Circular Error Research Articles

물류수송을 위한 이종 협업 무인 시스템 개발

In this paper, we propose a novel concept foran unmanned delivery service using a cooperative heterogeneous unmanned system consisting of a self-driving car and an unmanned aerial vehicle (UAV). The proposed concept is suitable to deliver parcels in high-density and high-rise urban or residential areas. In order to achieve the proposed concept, we will develop acooperative heterogeneous unmanned system. Customers can order goods using a smartphone application and the order information, including the position of the customer and the order time, and the package is transported automatically by the unmanned systems. The system assigns the tasks suitable for each unmanned vehicle by analyzing it based on map information. Performance is validated by experiments consisting of autonomous driving and flight tests in a real environment. For more evaluation, the landing position error analysis is performed using circular error probability (CEP).

Cooperative Target Localization and Tracking with Incomplete Measurements

This study investigates a problem on target localization and tracking for two cases where either the slant range information of dual stations is lost or the slant range information of one station and the pitch angle information of the other one are missing. The models of cooperative localization with incomplete measurements are presented and the Kalman filtering algorithm is applied for target tracking. For improving tracking precision, a strategy of observers path planning based on the gradient of circular error probability (CEP) is integrated into the Kalman filtering algorithm. Several numerical examples are used to illustrate the tracking performance of the proposed algorithm with the corresponding root mean square error (RMSE) and Cramer-Rao lower bound (CRLB). The Monte Carlo simulation results validate the effectiveness of the presented algorithm.

A Study on the Aerodynamic Characteristics for a Two-Dimensional Trajectory Correction Fuze

This study researched the aerodynamic characteristics of a two-dimensional trajectory correction fuze used for the common artillery ammunition, which increases the targeting accuracy by decreasing the circular error probability. The correction fuze has a pair of fixed canard and a pair of steering canards for roll control and guidance. In this study, computational fluid dynamic (CFD) simulation is performed to study the aerodynamic characteristics of the trajectory correction fuze. The primary purpose of this performance was to predict the aerodynamic coefficients and flow field over a spin-stabilized projectile with the correction fuze. Calculation covered from-10 degrees to 10 degrees steering canards deflection over speed range from Mach 0.6 to 3. The results showed the variation law in the rotary moment of correction module and the control forces of the steering canards with the Mach varying, providing aerodynamic reference for the research of trajectory correction projectiles in the future.

Treating uncertainty in the estimation of speed from smartphone traffic probes

Before smartphone probes can be used to obtain instantaneous vehicle speeds and other dynamic characteristics, the accuracy of these estimates needs to be established under varying degrees of satellite signal interruption commonly found with varying road and traffic conditions. This paper presents the results of several vehicle tracking tests comparing smartphone speeds to benchmark values obtained for three types of routes. Benchmark values were obtained using a high frequency calibrated V-Box mounted on the test vehicle with four Android OS smartphone units.A relationship is established linking error in smartphone instantaneous speeds to the corresponding signal Circular Error Probable (CEP) range for different road and traffic conditions. This relationship is used to provide speed adjustment factors for the smartphone probe estimates subject to varying satellite signal strength. The CEP test is a reported GPS unit indicator of precision based on a known ground control benchmark.Smartphone speeds (adjusted and unadjusted) are compared to aggregate speed profiles from a stationary radar detector placed at a given location along SS106 in southern Italy. The smartphone devices were found to replicate closely the observed speed profiles obtained from the fixed detector station. Simple t-tests suggest that the means of the smartphone speeds for the unadjusted case differed significantly from the means obtained from the radar detector, when the smartphone estimates were adjusted for uncertainty (CEP range related), however, the difference in mean speeds between the smartphone probes and the radar detector profile was not found to be statistically significant.

The enhanced locating performance of an integrated cross-correlation and genetic algorithm for radio monitoring systems.

The rapid development of wireless broadband communication technology has affected the location accuracy of worldwide radio monitoring stations that employ time-difference-of-arrival (TDOA) location technology. In this study, TDOA-based location technology was implemented in Taiwan for the first time according to International Telecommunications Union Radiocommunication (ITU-R) recommendations regarding monitoring and location applications. To improve location accuracy, various scenarios, such as a three-dimensional environment (considering an unequal locating antenna configuration), were investigated. Subsequently, the proposed integrated cross-correlation and genetic algorithm was evaluated in the metropolitan area of Tainan. The results indicated that the location accuracy at a circular error probability of 50% was less than 60 m when a multipath effect was present in the area. Moreover, compared with hyperbolic algorithms that have been applied in conventional TDOA-based location systems, the proposed algorithm yielded 17-fold and 19-fold improvements in the mean difference when the location position of the interference station was favorable and unfavorable, respectively. Hence, the various forms of radio interference, such as low transmission power, burst and weak signals, and metropolitan interference, was proved to be easily identified, located, and removed.

Study on Testing and Evaluation of Comprehensive Accuracy of GMC2550u Prototype Bridge-type Machining Centre

The performances on accuracy, cutting ability and machining stability of NC machine tools are the three main indicators which user concerned. It is of great importance research on the integrated accuracy for the existing performance of machine tool, improving the prototype machine's performance. According to domestic and foreign standard, an evaluation system of testing item and evaluation indexes for bridge-type CNC machine tool is established. An accuracy testing for prototype of machining centre is carried on by experimental testing method, especially for static accuracy, dynamic accuracy and working accuracy. A series testing such as positional accuracy of machining centre, minimum setting unit error, circular error, dynamic spindle rotation accuracy, dynamic response performance of feed axis, as well as machining accuracy of three types typical acceptance test parts are promoted. Meanwhile, it is focus on the dynamic performance of machining centre such as spindle radial vibration, static stiffness and thermal performance. It is found that the static accuracy meet the requirements while the disparities on machine's acceleration and thermal accuracy somehow exist which have effect on machining accuracy. Synthesizes the testing result of each accuracy target, the machine tool performance and actual accuracy distribution are found. And it can evaluate accuracy problems of prototype machining centre in view of various accuracy items, which gives a direction for machine tool optimization and improvements later.

In-situ Bias Estimation of Low Grade Gyroscopes for Ship Launched Flight Vehicles

Abstract The paper presents mechanization of an analytical Transfer Alignment (TA) process and a novel scheme on in-situ bias estimation of Low Grade MEMS Gyroscopes based Inertial Navigation System. The objective of the work presented, is to devise a scheme for estimation of initial vector(s) i.e. velocity, attitude and biases of MEMS gyroscopes of inertial navigation system of flight vehicles being launched from moving ships. Inertial Navigation is a dead reckoning system and prior initialization of velocity and attitude is an essential requirement to achieve minimum Circular-Error-Probable (CEP) at the target point. Establishing the initial vector(s) is straight forward for the flight vehicles being launched from static launchers where the Gravity Vector and Earth Rate Vectors are being measured precisely and utilized for analytical Gyro-Compassing (GC) alignment. The same is not true for moving vehicles like ships, where the reference vectors like Earth Rate and Gravity are not known. Hence, an analytical Transfer Alignment (TA) scheme is developed for pre-initialization of Slave Inertial Navigation System (SINS) on-board flight vehicle with Master Inertial Navigation System (MINS) on-board moving ship. A 5–state Extended Kalman Filter based velocity matching technique is designed and an observability study is presented. The MEMS gyroscopes which have gained importance over their mechanical and optical counterparts are highly reliable, miniature in size and available at low cost. On contrary, these sensors have a poorer day-to-day bias repeatability of the order of 20°/hour which will result into degraded navigation performance. Hence, an attempt was made to devise a scheme to estimate the large biases of SINS, in-situ with external aid from MINS. The presented scheme estimates these gyro biases in tandem with the Transfer Alignment to an accuracy of 1.0°/hour, ensuring convergence within 3 minutes, without compromising on alignment accuracy. A suitable system configuration is conceived based on low grade MEMS gyroscopes and Quartz accelerometers. The total scheme is implemented in real time and experimental results are presented.

Design and testing of a GPS/GSM collar prototype to combat cattle rustling

Rustling is an age-old practice that was widespread in Italy until the first half of the 20th century. Today, incidents of cattle rustling are again being reported. However, the problem is not only found in Italy. It is also becoming a plague for ranchers in the US and is still rampant in East Africa. In Italy, the cattle rustling phenomena have usually been limited through the direct control of the herdsmen. Global positioning system (GPS) and geographic information system (GIS) combined technologies are increasingly applied for tracking and monitoring livestock with greater spatial and temporal resolution. However, so far, no case studies of the use of GPS technology to combat cattle rustling have been reported in the literature. The aim of this research was to develop a GPS/GSM (global system for mobile communication) collar, using commercial hardware and implementing a specific software [ARVAshepherd 1.0; ARVAtec Srl, Rescaldina (MI), Italy] to track animals’ movements outside their grazing area and to signal when animals are straying outside virtual perimeters. A phase I study was conducted from January to June 2011 to build the GPS/GSM collar and to assess its performances in terms of GPS accuracy and precision, while a phase II study was conducted in July 2011 to test the GPS collar under real-life operating conditions. The static GPS positioning error achieved a circular error probable (50%) and horizontal 95% accuracy of 1.462 m and 4.501 m, respectively. This is comparable with values obtained by other authors in static tests of a commercial GPS collar for grazing studies. In field tests, the system was able to identify the incorrect position of the cattle and the warning messages were sent promptly to the farmer, continuing until the animals had been repositioned inside the fence, thus highlighting the potential of the GPS/GSM collar as an anti-theft system.

Design and testing of a GPS/GSM collar prototype to combat cattle rustling

Rustling is an age-old practice that was widespread in Italy until the first half of the 20th century. Today, incidents of cattle rustling are again being reported. However, the problem is not only found in Italy. It is also becoming a plague for ranchers in the US and is still rampant in East Africa. In Italy, the cattle rustling phenomena have usually been limited through the direct control of the herdsmen. Global positioning system (GPS) and geographic information system (GIS) combined technologies are increasingly applied for tracking and monitoring livestock with greater spatial and temporal resolution. However, so far, no case studies of the use of GPS technology to combat cattle rustling have been reported in the literature. The aim of this research was to develop a GPS/GSM (global system for mobile communication) collar, using commercial hardware and implementing a specific software [ARVAshepherd 1.0; ARVAtec Srl, Rescaldina (MI), Italy] to track animals’ movements outside their grazing area and to signal when animals are straying outside virtual perimeters. A phase I study was conducted from January to June 2011 to build the GPS/GSM collar and to assess its performances in terms of GPS accuracy and precision, while a phase II study was conducted in July 2011 to test the GPS collar under <em>real-life</em> operating conditions. The static GPS positioning error achieved a circular error probable (50%) and horizontal 95% accuracy of 1.462 m and 4.501 m, respectively. This is comparable with values obtained by other authors in static tests of a commercial GPS collar for grazing studies. In field tests, the system was able to identify the incorrect position of the cattle and the warning messages were sent promptly to the farmer, continuing until the animals had been repositioned inside the fence, thus highlighting the potential of the GPS/GSM collar as an anti-theft system.

Development of a new meso-scale machine tool for fabricating micro V-grooves

This work presents the development of a meso-scale machine tool with a nanometer resolution. The newly developed meso-scale machine tool consists of a pagoda structure for Z-axis, four HR8 ultrasonic motors, three linear encoders with a resolution of 2 nm, a coaxial counter-balance system, a XY coplanar positioning stage, a rotary stage, a Galil 4-axis motion control card, an industrial PC and a CCD camera system. The optimal geometrical dimensions of the pagoda structure have been determined by ANSYS software. The designed meso-scale machine tool is equipped with an X–Y coplanar positioning stage with nanometer resolution. The coplanar stage developed by National Taiwan University was integrated with two linear encoders, so that a two-axis closed-loop control was possible. A circular positioning test with the radius of 1 mm using the developed stage was tested, and the overall circular positioning error was about 83 nm based on the test results. The micro V-grooves and the micro pyramid cutting tests of the polished oxygen free copper using a single crystal diamond tool on the developed meso-scale machine tool have been performed. The cutting tests under various combination of the depth of cut and cutting speed have been carried out. It revealed that the cutting speed had no great influence on the cutting force. The measured cutting forces for the depth of cut of 5, 10, 15 μm were 1.2, 1.6 and 2.4 N, respectively. The results showed the meso-scale machining tool can be used in micro pyramid structures manufacturing.

고속 수중운동체 정밀 유도제어를 위한 항법성능 분석

유도제어 시스템 체계개발의 초기단계에는 운용 효과도 도출 및 요구사항 적합성 검토를 통한 체계 개략사양도출을 위해 효과도 분석을 수행한다. 본 논문의 목표는 M&S (Modeling & Simulation)를 활용한 운용 효과도 분석을 통해 고속 무인 수중운동체의 목표점 도달 임무를 위한 체계 요구사항 도출이다. 운용 효과도는 대상 수중운동체의 목표점 도달 정확도로 정의한다. 도달 정확도에 가장 큰 영향을 미칠 것으로 예상되는 변수는 항법센서 성능이다. 본 논문에서는 관성항법센서(Inertial Navigation Sensor, INS)와 도플러 속도 측정 장치(Doppler Velocity Log, DVL)를 이용한 복합항법을 고려하였다. 몬테카를로 수치 시뮬레이션을 통해 항법센서 성능에 대한 효과도 분석을 수행한다. 몬테카를로 수치 시뮬레이션 결과는 CEP(Circular Error Probability)와 분산을 이용한 확률분석을 통해 분석한다. 상용 항법센서 가격을 고려하여 최적의 가격대 성능비를 갖는 항법센서 성능을 제시한다. To obtain the system requirement specification in the beginning of the precision guidance system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification for the high speed unmanned underwater vehicles by carrying out the effectiveness analysis using the modeling and simulation scheme. The effectiveness is position error for target position. Reaching accuracy is expected to be affected by the navigation sensor parameter. Assume that the navigation sensors that is consist of inertial navigation system(INS) and doppler velocity log(DVL) is the parameter. To analyze the effectiveness of each parameter, Monte-Carlo numerical simulation is performed in this research. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Considering the cost function, the specification of the navigation sensor is provided. The cost function is consist of the INS and DVL specification and the price of those sensors.

TDOA/FDOA 융합 기반 신호원의 위치추정 및 성능 분석

TDOA (time difference of arrival)와 FDOA (frequency difference of arrival) 정보를 동시에 이용하는 신호원 위치추정 기법은 단일 정보를 이용하는 경우에 비해 높은 정확도를 가지는 장점을 가지고 있다. 이러한 위치추정 기법의 추정성능은 수신단 쌍의 조합, 수신단의 기하학적 배치 특성 및 속도 등의 다양한 운용변수에 따라 크게 달라진다. 그러므로 전자전 시스템의 효율적인 운용을 위해서는 다양한 운용 조건에 따른 사전 성능 분석이 요구된다. 하지만 기존의 비 반복적인 위치추정 방법은 기준 수신단의 설정 및 수신단 배치 형태에 제약을 가진다. 따라서 본 논문에서는 임의의 다양한 수신단 조합과 배치 형태에서 적용이 가능한 Gauss-Newton 기법을 유도하고 이를 통해 위치추정을 수행한다. 또한 모의실험을 통해 TDOA/FDOA 융합 기반 위치추정 방법과 단일 TDOA 또는 FDOA를 독립적으로 사용했을 때의 성능을 비교 분석하고 CEP (circular error probability) 평면을 이용하여 융합 기반 위치추정 방법이 독립적 방법에 비해 상대적으로 높은 추정 성능을 가짐을 보인다. The emitter geolocation method using the time difference of arrival (TDOA) and the frequency difference of arrival (FDOA) has more accurate performance comparing to the single TDOA or FDOA based method. The estimation performance varies with the sensor paring strategies, the deployment and velocities of the sensors. Therefore, to establish effective strategy on the electronic warfare system, it is required to analyze the relation between the estimation accuracy and the operational condition of sensors. However, in the conventional non-iterative method, the restriction of the deployment of sensors and the reference sensor exists. Therefore, we derive the emitter geolocation method based on a Gauss-Newton method which is available to apply to any various sensor pairs and the deployment and velocities of the sensors. In addition, simulation results are included to compare the performance of geolocation method according to the used measurements: the combined TDOA/FDOA, TDOA, and FDOA. Also, we present that the combined TDOA/FDOA method outperforms over single TDOA or FDOA on the estimation accuracy with the CEP plane.

Comprehensive assessment algorithm for calculating CEP of positioning accuracy

This study aims to evaluate the inertial navigation systems’ performance. To this end, we comprehensively investigate 12 methods for calculating the circular error probability (CEP). Using data processing techniques, we classify these methods into three categories: parameterization of one-dimensional variables, computation of bi-normal random variables, and numerical integration. From these methods, we develop algorithms and programs, which are subsequently applied in evaluating the positioning accuracy of navigation systems. Using the algorithms and programs, we perform simulations to evaluate applicability and evaluation accuracy under the same initial conditions. Practical test data are employed to validate the results. Using the comparison of the methods as bases, we put forward a comprehensive practical method regarding sample number and evaluation accuracy. Our results serve as a theoretical reference for the development of different approaches to assessing inertial positioning accuracy in accordance with applicable standards.

Comprehensive TCEP Assessment of Methods for Calculating MUAV Navigation Position Accuracy Based on Visual Measurement

in order to satisfy the positioning accuracy identification requirement of MUAV navigation system, the characteristics of visual navigation were analyzed, the existing navigation system accuracy assessment methods were summarized and the conversion relationship of each index were deduced. According to the Ethridge statistical algorithm for calculating circular error probability (CEP), navigation and positioning accuracy assessment scheme were designed. Finally, the time-CEP(TCEP) accuracy evaluation method based on visual measurement was put forward, which were verified by simulation using four group actual INS data .The results show that: the scheme is feasible, convenient and practical; the method can relatively comprehensive evaluate the positioning accuracy of navigation system and can make full use of the single trial data.

Comprehensive CEP Evaluation Method for Calculating Positioning Precision of Navigation Systems

This study aims to evaluate the navigation performance of navigation systems. To this end, we comprehensively investigate 12 methods for calculating circular error probability (CEP). Using data processing techniques, we classify these methods into three categories: parameterization of one-dimensional variables, computation of bi-normal random variables, and numerical integration. From these methods, we develop algorithms and programs, which are subsequently applied in evaluating the positioning accuracy of navigation systems. Using the algorithms and programs, we perform simulations to evaluate applicability and evaluation accuracy under the same initial conditions. Practical test data are employed to validate the results. Using the comparison of the methods as bases, we put forward a comprehensive practical method regarding sample number and evaluation accuracy.

연속 측정된 TDOA와 FDOA를 이용한 Gauss-Newton 기법 기반의 신호원 위치추정 방법

순시(instantaneous) TDOA (time difference of arrival)와 FDOA (frequency difference of arrival)를 이용한 위치추정 방법은 추가적인 측정값 획득을 통해 정확도 향상을 도모할 수 있으며, 이를 위해서는 동시에 운용되는 수신단의 수를 증가하여야 한다. 하지만 전자전 환경에서 수신단 수의 증가는 아군의 피탐확률(probability of intercept) 상승으로 인한 전력 손실을 야기할 수 있고, 수신단 간의 데이터 링크 및 시각동기화와 같은 과정에 대한 추가적인 고려가 필요하다. 따라서 본 논문에서는 이격된 2개의 이동 수신단만을 운용하여 연속적으로 다수의 TDOA와 FDOA 정보를 측정하고, 이를 이용하여 고정 신호원의 위치를 추정하는 방법을 제안한다. 이 경우 매 측정 순간마다 독립된 수신단 쌍(pair)이 추가되므로 각 수신단 조합은 서로 다른 기준 수신단을 가지게 된다. 그러므로 모든 수신단 쌍이 동일한 기준 수신단을 공유해야하는 QCLS (quadratic correction least squares) 방법을 적용할 수 없다. 이러한 이유로 본 논문에서는 비선형 LS 최적해를 반복계산을 통해 얻어내는 Gauss-Newton 기법을 적용한다. 또한 모의실험을 통해 획득된 TDOA와 FDOA의 수가 증가함에 따른 위치추정 결과의 RMSE (root mean square error)값과 CRLB (Cramer-Rao lower bound)를 비교하고, CEP (circular error probable) 평면을 도시하여 2차원 공간상에서의 기대 추정 성능을 분석한다.

Effective forecast of circular error probability in underwater robots

Effective forecast of circular error probability in underwater robots

A Three-Dimensional Position Architecture Using Digital TDE Receiver and Cylindrical Array Antenna

The robust three-dimensional position architecture is proposed in the paper, where the hybrid time difference of arrival(TDOA) and direction of arrival (DOA) position system was designed to backup the four-station TDOA positionsystem. The digital time delay estimation (TDE) receiver is used for TDOA measurement and the cylindrical arrayantenna is used for DOA measurement. The general formula of linear phase compensation for cylindrical arrayantenna in horizontal plane is derived. The detection probability of the TDE receiver and the circular error probability(CEP) of the position systems over Rayleigh fading channel were numerically computed in three-dimensional space.Simulations indicate that the position accuracy of the four-station TDOA position system is degraded but the locationfunction can be retained by the hybrid TDOA and DOA position system when any one of four-stations is out of work.

Detection of outliers in simple circular regression models using the mean circular error statistic

The investigation on the identification of outliers in linear regression models can be extended to those for circular regression case. In this paper, we propose a new numerical statistic called mean circular error to identify possible outliers in circular regression models by using a row deletion approach. Through intensive simulation studies, the cut-off points of the statistic are obtained and its power of performance investigated. It is found that the performance improves as the concentration parameter of circular residuals becomes larger or the sample size becomes smaller. As an illustration, the statistic is applied to a wind direction data set.

A Three-Dimensional Position System Using Digital TDE Receiver and Cylindrical Array Antenna

Based on the digital time delay estimation (TDE) and Gauss-Newton Interpolation algorithms, the circular error probability (CEP) of the proposed four-station position system using time difference of arrival (TDOA) over Rayleigh fading channel was studied by numerical computation in three-dimension space. The hybrid three-station TDOA and direction of arrival (DOA) position system was used to improve the reliability of four-station TDOA position system. Simulations indicate that the accuracy of the proposed position system is significantly decreased by reducing one measuring station and providing one direction of arrival (DOA) measurement.