the requirement to control in 4D the trajectory through the integration of wind and temperature grids in the flight management. The former will lead to enhanced surveillance systems onboard the aircraft with new displays and new alerting schemes, ranging from targeted information supporting better re-planning to auto-escape strategies. The latter will be standard in next generation flight management systems. Finally both will rely on ATM products that will also assimilate weather information so that situational awareness is shared and decision is collaborative.

  11. Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System

    PubMed Central

    Kim, Han-Sol; Seo, Woojin; Baek, Kwang-Ryul

    2017-01-01

    In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map) are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated. PMID:28327513

  12. Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System.

    PubMed

    Kim, Han-Sol; Seo, Woojin; Baek, Kwang-Ryul

    2017-03-22

    In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map) are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated.

  13. Multifunctional astronomical self-organizing system of autonomous navigation and orientation for artificial Earth satellites

    NASA Astrophysics Data System (ADS)

    Kuznetsov, V. I.; Danilova, T. V.

    2017-03-01

    We describe the methods and algorithms of a multifunctional astronomical system of the autonomous navigation and orientation for artificial Earth satellites based on the automatization of the system approach to the design and programming problems of the subject area.

  14. Navigation in GPS Denied Environments: Feature-Aided Inertial Systems

    DTIC Science & Technology

    2010-03-01

    Navigation Sensors and Integration Technology ( Capteurs de navigation a faible cout et technologie d’integration) RTO-EN-SET-116(2010) 14. ABSTRACT...order of 1-2 km. Now, there are many applications that require meter or sub-meter level accuracy (such as precision agriculture). Previously, due to...sufficient for many applications . Ironically, it is in just such urban/indoor locations where many people spend most of their time. (In fact, odds

  15. Geometric dilution of precision in Global Positioning System navigation

    NASA Technical Reports Server (NTRS)

    Fang, B. T.

    1981-01-01

    The evaluation of the GPS navigation performance is essentially equivalent to the computation of the diagonal terms of the geometric dilution of precision (GDOP) matrix. Certain theoretical results concerning the general properties of the GDOP matrix are obtained. An efficient algorithm for the computation of the GDOP matrix and the navigation performance index is given; and applications of the results are illustrated by numerical examples.

  16. Avionic Inertial and Radar Navigation Systems Career Ladder AFSC 328X4.

    DTIC Science & Technology

    1984-06-01

    OR LABEL EQUIPMENT 80 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 80 N464 REMOVE OR REPLACE GENERAL PURPOSE OR NAVIGATIONAL COMPUTERS 80 G191...ISOLATE MALFUNCTIONS TO INERTIAL PLATFORMS 60 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 60 J294 ISOLATE MALFUNCTIONS TO INERTIAL COMPUTERS...COMPUTERS 72 N457 OPERATIONALLY CHECK GENERAL PURPOSE OR NAVIGATIONAL COMPUTER SYSTEMS 71 F173 INSPECT EGRESS SYSTEM SAFETY PIN INSTALLATION 71 4

  17. Research on the automatic laser navigation system of the tunnel boring machine

    NASA Astrophysics Data System (ADS)

    Liu, Yake; Li, Yueqiang

    2011-12-01

    By establishing relevant coordinates of the Automatic Laser Navigation System, the basic principle of the system which accesses the TBM three-dimensional reference point and yawing angle by mathematical transformation between TBM, target prism and earth coordinate systems is discussed deeply in details. According to the way of rigid body descriptions of its posture, TBM attitude parameters measurement and data acquisition methods are proposed, and measures to improve the accuracy of the Laser Navigation System are summarized.

  18. Wetland monitoring with Global Navigation Satellite System reflectometry.

    PubMed

    Nghiem, Son V; Zuffada, Cinzia; Shah, Rashmi; Chew, Clara; Lowe, Stephen T; Mannucci, Anthony J; Cardellach, Estel; Brakenridge, G Robert; Geller, Gary; Rosenqvist, Ake

    2017-01-01

    Information about wetland dynamics remains a major missing gap in characterizing, understanding, and projecting changes in atmospheric methane and terrestrial water storage. A review of current satellite methods to delineate and monitor wetland change shows some recent advances, but much improved sensing technologies are still needed for wetland mapping, not only to provide more accurate global inventories but also to examine changes spanning multiple decades. Global Navigation Satellite Systems Reflectometry (GNSS-R) signatures from aircraft over the Ebro River Delta in Spain and satellite measurements over the Mississippi River and adjacent watersheds demonstrate that inundated wetlands can be identified under different vegetation conditions including a dense rice canopy and a thick forest with tall trees, where optical sensors and monostatic radars provide limited capabilities. Advantages as well as constraints of GNSS-R are presented, and the synergy with various satellite observations are considered to achieve a breakthrough capability for multidecadal wetland dynamics monitoring with frequent global coverage at multiple spatial and temporal scales.

  19. Wetland monitoring with Global Navigation Satellite System reflectometry

    PubMed Central

    Zuffada, Cinzia; Shah, Rashmi; Chew, Clara; Lowe, Stephen T.; Mannucci, Anthony J.; Cardellach, Estel; Brakenridge, G. Robert; Geller, Gary; Rosenqvist, Ake

    2017-01-01

    Abstract Information about wetland dynamics remains a major missing gap in characterizing, understanding, and projecting changes in atmospheric methane and terrestrial water storage. A review of current satellite methods to delineate and monitor wetland change shows some recent advances, but much improved sensing technologies are still needed for wetland mapping, not only to provide more accurate global inventories but also to examine changes spanning multiple decades. Global Navigation Satellite Systems Reflectometry (GNSS‐R) signatures from aircraft over the Ebro River Delta in Spain and satellite measurements over the Mississippi River and adjacent watersheds demonstrate that inundated wetlands can be identified under different vegetation conditions including a dense rice canopy and a thick forest with tall trees, where optical sensors and monostatic radars provide limited capabilities. Advantages as well as constraints of GNSS‐R are presented, and the synergy with various satellite observations are considered to achieve a breakthrough capability for multidecadal wetland dynamics monitoring with frequent global coverage at multiple spatial and temporal scales. PMID:28331894

  20. A Knowledge-Navigation System for Dimensional Metrology.

    PubMed

    Moncarz, Howard T

    2002-01-01

    Geometric dimensioning and tolerancing (GD&T) is a method to specify the dimensions and form of a part so that it will meet its design intent. GD&T is difficult to master for two main reasons. First, it is based on complex 3D geometric entities and relationships. Second, the geometry is associated with a large, diverse knowledge base of dimensional metrology with many interconnections. This paper describes an approach to create a dimensional metrology knowledge base that is organized around a set of key concepts and to represent those concepts as virtual objects that can be navigated with interactive, computer visualization techniques to access the associated knowledge. The approach can enable several applications. First is the application to convey the definition and meaning of GD&T over a broad range of tolerance types. Second is the application to provide a visualization of dimensional metrology knowledge within a control hierarchy of the inspection process. Third is the application to show the coverage of interoperability standards to enable industry to make decisions on standards development and harmonization efforts. A prototype system has been implemented to demonstrate the principles involved in the approach.

  1. Development of a robotic navigation and fracture fixation system.

    PubMed

    Fuechtmeier, Bernd; Egersdoerfer, Stefan; Tuma, Georg; Monkman, Gerit J; Nerlich, Michael

    2003-01-01

    The use of robotics in surgery is nothing new. However, there are areas of surgery, such as in fracture fixation, where robots have yet to be implemented. This paper considers the choice of robot, gripper and ancillary equipment together with navigation systems necessary for their application. Hitherto robots have seen operation in surgery only in cases where relatively low manipulation forces are required. Nothing yet exists with the capability of handling forces in excess of 200 Newton as would be required in the above scenario. Another encumbrance to robots which are already in medical use is the difficulty in programming. Unfortunately most of these robots are programmed by specialists for a particular application. However, there exists a number of robot programming languages, like Unimation VA-LII (recently superceded by Stäubli V+), which do not require specialist knowledge. The application of industrial robots to the "heavier" side of modern surgery is without doubt technically realisable. The remainder of this research project aims to determine exactly which robots and what ancilliary equipment are needed and then to implement them, first on plastic models and later on cadavers. A second phase is expected to deal with type approval and a final third phase with operations on live patients.

  2. 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

  3. 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.

  4. FPGA-based real-time embedded system for RISS/GPS integrated navigation.

    PubMed

    Abdelfatah, Walid Farid; Georgy, Jacques; Iqbal, Umar; Noureldin, Aboelmagd

    2012-01-01

    Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm.

  5. FPGA-Based Real-Time Embedded System for RISS/GPS Integrated Navigation

    PubMed Central

    Abdelfatah, Walid Farid; Georgy, Jacques; Iqbal, Umar; Noureldin, Aboelmagd

    2012-01-01

    Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm. PMID:22368460

  6. Hidden Markov Model-based Pedestrian Navigation System using MEMS Inertial Sensors

    NASA Astrophysics Data System (ADS)

    Zhang, Yingjun; Liu, Wen; Yang, Xuefeng; Xing, Shengwei

    2015-02-01

    In this paper, a foot-mounted pedestrian navigation system using MEMS inertial sensors is implemented, where the zero-velocity detection is abstracted into a hidden Markov model with 4 states and 15 observations. Moreover, an observations extraction algorithm has been developed to extract observations from sensor outputs; sample sets are used to train and optimize the model parameters by the Baum-Welch algorithm. Finally, a navigation system is developed, and the performance of the pedestrian navigation system is evaluated using indoor and outdoor field tests, and the results show that position error is less than 3% of total distance travelled.

  7. Driver-passenger collaboration as a basis for human-machine interface design for vehicle navigation systems.

    PubMed

    Antrobus, Vicki; Burnett, Gary; Krehl, Claudia

    2017-03-01

    Human Factors concerns exist with vehicle navigation systems, particularly relating to the effects of current Human-Machine Interfaces (HMIs) on driver disengagement from the environment. A road study was conducted aiming to provide initial input for the development of intelligent HMIs for in-vehicle systems, using the traditional collaborative navigation relationship between the driver and passenger to inform future design. Sixteen drivers navigated a predefined route in the city of Coventry, UK with the assistance of an existing vehicle navigation system (SatNav), whereas a further 16 followed the navigational prompts of a passenger who had been trained along the same route. Results found that there were no significant differences in the number of navigational errors made on route for the two different methods. However, drivers utilising a collaborative navigation approach had significantly better landmark and route knowledge than their SatNav counterparts. Analysis of individual collaborative transcripts revealed the large individual differences in descriptor use by passengers and reference to environmental landmarks, illustrating the potential for the replacement of distance descriptors in vehicle navigation systems. Results are discussed in the context of future HMIs modelled on a collaborative navigation relationship. Practitioner Summary: Current navigation systems have been associated with driver environmental disengagement, this study uses an on-road approach to look at how the driver-passenger collaborative relationship and dialogue can inform future navigation HMI design. Drivers navigating with passenger assistance demonstrated enhanced landmark and route knowledge over drivers navigating with a SatNav.

  8. Cooperative interactions between hippocampal and striatal systems support flexible navigation

    PubMed Central

    Brown, Thackery I; Ross, Robert S; Tobyne, Sean M; Stern, Chantal E

    2012-01-01

    Research in animals and humans has demonstrated that the hippocampus is critical for retrieving distinct representations of overlapping sequences of information. There is recent evidence that the caudate nucleus and orbitofrontal cortex are also involved in disambiguation of overlapping spatial representations. The hippocampus and caudate are functionally distinct regions, but both have anatomical links with the orbitofrontal cortex. The present study used an fMRI-based functional connectivity analysis in humans to examine the functional relationship between the hippocampus, caudate, and orbitofrontal cortex when participants use contextual information to navigate well-learned spatial routes which share common elements. Participants were trained outside the scanner to navigate virtual mazes from a first-person perspective. Overlapping condition mazes began and ended at distinct locations, but converged in the middle to share some hallways with another maze. Non-overlapping condition mazes did not share any hallways with any other maze. Successful navigation through the overlapping hallways required contextual information identifying the current navigational route to guide the appropriate response for a given trial. Results revealed greater functional connectivity between the hippocampus, caudate, and orbitofrontal cortex for overlapping mazes compared to non-overlapping mazes. The current findings suggest that the hippocampus and caudate interact with prefrontal structures cooperatively for successful contextually-dependent navigation. PMID:22266411

  9. Supporting Crewed Missions using LiAISON Navigation in the Earth-Moon System

    NASA Astrophysics Data System (ADS)

    Leonard, Jason M.

    Crewed navigation in certain regions of the Earth-Moon system provides a unique challenge due to the unstable dynamics and observation geometry relative to standard Earth-based tracking systems. The focus of this thesis is to advance the understanding of navigation precision in the Earth-Moon system, analyzing the observability of navigation data types frequently used to navigate spacecraft, and to provide a better understanding of the influence of a crewed vehicle disturbance model for future manned missions in the Earth-Moon system. In this research, a baseline for navigation performance of a spacecraft in a Lagrange point orbit in the Earth-Moon system is analyzed. Using operational ARTEMIS tracking data, an overlap analysis of the reconstructed ARTEMIS trajectory states is conducted. This analysis provides insight into the navigation precision of a spacecraft traversing a Lissajous orbit about the Earth-Moon L1 point. While the ARTEMIS analysis provides insight into the navigation precision using ground based tracking methods, an examination of the benefits of introducing Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) is investigated. This examination provides insight into the benefits and disadvantages of LiAISON range and range-rate measurements for trajectories in the Earth-Moon system. In addition to the characterization of navigation precision for spacecraft in the Earth-Moon system, an analysis of the uncertainty propagation for noisy crewed vehicles and quiet robotic spacecraft is given. Insight is provided on the characteristics of uncertainty propagation and how it is correlated to the instability of the Lagrange point orbit. A crewed vehicle disturbance model is provided based on either Gaussian or Poisson assumptions. The natural tendency for the uncertainty distribution in a Lagrange point orbit is to align with the unstable manifold after a certain period of propagation. This behavior is influenced directly by the unstable

  10. Augmentation of Indian Regional Navigation Satellite System to Improve Dilution of Precision

    NASA Astrophysics Data System (ADS)

    Sarma, Achanta D.; Sultana, Quddusa; Srinivas, Vemuri Satya

    The Indian Regional Navigation Satellite System (IRNSS) is an autonomous and independent navigational system being developed by India. IRNSS will provide position, navigation and timing services for national applications. To improve accuracy, it can be augmented using GPS and pseudolites (pseudo-satellites). In this paper, the effect on DOP (Dilution of Precision) due to augmentation of the proposed constellation of IRNSS with pseudolites is investigated. GDOP is reduced to 163 (max) due to augmentation of IRNSS with two airport pseudolites (APLs). Due to augmentation of IRNSS with GPS, GDOP is reduced to 265 (max). The regional effect on DOP due to IRNSS is also investigated at different locations in the Indian region.

  11. New vision system and navigation algorithm for an autonomous ground vehicle

    NASA Astrophysics Data System (ADS)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  12. Dilution-of-Precision-Based Lunar Surface Navigation System Analysis Utilizing Earth-Based Assets

    NASA Technical Reports Server (NTRS)

    Welch, Bryan W.; Connolly, Joseph W.; Sands, Obed S.

    2007-01-01

    The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. Although navigation systems have already been proven in the Apollo missions to the Moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the Moon, those under the Exploration Systems Initiative will require navigation on the Moon's limb and far side. These regions are known to have poor Earth visibility, but unknown is the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in these areas. This report presents a dilution-of-precision (DoP)-based analysis of the performance of a network of Earth-based assets. This analysis extends a previous analysis of a lunar network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions. These assumptions pertain to the minimum provider elevation angle, nadir and zenith beam widths, and a total single failure in one of the Earth-based assets. The assessment is accomplished by making appropriately formed estimates of DoP. Different adaptations of DoP, such as geometrical DoP and positional DoP (GDoP and PDoP), are associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver.

  13. Dilution-of-Precision-Based Lunar Surface Navigation System Analysis Utilizing Lunar Orbiters

    NASA Technical Reports Server (NTRS)

    Welch, Bryan W.; Connolly, Joseph W.; Sands, Obed S.

    2007-01-01

    The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. Although navigation systems have already been proven in the Apollo missions to the Moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the Moon, those under the Exploration Systems Initiative will require navigation on the Moon's limb and far side. Since these regions have poor Earth visibility, a navigation system comprised solely of Earth-based tracking stations will not provide adequate navigation solutions in these areas. In this report, a dilution-of-precision (DoP)-based analysis of the performance of a network of Moon orbiting satellites is provided. This analysis extends a previous analysis of a lunar network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions. These assumptions pertain to the minimum surface user elevation angle and a total single satellite failure in the lunar network. The assessment is accomplished by making appropriately formed estimates of DoP. Different adaptations of DoP, such as geometric DoP and positional DoP (GDoP and PDoP), are associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver.

  14. A navigation system for increasing the autonomy and the security of powered wheelchairs.

    PubMed

    Fioretti, S; Leo, T; Longhi, S

    2000-12-01

    Assistive technology is an emerging area where some robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to substitute their missing function thus helping them to gain a level of independence at least in the activities of daily living. This paper presents the design of a navigation system and its integration with a commercial powered wheelchair. The navigation system provides the commercial wheelchair with a set of functions which increase the autonomy of elderly and people with motor disabilities. In general, a robot device must be adapted to assistive applications in such a way as to be easily managed by the user. Users, especially young ones, prefer to directly control the robotic device and this aspect of usability has to be managed without affecting the security and efficiency of the navigation module. These aspects have been considered as specifications for the navigation module of powered wheelchairs. Different autonomy levels of the navigation module and proper user interfaces have been developed. Two autonomy levels have been designed. Simple collision avoidance is also implemented in order to stop the mobile base when an obstacle is detected. The preliminary technical tests performed on the navigation system have shown satisfactory results in terms of security and response time. A modular solution for the navigation module was considered in order to simplify the adaptation of the module to different powered wheelchairs.

  15. Concept of "One Window" Data Exchange System Fulfilling the Recommendation for e-Navigation System

    NASA Astrophysics Data System (ADS)

    Filipkowski, Damian; Wawruch, Ryszard

    The implementation in maritime radio-communication of so called "One window concept" for exchange of information between a ship and a port and coastal state authorities requires designation of one contact point on shore for these purposes, e.g. harbour master or ships' monitoring or traffic control centre. In Poland, as contact points regional and local centres of the Polish National Maritime Safety System will be designated. Paper describes the proposal for system of data exchange between a ship and a shore contact point, containing definition, functions and architecture of proposed system, possible directions of information flow and levels of access, fulfilling requirements of this concept and recommendation for e-navigation system developed on the basis of the International Maritime Organization (IMO) and International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA) working papers.

  16. An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots

    DTIC Science & Technology

    2006-04-01

    An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots E.B. Pacis, B. Sights, G. Ahuja, G. Kogut, H.R. Everett...TITLE AND SUBTITLE An Adaptive Localization System for Outdoor/Indoor Navigation for Autonomous Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c...demonstrated a series of collaborative behaviors of multiple autonomous robots in a force-protection scenario. Stand- alone sensors detected intruder

  17. Pilot-Assisted Inertial Navigation System Aiding Using Bearings-Only Measurements Taken Over Time

    DTIC Science & Technology

    2015-03-26

    PILOT-ASSISTED INERTIAL NAVIGATION SYSTEM AIDING USING BEARINGS -ONLY MEASUREMENTS TAKEN OVER TIME THESIS Anthony T. Mirabile, 1st Lieutenant, USAF...NAVIGATION SYSTEM AIDING USING BEARINGS -ONLY MEASUREMENTS TAKEN OVER TIME THESIS Presented to the Faculty Department of Electrical and Computer Engineering...USING BEARINGS -ONLY MEASUREMENTS TAKEN OVER TIME THESIS Anthony T. Mirabile, B.S.E.E. 1st Lieutenant, USAF Committee Membership: Dr. Meir Pacther Chair Dr

  18. Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

    DTIC Science & Technology

    1985-12-02

    8217[ C) ~OF ~ FEB 13 1986 J GYRO AND ACCELEROMETER BASED NAVIGATION SYSTEM FOR A MOBILE AUTONOMOUS ROBOT Roland J. Bloom William J. Ramey, Jr. Captain...ACCELEROMETER BASED NAVIGATION SYSTEM FOR A MOBILE AUTONOMOUS ROBOT THESIS Roland J. Bloom William J. Ramey, Jr. Captain, USAF Captain, USAF AF IT/GA/GE/ENG/85D...MOBILE AUTONOMOUS ROBOT THE SI S Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University In

  19. 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.

  20. Systeme de navigation hybride GPS/INS a faible cout pour la navigation robuste en environnement urbain

    NASA Astrophysics Data System (ADS)

    Lavoie, Philippe

    Les systemes de guidage actuellement utilises pour la navigation automobile sont principalement bases sur l'utilisation autonome d'un recepteur GPS. Ces systemes presentent neanmoins des pertes de performances importantes lorsqu'ils sont soumis a un environnement difficile. Afin de repondre a cette problematique, plusieurs auteurs proposent l'integration des systemes GPS et INS a l'interieur d'un seul systeme hybride. Toutefois, l'utilisation de capteurs inertiels a faible cout demeure encore aujourd'hui le principal obstacle a la commercialisation de ces systemes hybrides GPS/INS etant donne le manque de calibration ainsi que la nature hautement stochastique des erreurs de mesure de ces capteurs. Ce memoire propose la realisation d'un systeme de navigation hybride GPS/INS a faible cout pour la navigation robuste en environnement difficile. Les resultats obtenus demontrent que l'utilisation d'un tel modele permet d'ameliorer considerablement la stabilite de la solution de navigation en canyon urbain severe comparativement a l'utilisation autonome d'un recepteur GPS. Il a egalement ete demontre que la methode d'integration par couplage serre permettrait une diminution de l'ordre de 40% des erreurs de positionnement en environnement difficile comparativement a la methode d'integration par couplage lâche. Cet ouvrage propose egalement la mise en place d'une nouvelle approche pour la calibration des capteurs inertiels. Cette methode basee sur l'utilisation d'un filtre de Kalman etendu permet d'obtenir des performances equivalentes aux methodes iteratives classiques tout en facilitant l'implementation de la procedure de calibration a l'interieur d'un systeme temps reel. L'impact de la calibration des capteurs sur la solution de navigation a ete evalue et les resultats obtenus demontrent qu'une calibration adequate permettrait de reduire de plus de 50% les erreurs de positionnement, de vitesse et d'orientation en canyon urbain severe. Par la suite, une etude du

  1. SpaceNav - A high accuracy navigation system for space applications

    NASA Astrophysics Data System (ADS)

    Evers, H.-H.

    The technology of the SpaceNav-system is based on research performed by the Institute of Flight Guidance and Control at the Technical University of Braunschweig, Germany. In 1989 this institute gave the worlds first public demonstration of a fully automatic landing of an aircraft, using inertial and satellite informations exclusively. The SpaceNav device components are: Acceleration-/Gyro Sensor Package; Global Positioning System (GPS) Receiver/optional more than one; Time Reference Unit; CPU; Telemetry (optional); and Differential GPS (DGPS) Receiver (optional). The coupling of GPS receivers with inertial sensors provides an extremely accurate navigation data set in real time applications even in phases with high dynamic conditions. The update rate of this navigation information is up to 100 Hz with the same accuracy in 3D-position, velocity, acceleration, attitude and time. SpaceNav is an integrated navigation system, which operates according to the principle of combining the longterm stability and accuracy of GPS, and the high level of dynamic precision of conventional inertial navigation system (INS) strapdown systems. The system's design allows other aiding sensors e.g. GLONASS satellite navigation system, distance measuring equipment (DME), altimeter (radar and/or barometric), flux valve etc. to be connected, in order to increase the redundancy of the system. The advantage of such an upgraded system is the availability of more sensor information than necessary for a navigation solution. The resulting redundancy in range measurement allows real-time detection and identification of sensor signals that are incompatible with the other information. As a result you get Receiver Autonomous Integrity Monitoring (RAIM) as described in 'A Multi-Sensor Approach to Assuring GPS Integrity', presented by Alison Brown in the March/April 1990 issue of 'GPS World'. In this paper the author presents information about the principles of the Satellite Navigation System GPS, and

  2. Algorithms and logic for incorporating MLS back azimuth information into the NASA TCV B-737 airplane area navigation system

    NASA Technical Reports Server (NTRS)

    Knox, C. E.

    1979-01-01

    Navigation position estimates are based on range information form a randomly located DME and MLS back azimuth angular information. The MLS volmetric coverage checks are performed to ensure that proper navigation inputs are being utilized. These algorithms and volumetric checks were designed so that they could be added to most existing area navigation systems with minimum software modification.

  3. Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

    NASA Technical Reports Server (NTRS)

    Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. Wayne

    1991-01-01

    This paper describes the results of an integrated navigation and pointing system software development effort sponsored by the NASA MSFC through a SBIR Phase 2 Program. The integrated Global Positioning System (GPS)/Inertial Navigation System (INS) implements an autonomous navigation filter that is reconfigurable in real-time to accommodate mission contingencies. An onboard expert system monitors the spacecraft status and reconfigures the navigation filter accordingly, to optimize the system performance. The navigation filter is a multi-mode Kalman filter to estimate the spacecraft position, velocity, and attitude. Three different GPS-based attitude determination techniques, namely, velocity vector matching, attitude vector matching, and interferometric processing, are implemented to encompass different mission contingencies. The integrated GPS/INS navigation filter will use any of these techniques depending on the mission phase and the state of the sensors. The first technique, velocity vector matching, uses the GPS velocity measurement to estimate the INS velocity errors and exploits the correlation between INS velocity and attitude errors to estimate the attitude. The second technique, attitude vector matching, uses INS gyro measurements and GPS carrier phase (integrated Doppler) measurements during a spacecraft rotation maneuver to determine the attitude. Both of these techniques require only one GPS antenna onboard to determine the spacecraft attitude. The third technique, interferometric processing, requires use of multiple GPS antennae. In order to determine 3-axis body attitude, three GPS antennae (2 no-coplanor baselines) are required.

  4. An Adaptive Technique for a Redundant-Sensor Navigation System. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Chien, T. T.

    1972-01-01

    An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. The gyro navigation system is modeled as a Gauss-Markov process, with degradation modes defined as changes in characteristics specified by parameters associated with the model. The adaptive system is formulated as a multistage stochastic process: (1) a detection system, (2) an identification system and (3) a compensation system. It is shown that the sufficient statistics for the partially observable process in the detection and identification system is the posterior measure of the state of degradation, conditioned on the measurement history.

  5. 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

  6. Micro Navigator

    NASA Technical Reports Server (NTRS)

    Blaes, B. R.; Kia, T.; Chau, S. N.

    2001-01-01

    Miniature high-performance low-mass space avionics systems are desired for planned future outer planetary exploration missions (i.e. Europa Orbiter/Lander, Pluto-Kuiper Express). The spacecraft fuel and mass requirements enabling orbit insertion is the driving requirement. The Micro Navigator is an integrated autonomous Guidance, Navigation & Control (GN&C)micro-system that would provide the critical avionics function for navigation, pointing, and precision landing. The Micro Navigator hardware and software allow fusion of data from multiple sensors to provide a single integrated vehicle state vector necessary for six degrees of freedom GN&C. The benefits of this MicroNavigator include: 1) The Micro Navigator employs MEMS devices that promise orders of magnitude reductions in mass power and volume of inertial sensors (accelerometers and gyroscopes), celestial sensing devices (startracker, sun sensor), and computing element; 2) The highly integrated nature of the unit will reduce the cost of flight missions. a) The advanced miniaturization technologies employed by the Micro Navigator lend themselves to mass production, and therefore will reduce production cost of spacecraft. b) The integral approach simplifies interface issues associated with discrete components and reduces cost associated with integration and test of multiple components; and 3) The integration of sensors and processing elements into a single unit will allow the Micro Navigator to encapsulate attitude information and determination functions into a single object. This is particularly beneficial for object-oriented software architectures that are used in advanced spacecraft. Additional information is contained in the original extended abstract.

  7. Experimental determination of the navigation error of the 4-D navigation, guidance, and control systems on the NASA B-737 airplane

    NASA Technical Reports Server (NTRS)

    Knox, C. E.

    1978-01-01

    Navigation error data from these flights are presented in a format utilizing three independent axes - horizontal, vertical, and time. The navigation position estimate error term and the autopilot flight technical error term are combined to form the total navigation error in each axis. This method of error presentation allows comparisons to be made between other 2-, 3-, or 4-D navigation systems and allows experimental or theoretical determination of the navigation error terms. Position estimate error data are presented with the navigation system position estimate based on dual DME radio updates that are smoothed with inertial velocities, dual DME radio updates that are smoothed with true airspeed and magnetic heading, and inertial velocity updates only. The normal mode of navigation with dual DME updates that are smoothed with inertial velocities resulted in a mean error of 390 m with a standard deviation of 150 m in the horizontal axis; a mean error of 1.5 m low with a standard deviation of less than 11 m in the vertical axis; and a mean error as low as 252 m with a standard deviation of 123 m in the time axis.

  8. Application of a navigation system for contouring anatomical plasty of the distal end of the humerus.

    PubMed

    Ikeda, Masayoshi; Kobayashi, Yuka; Saito, Ikuo; Ishii, Takayuki; Shimizu, Ayuko; Oka, Yoshinori

    2012-01-01

    The effectiveness of navigation systems in performing accurate orthopaedic surgery has been reported previously, but there have been no reports on the application of navigation in surgeries involving bone resection around the elbow joint. In this study, anatomical plasty or bone resection was performed to restore anatomical morphology in 10 cases of osteoarthritis of the elbow and deformity of the distal end of the humerus. Bone resection was performed on the distal end of the humerus using navigation and on the proximal end of the ulna via freehand surgery. Postoperatively, the elbow function was evaluated and pre- and postoperative CT images were used to measure the bone resection. There were no complications arising from the use of navigation, and elbow function was improved in all cases. By evaluating the CT images, it was found that navigated resection of the fossae of the distal humerus was more effective than freehand resection of the processes of the proximal ulna, thus confirming the usefulness of navigation. In future, to fully confirm this finding, it will be necessary to conduct prospective controlled studies of cases in which navigation is used to perform arthroplasty, including those that involve the proximal end of the ulna.

  9. Application of a navigation system for contouring anatomical plasty of the distal end of the humerus

    PubMed Central

    Ikeda, Masayoshi; Kobayashi, Yuka; Saito, Ikuo; Ishii, Takayuki; Shimizu, Ayuko; Oka, Yoshinori

    2012-01-01

    The effectiveness of navigation systems in performing accurate orthopaedic surgery has been reported previously, but there have been no reports on the application of navigation in surgeries involving bone resection around the elbow joint. In this study, anatomical plasty or bone resection was performed to restore anatomical morphology in 10 cases of osteoarthritis of the elbow and deformity of the distal end of the humerus. Bone resection was performed on the distal end of the humerus using navigation and on the proximal end of the ulna via freehand surgery. Postoperatively, the elbow function was evaluated and pre- and postoperative CT images were used to measure the bone resection. There were no complications arising from the use of navigation, and elbow function was improved in all cases. By evaluating the CT images, it was found that navigated resection of the fossae of the distal humerus was more effective than freehand resection of the processes of the proximal ulna, thus confirming the usefulness of navigation. In future, to fully confirm this finding, it will be necessary to conduct prospective controlled studies of cases in which navigation is used to perform arthroplasty, including those that involve the proximal end of the ulna. PMID:22681497

  10. Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

    NASA Technical Reports Server (NTRS)

    Truong, S. H.; Hartman, K. R.; Weidow, D. A.; Berry, D. L.; Oza, D. H.; Long, A. C.; Joyce, E.; Steger, W. L.

    1996-01-01

    The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

  11. Gemma: a Generic, Extensible and Modular Multi-Sensor Navigation Analysis System

    NASA Astrophysics Data System (ADS)

    Navarro, J. A.; Parés, M. E.; Colomina, I.

    2016-06-01

    This paper presents the concept of an architecture for a system that helps researchers in the field of Geomatics to speed up their daily research on kinematic geodesy, navigation and positioning fields. The presented ideas correspond to an extensible and modular software system aimed at the development of new navigation and positioning algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system GEMMA is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms or model sensors needs to be taken into account. As a consequence, change poses a much smaller problem for CTTC's research activities is this specific area. This system includes several standalone tools that may be combined in different ways to accomplish various goals; that is, it may be used to perform a variety of tasks, as, for instance, (1) define positioning and navigation scenarios, (2) simulate different kinds of sensors, (3) validate new navigation algorithms or (4) evaluate the quality of an estimated navigation solution.

  12. A 3D Model Based Imdoor Navigation System for Hubei Provincial Museum

    NASA Astrophysics Data System (ADS)

    Xu, W.; Kruminaite, M.; Onrust, B.; Liu, H.; Xiong, Q.; Zlatanova, S.

    2013-11-01

    3D models are more powerful than 2D maps for indoor navigation in a complicate space like Hubei Provincial Museum because they can provide accurate descriptions of locations of indoor objects (e.g., doors, windows, tables) and context information of these objects. In addition, the 3D model is the preferred navigation environment by the user according to the survey. Therefore a 3D model based indoor navigation system is developed for Hubei Provincial Museum to guide the visitors of museum. The system consists of three layers: application, web service and navigation, which is built to support localization, navigation and visualization functions of the system. There are three main strengths of this system: it stores all data needed in one database and processes most calculations on the webserver which make the mobile client very lightweight, the network used for navigation is extracted semi-automatically and renewable, the graphic user interface (GUI), which is based on a game engine, has high performance of visualizing 3D model on a mobile display.

  13. The RMI Space Weather and Navigation Systems (SWANS) Project

    NASA Astrophysics Data System (ADS)

    Warnant, Rene; Lejeune, Sandrine; Wautelet, Gilles; Spits, Justine; Stegen, Koen; Stankov, Stan

    The SWANS (Space Weather and Navigation Systems) research and development project (http://swans.meteo.be) is an initiative of the Royal Meteorological Institute (RMI) under the auspices of the Belgian Solar-Terrestrial Centre of Excellence (STCE). The RMI SWANS objectives are: research on space weather and its effects on GNSS applications; permanent mon-itoring of the local/regional geomagnetic and ionospheric activity; and development/operation of relevant nowcast, forecast, and alert services to help professional GNSS/GALILEO users in mitigating space weather effects. Several SWANS developments have already been implemented and available for use. The K-LOGIC (Local Operational Geomagnetic Index K Calculation) system is a nowcast system based on a fully automated computer procedure for real-time digital magnetogram data acquisition, data screening, and calculating the local geomagnetic K index. Simultaneously, the planetary Kp index is estimated from solar wind measurements, thus adding to the service reliability and providing forecast capabilities as well. A novel hybrid empirical model, based on these ground-and space-based observations, has been implemented for nowcasting and forecasting the geomagnetic index, issuing also alerts whenever storm-level activity is indicated. A very important feature of the nowcast/forecast system is the strict control on the data input and processing, allowing for an immediate assessment of the output quality. The purpose of the LIEDR (Local Ionospheric Electron Density Reconstruction) system is to acquire and process data from simultaneous ground-based GNSS TEC and digital ionosonde measurements, and subsequently to deduce the vertical electron density distribution. A key module is the real-time estimation of the ionospheric slab thickness, offering additional infor-mation on the local ionospheric dynamics. The RTK (Real Time Kinematic) status mapping provides a quick look at the small-scale ionospheric effects on the RTK

  14. Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

    NASA Technical Reports Server (NTRS)

    Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.; Carpenter, J. Russell; Long, Anne C.; Farahmand, Mitra

    2016-01-01

    NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMSis achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

  15. Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

    NASA Technical Reports Server (NTRS)

    Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.; Carpenter, J. Russell; Long, Anne C.; Farahmand, Mitra

    2016-01-01

    NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMS is achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

  16. Applications of different design methodologies in navigation systems and development at JPL

    NASA Technical Reports Server (NTRS)

    Thurman, S. W.

    1990-01-01

    The NASA/JPL deep space navigation system consists of a complex array of measurement systems, data processing systems, and support facilities, with components located both on the ground and on-board interplanetary spacecraft. From its beginings nearly 30 years ago, this system has steadily evolved and grown to meet the demands for ever-increasing navigation accuracy placed on it by a succession of unmanned planetary missions. Principal characteristics of this system are its capabilities and great complexity. Three examples in the design and development of interplanetary space navigation systems are examined in order to make a brief assessment of the usefulness of three basic design theories, known as normative, rational, and heuristic. Evaluation of the examples indicates that a heuristic approach, coupled with rational-based mathematical and computational analysis methods, is used most often in problems such as orbit determination strategy development and mission navigation system design, while normative methods have seen only limited use is such applications as the development of large software systems and in the design of certain operational navigation subsystems.

  17. 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

  18. An Automomous Optical Navigation and Control System for Interplanetary Exploration Missions

    NASA Technical Reports Server (NTRS)

    Riedel, J. E.; Bhaskaran, S.; Synnott, S. P.; Bollman, W. E.; Null, G. W.

    1996-01-01

    The first fully autonomous deep-space navigation system ever implemented is planned to guide the New Millenium Deep Space-1 mission to an asteroid and comet beginning in mid-1998. This system is based to a large extent on Optical Navigation (OPNAV) technology developed for the NASA/JPL interplanetary exploration probes Voyager and Galileo. This paper describes the structure and algorithmic content of the Autonomous OPNAV system. The system has several major autonomous functions: picture planning, image analysis, orbit determination, manuever design and general interaction with other onboard autonomous systems.

  19. Pedestrian tracking and navigation using an adaptive knowledge system based on neural networks

    NASA Astrophysics Data System (ADS)

    Grejner-Brzezinska, Dorota A.; Toth, Charles; Moafipoor, Shahram

    2007-11-01

    The primary objective of the research presented here is to develop theoretical foundations and implementation algorithms, which integrate the Global Positioning System (GPS), micro-electromechanical inertial measurement unit (MEMS IMU), digital barometer, electronic compass, and human pedometry to provide navigation and tracking of military and rescue ground personnel. This paper discusses the design, implementation and the performance analyses of the personal navigator prototype, with a special emphasis on dead-reckoning (DR) navigation supported by the human locomotion model. The adaptive knowledge system, based on the Artificial Neural Networks (ANN), is implemented to support this functionality. The knowledge system is trained during the GPS signal reception and is used to support navigation under GPS-denied conditions. The human locomotion parameters, step frequency (SF) and step length (SL), are extracted from GPS-timed impact switches (step frequency) and GPS/IMU data (step length), respectively, during the system calibration period. SL is correlated with several data types, such as acceleration, acceleration variation, SF, terrain slope, etc. that constitute the input parameters to the ANN-based knowledge system. The ANN-predicted SL, together with the heading information from the compass and gyro, support DR navigation. The current target accuracy of the system is 3-5 m CEP (circular error probable) 50%.

  20. Development and clinical application of surgical navigation system for laparoscopic hepatectomy

    NASA Astrophysics Data System (ADS)

    Hayashi, Yuichiro; Igami, Tsuyoshi; Hirose, Tomoaki; Nagino, Masato; Mori, Kensaku

    2015-03-01

    This paper describes a surgical navigation system for laparoscopic surgery and its application to laparoscopic hepatectomy. The proposed surgical navigation system presents virtual laparoscopic views using a 3D positional tracker and preoperative CT images. We use an electromagnetic tracker for obtaining positional information of a laparoscope and a forceps. The point-pair matching registration method is performed for aligning coordinate systems between the 3D positional tracker and the CT images. Virtual laparoscopic views corresponding to the laparoscope position are generated from the obtained positional information, the registration results, and the CT images using a volume rendering method. We performed surgical navigation using the proposed system during laparoscopic hepatectomy for fourteen cases. The proposed system could generate virtual laparoscopic views in synchronization with the laparoscope position during surgery.

  1. The cerebellum: a new key structure in the navigation system

    PubMed Central

    Rochefort, Christelle; Lefort, Julie M.; Rondi-Reig, Laure

    2013-01-01

    Early investigations of cerebellar function focused on motor learning, in particular on eyeblink conditioning and adaptation of the vestibulo-ocular reflex, and led to the general view that cerebellar long-term depression (LTD) at parallel fiber (PF)–Purkinje cell (PC) synapses is the neural correlate of cerebellar motor learning. Thereafter, while the full complexity of cerebellar plasticities was being unraveled, cerebellar involvement in more cognitive tasks—including spatial navigation—was further investigated. However, cerebellar implication in spatial navigation remains a matter of debate because motor deficits frequently associated with cerebellar damage often prevent the dissociation between its role in spatial cognition from its implication in motor function. Here, we review recent findings from behavioral and electrophysiological analyses of cerebellar mutant mouse models, which show that the cerebellum might participate in the construction of hippocampal spatial representation map (i.e., place cells) and thereby in goal-directed navigation. These recent advances in cerebellar research point toward a model in which computation from the cerebellum could be required for spatial representation and would involve the integration of multi-source self-motion information to: (1) transform the reference frame of vestibular signals and (2) distinguish between self- and externally-generated vestibular signals. We eventually present herein anatomical and functional connectivity data supporting a cerebello-hippocampal interaction. Whilst a direct cerebello-hippocampal projection has been suggested, recent investigations rather favor a multi-synaptic pathway involving posterior parietal and retrosplenial cortices, two regions critically involved in spatial navigation. PMID:23493515

  2. Outside Looking In: Landmark Generalization in the Human Navigational System

    PubMed Central

    Vass, Lindsay K.; Ryan, Jack; Epstein, Russell A.

    2015-01-01

    The use of landmarks is central to many navigational strategies. Here we use multivoxel pattern analysis of fMRI data to understand how landmarks are coded in the human brain. Subjects were scanned while viewing the interiors and exteriors of campus buildings. Despite their visual dissimilarity, interiors and exteriors corresponding to the same building elicited similar activity patterns in the parahippocampal place area (PPA), retrosplenial complex (RSC), and occipital place area (OPA), three regions known to respond strongly to scenes and buildings. Generalization across stimuli depended on knowing the correspondences among them in the PPA but not in the other two regions, suggesting that the PPA is the key region involved in learning the different perceptual instantiations of a landmark. In contrast, generalization depended on the ability to freely retrieve information from memory in RSC, and it did not depend on familiarity or cognitive task in OPA. Together, these results suggest a tripartite division of labor, whereby PPA codes landmark identity, RSC retrieves spatial or conceptual information associated with landmarks, and OPA processes visual features that are important for landmark recognition. SIGNIFICANCE STATEMENT A central element of spatial navigation is the ability to recognize the landmarks that mark different places in the world. However, little is known about how the brain performs this function. Here we show that the parahippocampal place area (PPA), a region in human occipitotemporal cortex, exhibits key features of a landmark recognition mechanism. Specifically, the PPA treats different perceptual instantiations of the same landmark as representationally similar, but only when subjects have enough experience to know the correspondences among the stimuli. We also identify two other brain regions that exhibit landmark generalization, but with less sensitivity to familiarity. These results elucidate the brain networks involved in the learning and

  3. Combined Global Navigation Satellite Systems in the Space Service Volume

    NASA Technical Reports Server (NTRS)

    Force, Dale A.; Miller, James J.

    2013-01-01

    Besides providing position, velocity, and timing (PVT) for terrestrial users, the Global Positioning System (GPS) is also being used to provide PVT information for earth orbiting satellites. In 2006, F. H. Bauer, et. al., defined the Space Service Volume in the paper GPS in the Space Service Volume , presented at ION s 19th international Technical Meeting of the Satellite Division, and looked at GPS coverage for orbiting satellites. With GLONASS already operational, and the first satellites of the Galileo and Beidou/COMPASS constellations already in orbit, it is time to look at the use of the new Global Navigation Satellite Systems (GNSS) coming into service to provide PVT information for earth orbiting satellites. This presentation extends GPS in the Space Service Volume by examining the coverage capability of combinations of the new constellations with GPS GPS was first explored as a system for refining the position, velocity, and timing of other spacecraft equipped with GPS receivers in the early eighties. Because of this, a new GPS utility developed beyond the original purpose of providing position, velocity, and timing services for land, maritime, and aerial applications. GPS signals are now received and processed by spacecraft both above and below the GPS constellation, including signals that spill over the limb of the earth. Support of GPS space applications is now part of the system plan for GPS, and support of the Space Service Volume by other GNSS providers has been proposed to the UN International Committee on GNSS (ICG). GPS has been demonstrated to provide decimeter level position accuracy in real-time for satellites in low Earth orbit (centimeter level in non-real-time applications). GPS has been proven useful for satellites in geosynchronous orbit, and also for satellites in highly elliptical orbits. Depending on how many satellites are in view, one can keep time locked to the GNSS standard, and through that to Universal Time as long as at least one

  4. A new systematic calibration method of ring laser gyroscope inertial navigation system

    NASA Astrophysics Data System (ADS)

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

    2016-10-01

    Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. 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 theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.

  5. 76 FR 50808 - Airborne Supplemental Navigation Equipment Using the Global Positioning System (GPS)

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-08-16

    ... standard for GPS sensors not augmented by satellite-based or ground- based systems (i.e., TSO-C129a Class B and Class C). The FAA has also published two GPS TSOs augmented by the satellite-based augmentation system (TSO-C145c, Airborne Navigation Sensors Using the Global Positioning System Augmented by...

  6. A self-calibration method for tri-axis rotational inertial navigation system

    NASA Astrophysics Data System (ADS)

    Gao, Pengyu; Li, Kui; Wang, Lei; Liu, Zengjun

    2016-11-01

    The navigation accuracy of the rotational inertial navigation system (RINS) could be greatly improved by periodically rotating the inertial measurement unit (IMU) with gimbals. However, error parameters in RINS should be effectively calibrated and compensated. In this paper, a self-calibration method is proposed for tri-axis RINS using attitude errors and velocity errors as measurements. The proposed calibration scheme is designed as three separate steps, and a certain gimbal rotates continuously in each step. All the error parameters in the RINS are calibrated when the whole scheme finishes. The separate calibration steps reduce the correlations between error parameters, and the observability of errors in this method is clear to demonstrate according to the relations between navigation errors and error parameters when gimbals rotate. Each calibration step only lasts 12 min, thus gyro drifts and accelerometers biases could be regarded as constant. The proposed calibration scheme is tested in both simulation and actual tri-axis RINS, and simulation and experimental results show that all 23 error parameters could be well estimated in tri-axis RINS. A long-term vehicle navigation experiment results show that after calibration and compensation, the navigation performance has doubled approximately, and the velocity accuracy is less than 2 m s-1 while the position accuracy is less than 1500 m, fully illustrating the significance of the proposed self-calibration method in improving the navigation performance of RINS.

  7. Preface: BeiDou Navigation Satellite System (BDS)/GNSS+: Recent progress and new applications

    NASA Astrophysics Data System (ADS)

    Jin, Shuanggen

    2017-02-01

    Nowadays, the new China's BeiDou Navigation Satellite System (BDS) has been developed well. At the end of 2016, over 23 BDS satellites were launched, including five geostationary Earth orbit (GEO) satellites, five inclined geosynchronous orbit (IGSO) satellites and nine medium Earth orbit (MEO) satellites. The current BDS service covers China and most Asia-Pacific regions with accuracy of better than 10 m in positioning, 0.2 m/s in velocity and 50 ns in timing. The BDS with global coverage will be completely established by 2020 with five GEO satellites and 30 MEO satellites. The main function of BDS is the positioning, navigation and timing (PNT) as well as short message communications. Together with the United States' GPS, Russia's GLONASS and the European Union's Galileo system as well as other regional augmentation systems, more new applications of multi-Global Navigation Satellite Systems (GNSS) will be exploited and realized in the next decades.

  8. ARTSN: An Automated Real-Time Spacecraft Navigation System

    NASA Technical Reports Server (NTRS)

    Burkhart, P. Daniel; Pollmeier, Vincent M.

    1996-01-01

    As part of the Deep Space Network (DSN) advanced technology program an effort is underway to design a filter to automate the deep space navigation process.The automated real-time spacecraft navigation (ARTSN) filter task is based on a prototype consisting of a FORTRAN77 package operating on an HP-9000/700 workstation running HP-UX 9.05. This will be converted to C, and maintained as the operational version. The processing tasks required are: (1) read a measurement, (2) integrate the spacecraft state to the current measurement time, (3) compute the observable based on the integrated state, and (4) incorporate the measurement information into the state using an extended Kalman filter. This filter processes radiometric data collected by the DSN. The dynamic (force) models currently include point mass gravitational terms for all planets, the Sun and Moon, solar radiation pressure, finite maneuvers, and attitude maintenance activity modeled quadratically. In addition, observable errors due to troposphere are included. Further data types, force and observable models will be ncluded to enhance the accuracy of the models and the capability of the package. The heart of the ARSTSN is a currently available continuous-discrete extended Kalman filter. Simulated data used to test the implementation at various stages of development and the results from processing actual mission data are presented.

  9. 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.

  10. Preliminary Operational Results of the TDRSS Onboard Navigation System (TONS) for the Terra Mission

    NASA Technical Reports Server (NTRS)

    Gramling, Cheryl; Lorah, John; Santoro, Ernest; Work, Kevin; Chambers, Robert; Bauer, Frank H. (Technical Monitor)

    2000-01-01

    The Earth Observing System Terra spacecraft was launched on December 18, 1999, to provide data for the characterization of the terrestrial and oceanic surfaces, clouds, radiation, aerosols, and radiative balance. The Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (ONS) (TONS) flying on Terra provides the spacecraft with an operational real-time navigation solution. TONS is a passive system that makes judicious use of Terra's communication and computer subsystems. An objective of the ONS developed by NASA's Goddard Space Flight Center (GSFC) Guidance, Navigation and Control Center is to provide autonomous navigation with minimal power, weight, and volume impact on the user spacecraft. TONS relies on extracting tracking measurements onboard from a TDRSS forward-link communication signal and processing these measurements in an onboard extended Kalman filter to estimate Terra's current state. Terra is the first NASA low Earth orbiting mission to fly autonomous navigation which produces accurate results. The science orbital accuracy requirements for Terra are 150 meters (m) (3sigma) per axis with a goal of 5m (1 sigma) RSS which TONS is expected to meet. The TONS solutions are telemetered in real-time to the mission scientists along with their science data for immediate processing. Once set in the operational mode, TONS eliminates the need for ground orbit determination and allows for a smooth flow from the spacecraft telemetry to planning products for the mission team. This paper will present the preliminary results of the operational TONS solution available from Terra.

  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. An Approach for Indoor Wayfinding Replicating Main Principles of AN Outdoor Navigation System for Cyclists

    NASA Astrophysics Data System (ADS)

    Makri, A.; Zlatanova, S.; Verbree, E.

    2015-05-01

    This work presents an approach to enhance navigation in indoor environments based on a landmark concept. It has already been proved by empirical research that by using landmarks the wayfinding task can be significantly simplified. Navigation based on landmarks relies on the presence of landmarks at each point along a route where wayfinders might need assistance. The approach presented here is based on the Dutch system for navigation of cyclists. The landmarks that are used in the proposed approach are special signposts containing the necessary directional information in order to guide the wayfinder in the space. The system is quite simple, efficient and satisfactory in providing navigational assistance in indoor space. An important contribution of this research is the generation of an approach to automatically determine the decision points in indoor environments, which makes it possible to apply it to navigational assistance systems in any building. The proposed system is verified by placing numbered landmark-signs in a specific building. Several tests are performed and the results are analysed. The findings of the experiment are very promising, showing that participants reach the destinations without detours.

  13. Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

    NASA Technical Reports Server (NTRS)

    Shoemaker, Michael A.; Wright, Cinnamon; Liounis, Andrew J.; Getzandanner, Kenneth M.; Van Eepoel, John M.; DeWeese, Keith D.

    2016-01-01

    This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereo-photoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

  14. Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

    NASA Technical Reports Server (NTRS)

    Shoemaker, Michael; Wright, Cinnamon; Liounis, Andrew; Getzandanner, Kenneth; Van Eepoel, John; Deweese, Keith

    2016-01-01

    This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereophotoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

  15. Solar Dynamics Observatory Guidance, Navigation, and Control System Overview

    NASA Technical Reports Server (NTRS)

    Morgenstern, Wendy M.; Bourkland, Kristin L.; Hsu, Oscar C.; Liu, Kuo-Chia; Mason, Paul A. C.; O'Donnell, James R., Jr.; Russo, Angela M.; Starin, Scott R.; Vess, Melissa F.

    2011-01-01

    The Solar Dynamics Observatory (SDO) was designed and built at the Goddard Space Flight Center, launched from Cape Canaveral on February 11, 2010, and reached its final geosynchronous science orbit on March 16, 2010. The purpose of SDO is to observe the Sun and continuously relay data to a dedicated ground station. SDO remains Sun-pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system (ACS) is a single-fault tolerant design. Its fully redundant attitude sensor complement includes sixteen coarse Sun sensors (CSSs), a digital Sun sensor (DSS), three two-axis inertial reference units (IRUs), and two star trackers (STs). The ACS also makes use of the four guide telescopes included as a part of one of the science instruments. Attitude actuation is performed using four reaction wheels assemblies (RWAs) and eight thrusters, with a single main engine used to provide velocity-change thrust for orbit raising. The attitude control software has five nominal control modes, three wheel-based modes and two thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. This paper details the final overall design of the SDO guidance, navigation, and control (GN&C) system and how it was used in practice during SDO launch, commissioning, and nominal operations. This overview will include the ACS control modes, attitude determination and sensor calibration, the high gain antenna (HGA) calibration, and jitter mitigation operation. The Solar Dynamics Observatory mission is part of the NASA Living With a Star program, which seeks to understand the changing Sun and its effects on the Solar System, life, and society. To this end, the SDO spacecraft carries three Sun

  16. A weighted combination filter with nonholonomic constrains for integrated navigation systems

    NASA Astrophysics Data System (ADS)

    Guo, Hang; Guo, Junge; Yu, Min; Hong, Haibin; Xiong, Jian; Tian, Baolian

    2015-03-01

    To meet the requirements of higher accuracy and stability of integrated navigation system, this paper applied Sage-Husa adaptive Kalman filter with nonholonomic constraints and forward/backward filtering to IMU/GPS integrated system, and the results of the forward and backward filtering are weighted and combined. A weighted combination filter is proposed in this paper, and which has been used in post-processing to improve MEMS IMU/GPS accuracy. Through the car navigation experiment, data set has been processed by four filtering algorithms. By means of comparing the four results, the method proposed for the vehicle integrated navigation system achieved the best accuracy with standard deviations of latitude = 1.03 m, longitude = 1.31 m, and heading angle = 0.84 deg°, which demonstrated the advantages of the new method.

  17. An Evaluation of the Increase in the Quality and Quantity of Navigational Information Available from Low-Frequency Radio Navigation Systems

    NASA Astrophysics Data System (ADS)

    Filin, Victor

    Low frequency radio navigation systems continue to play an important role in the provision of precise navigation for vessels sailing in coastal waters, and in other zones requiring high accuracy. Modernization of the existing Loran C chains, and deployment of new ones, shows there is strong interest in these systems despite the appearance of global navigation satellite systems (GNSS) such as 'Navstar' and 'Glonass'. This continuation of interest is connected to the relatively low cost of operation of the systems, the low cost of receiver-indicators and the need to provide users with very precise but reliable positioning information, which at present can only be obtained by joint use of GNSS and Loran C. To make the most of such an approach, Loran C should provide accuracy and reliability similar to GNSS.

  18. Bioinspired polarization navigation sensor for autonomous munitions systems

    NASA Astrophysics Data System (ADS)

    Giakos, G. C.; Quang, T.; Farrahi, T.; Deshpande, A.; Narayan, C.; Shrestha, S.; Li, Y.; Agarwal, M.

    2013-05-01

    Small unmanned aerial vehicles UAVs (SUAVs), micro air vehicles (MAVs), Automated Target Recognition (ATR), and munitions guidance, require extreme operational agility and robustness which can be partially offset by efficient bioinspired imaging sensor designs capable to provide enhanced guidance, navigation and control capabilities (GNC). Bioinspired-based imaging technology can be proved useful either for long-distance surveillance of targets in a cluttered environment, or at close distances limited by space surroundings and obstructions. The purpose of this study is to explore the phenomenology of image formation by different insect eye architectures, which would directly benefit the areas of defense and security, on the following four distinct areas: a) fabrication of the bioinspired sensor b) optical architecture, c) topology, and d) artificial intelligence. The outcome of this study indicates that bioinspired imaging can impact the areas of defense and security significantly by dedicated designs fitting into different combat scenarios and applications.

  19. 6TH Saint Petersburg International Conference on Integrated Navigation Systems. (6eme Conference Internationale de Saint Petersbourg sur les Systemes de Navigation Integree)

    DTIC Science & Technology

    1999-10-01

    cost , integrated inertia/DGPS system, in development for flight testing, was described. Simulation results were presented using real flight data. Flight...test on an agile aircraft of a GPS receiver in differential mode were commented on. A low cost inertia/GPS/GLONASS preliminary project for civil...Experience 16 by O.S. Salychev, V.V. Voronov and V.V. Lulianov Low Cost Strapdown Inertial/GPS Integrated Navigation for Flight Test Requirements 17

  20. Designing a wearable navigation system for image-guided cancer resection surgery.

    PubMed

    Shao, Pengfei; Ding, Houzhu; Wang, Jinkun; Liu, Peng; Ling, Qiang; Chen, Jiayu; Xu, Junbin; Zhang, Shiwu; Xu, Ronald

    2014-11-01

    A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer through a USB port. In the Google glass mode, a wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A software program is written in Python to call OpenCV functions for image calibration, co-registration, fusion, and display with augmented reality. The imaging performance of the surgical navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex vivo tissue model. Surgical margins identified by the wearable navigation system are co-incident with those acquired by a standard small animal imaging system, indicating the technical feasibility for intraoperative surgical margin detection. The proposed surgical navigation system combines the sensitivity and specificity of a fluorescence imaging system and the mobility of a wearable goggle. It can be potentially used by a surgeon to identify the residual tumor foci and reduce the risk of recurrent diseases without interfering with the regular resection procedure.

  1. An Analysis of CONUS Based Deployment of Pseudolites for Positioning, Navigation and Timing (PNT) Systems

    DTIC Science & Technology

    2015-09-17

    AFIT-ENV-MS-15-S-37 Abstract The Global Positioning System (GPS) developed and operated by the United States Air Force (USAF) provides a way...8 Global ... Global Positioning System (GPS) is one of the more recent technologies for navigation and timing. GPS began development in 1973 as a solution to the

  2. Optimum complex processing of informative and measuring signals of navigation systems

    NASA Astrophysics Data System (ADS)

    Marciszel, Jan

    A version of the optimum complex processing of the signals of a two-channel measuring system with delay in one of the channels based on Wiener's filtration is proposed. Also a correction for Doppler-course counting is presented which is based on hyperbolic radio navigation sets using a Kalman filter included into the error compensation system.

  3. The Odd Man Out: How Fathers Navigate the Special Education System

    ERIC Educational Resources Information Center

    Mueller, Tracy Gershwin; Buckley, Pamela C.

    2014-01-01

    Research about parent experiences with the special education system is largely dominated by the perspectives of mothers. Using purposeful sampling techniques, we interviewed 20 active fathers about their experiences navigating the special education system. All the fathers described three primary roles they experienced, including acting as a…

  4. Geophysical flight line flying and flight path recovery utilizing the Litton LTN-76 inertial navigation system

    SciTech Connect

    Mitkus, A.F.; Cater, D.; Farmer, P.F.; Gay, S.P. Jr.

    1981-11-01

    The Litton LTN-76 Inertial Navigation Systems (INS) with Inertial Track guidance System (ITGS) software is geared toward the airborne survey industry. This report is a summary of tests performed with the LTN-76 designed to fly an airborne geophysical survey as well as to recover the subsequent flight path utilizing INS derived coordinates.

  5. Designing a wearable navigation system for image-guided cancer resection surgery

    PubMed Central

    Shao, Pengfei; Ding, Houzhu; Wang, Jinkun; Liu, Peng; Ling, Qiang; Chen, Jiayu; Xu, Junbin; Zhang, Shiwu; Xu, Ronald

    2015-01-01

    A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer through a USB port. In the Google glass mode, a wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A software program is written in Python to call OpenCV functions for image calibration, co-registration, fusion, and display with augmented reality. The imaging performance of the surgical navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex vivo tissue model. Surgical margins identified by the wearable navigation system are co-incident with those acquired by a standard small animal imaging system, indicating the technical feasibility for intraoperative surgical margin detection. The proposed surgical navigation system combines the sensitivity and specificity of a fluorescence imaging system and the mobility of a wearable goggle. It can be potentially used by a surgeon to identify the residual tumor foci and reduce the risk of recurrent diseases without interfering with the regular resection procedure. PMID:24980159

  6. Cadaveric in-situ testing of optical coherence tomography system-based skull base surgery guidance

    NASA Astrophysics Data System (ADS)

    Sun, Cuiru; Khan, Osaama H.; Siegler, Peter; Jivraj, Jamil; Wong, Ronnie; Yang, Victor X. D.

    2015-03-01

    Optical Coherence Tomography (OCT) has extensive potential for producing clinical impact in the field of neurological diseases. A neurosurgical OCT hand-held forward viewing probe in Bayonet shape has been developed. In this study, we test the feasibility of integrating this imaging probe with modern navigation technology for guidance and monitoring of skull base surgery. Cadaver heads were used to simulate relevant surgical approaches for treatment of sellar, parasellar and skull base pathology. A high-resolution 3D CT scan was performed on the cadaver head to provide baseline data for navigation. The cadaver head was mounted on existing 3- or 4-point fixation systems. Tracking markers were attached to the OCT probe and the surgeon-probe-OCT interface was calibrated. 2D OCT images were shown in real time together with the optical tracking images to the surgeon during surgery. The intraoperative video and multimodality imaging data set, consisting of real time OCT images, OCT probe location registered to neurosurgical navigation were assessed. The integration of intraoperative OCT imaging with navigation technology provides the surgeon with updated image information, which is important to deal with tissue shifts and deformations during surgery. Preliminary results demonstrate that the clinical neurosurgical navigation system can provide the hand held OCT probe gross anatomical localization. The near-histological imaging resolution of intraoperative OCT can improve the identification of microstructural/morphology differences. The OCT imaging data, combined with the neurosurgical navigation tracking has the potential to improve image interpretation, precision and accuracy of the therapeutic procedure.

  7. 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.

  8. A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems.

    PubMed

    Ran, Changyan; Cheng, Xianghong

    2016-09-02

    This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method.

  9. A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems

    PubMed Central

    Ran, Changyan; Cheng, Xianghong

    2016-01-01

    This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method. PMID:27598169

  10. Real-Time Orbit Determination for Future Korean Regional Navigation Satellite System

    NASA Astrophysics Data System (ADS)

    Shin, Kihae; Oh, Hyungjik; Park, Sang-Young; Park, Chandeok

    2016-03-01

    This paper presents an algorithm for Real-Time Orbit Determination (RTOD) of navigation satellites for the Korean Regional Navigation Satellite System (KRNSS), when the navigation satellites generate ephemeris by themselves in abnormal situations. The KRNSS is an independent Regional Navigation Satellite System (RNSS) that is currently within the basic/preliminary research phase, which is intended to provide a satellite navigation service for South Korea and neighboring countries. Its candidate constellation comprises three geostationary and four elliptical inclined geosynchronous orbit satellites. Relative distance ranging between the KRNSS satellites based on Inter-Satellite Ranging (ISR) is adopted as the observation model. The extended Kalman filter is used for real-time estimation, which includes fine-tuning the covariance, measurement noise, and process noise matrices. Simulation results show that ISR precision of 0.3-0.7 m, ranging capability of 65,000 km, and observation intervals of less than 20 min are required to accomplish RTOD accuracy to within 1 m. Furthermore, close correlation is confirmed between the dilution of precision and RTOD accuracy.

  11. Colonoscope navigation system using colonoscope tracking method based on line registration

    NASA Astrophysics Data System (ADS)

    Oda, Masahiro; Kondo, Hiroaki; Kitasaka, Takayuki; Furukawa, Kazuhiro; Miyahara, Ryoji; Hirooka, Yoshiki; Goto, Hidemi; Navab, Nassir; Mori, Kensaku

    2014-03-01

    This paper presents a new colonoscope navigation system. CT colonography is utilized for colon diagnosis based on CT images. If polyps are found while CT colonography, colonoscopic polypectomy can be performed to remove them. While performing a colonoscopic examination, a physician controls colonoscope based on his/her experience. Inexperienced physicians may occur complications such as colon perforation while colonoscopic examinations. To reduce complications, a navigation system of colonoscope while performing the colonoscopic examinations is necessary. We propose a colonoscope navigation system. This system has a new colonoscope tracking method. This method obtains a colon centerline from a CT volume of a patient. A curved line (colonoscope line) representing the shape of colonoscope inserted to the colon is obtained by using electromagnetic sensors. A coordinate system registration process that employs the ICP algorithm is performed to register the CT and sensor coordinate systems. The colon centerline and colonoscope line are registered by using a line registration method. The position of the colonoscope tip in the colon is obtained from the line registration result. Our colonoscope navigation system displays virtual colonoscopic views generated from the CT volumes. A viewpoint of the virtual colonoscopic view is a point on the centerline that corresponds to the colonoscope tip. Experimental results using a colon phantom showed that the proposed colonoscope tracking method can track the colonoscope tip with small tracking errors.

  12. Long-term evolution of the inclined geosynchronous orbit in Beidou Navigation Satellite System

    NASA Astrophysics Data System (ADS)

    Tang, Jingshi; Hou, Xiyun; Liu, Lin

    2017-02-01

    China's Beidou Navigation Satellite System (BDS), unlike other navigation satellite systems, uses several inclined geosynchronous orbits (IGSO) to enhance the accuracy of regional or global navigation. In order to maintain a safe space environment in the vicinity of its operational orbit, it is necessary that the decommissioned satellites be well disposed of. To understand the underlying dynamics that affect the BDS IGSO, we study this problem from two aspects. In this paper, we first theoretically analyze the problem using the simplified models with 1 and 2 degrees of freedoms (1-/2-dof). Then we extensively investigate the numerically propagated orbits for 200 and 1000 years, applying the results from these simplified models and seeking proper explanations for the underlying dynamics. We especially focus on the eccentricity evolution, which is a major concern regarding the collision hazard. We expect to understand the underlying dynamics governing the long-term evolution of BDS IGSO and gain helpful insight into future disposal strategies.

  13. Autonomous Rubidium Clock Weak Frequency Jump Detector for Onboard Navigation Satellite System.

    PubMed

    Khare, Akshay; Arora, Rajat; Banik, Alak; Mehta, Sanjay D

    2016-02-01

    Frequency jumps are common in rubidium frequency sources. They affect the estimation of user position in navigational satellite systems. These jumps must be detected and corrected immediately as they have direct impact on the navigation system integrity. A novel weak frequency jump detector is proposed based on a Kalman filter with a multi-interval approach. This detector can be applied for both "sudden" and "slow" frequency transitions. In this detection method, noises of clock data are reduced by Kalman filtering, for accurate estimation of jump size with less latency. Analysis on in-orbit rubidium atomic frequency standard (RAFS) phase telemetry data shows that the detector can be used for fast detection and correction of weak frequency jumps. Furthermore, performance comparison of different existing frequency jump detection techniques with the proposed detector is discussed. A multialgorithm-based strategy is proposed depending on the jump size and latency for onboard navigation satellites having RAFS as the primary frequency source.

  14. Spiral approach navigation concepts for VTOL aircraft using a microwave landing system

    NASA Technical Reports Server (NTRS)

    Mcgee, L. A.

    1977-01-01

    Spiral approaches adjacent to the active runways of CTOL airports have been proposed as a means of effectively interfacing CTOL and VTOL landing operations. Assuming an airport equipped with a Microwave Landing System (MLS), a VTOL aircraft following a spiral approach path might, depending on the specific trajectory, pass alternatively in and out of the linear coverage of the MLS and thereby suffer degraded navigation performance. The objective of this study was to employ essentially state-of-the-art aided inertial navigation concepts to explore the expected navigation performance operating in the environment just described. Results show that aided inertial concepts utilizing simple body-mounted inertia systems may be adequate for an instrument landing if the MLS azimuth and Distance Measuring Equipment (DME) signal coverages extend to within a few feet of the ground.

  15. 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

  16. Monitoring Capabilities of a Mobile Mapping System Based on Navigation Qualities

    NASA Astrophysics Data System (ADS)

    Jing, H.; Slatcher, N.; Meng, X.; Hunter, G.

    2016-06-01

    Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner's performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

  17. Application of Precision Navigator System in Sandy Hook Channel under Conditions of Degraded Aids-to-Navigation.

    DTIC Science & Technology

    1985-11-01

    Displays Navigation Human Factors Ship Controllability Simulation -. 17b Identifiera/Open-Ended Items Pre-nav 4- 4 17c. COSATI FieldlGroup I -. 1. Avail...3.5.2 Visual With Precision Navigator Mode ..... ..... 3-5 3.6 Human Factors .. ........ ...................... 3-6 3.7 Conclusions... fracks , Visual -uiy ooe . ............ ...... .. . . .. -i through L’ - 1 6 Data Plots of ’vessei Yttcks, Precision iavigator N; ode

  18. Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm

    PubMed Central

    Lu, Hao; Zhao, Kaichun; Wang, Xiaochu; You, Zheng; Huang, Kaoli

    2016-01-01

    Bio-inspired imaging polarization navigation which can provide navigation information and is capable of sensing polarization information has advantages of high-precision and anti-interference over polarization navigation sensors that use photodiodes. Although all types of imaging polarimeters exist, they may not qualify for the research on the imaging polarization navigation algorithm. To verify the algorithm, a real-time imaging orientation determination system was designed and implemented. Essential calibration procedures for the type of system that contained camera parameter calibration and the inconsistency of complementary metal oxide semiconductor calibration were discussed, designed, and implemented. Calibration results were used to undistort and rectify the multi-camera system. An orientation determination experiment was conducted. The results indicated that the system could acquire and compute the polarized skylight images throughout the calibrations and resolve orientation by the algorithm to verify in real-time. An orientation determination algorithm based on image processing was tested on the system. The performance and properties of the algorithm were evaluated. The rate of the algorithm was over 1 Hz, the error was over 0.313°, and the population standard deviation was 0.148° without any data filter. PMID:26805851

  19. Design and Rapid Prototyping of Flight Control and Navigation System for an Unmanned Aerial Vehicle

    DTIC Science & Technology

    2002-03-01

    acquisition and testing before it is finally implemented on the intended airborne computer. The software suite consists of the MATLAB package, Control System ...Toolbox, Simulink, Dials and Gauges Blockset, Real-Time Workshop and the xPC Target operating system . MATLAB and Control System Toolbox provide the...FLIGHT CONTROL AND NAVIGATION SYSTEM FOR AN UNMANNED AERIAL VEHICLE by Bock-Aeng Lim March 2002 Thesis Advisor: Isaac I. Kaminer Co

  20. Differential NAVSTAR GPS (Global Positioning System) Design Concept for Harbor/Harbor Entrance Marine Navigation.

    DTIC Science & Technology

    1984-05-01

    AD-A141 665 DIFFERENTIAL NAYSTAR GPS ( GLOBAL POSIT [ONING SYSTEM ) / DESIGN CONCEPT FOR H..(U) TRANSPORTATION SYSTEMS CENTER 7 ’ CAMBRIDGE MA J VILCANS...5-3 viii 1. INTRODUCTION 1.1 BACKGROUND The NAVSTAR Global Positioning System ( GPS ) is a satellite... system which will provide global continuous navigation and position location service when it becomes operational. The NAVSTAR GPS program has been in

  1. A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems

    PubMed Central

    Park, Sang Kyeong; Suh, Young Soo

    2010-01-01

    In pedestrian navigation systems, the position of a pedestrian is computed using an inertial navigation algorithm. In the algorithm, the zero velocity updating plays an important role, where zero velocity intervals are detected and the velocity error is reset. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable. PMID:22163402

  2. Constellation design and performance analysis for regional satellite navigation system in China area

    NASA Astrophysics Data System (ADS)

    Du, Yuling; Zhang, Xuejun; Huang, Zhigang

    2005-11-01

    Based on the idea of covering China area, a novel constellation is proposed, consisting of one geostationary satellite and five inclined elliptic orbit geosynchronous satellites in this paper. Through a number of simulation tests, the orbital elements of each satellite are designed concretely. Moreover, its coverage performance is also evaluated under some factors, such as the geometric dilution of precision (GDOP), orbital perturbation, space transmission loss and eclipse. What's more, this constellation is compared with other constellations. Finally, Simulation results show, in this constellation, the number of satellites is small, and the navigation precision is relatively high. Therefore, this is a kind of high performance and economic regional navigation system for China.

  3. A zero velocity detection algorithm using inertial sensors for pedestrian navigation systems.

    PubMed

    Park, Sang Kyeong; Suh, Young Soo

    2010-01-01

    In pedestrian navigation systems, the position of a pedestrian is computed using an inertial navigation algorithm. In the algorithm, the zero velocity updating plays an important role, where zero velocity intervals are detected and the velocity error is reset. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable.

  4. Single gimbal/strapdown inertial navigation system for use on spin stabilized flight test vehicles

    SciTech Connect

    Watts, A.C.; Andreas, R.D.

    1980-01-01

    A hybrid strapdown inertial navigation system intended for use on spin stabilized flight test vehicles is described. The configuration of the navigator which is briefly described consists of three floated rate integrating gyros, one of which is used in conjunction with the gimbal with the remaining two operated in a rate gyro mode. Outputs from the two strapdown gyros and three accelerometers are digitized and processed by a high performance computer. The navigation algorithms utilize a direction cosine matrix formulation for the attitude computation implemented in the digital computer. The implementation of this algorithm for the single gimbal configuration is described. An accuracy model and results for a reentry vehicle flight test trajectory are presented. The flight test performance from launch to reentry is presented.

  5. Navigated Pattern Laser System versus Single-Spot Laser System for Postoperative 360-Degree Laser Retinopexy

    PubMed Central

    2016-01-01

    Purpose. To compare three 360°-laser retinopexy (LRP) approaches (using navigated pattern laser system, single-spot slit-lamp (SL) laser delivery, and single-spot indirect ophthalmoscope (IO) laser delivery) in regard to procedure duration, procedural pain score, technical difficulties, and the ability to achieve surgical goals. Material and Methods. Eighty-six rhegmatogenous retinal detachment patients (86 eyes) were included in this prospective randomized study. The mean procedural time, procedural pain score (using 4-point Verbal Rating Scale), number of laser burns, and achievement of the surgical goals were compared between three groups (pattern LRP (Navilas® laser system), 36 patients; SL-LRP, 28 patients; and IO-LRP, 22 patients). Results. In the pattern LRP group, the amount of time needed for LRP and pain level were statistically significantly lower, whereas the number of applied laser burns was higher compared to those in the SL-LRP group and in the IO-LRP group. In the pattern LRP, SL-LRP, and IO-LRP groups, surgical goals were fully achieved in 28 (77.8%), 17 (60.7%), and 13 patients (59.1%), respectively (p > 0.05). Conclusion. The navigated pattern approach allows improving the treatment time and pain in postoperative 360° LRP. Moreover, 360° pattern LRP is at least as effective in achieving the surgical goal as the conventional (slit-lamp or indirect ophthalmoscope) approaches with a single-spot laser. PMID:28070417

  6. Modeling Navigation System Performance of a Satellite-Observing Star Tracker Tightly Integrated with an Inertial Measurement Unit

    DTIC Science & Technology

    2015-03-26

    comes into question. Many research areas seek to compensate for perceived GPS vulnerabilities. Some of those are video- aided navigation [87], [86], [88...celestial navigation aids in the sense of using stars for reference. This dissertation seeks to investigate the pertinent parameter space and antic...Cramér-Rao lower bound. Northrop Grumman developed the LN-120G Stellar-Inertial-GPS system that uses a star tracker to aid aircraft navigation [26]. This

  7. A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones

    PubMed Central

    Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

    2015-01-01

    Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy. PMID:26690170

  8. A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones.

    PubMed

    Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

    2015-12-05

    Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy.

  9. Calibration of Viking imaging system pointing, image extraction, and optical navigation measure

    NASA Technical Reports Server (NTRS)

    Breckenridge, W. G.; Fowler, J. W.; Morgan, E. M.

    1977-01-01

    Pointing control and knowledge accuracy of Viking Orbiter science instruments is controlled by the scan platform. Calibration of the scan platform and the imaging system was accomplished through mathematical models. The calibration procedure and results obtained for the two Viking spacecraft are described. Included are both ground and in-flight scan platform calibrations, and the additional calibrations unique to optical navigation.

  10. Integrated Navigation, Guidance, and Control of Missile Systems: 2-D Dynamic Models

    DTIC Science & Technology

    2012-05-01

    Plane Simulation Model Block Diagram .......................................................... 21 Figure A.1. Aerodynamic variables for a missile ...Figure A.1. Aerodynamic variables for a missile Page classification: UNCLASSIFIED DEFENCE SCIENCE AND TECHNOLOGY ORGANISATION DOCUMENT...UNCLASSIFIED Integrated Navigation, Guidance, and Control of Missile Systems: 2-D Dynamic Models Farhan A. Faruqi Weapons

  11. Study of industry information requirements for flight control and navigation systems of STOL aircraft

    NASA Technical Reports Server (NTRS)

    Gorham, J. A.

    1976-01-01

    Answers to specific study questions are used to ascertain the data requirements associated with a guidance, navigation and control system for a future civil STOL airplane. Results of the study were used to recommend changes for improving the outputs of the STOLAND flight experiments program.

  12. Systems for dead-reckoning navigation and for simulation of instrumental error - Concepts

    NASA Technical Reports Server (NTRS)

    Green, W. L.

    1971-01-01

    Navigational system for manned lunar vehicles is intended for travel totaling 30 km within 5 km of home base, total distance traveled must be indicated with 2 percent accuracy. Hardware includes two two-degrees-of-freedom gyroscopes, odometers, tachometers, and signal processing equipment.

  13. Small Area Inertial Navigation Tracking (SAINT) System for Precise Location of Buried UXO

    DTIC Science & Technology

    2008-01-01

    inertial navigation tracking system (SAINT) technology integrated with an EM61-HH metal detector . The primary objective of this demonstration was to...positioning reference frame. This demonstration highlighted the integration of SAINT with a standard EM61-HH metal detector . The primary objective was to

  14. Design and Flight Performance of the Orion Pre-Launch Navigation System

    NASA Technical Reports Server (NTRS)

    Zanetti, Renato

    2016-01-01

    Launched in December 2014 atop a Delta IV Heavy from the Kennedy Space Center, the Orion vehicle's Exploration Flight Test-1 (EFT-1) successfully completed the objective to test the prelaunch and entry components of the system. Orion's pre-launch absolute navigation design is presented, together with its EFT-1 performance.

  15. Computer simulations for the development of navigation systems for spaceborne applications

    NASA Astrophysics Data System (ADS)

    Mardine, G.; Lamarre, H.; Duhamel, D.; Lanoe, I.

    1991-10-01

    Computer simulations are presently employed to establish the greatest possible reliability in spacecraft navigation system structural design, subsystem requirement definition, algorithm development, and software testing. Attention is given to the methods available for exploitation of simulation tools, and to the verification of model applicability and accuracy. Illustrative examples of simulator use are given.

  16. Performance assessment of the TDRSS Onboard Navigation System (TONS) experiment on EP/EUVE

    NASA Astrophysics Data System (ADS)

    Gramling, C. J.; Hart, R. C.; Teles, Jerome; Long, A. C.; Maher, M. J.

    The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing an operational Tracking and Data Relay Satellite (TDRS) System (TDRSS) Onboard Navigation System (TONS) to provide onboard knowledge of high-accuracy navigation products autonomously to users of TDRSS and its successor, TDRS-2. A TONS experiment has been implemented on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) spacecraft, launched June 7, 1992, to flight qualify the TONS operational system using TDRSS forward-link communications services. This paper assesses the performance of the TONS flight hardware, an ultrastable oscillator (USO) and Doppler extractor (DE) card in one of the TDRSS user transponders, and the protoype flight software, based on the TONS experiment results. An overview of onboard navigation via TDRSS is also presented for both the EP/EUVE experiment and for future users of TONS. USO and DE short-term and long-term stability performance has been excellent. TONS Flight Software analysis indicates that position accuracies of better than 25 meters root-mean-square are achievable with tracking every one to two orbits, for the EP/EUVE 525-kilometer altitudes, 28.5-degree inclination orbit. The success of the TONS experiment demonstrates the flight readiness of TONS, which is scheduled to provide autonomous navigation for the Earth Observing System (EOS)-AM mission.

  17. 75 FR 1080 - Certain Automotive Multimedia Display and Navigation Systems, Components Thereof, and Products...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-01-08

    ... [Federal Register Volume 75, Number 5 (Friday, January 8, 2010)] [Notices] [Pages 1080-1081] [FR Doc No: 2010-89] INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-657] Certain Automotive Multimedia Display and Navigation Systems, Components Thereof, and Products Containing Same; Notice...

  18. 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

  19. Flight test results of the strapdown ring laser gyro tetrad inertial navigation system

    NASA Technical Reports Server (NTRS)

    Carestia, R. A.; Hruby, R. J.; Bjorkman, W. S.

    1983-01-01

    A helicopter flight test program undertaken to evaluate the performance of Tetrad (a strap down, laser gyro, inertial navigation system) is described. The results of 34 flights show a mean final navigational velocity error of 5.06 knots, with a standard deviation of 3.84 knots; a corresponding mean final position error of 2.66 n. mi., with a standard deviation of 1.48 n. mi.; and a modeled mean position error growth rate for the 34 tests of 1.96 knots, with a standard deviation of 1.09 knots. No laser gyro or accelerometer failures were detected during the flight tests. Off line parity residual studies used simulated failures with the prerecorded flight test and laboratory test data. The airborne Tetrad system's failure--detection logic, exercised during the tests, successfully demonstrated the detection of simulated ""hard'' failures and the system's ability to continue successfully to navigate by removing the simulated faulted sensor from the computations. Tetrad's four ring laser gyros provided reliable and accurate angular rate sensing during the 4 yr of the test program, and no sensor failures were detected during the evaluation of free inertial navigation performance.

  20. SEXTANT X-Ray Pulsar Navigation Demonstration: Flight System and Test Results

    NASA Technical Reports Server (NTRS)

    Winternitz, Luke M. B.; Mitchell, Jason W.; Hassouneh, Munther A.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven; Gendreau, Keith C.

    2016-01-01

    The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a technology demonstration enhancement to the Neutron-star Interior Composition Explorer (NICER) mission. NICER is a NASA Explorer Mission of Opportunity that will be hosted on the International Space Station (ISS). SEXTANT will, for the first time, demonstrate real-time, on-board X-ray Pulsar Navigation (XNAV), a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond. This paper gives an overview of the SEXTANT system architecture and describes progress prior to environmental testing of the NICER flight instrument. It provides descriptions and development status of the SEXTANT flight software and ground system, as well as detailed description and results from the flight software functional and performance testing within the highfidelity Goddard Space Flight Center (GSFC) X-ray Navigation Laboratory Testbed (GXLT) software and hardware simulation environment. Hardware-in-the-loop simulation results are presented, using the engineering model of the NICER timing electronics and the GXLT pulsar simulator-the GXLT precisely controls NASA GSFC's unique Modulated X-ray Source to produce X-rays that make the NICER detector electronics appear as if they were aboard the ISS viewing a sequence of millisecond pulsars.

  1. New Projects Planed/launched By Cei Wg On Satellite Navigation Systems

    NASA Astrophysics Data System (ADS)

    Oszczak, S.; Manzoni, G.

    In the paper a short description of main projects on satellite positioning and naviga- tion in CEI countries is given. Special attention is devoted to the activity of members of Working Group on Satellite Navigation Systems. The projects in which they are involved and results of performed experiments can be specified as follows: - EGNOS positioning - the first results in CEI area, - application of various transmission tech- niques to diffusion of DGPS/RTK data from reference stations (SWIFT/DARC, RDS, radiobeacons, UHF transmission), - development of integrated GPS/INS methods for car navigation and GIS purposes, - development of software for integration of satellite vehicle position with numerical maps for car navigation, monitoring and acquisition of terrestrial data for GIS, - elaboration of method and software development for nav- igation and monitoring of aircraft during approaching and landing phase of flight, - elaboration of methods and software for integration of 3D satellite positions of user with Digital Terrain Model (DTM), - development of digital technology for bathy- metric survey with satellite positioning technique; mapping of shallow waters, lakes, rivers and inland water reservoirs, The recently planned studies and experiments cover land, marine and aircraft satellite navigation with EGNOS system in CEI countries. The project of extension of the EGNOS system to the Central and East European region is under preparation. Other important research is conducted on mapping of roads and rails tracks using integrated DGPS/INS techniques.

  2. SEXTANT X-Ray Pulsar Navigation Demonstration: Flight System and Test Results

    NASA Technical Reports Server (NTRS)

    Winternitz, Luke; Mitchell, Jason W.; Hassouneh, Munther A.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven; Gendreau, Keith C.

    2016-01-01

    The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a technology demonstration enhancement to the Neutron-star Interior Composition Explorer (NICER) mission. NICER is a NASA Explorer Mission of Opportunity that will be hosted on the International Space Station (ISS). SEXTANT will, for the first time, demonstrate real-time, on-board X-ray Pulsar Navigation (XNAV), a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond. This paper gives an overview of the SEXTANT system architecture and describes progress prior to environmental testing of the NICER flight instrument. It provides descriptions and development status of the SEXTANT flight software and ground system, as well as detailed description and results from the flight software functional and performance testing within the high-fidelity Goddard Space Flight Center (GSFC) X-ray Navigation Laboratory Testbed (GXLT) software and hardware simulation environment. Hardware-in-the-loop simulation results are presented, using the engineering model of the NICER timing electronics and the GXLT pulsar simulator-the GXLT precisely controls NASA GSFC's unique Modulated X-ray Source to produce X-rays that make the NICER detector electronics appear as if they were aboard the ISS viewing a sequence of millisecond pulsars

  3. 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.

  4. Femur-mounted navigation system for the arthroscopic treatment of femoroacetabular impingement

    NASA Astrophysics Data System (ADS)

    Park, S. H.; Hwang, D. S.; Yoon, Y. S.

    2013-07-01

    Femoroacetabular impingement stems from an abnormal shape of the acetabulum and proximal femur. It is treated by resection of damaged soft tissue and by the shaping of bone to resemble normal features. The arthroscopic treatment of femoroacetabular impingement has many advantages, including minimal incisions, rapid recovery, and less pain. However, in some cases, revision is needed owing to the insufficient resection of damaged bone from a misreading of the surgical site. The limited view of arthroscopy is the major reason for the complications. In this research, a navigation method for the arthroscopic treatment of femoroacetabular impingement is developed. The proposed navigation system consists of femur attachable measurement device and user interface. The bone mounted measurement devices measure points on head-neck junction for registration and position of surgical instrument. User interface shows the three-dimensional model of patient's femur and surgical instrument position that is tracked by measurement device. Surgeon can know the three-dimensional anatomical structure of hip joint and surgical instrument position on surgical site using navigation system. Surface registration was used to obtain relation between patient's coordinate at the surgical site and coordinate of three-dimensional model of femur. In this research, we evaluated the proposed navigation system using plastic model bone. It is expected that the surgical tool tracking position accuracy will be less than 1 mm.

  5. Integrated user equipment of satellite and hyperbolic radio-navigation systems

    NASA Astrophysics Data System (ADS)

    Iarlykov, M. S.; Bazarov, A. A.

    1992-04-01

    An approach based on the Markov theory of random-process estimation is used to synthesize algorithms for an onboard system of complex data processing applicable to radio signals of satellite and hyperbolic navigation systems, using INS data. Based on these algorithms, the structure of an onboard system of complex data processing is elucidated, and a quantitative estimation of its noise immunity and accuracy is obtained.

  6. Influence of the Atmospheric Refraction on the Time Delay of Signals from Global Navigation Systems for Independent Navigation of High-Orbit Space Vehicles

    NASA Astrophysics Data System (ADS)

    Sharygin, G. S.; Meshcheryakov, A. A.; Korolev, D. O.

    2016-11-01

    Excess delay time of signals from global navigation systems used for coordinate-time support of high-orbit space vehicles caused by the refraction during sliding radio-wave propagation in the Earth's atmosphere is estimated. Conclusions obtained are compared with the data of experimental analysis of observable GPS signals.

  7. A Short Tutorial on Inertial Navigation System and Global Positioning System Integration

    NASA Technical Reports Server (NTRS)

    Smalling, Kyle M.; Eure, Kenneth W.

    2015-01-01

    The purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.

  8. Development and hardware-in-the-loop test of a guidance, navigation and control system for on-orbit servicing

    NASA Astrophysics Data System (ADS)

    Benninghoff, Heike; Rems, Florian; Boge, Toralf

    2014-09-01

    The rendezvous phase is one of the most important phases in future orbital servicing missions. To ensure a safe approach to a non-cooperative target satellite, a guidance, navigation and control system which uses measurements from optical sensors like cameras was designed and developed. During ground-based rendezvous, stability problems induced by delayed position measurements can be compensated by using a specially adapted navigation filter. Within the VIBANASS (VIsion BAsed NAvigation Sensor System) test campaign, hardware-in-the-loop tests on the terrestrial, robotic based facility EPOS 2.0 were performed to test and verify the developed guidance, navigation and control algorithms using real sensor measurements. We could demonstrate several safe rendezvous test cases in a closed loop mode integrating the VIBANASS camera system and the developed guidance, navigation and control system to a dynamic rendezvous simulation.

  9. A Functional Description of a Digital Flight Test System for Navigation and Guidance Research in the Terminal Area

    NASA Technical Reports Server (NTRS)

    Hegarty, D. M.

    1974-01-01

    A guidance, navigation, and control system, the Simulated Shuttle Flight Test System (SS-FTS), when interfaced with existing aircraft systems, provides a research facility for studying concepts for landing the space shuttle orbiter and conventional jet aircraft. The SS-FTS, which includes a general-purpose computer, performs all computations for precisely following a prescribed approach trajectory while properly managing the vehicle energy to allow safe arrival at the runway and landing within prescribed dispersions. The system contains hardware and software provisions for navigation with several combinations of possible navigation aids that have been suggested for the shuttle. The SS-FTS can be reconfigured to study different guidance and navigation concepts by changing only the computer software, and adapted to receive different radio navigation information through minimum hardware changes. All control laws, logic, and mode interlocks reside solely in the computer software.

  10. Design and implementation of interactive strap-down inertial navigation simulation system for UAV

    NASA Astrophysics Data System (ADS)

    Cheng, Chuan-qi; Cheng, Xiang; Hao, Xiang-yang; Zhao, Man-dan

    2016-01-01

    Strap-down inertial navigation system (SINS) is widely used in military field, to facilitate the study of SINS algorithms and various coupled navigation algorithms, a simulation system of SINS is designed. Based on modular design, with good portability and expansibility, the system consists of four independent modules: analysis module of motion state, trajectory simulator, IMU simulation module and SINS calculation module. With graphical interface, the system can control every motion state of the trajectory, which is convenient to generate various trajectories efficiently. Using rotation vector attitude algorithm to process simulation data, experiment results show that the attitude, velocity and position error is consistent with the theoretical value, which verifies the rationality of the simulation model and the availability of the simulation system.

  11. The course correction implementation of the inertial navigation system based on the information from the aircraft satellite navigation system before take-off

    NASA Astrophysics Data System (ADS)

    Markelov, V.; Shukalov, A.; Zharinov, I.; Kostishin, M.; Kniga, I.

    2016-04-01

    The use of the correction course option before aircraft take-off after inertial navigation system (INS) inaccurate alignment based on the platform attitude-and-heading reference system in azimuth is considered in the paper. A course correction is performed based on the track angle defined by the information received from the satellite navigation system (SNS). The course correction includes a calculated track error definition during ground taxiing along straight sections before take-off with its input in the onboard digital computational system like amendment for using in the current flight. The track error calculation is performed by the statistical evaluation of the track angle comparison defined by the SNS information with the current course measured by INS for a given number of measurements on the realizable time interval. The course correction testing results and recommendation application are given in the paper. The course correction based on the information from SNS can be used for improving accuracy characteristics for determining an aircraft path after making accelerated INS preparation concerning inaccurate initial azimuth alignment.

  12. A real-time navigation monitoring expert system for the Space Shuttle Mission Control Center

    NASA Technical Reports Server (NTRS)

    Wang, Lui; Fletcher, Malise

    1993-01-01

    The ONAV (Onboard Navigation) Expert System has been developed as a real time console assistant for use by ONAV flight controllers in the Mission Control Center at the Johnson Space Center. This expert knowledge based system is used to monitor the Space Shuttle onboard navigation system, detect faults, and advise flight operations personnel. This application is the first knowledge-based system to use both telemetry and trajectory data from the Mission Operations Computer (MOC). To arrive at this stage, from a prototype to real world application, the ONAV project has had to deal with not only AI issues but operating environment issues. The AI issues included the maturity of AI languages and the debugging tools, verification, and availability, stability and size of the expert pool. The environmental issues included real time data acquisition, hardware suitability, and how to achieve acceptance by users and management.

  13. On-Line Smoothing for an Integrated Navigation System with Low-Cost MEMS Inertial Sensors

    PubMed Central

    Chiang, Kai-Wei; Duong, Thanh Trung; Liao, Jhen-Kai; Lai, Ying-Chih; Chang, Chin-Chia; Cai, Jia-Ming; Huang, Shih-Ching

    2012-01-01

    The integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is widely applied to seamlessly determine the time-variable position and orientation parameters of a system for navigation and mobile mapping applications. For optimal data fusion, the Kalman filter (KF) is often used for real-time applications. Backward smoothing is considered an optimal post-processing procedure. However, in current INS/GPS integration schemes, the KF and smoothing techniques still have some limitations. This article reviews the principles and analyzes the limitations of these estimators. In addition, an on-line smoothing method that overcomes the limitations of previous algorithms is proposed. For verification, an INS/GPS integrated architecture is implemented using a low-cost micro-electro-mechanical systems inertial measurement unit and a single-frequency GPS receiver. GPS signal outages are included in the testing trajectories to evaluate the effectiveness of the proposed method in comparison to conventional schemes. PMID:23443403

  14. In-flight angular alignment of inertial navigation systems by means of radio aids

    NASA Technical Reports Server (NTRS)

    Tanner, W.

    1972-01-01

    The principles involved in the angular alignment of the inertial reference by nondirectional data from radio aids are developed and compared with conventional methods of alignment such as gyro-compassing and pendulous vertical determination. The specific problem is considered of the space shuttle reentry and a proposed technique for the alignment of the inertial reference system some time before landing. A description is given of the digital simulation of a transponder interrogation system and of its interaction with the inertial navigation system. Data from reentry simulations are used to demonstrate the effectiveness of in-flight inertial system alignment. Concluding remarks refer to other potential applications such as space shuttle orbit insertion and air navigation of conventional aircraft.

  15. Architecting the Communication and Navigation Networks for NASA's Space Exploration Systems

    NASA Technical Reports Server (NTRS)

    Bhassin, Kul B.; Putt, Chuck; Hayden, Jeffrey; Tseng, Shirley; Biswas, Abi; Kennedy, Brian; Jennings, Esther H.; Miller, Ron A.; Hudiburg, John; Miller, Dave; Jeffries, Alan; Sartwell, Tom

    2007-01-01

    NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of the missions is to grow, through a series of launches, a system of systems communication, navigation, and timing infrastructure at minimum cost while providing a network-centric infrastructure that maximizes the exploration capabilities and science return. There is a strong need to use architecting processes in the mission pre-formulation stage to describe the systems, interfaces, and interoperability needed to implement multiple space communication systems that are deployed over time, yet support interoperability with each deployment phase and with 20 years of legacy systems. In this paper we present a process for defining the architecture of the communications, navigation, and networks needed to support future space explorers with the best adaptable and evolable network-centric space exploration infrastructure. The process steps presented are: 1) Architecture decomposition, 2) Defining mission systems and their interfaces, 3) Developing the communication, navigation, networking architecture, and 4) Integrating systems, operational and technical views and viewpoints. We demonstrate the process through the architecture development of the communication network for upcoming NASA space exploration missions.

  16. Application of a computer-assisted surgical navigation system in temporomandibular joint ankylosis surgery: a retrospective study.

    PubMed

    He, Y; Huang, T; Zhang, Y; An, J; He, L

    2017-02-01

    This retrospective study evaluated the effect of surgical computer-assisted navigation in temporomandibular joint (TMJ) ankylosis gap arthroplasty. Eighteen patients (25 sides) with bony ankylosis who underwent surgical treatment under computer-assisted navigation (navigation group) from May 2011 to April 2013 were assessed, along with 19 such patients (25 sides) treated without computer-assisted navigation (non-navigation group) from March 2009 to April 2011. The navigation group patients underwent surgery with the preservation of ≥3mm bone thickness in the skull base and anterior wall of the external auditory canal. Postoperatively, computed tomography (CT) was used to measure the residual bone thickness in the skull base and anterior wall of the external auditory canal. Maximum mouth opening (MMO) changes were evaluated at >1 year of follow-up. Postoperative CT measurements showed that the lowest skull base thickness in the navigation group was significantly lower than that in the non-navigation group (3.86±1.95mm vs. 6.01±3.07mm, P=0.009). The lowest thicknesses of the anterior wall of the external auditory canal were similar in the two groups. Postoperative follow-up showed similar average MMO in the two groups. Therefore, with the navigation system, TMJ ankylosis gap arthroplasty can achieve more extensive removal of the ankylosed bone, at least towards the skull base, under the premise of ensuring a safety distance of 3mm.

  17. Integrated Navigation, Guidance, and Control of Missile Systems: 3-D Dynamic Model

    DTIC Science & Technology

    2013-02-01

    UNCLASSIFIED DSTO-TR-2805 Figure B.1: Aerodynamic variables for a missile and is the lift coefficient . LC  , represent respectively the...UNCLASSIFIED Integrated Navigation, Guidance, and Control of Missile Systems: 3-D Dynamic Model Farhan A. Faruqi Weapons...engagement kinematics is derived suitable for developing, implementing and testing modern missile guidance systems. The model developed here is

  18. Simulation analysis of a microcomputer-based, low-cost omega navigation system

    NASA Technical Reports Server (NTRS)

    Lilley, R. W.; Salter, R. J., Jr.

    1976-01-01

    A status report is presented on a proposed low-cost Omega Navigation System (ONS) based on a microcomputer (Available commercially). Minimum hardware and maximum software are designed for. Electronic subsystems are discussed in detail, with block diagrams of the receiver and microcomputer interface modules, and a flowchart of the automatic synchronization process. The system is designed as a precision navaid for general aviation in the $1000 price range.

  19. Study for incorporating time-synchronized approach control into the CH-47/VALT digital navigation system

    NASA Technical Reports Server (NTRS)

    Mcconnell, W. J., Jr.

    1979-01-01

    Techniques for obtaining time synchronized (4D) approach control in the VALT research helicopter is described. Various 4D concepts and their compatibility with the existing VALT digital computer navigation and guidance system hardware and software are examined. Modifications to various techniques were investigated in order to take advantage of the unique operating characteristics of the helicopter in the terminal area. A 4D system is proposed, combining the direct to maneuver with the existing VALT curved path generation capability.

  20. A Guidance and Navigation System for Two Spacecraft Rendezvous in Translunar Halo Orbit

    DTIC Science & Technology

    1993-05-01

    system plant Q = Rendezvous navigation filter process noise fixed power spectrum Qa — Unmodeled accelerations fixed power spectrum Qb = Measurement...be TV-, (3.4) (3.5) (3.6) The plant disturbances, wd, and the measurement noise, wm, have a fixed power spectrum. In addition, pn and p^ are...fixed power 29 Figure 3.3: Expanded System Model 30 spectrum. The plant disturbance, or process noise, is then scaled by a non- dimensional

  1. Methods and software tools for computer-aided design of the spacecraft guidance, navigation and control systems

    NASA Astrophysics Data System (ADS)

    Somov, Yevgeny; Oparin, Gennady

    2017-01-01

    We shortly present results on development and employment of the software systems for computer-aided design of the spacecraft guidance. navigation and control systems - modeling, synthesis, nonlinear analysis, simulation and graphic mapping of dynamic processes.

  2. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... area, whether navigating the lock or not. No one shall cause any movement of any vessel or other... moored, the pilot shall not cause movement of the propeller except in an emergency or unless directed by... will be governed as follows: (i) One flashing green light to indicate that the lock is open...

  3. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... area, whether navigating the lock or not. No one shall cause any movement of any vessel or other... moored, the pilot shall not cause movement of the propeller except in an emergency or unless directed by... will be governed as follows: (i) One flashing green light to indicate that the lock is open...

  4. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... area, whether navigating the lock or not. No one shall cause any movement of any vessel or other... moored, the pilot shall not cause movement of the propeller except in an emergency or unless directed by... will be governed as follows: (i) One flashing green light to indicate that the lock is open...

  5. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... area, whether navigating the lock or not. No one shall cause any movement of any vessel or other... moored, the pilot shall not cause movement of the propeller except in an emergency or unless directed by... will be governed as follows: (i) One flashing green light to indicate that the lock is open...

  6. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... area, whether navigating the lock or not. No one shall cause any movement of any vessel or other... moored, the pilot shall not cause movement of the propeller except in an emergency or unless directed by... will be governed as follows: (i) One flashing green light to indicate that the lock is open...

  7. Dynamic calibration technique for inertial navigation system based on one-dimensional laser Doppler velocimeter

    NASA Astrophysics Data System (ADS)

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

    2016-10-01

    Taking the one-dimensional Laser Doppler Velocimeter (LDV) and a certain type of Laser Gyro Strapdown Inertial Navigation System (SINS) developed our staff room for object, the paper verifies that dynamic calibration technique can be achieved by SINS/LDV integrated system on the basis of the analysis of the software and hardware conditions. Extended Kalman filter states of SINS/LDV integrated system were chosen based on the error models of SINS and LDV. Using the difference of the output speed of the SINS and LDV as measurement, the error of bias and scale factor of the integrated navigation system are estimated effectively by setting up a reasonable calibration path. The effectiveness of the algorithm is further verified through the vehicular experiments. The results of experiments show that the dynamic calibration technique can be achieved through SINS/LDV integrated system and ensure the maneuverability of terrestrial inertial navigation system. The estimate of LDV scale factor is about 0.003%. The estimate error of accelerometer bias no more than 13μg. The estimate error of gyroscope drift no more than 1.7×10-3°/h. The yaw angle error is less than 0.19 ' within 20min.

  8. Neural systems analysis of decision making during goal-directed navigation.

    PubMed

    Penner, Marsha R; Mizumori, Sheri J Y

    2012-01-01

    The ability to make adaptive decisions during goal-directed navigation is a fundamental and highly evolved behavior that requires continual coordination of perceptions, learning and memory processes, and the planning of behaviors. Here, a neurobiological account for such coordination is provided by integrating current literatures on spatial context analysis and decision-making. This integration includes discussions of our current understanding of the role of the hippocampal system in experience-dependent navigation, how hippocampal information comes to impact midbrain and striatal decision making systems, and finally the role of the striatum in the implementation of behaviors based on recent decisions. These discussions extend across cellular to neural systems levels of analysis. Not only are key findings described, but also fundamental organizing principles within and across neural systems, as well as between neural systems functions and behavior, are emphasized. It is suggested that studying decision making during goal-directed navigation is a powerful model for studying interactive brain systems and their mediation of complex behaviors.

  9. Engagement of neural circuits underlying 2D spatial navigation in a rodent virtual reality system

    PubMed Central

    Aronov, Dmitriy; Tank, David W.

    2015-01-01

    SUMMARY Virtual reality (VR) enables precise control of an animal’s environment and otherwise impossible experimental manipulations. Neural activity in navigating rodents has been studied on virtual linear tracks. However, the spatial navigation system’s engagement in complete two-dimensional environments has not been shown. We describe a VR setup for rats, including control software and a large-scale electrophysiology system, which supports 2D navigation by allowing animals to rotate and walk in any direction. The entorhinal-hippocampal circuit, including place cells, grid cells, head direction cells and border cells, showed 2D activity patterns in VR similar to those in the real world. Hippocampal neurons exhibited various remapping responses to changes in the appearance or the shape of the virtual environment, including a novel form in which a VR-induced cue conflict caused remapping to lock to geometry rather than salient cues. These results suggest a general-purpose tool for novel types of experimental manipulations in navigating rats. PMID:25374363

  10. Integrated GPS/DR Vehicle Navigation System Based on Sequential and Square Root Kalman Filters

    NASA Astrophysics Data System (ADS)

    Elzoghby, MOSTAFA; Arif, USMAN; Li, FU; Zhi Yu, Xi

    2017-03-01

    Global Positioning System (GPS) has become part of many applications in life. In mountainous terrains and around buildings, GPS reception is compromised. In dense urban canyons, signals bounce off the buildings creating multipath reception and provide erroneous measurements. To overcome GPS bandwidth and signal fading problems, Navigation solutions are built on GPS measurements fused with inertial sensors to provide dead reckoning (DR) based position solution. Solution for land vehicle Navigation System using GPS, inertial sensor and odometer is presented. The sensors fusion is performed based on conventional, sequential (SKF) and square root Kalman (SRKF) filters. SRKF based on Cheolesky factorization for covariance matrix P. Simulations are performed on real data, with precisely known covariance’s to simulate mathematical stability, performance and processing time required by each method on a high end microprocessor. The results demonstrate integrated system using SRKF has better performance in stability and estimation accuracy than conventional and sequential filter.

  11. Design and implementation of magnetically maneuverable capsule endoscope system with direction reference for image navigation.

    PubMed

    Sun, Zhen-Jun; Ye, Bo; Sun, Yi; Zhang, Hong-Hai; Liu, Sheng

    2014-07-01

    This article describes a novel magnetically maneuverable capsule endoscope system with direction reference for image navigation. This direction reference was employed by utilizing a specific magnet configuration between a pair of external permanent magnets and a magnetic shell coated on the external capsule endoscope surface. A pair of customized Cartesian robots, each with only 4 degrees of freedom, was built to hold the external permanent magnets as their end-effectors. These robots, together with their external permanent magnets, were placed on two opposite sides of a "patient bed." Because of the optimized configuration based on magnetic analysis between the external permanent magnets and the magnetic shell, a simplified control strategy was proposed, and only two parameters, yaw step angle and moving step, were necessary for the employed robotic system. Step-by-step experiments demonstrated that the proposed system is capable of magnetically maneuvering the capsule endoscope while providing direction reference for image navigation.

  12. Position Estimation by Wearable Walking Navigation System for Visually Impaired with Sensor Fusion

    NASA Astrophysics Data System (ADS)

    Watanabe, Hiromi; Yamamoto, Yoshihiko; Tanzawa, Tsutomu; Kotani, Shinji

    A wearable walking navigation system without any special infrastructures has been developed to guide visually impaired. It is important to estimate a position correctly so that safe navigation can be realized. In our system, different sensor data are fused to estimate a pedestrian's position. An image processing system and a laser range finder were used to estimate the positions indoors. In this paper, we introduce the concept of “similarity” between map information and sensor data. This similarity is used to estimate the positions. Experimental results show that highly accurate position estimation can be achieved by sensor fusion. The positions in a linear passage were estimated using image processing data, and when the passage turns, the positions were estimated using LRF data.

  13. Sensing and Navigation System for a Multiple-AUV Testbed

    DTIC Science & Technology

    2002-09-30

    on a part-time basis. WORK COMPLETED As part of the larger testbed development, we have designed and constructed three “ grouper ” vehicles. The...technology for relative position/heading measurements of neighboring vehicles. We are currently implementing two vision systems into a grouper vehicle to...tested on a grouper vehicle and is expected to considerably improve the positioning system. In an effort to facilitate controller development and

  14. Global Navigation Satellite System Multipath Mitigation Using a Wave-Absorbing Shield.

    PubMed

    Yang, Haiyan; Yang, Xuhai; Sun, Baoqi; Su, Hang

    2016-08-22

    Code multipath is an unmanaged error source in precise global navigation satellite system (GNSS) observation processing that limits GNSS positioning accuracy. A new technique for mitigating multipath by installing a wave-absorbing shield is presented in this paper. The wave-absorbing shield was designed according to a GNSS requirement of received signals and collected measurements to achieve good performance. The wave-absorbing shield was installed at the KUN1 and SHA1 sites of the international GNSS Monitoring and Assessment System (iGMAS). Code and carrier phase measurements of three constellations were collected on the dates of the respective installations plus and minus one week. Experiments were performed in which the multipath of the measurements obtained at different elevations was mitigated to different extents after applying the wave-absorbing shield. The results of an analysis and comparison show that the multipath was mitigated by approximately 17%-36% on all available frequencies of BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), and Global Navigation Satellite System (GLONASS) satellites. The three-dimensional accuracies of BDS, GPS, and GLONASS single-point positioning (SPP) were, respectively, improved by 1.07, 0.63 and 0.49 m for the KUN1 site, and by 0.72, 0.79 and 0.73 m for the SHA1 site. Results indicate that the multipath of the original observations was mitigated by using the wave-absorbing shield.

  15. Design, Implementation and Evaluation of an Indoor Navigation System for Visually Impaired People

    PubMed Central

    Martinez-Sala, Alejandro Santos; Losilla, Fernando; Sánchez-Aarnoutse, Juan Carlos; García-Haro, Joan

    2015-01-01

    Indoor navigation is a challenging task for visually impaired people. Although there are guidance systems available for such purposes, they have some drawbacks that hamper their direct application in real-life situations. These systems are either too complex, inaccurate, or require very special conditions (i.e., rare in everyday life) to operate. In this regard, Ultra-Wideband (UWB) technology has been shown to be effective for indoor positioning, providing a high level of accuracy and low installation complexity. This paper presents SUGAR, an indoor navigation system for visually impaired people which uses UWB for positioning, a spatial database of the environment for pathfinding through the application of the A* algorithm, and a guidance module. The interaction with the user takes place using acoustic signals and voice commands played through headphones. The suitability of the system for indoor navigation has been verified by means of a functional and usable prototype through a field test with a blind person. In addition, other tests have been conducted in order to show the accuracy of different relevant parts of the system. PMID:26703610

  16. Global Navigation Satellite System Multipath Mitigation Using a Wave-Absorbing Shield

    PubMed Central

    Yang, Haiyan; Yang, Xuhai; Sun, Baoqi; Su, Hang

    2016-01-01

    Code multipath is an unmanaged error source in precise global navigation satellite system (GNSS) observation processing that limits GNSS positioning accuracy. A new technique for mitigating multipath by installing a wave-absorbing shield is presented in this paper. The wave-absorbing shield was designed according to a GNSS requirement of received signals and collected measurements to achieve good performance. The wave-absorbing shield was installed at the KUN1 and SHA1 sites of the international GNSS Monitoring and Assessment System (iGMAS). Code and carrier phase measurements of three constellations were collected on the dates of the respective installations plus and minus one week. Experiments were performed in which the multipath of the measurements obtained at different elevations was mitigated to different extents after applying the wave-absorbing shield. The results of an analysis and comparison show that the multipath was mitigated by approximately 17%–36% on all available frequencies of BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), and Global Navigation Satellite System (GLONASS) satellites. The three-dimensional accuracies of BDS, GPS, and GLONASS single-point positioning (SPP) were, respectively, improved by 1.07, 0.63 and 0.49 m for the KUN1 site, and by 0.72, 0.79 and 0.73 m for the SHA1 site. Results indicate that the multipath of the original observations was mitigated by using the wave-absorbing shield. PMID:27556466

  17. An adaptive localization system for outdoor/indoor navigation for autonomous robots

    NASA Astrophysics Data System (ADS)

    Pacis, E. B.; Sights, B.; Ahuja, G.; Kogut, G.; Everett, H. R.

    2006-05-01

    Many envisioned applications of mobile robotic systems require the robot to navigate in complex urban environments. This need is particularly critical if the robot is to perform as part of a synergistic team with human forces in military operations. Historically, the development of autonomous navigation for mobile robots has targeted either outdoor or indoor scenarios, but not both, which is not how humans operate. This paper describes efforts to fuse component technologies into a complete navigation system, allowing a robot to seamlessly transition between outdoor and indoor environments. Under the Joint Robotics Program's Technology Transfer project, empirical evaluations of various localization approaches were conducted to assess their maturity levels and performance metrics in different exterior/interior settings. The methodologies compared include Markov localization, global positioning system, Kalman filtering, and fuzzy-logic. Characterization of these technologies highlighted their best features, which were then fused into an adaptive solution. A description of the final integrated system is discussed, including a presentation of the design, experimental results, and a formal demonstration to attendees of the Unmanned Systems Capabilities Conference II in San Diego in December 2005.

  18. Bomb-Navigation Systems, AFSC 321X0

    DTIC Science & Technology

    1988-05-01

    AREA PHYSICAL INSPECTIONS 84 K333 REMOVE OR REPLACE ASQ-151 EVS TURRET WINDOWS 84 V L391 PERFORM ASQ-176 OAS SYSTEM AND COOLING SHUTDOWNS 83 L364...REMOVE OR REPLACE ASQ-151 EVS TURRET WINDOWS 83 L391 PERFORM ASQ-176 OAS SYSTEM AND COOLING SHUTDOWNS 82 L363 PERFORM ASO-176 OAS CONTROLS AND DISPLAYS...J299 REMOVE OR REPLACE AIRCRAFT RECEIVER-TRANSMITTER MODULATORS (RTM) 89 K333 REMOVE OR REPLACE ASQ-151 EVS TURRET WINDOWS 89 * L391 PERFORM ASQ-176

  19. Guidance, navigation and control system for autonomous proximity operations and docking of spacecraft

    NASA Astrophysics Data System (ADS)

    Lee, Daero

    This study develops an integrated guidance, navigation and control system for use in autonomous proximity operations and docking of spacecraft. A new approach strategy is proposed based on a modified system developed for use with the International Space Station. It is composed of three "V-bar hops" in the closing transfer phase, two periods of stationkeeping and a "straight line V-bar" approach to the docking port. Guidance, navigation and control functions are independently designed and are then integrated in the form of linear Gaussian-type control. The translational maneuvers are determined through the integration of the state-dependent Riccati equation control formulated using the nonlinear relative motion dynamics with the weight matrices adjusted at the steady state condition. The reference state is provided by a guidance function, and the relative navigation is performed using a rendezvous laser vision system and a vision sensor system, where a sensor mode change is made along the approach in order to provide effective navigation. The rotational maneuvers are determined through a linear quadratic Gaussian-type control using star trackers and gyros, and a vision sensor. The attitude estimation mode change is made from absolute estimation to relative attitude estimation during the stationkeeping phase inside the approach corridor. The rotational controller provides the precise attitude control using weight matrices adjusted at the steady state condition, including the uncertainty of the moment of inertia and external disturbance torques. A six degree-of-freedom simulation demonstrates that the newly developed GNC system successfully autonomously performs proximity operations and meets the conditions for entering the final docking phase.

  20. A sensor system for the navigation of an underwater vehicle

    SciTech Connect

    Smith, R. |; Frost, A.; Probert, P.

    1999-07-01

    A sensor system for an underwater vehicle is described. The vehicle is equipped with inclinometers, gyroscopes, a magnetometer, a pressure gauge, and a sonar system. The sensor models used for the inclinometers and gyroscopes are straightforward; however, the magnetometer can be corrupted by variations in the earth`s field caused by: external objects and internal magnetic fields. The authors show how to use inclinometer data to adjust for a limited set of external field variation. The authors also show how to calibrate the magnetometer to compensate for static and thruster-dependent internal fields. The sonar unit uses range differentials between cheap time-of-flight sonar to follow a target. This reduces signal processing since data association is only required on target acquisition, and removes the need to scan an entire landscape, which is usually slow. The gyroscopes are fused via a second indirect filter system. The vehicle attitude is represented as a quaternion; these have a low computational burden, and lack discontinuities and singularities. The simplicity of the indirect filter permits very fast update rates, so that the system may follow rapid vehicle rotations.

  1. Cancellation of the Army’s Autonomous Navigation System

    DTIC Science & Technology

    2012-08-02

    by Army Red Team System Name Sponsor ANS-Like Capabilities Cargo-UGV Marine Warfighting Lab Remote Operation, Vehicle Leader / Follower , Road...Following Ground Unmanned Support Surrogate Marine Warfighting Lab Remote Operation, Soldier Leader / Follower Convoy Active Safety Technologies Army...Tank and Automotive Research, Development, and Engineering Command Remote Operation, Vehicle Leader / Follower , Road Following Mobile Autonomous

  2. Gyroscope-reduced inertial navigation system for flight vehicle motion estimation

    NASA Astrophysics Data System (ADS)

    Wang, Xin; Xiao, Lu

    2017-01-01

    In this paper, a novel configuration of strategically distributed accelerometer sensors with the aid of one gyro to infer a flight vehicle's angular motion is presented. The MEMS accelerometer and gyro sensors are integrated to form a gyroscope-reduced inertial measurement unit (GR-IMU). The motivation for gyro aided accelerometers array is to have direct measurements of angular rates, which is an improvement to the traditional gyroscope-free inertial system that employs only direct measurements of specific force. Some technical issues regarding error calibration in accelerometers and gyro in GR-IMU are put forward. The GR-IMU based inertial navigation system can be used to find a complete attitude solution for flight vehicle motion estimation. Results of numerical simulation are given to illustrate the effectiveness of the proposed configuration. The gyroscope-reduced inertial navigation system based on distributed accelerometer sensors can be developed into a cost effective solution for a fast reaction, MEMS based motion capture system. Future work will include the aid from external navigation references (e.g. GPS) to improve long time mission performance.

  3. Navigation Ground Data System Engineering for the Cassini/Huygens Mission

    NASA Technical Reports Server (NTRS)

    Beswick, R. M.; Antreasian, P. G.; Gillam, S. D.; Hahn, Y.; Roth, D. C.; Jones, J. B.

    2008-01-01

    The launch of the Cassini/Huygens mission on October 15, 1997, began a seven year journey across the solar system that culminated in the entry of the spacecraft into Saturnian orbit on June 30, 2004. Cassini/Huygens Spacecraft Navigation is the result of a complex interplay between several teams within the Cassini Project, performed on the Ground Data System. The work of Spacecraft Navigation involves rigorous requirements for accuracy and completeness carried out often under uncompromising critical time pressures. To support the Navigation function, a fault-tolerant, high-reliability/high-availability computational environment was necessary to support data processing. Configuration Management (CM) was integrated with fault tolerant design and security engineering, according to the cornerstone principles of Confidentiality, Integrity, and Availability. Integrated with this approach are security benchmarks and validation to meet strict confidence levels. In addition, similar approaches to CM were applied in consideration of the staffing and training of the system administration team supporting this effort. As a result, the current configuration of this computational environment incorporates a secure, modular system, that provides for almost no downtime during tour operations.

  4. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments

    PubMed Central

    Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes

    2015-01-01

    Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization. PMID:26712755

  5. Evaluation of the Terminal Sequencing and Spacing System for Performance Based Navigation Arrivals

    NASA Technical Reports Server (NTRS)

    Thipphavong, Jane; Jung, Jaewoo; Swenson, Harry N.; Martin, Lynne; Lin, Melody; Nguyen, Jimmy

    2013-01-01

    NASA has developed the Terminal Sequencing and Spacing (TSS) system, a suite of advanced arrival management technologies combining timebased scheduling and controller precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals that have both current standard ATC routes and terminal Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. In collaboration with the FAA and MITRE's Center for Advanced Aviation System Development (CAASD), TSS system performance was evaluated in human-in-the-loop (HITL) simulations with currently active controllers as participants. Traffic scenarios had mixed Area Navigation (RNAV) and Required Navigation Performance (RNP) equipage, where the more advanced RNP-equipped aircraft had preferential treatment with a shorter approach option. Simulation results indicate the TSS system achieved benefits by enabling PBN, while maintaining high throughput rates-10% above baseline demand levels. Flight path predictability improved, where path deviation was reduced by 2 NM on average and variance in the downwind leg length was 75% less. Arrivals flew more fuel-efficient descents for longer, spending an average of 39 seconds less in step-down level altitude segments. Self-reported controller workload was reduced, with statistically significant differences at the p less than 0.01 level. The RNP-equipped arrivals were also able to more frequently capitalize on the benefits of being "Best-Equipped, Best- Served" (BEBS), where less vectoring was needed and nearly all RNP approaches were conducted without interruption.

  6. A system for video-based navigation for endoscopic endonasal skull base surgery.

    PubMed

    Mirota, Daniel J; Wang, Hanzi; Taylor, Russell H; Ishii, Masaru; Gallia, Gary L; Hager, Gregory D

    2012-04-01

    Surgeries of the skull base require accuracy to safely navigate the critical anatomy. This is particularly the case for endoscopic endonasal skull base surgery (ESBS) where the surgeons work within millimeters of neurovascular structures at the skull base. Today's navigation systems provide approximately 2 mm accuracy. Accuracy is limited by the indirect relationship of the navigation system, the image and the patient. We propose a method to directly track the position of the endoscope using video data acquired from the endoscope camera. Our method first tracks image feature points in the video and reconstructs the image feature points to produce 3D points, and then registers the reconstructed point cloud to a surface segmented from preoperative computed tomography (CT) data. After the initial registration, the system tracks image features and maintains the 2D-3D correspondence of image features and 3D locations. These data are then used to update the current camera pose. We present a method for validation of our system, which achieves submillimeter (0.70 mm mean) target registration error (TRE) results.

  7. Coastal Navigation Portfolio Management

    DTIC Science & Technology

    2015-02-19

    CIRP.aspx Coastal Inlets Research Program Coastal Navigation Portfolio Management The Coastal Navigatoin Portfolio Management work unit...across the vast coastal navigation portfolio of projects. The USACE maintains a vast infrastructure portfolio of deep-draft coastal entrance...the Corps needs to be able to direct resources at the navigation projects that are most critical to overall marine transportation system performance

  8. Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.

    PubMed

    Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

    2016-12-17

    Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

  9. 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.

  10. An improved robust hand-eye calibration for endoscopy navigation system

    NASA Astrophysics Data System (ADS)

    He, Wei; Kang, Kumsok; Li, Yanfang; Shi, Weili; Miao, Yu; He, Fei; Yan, Fei; Yang, Huamin; Zhang, Huimao; Mori, Kensaku; Jiang, Zhengang

    2016-03-01

    Endoscopy is widely used in clinical application, and surgical navigation system is an extremely important way to enhance the safety of endoscopy. The key to improve the accuracy of the navigation system is to solve the positional relationship between camera and tracking marker precisely. The problem can be solved by the hand-eye calibration method based on dual quaternions. However, because of the tracking error and the limited motion of the endoscope, the sample motions may contain some incomplete motion samples. Those motions will cause the algorithm unstable and inaccurate. An advanced selection rule for sample motions is proposed in this paper to improve the stability and accuracy of the methods based on dual quaternion. By setting the motion filter to filter out the incomplete motion samples, finally, high precision and robust result is achieved. The experimental results show that the accuracy and stability of camera registration have been effectively improved by selecting sample motion data automatically.

  11. Perception system and functions for autonomous navigation in a natural environment

    NASA Technical Reports Server (NTRS)

    Chatila, Raja; Devy, Michel; Lacroix, Simon; Herrb, Matthieu

    1994-01-01

    This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.

  12. FLYCON-R: Wireless Integrated Communication and Navigation System

    NASA Astrophysics Data System (ADS)

    Palomo, Jose Maria; Gomez de Aguero, Sergio; Latorre, Antonio; Fernandez, Antonio; Pina, Fernando; Tarziu, Andrei; Balan, Mugurel; Sanchez Gestido, Manuel; Concari, Paolo

    2015-09-01

    This paper presents the FLYCON-R system, which is an integrated communication and ranging system based on OFDM signal. FLYCON-R supports high data rates and flexible data communications, providing also relative ranging measurements based on Time of Arrival (ToA) from the Radio Frequency signals. Deimos Space (Spain and Romania) and ISS are carrying out the FLYCON-R project for ESA under the Romanian task force initiative. FLYCON-R (Prototype of Integrated Nav-Com sensor based on WiMax Standard for Formation Flying) aims to upgrade the previously existing FLYCON proof of concept (PoC) to a more advanced, elegant breadboard version, ready for on-ground flight testing and as near as possible to a future flight version. The paper presents as well the preliminary results of the flight tests performed on the Spanish R&D PERIGEO project, using the FLYCON PoC prototypes.

  13. Phased Antenna Array for Global Navigation Satellite System Signals

    NASA Technical Reports Server (NTRS)

    Turbiner, Dmitry (Inventor)

    2015-01-01

    Systems and methods for phased array antennas are described. Supports for phased array antennas can be constructed by 3D printing. The array elements and combiner network can be constructed by conducting wire. Different parameters of the antenna, like the gain and directivity, can be controlled by selection of the appropriate design, and by electrical steering. Phased array antennas may be used for radio occultation measurements.

  14. Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation

    DTIC Science & Technology

    2001-12-01

    of Mechanical Engineering,University of Florida,Gainesville,FL,32611 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/ MONITORING AGENCY NAME(S... monitor the system output and make changes on the fly. The NTV is also capable of operating under Tele-remote operation and controlled through an...Satellite Orbit Arrangment. The control segment of GPS consists of tracking stations located throughout the world. These control facilities monitor

  15. Kalman Filter Integration of Modern Guidance and Navigation Systems

    DTIC Science & Technology

    1989-07-04

    purpose of the preprocessor is to interface the KF designed on level I to the physical system. The design is made using a Monte Carlo simulation program...Perform a Monte Carlo simulation incorporating the KF from level 1. 6. Repeat from i if necessary. If the KF is inadequate repeat level 1. Level 3 : rield...flight simulation program or if necessary the Monte Carlo simulation program and the covariance simulation program. 6. Repeat the level 1 and 2 design

  16. A Lane Following Mobile Robot Navigation System Using Mono Camera

    NASA Astrophysics Data System (ADS)

    Cho, Yeongcheol; Kim, Seungwoo; Park, Seongkeun

    2017-02-01

    In this paper, we develop a lane following mobile robot using mono camera. By using camera, robot can recognize its left and right side lane, and maintain the center line of robot track. We use Hough Transform for detecting lane, and PID controller for control direction of mobile robot. The validity of our robot system is performed in a real world robot track environment which is built up in our laboratory.

  17. Innovative Navigation Systems to Support Digital Geophysical Mapping

    DTIC Science & Technology

    2006-02-17

    Treated No intrusive activities were undertaken nor any material handled. 3.6.4. Residuals Handling This section is not applicable. 3.6.5...The four Cs- vapour sensors were equally separated by 40cm and supported on a non-metallic frame, as shown on the right side of the photograph in Figure...acquisition system showing the four Cs vapour magnetometer sensors at the front of the array (right of photo) and the reflective prism (red cube

  18. Definition study of land/sea civil user navigational location monitoring systems for NAVSTAR GPS: User requirements and systems concepts

    NASA Technical Reports Server (NTRS)

    Devito, D. M.

    1981-01-01

    A low-cost GPS civil-user mobile terminal whose purchase cost is substantially an order of magnitude less than estimates for the military counterpart is considered with focus on ground station requirements for position monitoring of civil users requiring this capability and the civil user navigation and location-monitoring requirements. Existing survey literature was examined to ascertain the potential users of a low-cost NAVSTAR receiver and to estimate their number, function, and accuracy requirements. System concepts are defined for low cost user equipments for in-situ navigation and the retransmission of low data rate positioning data via a geostationary satellite to a central computing facility.

  19. Conformal, Transparent Printed Antenna Developed for Communication and Navigation Systems

    NASA Technical Reports Server (NTRS)

    Lee, Richard Q.; Simons, Rainee N.

    1999-01-01

    Conformal, transparent printed antennas have advantages over conventional antennas in terms of space reuse and aesthetics. Because of their compactness and thin profile, these antennas can be mounted on video displays for efficient integration in communication systems such as palmtop computers, digital telephones, and flat-panel television displays. As an array of multiple elements, the antenna subsystem may save weight by reusing space (via vertical stacking) on photovoltaic arrays or on Earth-facing sensors. Also, the antenna could go unnoticed on automobile windshields or building windows, enabling satellite uplinks and downlinks or other emerging high-frequency communications.

  20. Simulation studies of the GOES-I Image Navigation and Registration (INR) system

    NASA Technical Reports Server (NTRS)

    Carr, James L.; Dunhill, Herbert W.; Gamble, Donald W.; Kamel, Ahmed A.

    1990-01-01

    The GOES-I Image Navigation and Registration (INR) system will fly on the next generation of NOAA geostationary meteorological satellites. This system uses observations of stars and earth landmarks made by the Imager and Sounder Instruments themselves to determine the orbit, attitude, and misalignment state of the spacecraft and instruments. An extensive program of simulation and analysis has been conducted to assess the expected performance of the INR system. This paper discusses these activities and presents some computer simulation results showing expected system performance under a variety of conditions including station-keeping.

  1. Wheelchair Navigation System for Disabled and Elderly People

    PubMed Central

    Kim, Eun Yi

    2016-01-01

    An intelligent wheelchair (IW) system is developed in order to support safe mobility for disabled or elderly people with various impairments. The proposed IW offers two main functions: obstacle detection and avoidance, and situation recognition. First, through a combination of a vision sensor and eight ultrasonic ones, it detects diverse obstacles and produces occupancy grid maps (OGMs) that describe environmental information, including the positions and sizes of obstacles, which is then given to the learning-based algorithm. By learning the common patterns among OGMs assigned to the same directions, the IW can automatically find paths to prevent collisions with obstacles. Second, it distinguishes a situation whereby the user is standing on a sidewalk, traffic intersection, or roadway through analyzing the texture and shape of the images, which aids in preventing any accidents that would result in fatal injuries to the user, such as collisions with vehicles. From the experiments that were performed in various environments, we can prove the following: (1) the proposed system can recognize different types of outdoor places with 98.3% accuracy; and (2) it can produce paths that avoid obstacles with 92.0% accuracy. PMID:27801852

  2. Reliable Alignment in Total Knee Arthroplasty by the Use of an iPod-Based Navigation System.

    PubMed

    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.

  3. 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

  4. Consideration of ergonomic aspects in the development of a new endoscopic navigation system.

    PubMed

    Scholz, M; Dick, S; Fricke, B; Schmieder, K; Engelhardt, M; Tombrock, S; Pechlivanis, I; Harders, A; Konen, W

    2005-10-01

    During the development of new navigation systems, the ergonomic aspects of the accompanying software are seldom taken into account. The VN system is a navigation system working with real and previously stored neuroendoscopic images. The latter enable the module to execute virtual back movement, e.g. in case of bleeding. Several other modules are offered. The aim of the study was the ergonomic analysis of different modules and their learning curves in cadaveric heads. The endoscope was navigated by the neurosurgeon while another person operated the computer. A total of 128 experiments were performed with two software versions. When the landmark tracking module was used, a real learning curve could be observed. By contrast, testing the measurement module did not produce a learning curve. A significant reduction of the time required by the three modules investigated could be observed with software version 2. The module for virtual back movement works best with a minimum time of 20 s for image storage. During machine-human interactions ergonomic software use is important, especially if operative procedures are performed.

  5. Evaluation of the navigation performance of shipboard-VTOL-landing guidance systems

    NASA Technical Reports Server (NTRS)

    Mcgee, L. A.; Paulk, C. H., Jr.; Steck, S. A.; Schmidt, S. F.; Merz, A. W.

    1979-01-01

    The objective of this study was to explore the performance of a VTOL aircraft landing approach navigation system that receives data (1) from either a microwave scanning beam (MSB) or a radar-transponder (R-T) landing guidance system, and (2) information data-linked from an aviation facility ship. State-of-the-art low-cost-aided inertial techniques and variable gain filters were used in the assumed navigation system. Compensation for ship motion was accomplished by a landing pad deviation vector concept that is a measure of the landing pad's deviation from its calm sea location. The results show that the landing guidance concepts were successful in meeting all of the current Navy navigation error specifications, provided that vector magnitude of the allowable error, rather than the error in each axis, is a permissible interpretation of acceptable performance. The success of these concepts, however, is strongly dependent on the distance measuring equipment bias. In addition, the 'best possible' closed-loop tracking performance achievable with the assumed point-mass VTOL aircraft guidance concept is demonstrated.

  6. Control and navigation system for a fixed-wing unmanned aerial vehicle

    NASA Astrophysics Data System (ADS)

    Zhai, Ruiyong; Zhou, Zhaoying; Zhang, Wendong; Sang, Shengbo; Li, Pengwei

    2014-03-01

    This paper presents a flight control and navigation system for a fixed-wing unmanned aerial vehicle (UAV) with low-cost micro-electro-mechanical system (MEMS) sensors. The system is designed under the inner loop and outer loop strategy. The trajectory tracking navigation loop is the outer loop of the attitude loop, while the attitude control loop is the outer loop of the stabilization loop. The proportional-integral-derivative (PID) control was adopted for stabilization and attitude control. The three-dimensional (3D) trajectory tracking control of a UAV could be approximately divided into lateral control and longitudinal control. The longitudinal control employs traditional linear PID feedback to achieve the desired altitude of the UAV, while the lateral control uses a non-linear control method to complete the desired trajectory. The non-linear controller can automatically adapt to ground velocity change, which is usually caused by gust disturbance, thus the UAV has good wind resistance characteristics. Flight tests and survey missions were carried out with our self-developed delta fixed-wing UAV and MEMS-based autopilot to confirm the effectiveness and practicality of the proposed navigation method.

  7. 33 CFR 66.10-35 - Navigation lights.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Navigation lights. 66.10-35 Section 66.10-35 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-35 Navigation lights....

  8. 33 CFR 66.10-35 - Navigation lights.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Navigation lights. 66.10-35 Section 66.10-35 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-35 Navigation lights....

  9. 33 CFR 66.10-35 - Navigation lights.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Navigation lights. 66.10-35 Section 66.10-35 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-35 Navigation lights....

  10. 33 CFR 66.10-35 - Navigation lights.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Navigation lights. 66.10-35 Section 66.10-35 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-35 Navigation lights....

  11. 33 CFR 66.10-35 - Navigation lights.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigation lights. 66.10-35 Section 66.10-35 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-35 Navigation lights....

  12. 33 CFR 66.10-15 - Aids to navigation.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  13. 33 CFR 66.10-15 - Aids to navigation.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  14. 33 CFR 66.10-15 - Aids to navigation.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  15. 33 CFR 66.10-15 - Aids to navigation.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  16. 33 CFR 66.10-15 - Aids to navigation.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Aids to navigation. 66.10-15 Section 66.10-15 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION Uniform State Waterway Marking System § 66.10-15 Aids to navigation....

  17. A New Electromagnetic Navigation System for Pedicle Screws Placement: A Human Cadaver Study at the Lumbar Spine

    PubMed Central

    Hahn, Patrick; Oezdemir, Semih; Komp, Martin; Giannakopoulos, Athanasios; Heikenfeld, Roderich; Kasch, Richard; Merk, Harry; Godolias, Georgios; Ruetten, Sebastian

    2015-01-01

    Introduction Technical developments for improving the safety and accuracy of pedicle screw placement play an increasingly important role in spine surgery. In addition to the standard techniques of free-hand placement and fluoroscopic navigation, the rate of complications is reduced by 3D fluoroscopy, cone-beam CT, intraoperative CT/MRI, and various other navigation techniques. Another important aspect that should be emphasized is the reduction of intraoperative radiation exposure for personnel and patient. The aim of this study was to investigate the accuracy of a new navigation system for the spine based on an electromagnetic field. Material and Method Twenty pedicle screws were placed in the lumbar spine of human cadavers using EMF navigation. Navigation was based on data from a preoperative thin-slice CT scan. The cadavers were positioned on a special field generator and the system was matched using a patient tracker on the spinous process. Navigation was conducted using especially developed instruments that can be tracked in the electromagnetic field. Another thin-slice CT scan was made postoperatively to assess the result. The evaluation included the position of the screws in the direction of trajectory and any injury to the surrounding cortical bone. The results were classified in 5 groups: grade 1: ideal screw position in the center of the pedicle with no cortical bone injury; grade 2: acceptable screw position, cortical bone injury with cortical penetration ≤ 2 mm; grade 3: cortical bone injury with cortical penetration 2,1-4 mm, grad 4: cortical bone injury with cortical penetration 4,1-6 mm, grade 5: cortical bone injury with cortical penetration >6 mm. Results The initial evaluation of the system showed good accuracy for the lumbar spine (65% grade 1, 20% grade 2, 15% grade 3, 0% grade 4, 0% grade 5). A comparison of the initial results with other navigation techniques in literature (CT navigation, 2D fluoroscopic navigation) shows that the accuracy of

  18. Multi-antenna synchronized global navigation satellite system receiver and its advantages in high-precision positioning applications

    NASA Astrophysics Data System (ADS)

    Dong, Danan; Chen, Wen; Cai, Miaomiao; Zhou, Feng; Wang, Minghua; Yu, Chao; Zheng, Zhengqi; Wang, Yuanfei

    2016-12-01

    The multi-antenna synchronized global navigation satellite system receiver is a high precision, low cost, and widely used emerging receiver. Using this type of receiver, the satellite and receiver clock errors can be eliminated simultaneously by forming between antenna single-differences, which is equivalent to the conventional double-difference model. However, current multi-antenna synchronized global navigation satellite system receiver products have not fully realized their potential to achieve better accuracy, efficiency, and broader applications. This paper introduces the conceptual design and derivable products of multi-antenna synchronized global navigation satellite system receivers involving the aspects of attitude determination, multipath effect mitigation, phase center variation correction, and ground-based carrier phase windup calibration. Through case studies, the advantages of multi-antenna synchronized global navigation satellite system receivers in high-precision positioning applications are demonstrated.

  19. Conceptual development of a ground-based radio-beacon navigation system for use on the surface of the moon

    NASA Technical Reports Server (NTRS)

    Beggins, Andrew J.; Canney, Lora M.; Dolezal, Anna Belle

    1988-01-01

    A spread-spectrum radio-beacon navigation system for use on the lunar surface is described. The subjects discussed are principle of operation and specifications to include power requirements, operating frequencies, weight, size, and range.

  20. Stroke navigator--a clinical decision support system for acute stroke.

    PubMed

    van Zon, Kees; Lord, William P; Lagor, Charles; Theiss, Stephan; Brosig, Torge; Siebler, Mario

    2008-11-06

    The Stroke Navigator is a clinical decision support system aimed at improving the diagnosis and treatment of acute stroke. It combines an audit trail, a differential diagnosis window, an interactive stroke protocol map, and a list of recommendations for hospital staff. It provides a patient-specific overview of the workflow status and of the available clinical findings, with the goal of improving the continuity of care. For this purpose, it uses a workflow engine that was specifically designed to meet the demands of clinical practice. The Stroke Navigator furthermore calculates and displays the probabilities of various stroke differential diagnoses. The demonstration will introduce these and other features by means of a hypothetical patient case. It will also summarize the status of alpha-testing the first prototype.

  1. Simulation analysis of a microcomputer-based, low-cost Omega navigation system

    NASA Technical Reports Server (NTRS)

    Lilley, R. W.; Salter, R. J., Jr.

    1976-01-01

    The current status of research on a proposed micro-computer-based, low-cost Omega Navigation System (ONS) is described. The design approach emphasizes minimum hardware, maximum software, and the use of a low-cost, commercially-available microcomputer. Currently under investigation is the implementation of a low-cost navigation processor and its interface with an omega sensor to complete the hardware-based ONS. Sensor processor functions are simulated to determine how many of the sensor processor functions can be handled by innovative software. An input data base of live Omega ground and flight test data was created. The Omega sensor and microcomputer interface modules used to collect the data are functionally described. Automatic synchronization to the Omega transmission pattern is described as an example of the algorithms developed using this data base.

  2. Navigation for Rendezvous and Orbit Missions to Small Solar-System Bodies

    NASA Technical Reports Server (NTRS)

    Helfrich, C. E.; Scheeres, D. J.; Williams, B. G.; Bollman, W. E.; Davis, R. P.; Synnott, S. P.; Yeomans, D. K.

    1994-01-01

    All previous spacecraft encounters with small solar-system bodies, such as asteroids and comets, have been flybys (e.g. Galileo's flybys of the asteroids Gaspra and Ida). Several future projects plan to build on the flyby experience and progress to the next level with rendezvous and orbit missions to small bodies. This presents several new issues and challenges for navigation which have never been considered before. This paper addresses these challenges by characterizing the different phases of a small body rendezvous and by describing the navigation requirements and goals of each phase. Prior to the encounter with the small body, improvements to its ephemeris and initial estimates of its physical parameters, e.g. size, shape, mass, rotation rate, rotation pole, and possibly outgassing, are made as accurately as ground-based measurements allow. This characterization can take place over years...

  3. Error analyses and calibration methods with accelerometers for optical angle encoders in rotational inertial navigation systems.

    PubMed

    Liu, Fang; Wang, Wei; Wang, Lei; Feng, Peide

    2013-11-10

    By rotating a strapdown inertial navigation system (INS) over one or more axes, a number of error sources originating from the employed sensors cancel out during the integration process. Rotary angle accuracy has an effect on the performance of rotational INS (RINS). The application of existing calibration methods based on gyroscope measurements is restricted by the structure of the inertial measurement unit (IMU) and scale factor stability of the gyroscope. The multireadhead method has problems in miniaturization and cost. Hence, optical angle encoder calibration methods using accelerometers are proposed, on the basis of navigation error and accuracy requirement analyses for a single-axis RINS. The test results show that the accuracy of calibration methods proposed is higher than 4 arcsec (1σ).

  4. Systems and Methods for Automated Vessel Navigation Using Sea State Prediction

    NASA Technical Reports Server (NTRS)

    Huntsberger, Terrance L. (Inventor); Rankin, Arturo (Inventor); Aghazarian, Hrand (Inventor); Howard, Andrew B. (Inventor); Reinhart, Rene Felix (Inventor)

    2015-01-01

    Systems and methods for sea state prediction and autonomous navigation in accordance with embodiments of the invention are disclosed. One embodiment of the invention includes a method of predicting a future sea state including generating a sequence of at least two 3D images of a sea surface using at least two image sensors, detecting peaks and troughs in the 3D images using a processor, identifying at least one wavefront in each 3D image based upon the detected peaks and troughs using the processor, characterizing at least one propagating wave based upon the propagation of wavefronts detected in the sequence of 3D images using the processor, and predicting a future sea state using at least one propagating wave characterizing the propagation of wavefronts in the sequence of 3D images using the processor. Another embodiment includes a method of autonomous vessel navigation based upon a predicted sea state and target location.

  5. Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements

    PubMed Central

    Tal, Asaf; Klein, Itzik; Katz, Reuven

    2017-01-01

    The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown. PMID:28241410

  6. Long-term evolution of the inclined geosynchronous orbit in Beidou Navigation Satellite System

    NASA Astrophysics Data System (ADS)

    Tang, Jingshi; Hou, Xiyun; Liu, Lin

    2016-07-01

    China's Beidou Navigation Satellite System (BDS), unlike other navigation satellite systems, uses several inclined geosynchronous orbits (IGSO) to enhance the accuracy of regional or global navigation. In order to maintain a safe space environment in the vicinity of its operational orbit, it is necessary that the decommissioned satellites be well disposed of. Following up the study on the specific BDS IGSO satellites in the previous COSPAR Scientific Assembly, we now extend the study to understand the underlying dynamics and discuss the long-term evolution of such orbits from a more general perspective. In this paper, we first theoretically analyze the problem using simplified models of 1 and 2 degrees of freedoms (1-/2-dof). Then we extensively investigate the numerically propagated orbits for 200 and 1000 years, applying the results from these simplified models and seeking proper explanations for the underlying dynamics. We especially focus on the eccentricity evolution, which is a major concern regarding the collision hazard. We expect to understand the underlying dynamics governing the long-term evolution of BDS IGSO and gain helpful insight into future disposal strategies.

  7. Indoor navigation by people with visual impairment using a digital sign system.

    PubMed

    Legge, Gordon E; Beckmann, Paul J; Tjan, Bosco S; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan

    2013-01-01

    There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.

  8. Inertial Navigation System/Doppler Velocity Log (INS/DVL) Fusion with Partial DVL Measurements.

    PubMed

    Tal, Asaf; Klein, Itzik; Katz, Reuven

    2017-02-22

    The Technion autonomous underwater vehicle (TAUV) is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS) aided by a Doppler velocity log (DVL), magnetometer, and pressure sensor (PS). In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL) can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC) approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF) simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

  9. Indoor Navigation by People with Visual Impairment Using a Digital Sign System

    PubMed Central

    Legge, Gordon E.; Beckmann, Paul J.; Tjan, Bosco S.; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan

    2013-01-01

    There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects—blind, low vision, blindfolded sighted, and normally sighted controls—were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment. PMID:24116156

  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. SeSaMoNet 2.0: Improving a Navigation System for Visually Impaired People

    NASA Astrophysics Data System (ADS)

    Ceipidor, Ugo Biader; Medaglia, Carlo Maria; Sciarretta, Eliseo

    The authors present the improvements obtained during the work done for the last installation of SeSaMoNet, a navigation system for blind people. First the mobility issues of visually impaired people are shown together with strategies to solve them. Then an overview of the system and of its main elements is given. Afterward, the reasons which brought to a re-design are explained and finally the main features of the last system revision for the application are presented and compared to the previous one.

  12. The Development of the MSL Guidance, Navigation, and Control System for Entry, Descent, and Landing

    NASA Technical Reports Server (NTRS)

    San Martin, A. Miguel; Lee, Steven W.; Wong, Edward C.

    2013-01-01

    On August 5, 2012, the Mars Science Laboratory (MSL) mission successfully delivered the Curiosity rover to its intended target. It was the most complex and ambitious landing in the history of the red planet. A key component of the landing system, the requirements for which were driven by the mission ambitious science goals, was the Guidance, Navigation, and Control (GN&C) system. This paper will describe the technical challenges of the MSL GN&C system, the resulting architecture and design needed to meet those challenges, and the development process used for its implementation and testing.

  13. Loosely Coupled GPS-Aided Inertial Navigation System for Range Safety

    NASA Technical Reports Server (NTRS)

    Heatwole, Scott; Lanzi, Raymond J.

    2010-01-01

    The Autonomous Flight Safety System (AFSS) aims to replace the human element of range safety operations, as well as reduce reliance on expensive, downrange assets for launches of expendable launch vehicles (ELVs). The system consists of multiple navigation sensors and flight computers that provide a highly reliable platform. It is designed to ensure that single-event failures in a flight computer or sensor will not bring down the whole system. The flight computer uses a rules-based structure derived from range safety requirements to make decisions whether or not to destroy the rocket.

  14. Integrated guidance, navigation and control verification plan primary flight system. [space shuttle avionics integration

    NASA Technical Reports Server (NTRS)

    1978-01-01

    The verification process and requirements for the ascent guidance interfaces and the ascent integrated guidance, navigation and control system for the space shuttle orbiter are defined as well as portions of supporting systems which directly interface with the system. The ascent phase of verification covers the normal and ATO ascent through the final OMS-2 circularization burn (all of OPS-1), the AOA ascent through the OMS-1 burn, and the RTLS ascent through ET separation (all of MM 601). In addition, OPS translation verification is defined. Verification trees and roadmaps are given.

  15. Space Shuttle navigation validation

    NASA Astrophysics Data System (ADS)

    Ragsdale, A.

    The validation of the guidance, navigation, and control system of the Space Shuttle is explained. The functions of the ascent, on-board, and entry mission phases software of the navigation system are described. The common facility testing, which evaluates the simulations to be used in the navigation validation, is examined. The standard preflight analysis of the operational modes of the navigation software and the post-flight navigation analysis are explained. The conversion of the data into a useful reference frame and the use of orbit parameters in the analysis of the data are discussed. Upon entry the data received are converted to flags, ratios, and residuals in order to evaluate performance and detect errors. Various programs developed to support navigation validation are explained. A number of events that occurred with the Space Shuttle's navigation system are described.

  16. Space Shuttle navigation validation

    NASA Technical Reports Server (NTRS)

    Ragsdale, A.

    1985-01-01

    The validation of the guidance, navigation, and control system of the Space Shuttle is explained. The functions of the ascent, on-board, and entry mission phases software of the navigation system are described. The common facility testing, which evaluates the simulations to be used in the navigation validation, is examined. The standard preflight analysis of the operational modes of the navigation software and the post-flight navigation analysis are explained. The conversion of the data into a useful reference frame and the use of orbit parameters in the analysis of the data are discussed. Upon entry the data received are converted to flags, ratios, and residuals in order to evaluate performance and detect errors. Various programs developed to support navigation validation are explained. A number of events that occurred with the Space Shuttle's navigation system are described.

  17. A UHF RFID positioning system for use in warehouse navigation by employees with cognitive disability.

    PubMed

    Gunther, Eric J M; Sliker, Levin J; Bodine, Cathy

    2017-01-18

    Unemployment among the almost 5 million working-age adults with cognitive disabilities in the USA is a costly problem in both tax dollars and quality of life. Job coaching is an effective tool to overcome this, but the cost of job coaching services sums with every new employee or change of employment roles. There is a need for a cost-effective, automated alternative to job coaching that incurs a one-time cost and can be reused for multiple employees or roles. An effective automated job coach must be aware of its location and the location of destinations within the job site. This project presents a design and prototype of a cart-mounted indoor positioning and navigation system with necessary original software using Ultra High Frequency Radio Frequency Identification (UHF RFID). The system presented in this project for use within a warehouse setting is one component of an automated job coach to assist in the job of order filler. The system demonstrated accuracy to within 0.3 m under the correct conditions with strong potential to serve as the basis for an effective indoor navigation system to assist warehouse workers with disabilities. Implications for rehabilitation An automated job coach could improve employability of and job retention for people with cognitive disabilities. An indoor navigation system using ultra high frequency radio frequency identification was proposed with an average positioning accuracy of 0.3 m. The proposed system, in combination with a non-linear context-aware prompting system, could be used as an automated job coach for warehouse order fillers with cognitive disabilities.

  18. A Google Glass navigation system for ultrasound and fluorescence dual-mode image-guided surgery

    NASA Astrophysics Data System (ADS)

    Zhang, Zeshu; Pei, Jing; Wang, Dong; Hu, Chuanzhen; Ye, Jian; Gan, Qi; Liu, Peng; Yue, Jian; Wang, Benzhong; Shao, Pengfei; Povoski, Stephen P.; Martin, Edward W.; Yilmaz, Alper; Tweedle, Michael F.; Xu, Ronald X.

    2016-03-01

    Surgical resection remains the primary curative intervention for cancer treatment. However, the occurrence of a residual tumor after resection is very common, leading to the recurrence of the disease and the need for re-resection. We develop a surgical Google Glass navigation system that combines near infrared fluorescent imaging and ultrasonography for intraoperative detection of sites of tumor and assessment of surgical resection boundaries, well as for guiding sentinel lymph node (SLN) mapping and biopsy. The system consists of a monochromatic CCD camera, a computer, a Google Glass wearable headset, an ultrasonic machine and an array of LED light sources. All the above components, except the Google Glass, are connected to a host computer by a USB or HDMI port. Wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A control program is written in C++ to call OpenCV functions for image calibration, processing and display. The technical feasibility of the system is tested in both tumor simulating phantoms and in a human subject. When the system is used for simulated phantom resection tasks, the tumor boundaries, invisible to the naked eye, can be clearly visualized with the surgical Google Glass navigation system. This system has also been used in an IRB approved protocol in a single patient during SLN mapping and biopsy in the First Affiliated Hospital of Anhui Medical University, demonstrating the ability to successfully localize and resect all apparent SLNs. In summary, our tumor simulating phantom and human subject studies have demonstrated the technical feasibility of successfully using the proposed goggle navigation system during cancer surgery.

  19. FAA navigation program

    NASA Technical Reports Server (NTRS)

    Blake, N. A.

    1978-01-01

    The FAA navigation program, which includes two major activity areas: those associated with certification of navigation systems to meet current requirements and those associated with building the data base needed to define future system improvements is examined. The near term activities, including the VORTAC upgrading program, the development of the technical data base needed for certification of LORAN C and OMEGA as a part of the current air navigation system, and the development of area navigation standards are examined in regard to cost factors and user requirements. Future system activities discussed include analysis of alternative system configurations made up of system elements including VORTAC VOR-DME, OMEGA and differential OMEGA, LORAN C, and GPS. The interrelationships between the near and far term programs are discussed. A helicopter IFR program which includes an assessment of the operational suitability of several navigation system alternatives for meeting helicopter navigation requirements for CONUS and offshore operations is reported.

  20. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    PubMed Central

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

  1. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering.

    PubMed

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-05-23

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.

  2. Autonomous Navigation System for Mobile Robot Using Randomly Distributed Passive RFID Tags

    NASA Astrophysics Data System (ADS)

    Park, Sunhong; Hashimoto, Shuji

    This paper presents an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. In the case of randomly distributed RFID tags, it is difficult to provide the precise location of the robot especially in the area of sparse RFID tag distribution. This, combined with the wide turning radius of the robot, can cause the robot to enter a zigzag exploration path and miss the goal. In RFID-based navigation, the key is to reduce both the number of RFID tags and the localization error for practical use in a large space. To cope with these, we utilized the Read time, which measures the reading time of each RFID tag. With this, we could estimate accurately the localization and orientation without using any external sensors or increasing the RFID tags. The average estimation errors of 7.8cm in localization and 11 degrees in orientation were achieved with 102 RFID tags in the area of 4.2m by 6.2m. Our proposed method is verified with the path trajectories produced during navigation compared with conventional approaches.

  3. Navigability Potential of Washington Rivers and Streams Determined with Hydraulic Geometry and a Geographic Information System

    USGS Publications Warehouse

    Magirl, Christopher S.; Olsen, Theresa D.

    2009-01-01

    Using discharge and channel geometry measurements from U.S. Geological Survey streamflow-gaging stations and data from a geographic information system, regression relations were derived to predict river depth, top width, and bottom width as a function of mean annual discharge for rivers in the State of Washington. A new technique also was proposed to determine bottom width in channels, a parameter that has received relatively little attention in the geomorphology literature. These regression equations, when combined with estimates of mean annual discharge available in the National Hydrography Dataset, enabled the prediction of hydraulic geometry for any stream or river in the State of Washington. Predictions of hydraulic geometry can then be compared to thresholds established by the Washington State Department of Natural Resources to determine navigability potential of rivers. Rivers with a mean annual discharge of 1,660 cubic feet per second or greater are 'probably navigable' and rivers with a mean annual discharge of 360 cubic feet per second or less are 'probably not navigable'. Variance in the dataset, however, leads to a relatively wide range of prediction intervals. For example, although the predicted hydraulic depth at a mean annual discharge of 1,660 cubic feet per second is 3.5 feet, 90-percent prediction intervals indicate that the actual hydraulic depth may range from 1.8 to 7.0 feet. This methodology does not determine navigability - a legal concept determined by federal common law - instead, this methodology is a tool for predicting channel depth, top width, and bottom width for rivers and streams in Washington.

  4. Oceanic Area System Improvement Study (OASIS). Volume VI. North Atlantic, Central East Pacific, and Caribbean Regions Navigation Systems Description.

    DTIC Science & Technology

    1981-09-01

    Accuracy and Reliability of NAT Navigation . . . .. 33 3.5 NAT Navigation Financial Information .......... ... 33 4. CEP NAVIGATION...35 4.1 Routes ........ ........................ 35 4.2 Navigation Aids . . ........ . ......... 35 4.3 CEP Navigation Accuracy and Reliability ...to predict when they will pass by certain points so other aircraft approaching those points can cross them without excessive delay (i.e., without

  5. A video display interface for the LORAN-C navigation receiver development system

    NASA Technical Reports Server (NTRS)

    Fischer, J. P.; Lilley, R. W.

    1978-01-01

    A microprocessor-based development system was designed and fabricated for prototype test of navigation receiver designs. During use of this system in the development of low-cost LORAN-C receiver/processor concepts, the limitations of the integral KIM-1 display were severely felt. It was to augment this numerical display that the video character display was produced. The circuit design presented meets the need for a flexible-format display capable of driving a small standard video monitor with only minimal demands upon microprocessor memory and MPU cycles.

  6. Automatic Calibration of an Airborne Imaging System to an Inertial Navigation Unit

    NASA Technical Reports Server (NTRS)

    Ansar, Adnan I.; Clouse, Daniel S.; McHenry, Michael C.; Zarzhitsky, Dimitri V.; Pagdett, Curtis W.

    2013-01-01

    This software automatically calibrates a camera or an imaging array to an inertial navigation system (INS) that is rigidly mounted to the array or imager. In effect, it recovers the coordinate frame transformation between the reference frame of the imager and the reference frame of the INS. This innovation can automatically derive the camera-to-INS alignment using image data only. The assumption is that the camera fixates on an area while the aircraft flies on orbit. The system then, fully automatically, solves for the camera orientation in the INS frame. No manual intervention or ground tie point data is required.

  7. Tightly coupled long baseline/ultra-short baseline integrated navigation system

    NASA Astrophysics Data System (ADS)

    Batista, Pedro; Silvestre, Carlos; Oliveira, Paulo

    2016-06-01

    This paper proposes a novel integrated navigation filter based on a combined long baseline/ultra short baseline acoustic positioning system with application to underwater vehicles. With a tightly coupled structure, the position, linear velocity, attitude, and rate gyro bias are estimated, considering the full nonlinear system dynamics without resorting to any algebraic inversion or linearisation techniques. The resulting solution ensures convergence of the estimation error to zero for all initial conditions, exponentially fast. Finally, it is shown, under simulation environment, that the filter achieves very good performance in the presence of sensor noise.

  8. SoS Navigator 2.0: A Context-Based Approach to System-of-Systems Challenges

    DTIC Science & Technology

    2008-06-01

    SoS Navigator 2.0: A Context-Based Approach to System-of-Systems Challenges Philip Boxer David Carney Suzanne Garcia Lisa ...the clinical ser- vice’s role in treating patient conditions. After that phase, pathfinder projects would establish the adoption feasibility of the...executed adoption feasibility projects (called pathfinder projects) to address the services being provided by six different clinics within their

  9. Implementation of a Global Navigation Satellite System (GNSS) Augmentation to Tsunami Early Warning Systems

    NASA Astrophysics Data System (ADS)

    LaBrecque, John

    2016-04-01

    The Global Geodetic Observing System has issued a Call for Participation to research scientists, geodetic research groups and national agencies in support of the implementation of the IUGG recommendation for a Global Navigation Satellite System (GNSS) Augmentation to Tsunami Early Warning Systems. The call seeks to establish a working group to be a catalyst and motivating force for the definition of requirements, identification of resources, and for the encouragement of international cooperation in the establishment, advancement, and utilization of GNSS for Tsunami Early Warning. During the past fifteen years the populations of the Indo-Pacific region experienced a series of mega-thrust earthquakes followed by devastating tsunamis that claimed nearly 300,000 lives. The future resiliency of the region will depend upon improvements to infrastructure and emergency response that will require very significant investments from the Indo-Pacific economies. The estimation of earthquake moment magnitude, source mechanism and the distribution of crustal deformation are critical to rapid tsunami warning. Geodetic research groups have demonstrated the use of GNSS data to estimate earthquake moment magnitude, source mechanism and the distribution of crustal deformation sufficient for the accurate and timely prediction of tsunamis generated by mega-thrust earthquakes. GNSS data have also been used to measure the formation and propagation of tsunamis via ionospheric disturbances acoustically coupled to the propagating surface waves; thereby providing a new technique to track tsunami propagation across ocean basins, opening the way for improving tsunami propagation models, and providing accurate warning to communities in the far field. These two new advancements can deliver timely and accurate tsunami warnings to coastal communities in the near and far field of mega-thrust earthquakes. This presentation will present the justification for and the details of the GGOS Call for

  10. Integrated software health management for aerospace guidance, navigation, and control systems: A probabilistic reasoning approach

    NASA Astrophysics Data System (ADS)

    Mbaya, Timmy

    Embedded Aerospace Systems have to perform safety and mission critical operations in a real-time environment where timing and functional correctness are extremely important. Guidance, Navigation, and Control (GN&C) systems substantially rely on complex software interfacing with hardware in real-time; any faults in software or hardware, or their interaction could result in fatal consequences. Integrated Software Health Management (ISWHM) provides an approach for detection and diagnosis of software failures while the software is in operation. The ISWHM approach is based on probabilistic modeling of software and hardware sensors using a Bayesian network. To meet memory and timing constraints of real-time embedded execution, the Bayesian network is compiled into an Arithmetic Circuit, which is used for on-line monitoring. This type of system monitoring, using an ISWHM, provides automated reasoning capabilities that compute diagnoses in a timely manner when failures occur. This reasoning capability enables time-critical mitigating decisions and relieves the human agent from the time-consuming and arduous task of foraging through a multitude of isolated---and often contradictory---diagnosis data. For the purpose of demonstrating the relevance of ISWHM, modeling and reasoning is performed on a simple simulated aerospace system running on a real-time operating system emulator, the OSEK/Trampoline platform. Models for a small satellite and an F-16 fighter jet GN&C (Guidance, Navigation, and Control) system have been implemented. Analysis of the ISWHM is then performed by injecting faults and analyzing the ISWHM's diagnoses.

  11. GPS-based Land Vehicle Navigation System Assisted by a Low-Cost Gyro-Free INS Using Neural Network

    NASA Astrophysics Data System (ADS)

    Wang, Jau-Hsiung; Gao, Yang

    2004-09-01

    GPS-based land vehicle navigation systems are subject to signal fading in urban areas and require aid from other enabling sensors. A low-cost gyro-free inertial navigation system (INS) without accumulated attitude errors and complicated initializations could be an effective solution to the problem. This paper investigates a Constrained Navigation Algorithm (CNA) and the Artificial Neural Network (ANN) technique to compensate velocity output from a gyro-free INS. The vehicle's heading will be calibrated by a full circle test so that the magnetometer's bias and scale factor error could be removed. Experiments with a vehicle driven over level terrain have been conducted to assess the performance of the compensated gyro-free INS solutions. The effect of the architecture of Neural Network on prediction performance has also been discussed as well as the applicability of the proposed solution to land vehicle navigation with GPS outages.

  12. Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

    NASA Technical Reports Server (NTRS)

    Lee, Allan Y.; Ely, Todd; Sostaric, Ronald; Strahan, Alan; Riedel, Joseph E.; Ingham, Mitch; Wincentsen, James; Sarani, Siamak

    2010-01-01

    Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to

  13. Error Analysis and Calibration Method of a Multiple Field-of-View Navigation System

    PubMed Central

    Shi, Shuai; Zhao, Kaichun; You, Zheng; Ouyang, Chenguang; Cao, Yongkui; Wang, Zhenzhou

    2017-01-01

    The Multiple Field-of-view Navigation System (MFNS) is a spacecraft subsystem built to realize the autonomous navigation of the Spacecraft Inside Tiangong Space Station. This paper introduces the basics of the MFNS, including its architecture, mathematical model and analysis, and numerical simulation of system errors. According to the performance requirement of the MFNS, the calibration of both intrinsic and extrinsic parameters of the system is assumed to be essential and pivotal. Hence, a novel method based on the geometrical constraints in object space, called checkerboard-fixed post-processing calibration (CPC), is proposed to solve the problem of simultaneously obtaining the intrinsic parameters of the cameras integrated in the MFNS and the transformation between the MFNS coordinate and the cameras’ coordinates. This method utilizes a two-axis turntable and a prior alignment of the coordinates is needed. Theoretical derivation and practical operation of the CPC method are introduced. The calibration experiment results of the MFNS indicate that the extrinsic parameter accuracy of the CPC reaches 0.1° for each Euler angle and 0.6 mm for each position vector component (1σ). A navigation experiment verifies the calibration result and the performance of the MFNS. The MFNS is found to work properly, and the accuracy of the position vector components and Euler angle reaches 1.82 mm and 0.17° (1σ) respectively. The basic mechanism of the MFNS may be utilized as a reference for the design and analysis of multiple-camera systems. Moreover, the calibration method proposed has practical value for its convenience for use and potential for integration into a toolkit. PMID:28327538

  14. Design and implementation of a GPS-aided inertial navigation system for a helicopter UAV

    NASA Astrophysics Data System (ADS)

    Kastelan, David R.

    Helicopter unmanned aerial vehicles (UAVs) benefit from vertical takeoff and landing, hover, low-speed, and cruising flight capabilities. This versatility has the expense of nonlinear, unstable, and underactuated system dynamics. These challenges and numerous potential applications make the helicopter UAV an interesting testbed for nonlinear control. A platform for such development has been established in the Applied Nonlinear Controls Lab (ANCL). A miniature helicopter was augmented with a manual/autonomous takeover system and the ANCL Avionics. This payload contains a global positioning system (GPS) receiver, inertial sensors, and communications and computing hardware. Allan variance analysis of inertial sensor data enabled the derivation of a GPS-aided inertial navigation system that was implemented on the ANCL Avionics. This extended Kalman filter (EKF)-based algorithm estimates vehicle position, velocity, and attitude necessary for system identification tasks and control system feedback. Performance validation of this algorithm was demonstrated in simulation and in experimental ground and flight tests.

  15. Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle

    PubMed Central

    Jang, Jaegyu; Ahn, Woo-Guen; Seo, Seungwoo; Lee, Jang Yong; Park, Jun-Pyo

    2015-01-01

    The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality. PMID:26569251

  16. Research on Initial Alignment and Self-Calibration of Rotary Strapdown Inertial Navigation Systems

    PubMed Central

    Gao, Wei; Zhang, Ya; Wang, Jianguo

    2015-01-01

    The errors of inertial sensors affect the navigation accuracy of the strapdown inertial navigation system (SINS) and are accumulated over time in nature. In order to continuously maintain the high navigation accuracy of vehicles for a long time period, an initial alignment and self-calibration is necessary after the SINS starts. Additionally, the observability analysis is one of the key techniques during the initial alignment and self-calibration process. For marine systems, the observability of inertial sensor errors is extremely low, as their motion states are always slow. Therefore, studying the rotating SINS is urgent. Since traditional analysis methods have their limitations, the global observation analysis method was used in this paper. On the basis of this method, the relationship between the observability and the kinestate of the rotating SINS has been established. After the discussion about the factors that affect the observability in detail, the design principle of the initial alignment and self-calibration rotating scheme, which is appropriate for marine systems, id proposed. With the proposed principle, a novel initial alignment and self-calibration method, named the eight-position rotating scheme, is designed. Simulations and experiments are carried out to verify its performance. The results have shown that compared with other rotating schemes and the static state, the estimated accuracy of the eight-position scheme rotating about axes x and y was the best, and the position error was significantly reduced with this new rotating scheme. The feasibility and effectiveness of the proposed design principle and the rotating scheme were verified. PMID:25647743

  17. Research on initial alignment and self-calibration of rotary strapdown inertial navigation systems.

    PubMed

    Gao, Wei; Zhang, Ya; Wang, Jianguo

    2015-01-30

    The errors of inertial sensors affect the navigation accuracy of the strapdown inertial navigation system (SINS) and are accumulated over time in nature. In order to continuously maintain the high navigation accuracy of vehicles for a long time period, an initial alignment and self-calibration is necessary after the SINS starts. Additionally, the observability analysis is one of the key techniques during the initial alignment and self-calibration process. For marine systems, the observability of inertial sensor errors is extremely low, as their motion states are always slow. Therefore, studying the rotating SINS is urgent. Since traditional analysis methods have their limitations, the global observation analysis method was used in this paper. On the basis of this method, the relationship between the observability and the kinestate of the rotating SINS has been established. After the discussion about the factors that affect the observability in detail, the design principle of the initial alignment and self-calibration rotating scheme, which is appropriate for marine systems, id proposed. With the proposed principle, a novel initial alignment and self-calibration method, named the eight-position rotating scheme, is designed. Simulations and experiments are carried out to verify its performance. The results have shown that compared with other rotating schemes and the static state, the estimated accuracy of the eight-position scheme rotating about axes x and y was the best, and the position error was significantly reduced with this new rotating scheme. The feasibility and effectiveness of the proposed design principle and the rotating scheme were verified.

  18. 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

  19. Integrated navigation and control software system for MRI-guided robotic prostate interventions

    PubMed Central

    Tokuda, Junichi; Fischer, Gregory S.; DiMaio, Simon P.; Gobbi, David G.; Csoma, Csaba; Mewes, Philip W.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called “workphases” that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. PMID:19699057

  20. An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

    NASA Technical Reports Server (NTRS)

    Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

    2013-01-01

    Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

  1. An Aerial–Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    PubMed Central

    Garzón, Mario; Valente, João; Zapata, David; Barrientos, Antonio

    2013-01-01

    There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning) require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments. PMID:23337332

  2. 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.

  3. A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

    PubMed Central

    Kanwal, Nadia; Bostanci, Erkan; Currie, Keith; Clark, Adrian F.

    2015-01-01

    For a number of years, scientists have been trying to develop aids that can make visually impaired people more independent and aware of their surroundings. Computer-based automatic navigation tools are one example of this, motivated by the increasing miniaturization of electronics and the improvement in processing power and sensing capabilities. This paper presents a complete navigation system based on low cost and physically unobtrusive sensors such as a camera and an infrared sensor. The system is based around corners and depth values from Kinect's infrared sensor. Obstacles are found in images from a camera using corner detection, while input from the depth sensor provides the corresponding distance. The combination is both efficient and robust. The system not only identifies hurdles but also suggests a safe path (if available) to the left or right side and tells the user to stop, move left, or move right. The system has been tested in real time by both blindfolded and blind people at different indoor and outdoor locations, demonstrating that it operates adequately. PMID:27057135

  4. Development of The Navigation System for The Visually Impaired by Using Optical Beacons

    DTIC Science & Technology

    2007-11-02

    20 21 22 23 24 25 Examination Room1 26 27 2A 2B 2C 2D 2E 2F 28 Reception of Sofa 05 Braille Block 03 Clinic Stairs Ophthalmology Block Examination...Room2 Sofa Sofa 1B 1A 15 Braille Area-1 Area-2 Fig. 5: An outline map of the testing eld and the ar- rangement of optical beacons on the training of...po- sition go out of service area of the navigation system. For example, setting of braille blocks solves this prob- lem. However, braille blocks are

  5. Development of strapdown inertial navigation system with MEMS sensors, barometric altimeter and ultrasonic range meter

    NASA Astrophysics Data System (ADS)

    Kholopov, I. S.

    2015-10-01

    The results of strapdown inertial navigation system (SINS) tests with 9 degrees of freedom MEMS sensor MPU-9150 (triaxial accelerometer, gyroscope and magnetometer), pressure sensor LPS331 and ultrasonic range meter HC-SR04, implemented on the FPGA Altera Cyclone-II evaluation board DE1 is considered. SINS measures the spatial coordinates and altitude relative to the starting point, the orientation angles and distances to obstacles along the way. It is shown that the relative error of the spatial coordinates estimation does not exceed 1.1% in interval of some minutes.

  6. A Kinect(™) camera based navigation system for percutaneous abdominal puncture.

    PubMed

    Xiao, Deqiang; Luo, Huoling; Jia, Fucang; Zhang, Yanfang; Li, Yong; Guo, Xuejun; Cai, Wei; Fang, Chihua; Fan, Yingfang; Zheng, Huimin; Hu, Qingmao

    2016-08-07

    Percutaneous abdominal puncture is a popular interventional method for the management of abdominal tumors. Image-guided puncture can help interventional radiologists improve targeting accuracy. The second generation of Kinect(™) was released recently, we developed an optical navigation system to investigate its feasibility for guiding percutaneous abdominal puncture, and compare its performance on needle insertion guidance with that of the first-generation Kinect(™). For physical-to-image registration in this system, two surfaces extracted from preoperative CT and intraoperative Kinect(™) depth images were matched using an iterative closest point (ICP) algorithm. A 2D shape image-based correspondence searching algorithm was proposed for generating a close initial position before ICP matching. Evaluation experiments were conducted on an abdominal phantom and six beagles in vivo. For phantom study, a two-factor experiment was designed to evaluate the effect of the operator's skill and trajectory on target positioning error (TPE). A total of 36 needle punctures were tested on a Kinect(™) for Windows version 2 (Kinect(™) V2). The target registration error (TRE), user error, and TPE are 4.26  ±  1.94 mm, 2.92  ±  1.67 mm, and 5.23  ±  2.29 mm, respectively. No statistically significant differences in TPE regarding operator's skill and trajectory are observed. Additionally, a Kinect(™) for Windows version 1 (Kinect(™) V1) was tested with 12 insertions, and the TRE evaluated with the Kinect(™) V1 is statistically significantly larger than that with the Kinect(™) V2. For the animal experiment, fifteen artificial liver tumors were inserted guided by the navigation system. The TPE was evaluated as 6.40  ±  2.72 mm, and its lateral and longitudinal component were 4.30  ±  2.51 mm and 3.80  ±  3.11 mm, respectively. This study demonstrates that the navigation accuracy of the proposed system is

  7. Flight performance of a navigation, guidance, and control system concept for automatic approach and landing of space shuttle orbiter

    NASA Technical Reports Server (NTRS)

    Edwards, F. G.; Foster, J. D.; Hegarty, D. M.; Smith, D. W.; Drinkwater, F. J., III; Wingrove, R. C.

    1975-01-01

    Unpowered automatic approaches and landings were conducted to study navigation, guidance, and control problems associated with terminal area approach and landing for the space shuttle vehicle. The flight tests were performed in a Convair 990 aircraft equipped with a digital flight control computer connected to the aircraft control system and displays. The tests were designed to evaluate the performance of a navigation and guidance concept that utilized blended radio/inertial navigation with VOR, DME, and ILS as the ground navigation aids. Results from 36 automatic approaches and landings from 11,300 m (37,000 ft) to touchdown are presented. Preliminary results indicate that this concept may provide sufficient accuracy to accomplish automatic landing of the shuttle orbiter without air-breathing engines.

  8. Safety Cases for Global Navigation Satellite Systems' Safety of Life(SOL) Applications

    NASA Astrophysics Data System (ADS)

    Johnson, C. W.; Yepez, Amaya Atencia

    2010-09-01

    Global Navigation Satellite Systems(GNSS) have recently been enhanced to provide additional guarantees for the accuracy, integrity, reliability and coverage of their services. These infrastructures are intended to be robust against jamming. They support real-time self-diagnostic error detection and provide end-users with detailed information about precision and integrity. In consequence, they are gradually being introduced into safety-related applications. This paper argues that greater attention needs to be paid to the ways in which these navigation infrastructures are being integrated into the safety cases that support Safety of Life(SoL) applications. In particular, we contrast the significant investments that have been made in analysing the safety of GNSS aviation applications, such as en-route operations and non-precision approaches, with the relative lack of progress in other industries. There is also a need for greater consistency between the safety arguments that support similar GNSS applications. This helps to ensure that safety managers and regulators consider a similar set of hazards when seeking to integrate these new navigation infrastructures into SoL systems. While international aviation organisations have taken important steps to establish communication mechanisms within their industry, the same cannot be said for other industries. The ad hoc nature of the safety arguments supporting many recent proposals creates a danger that technological innovation will outstrip our commitment to mitigate or avoid future hazards. Unless these issues are addressed then accidents involving the first wave of SoL applications will further jeopardise the development of GNSS infrastructures.

  9. A hierarchy of associations in hippocampo-cortical systems: cognitive maps and navigation strategies.

    PubMed

    Banquet, J P; Gaussier, Ph; Quoy, M; Revel, A; Burnod, Y

    2005-06-01

    In this letter we describe a hippocampo-cortical model of spatial processing and navigation based on a cascade of increasingly complex associative processes that are also relevant for other hippocampal functions such as episodic memory. Associative learning of different types and the related pattern encoding-recognition take place at three successive levels: (1) an object location level, which computes the landmarks from merged multimodal sensory inputs in the parahippocampal cortices; (2) a subject location level, which computes place fields by combination of local views and movement-related information in the entorhinal cortex; and (3) a spatiotemporal level, which computes place transitions from contiguous place fields in the CA3-CA1 region, which form building blocks for learning temporospatial sequences. At the cell population level, superficial entorhinal place cells encode spatial, context-independent maps as landscapes of activity; populations of transition cells in the CA3-CA1 region encode context-dependent maps as sequences of transitions, which form graphs in prefrontal-parietal cortices. The model was tested on a robot moving in a real environment; these tests produced results that could help to interpret biological data. Two different goal-oriented navigation strategies were displayed depending on the type of map used by the system. Thanks to its multilevel, multimodal integration and behavioral implementation, the model suggests functional interpretations for largely unaccounted structural differences between hippocampo-cortical systems. Further, spatiotemporal information, a common denominator shared by several brain structures, could serve as a cognitive processing frame and a functional link, for example, during spatial navigation and episodic memory, as suggested by the applications of the model to other domains, temporal sequence learning and imitation in particular.

  10. Statistical methods for launch vehicle guidance, navigation, and control (GN&C) system design and analysis

    NASA Astrophysics Data System (ADS)

    Rose, Michael Benjamin

    A novel trajectory and attitude control and navigation analysis tool for powered ascent is developed. The tool is capable of rapid trade-space analysis and is designed to ultimately reduce turnaround time for launch vehicle design, mission planning, and redesign work. It is streamlined to quickly determine trajectory and attitude control dispersions, propellant dispersions, orbit insertion dispersions, and navigation errors and their sensitivities to sensor errors, actuator execution uncertainties, and random disturbances. The tool is developed by applying both Monte Carlo and linear covariance analysis techniques to a closed-loop, launch vehicle guidance, navigation, and control (GN&C) system. The nonlinear dynamics and flight GN&C software models of a closed-loop, six-degree-of-freedom (6-DOF), Monte Carlo simulation are formulated and developed. The nominal reference trajectory (NRT) for the proposed lunar ascent trajectory is defined and generated. The Monte Carlo truth models and GN&C algorithms are linearized about the NRT, the linear covariance equations are formulated, and the linear covariance simulation is developed. The performance of the launch vehicle GN&C system is evaluated using both Monte Carlo and linear covariance techniques and their trajectory and attitude control dispersion, propellant dispersion, orbit insertion dispersion, and navigation error results are validated and compared. Statistical results from linear covariance analysis are generally within 10% of Monte Carlo results, and in most cases the differences are less than 5%. This is an excellent result given the many complex nonlinearities that are embedded in the ascent GN&C problem. Moreover, the real value of this tool lies in its speed, where the linear covariance simulation is 1036.62 times faster than the Monte Carlo simulation. Although the application and results presented are for a lunar, single-stage-to-orbit (SSTO), ascent vehicle, the tools, techniques, and mathematical

  11. Comparison of Global Navigation Satellite System Devices on Speed Tracking in Road (Tran)SPORT Applications.

    PubMed

    Supej, Matej; Cuk, Ivan

    2014-12-08

    Global Navigation Satellite Systems (GNSS) are, in addition to being most widely used vehicle navigation method, becoming popular in sport-related tests. There is a lack of knowledge regarding tracking speed using GNSS, therefore the aims of this study were to examine under dynamic conditions: (1) how accurate technologically different GNSS measure speed and (2) how large is latency in speed measurements in real time applications. Five GNSSs were tested. They were fixed to a car's roof-rack: a  smart phone, a wrist watch, a handheld device, a professional system for testing vehicles and a high-end Real Time Kinematics (RTK) GNSS. The speed data were recorded and analyzed during rapid acceleration and deceleration as well as at steady speed. The study produced four main findings. Higher frequency and high quality GNSS receivers track speed at least at comparable accuracy to a vehicle speedometer. All GNSS systems measured maximum speed and movement at a constant speed well. Acceleration and deceleration have different level of error at different speeds. Low cost GNSS receivers operating at 1 Hz sampling rate had high latency (up to 2.16 s) and are not appropriate for tracking speed in real time, especially during dynamic movements.

  12. Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters. [Instrument Meteorological Conditions

    NASA Technical Reports Server (NTRS)

    Karmali, M. S.; Phatak, A. V.; Bull, J. S.; Peach, L. L.; Demko, P. S.

    1984-01-01

    The present investigation is concerned with a sensitivity analysis of the Decelerated Steep Approach and Landing (DSAL) maneuver to on-board and ground-based navigation system parameters. The Instrument Meteorological Conditions (IMC) DSAL maneuver involves decelerating to zero range rate while tracking the localizer and glideslope. The considered study investigated the performance of the navigation systems using Constant Deceleration Profile (CDP) guidance and a six degrees glideslope trajectory. A closed-loop computer simulation of the UH1H helicopter DSAL system was developed for the sensitivity analysis. Conclusions on system performance parameter sensitivity are discussed.

  13. A real-time online video overlay navigation system for minimally invasive laparoscopic tumor resection

    NASA Astrophysics Data System (ADS)

    Keil, Matthias; Noll, Matthias

    2011-03-01

    The purpose of this paper is to present a detailed description of our real-time navigation system for computer assisted surgery. The system was developed with laparoscopic partial nephrectomies as a first application scenario. The main goal of the application is to enable tracking of the tumor position and orientation during a surgery. Our system is based on ultrasound to CT registration and electromagnetic tracking. The basic idea is to process tracking information to generate an augmented reality (AR) visualization of a tumor model in the camera image of a laparoscopic camera. Thereby it enhances the surgeon's view on the current scene and therefore facilitates higher safety during the surgery. So far we have applied our system in vitro during two phantom trials with a surgeon which yielded promising results.

  14. Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems

    PubMed Central

    Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

    2016-01-01

    Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information. PMID:27999318

  15. Solar System Modeler: A Distributed, Virtual Environment for Space Visualization and GPS Navigation

    NASA Astrophysics Data System (ADS)

    Williams, Gary E.

    1996-12-01

    The Solar System Modeler (SM) extends the Space Modeler developed in 1994. It provides a virtual environment enabling an explorer to dynamically investigate near Earth satellites, deep space probes, planets, moons, and other celestial phenomena. The explorer navigates the virtual environment via mouse selected options from menu panels while wearing a tracked, head mounted display (HMD). Alternatively, a monitor may replace the HMD and keyboard controls replace head tracking. The SM's functionality is extended by the ability to broadcast simulated GPS satellite transmissions in compliance with Distributed Interactive Simulation (DIS) protocol standards. The transmissions include information found in true GPS broadcasts that is required for a receiver to determine its location. The Virtual GPS Receiver (VGPSR) receives the GPS transmissions from the SM and computes the receiver's position with a realistic error based on numerous variables simulating those encountered in the real GPS system. The VGPSR is designed as a plug-in module for simulations requiring virtual navigation. The receiver's client application provides the VGPSR with the simulation time and the true position of the receiver. In return, the application receives a GPS indicated position.

  16. Initial clinical experience using the EchoNavigator®-system during structural heart disease interventions

    PubMed Central

    Balzer, Jan; Zeus, Tobias; Hellhammer, Katharina; Veulemans, Verena; Eschenhagen, Silke; Kehmeier, Eva; Meyer, Christian; Rassaf, Tienush; Kelm, Malte

    2015-01-01

    AIM: To present our initial clinical experience using this innovative software solution for guidance of percutaneous structural heart disease interventions. METHODS: Left atrial appendage, atrial septal defect and paravalvular leak closure, transaortic valve repair and MitraClip® procedures were performed in the catheter laboratory under fluoroscopic and echocardiographic guidance. The two-dimensional and three-dimensional images generated by the transesophageal echocardiography probe were interfaced with the fluoroscopic images in real-time using the EchoNavigator®-system. RESULTS: The application of the novel image fusion technology was safe and led to a better appreciation of multimodality imaging guidance due to improved visualization of the complex relationship between catheter devices and anatomical structures. CONCLUSION: The EchoNavigator®-system is a feasible and safe tool for guidance of interventional procedures in structural heart disease. This innovative technology may improve confidence of interventional cardiologists in targeting and positioning interventional devices in order to increase safety, accuracy, and efficacy of percutaneous interventions in the catheter laboratory. PMID:26413233

  17. Intraoperative evaluation of total knee replacement: kinematic assessment with a navigation system.

    PubMed

    Casino, Daniela; Zaffagnini, Stefano; Martelli, Sandra; Lopomo, Nicola; Bignozzi, Simone; Iacono, Francesco; Russo, Alessandro; Marcacci, Maurilio

    2009-04-01

    Interest in the kinematics of reconstructed knees has increased since it was shown that the alteration of knee motion could lead to abnormal wear and damage to soft tissues. We performed intraoperative kinematic measurements using a navigation system to study knee kinematics before and after posterior substituting rotating platform total knee arthroplasty (TKA). We verified intraoperatively (1) if varus/valgus (VV) laxity and anterior/posterior (AP) laxity were restored after TKA; (2) if TKA induced abnormal femoral rollback; and (3) how tibial axial rotation was influenced by TKA throughout the range of flexion. We found that TKA improved alignment in preoperative osteoarthritic varus knees which became neutral after surgery and maintained a neutral alignment in neutral knees. The VV stability at 0 degrees was restored while AP laxity at 90 degrees significantly increased after TKA. Following TKA, the femur had an abnormal anterior translation up to 60 degrees of flexion, followed by a small rollback of 12 +/- 5 mm. TKA influenced the tibia rotation pattern during flexion, but not the total amount of internal/external rotation throughout whole range of flexion, which was preserved after TKA (6 degrees +/- 5 degrees ). This study showed that the protocol proposed might be useful to adjust knee stability at time zero and that knee kinematic outcome during total knee replacement can be monitored by a navigation system.

  18. 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

  19. 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.

  20. 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