Navigation Control System Research Articles

Circuit Design of Digital Closed Loop Control System for FOG

Fiber optic gyroscope (FOG) is a new angular rate sensor based on the Sagnac effect. It has been widely applied in the navigation control system of aircrafts, spacecrafts and ships. But its stability, reliability and miniaturization are always the research focuses and difficulties. This paper presented a circuit design method for the digital closed loop control system of FOG based on FPGA. Based on a large number of experiments, this paper summarized the parameter demands for each module of closed loop control circuit and designed a corresponding circuit using FPGA. The proposed dual closed loop technique improved the zero offset stability of FOG. The using of FPGA brought the digital signal processing by software, the system reliability and agility enhancement as well as the system miniaturization. Particularly, we discussed the problems of component selection and the anti-jamming measures for PCB design to improve the performances of the system. We also developed some samples of FOG using this design method. The experiments and tests show that the proposed method is efficient and valuable. The stabilities of zero-offsets of all samples are less than 0.075deg/h.

Study on Hardware-in-the-Loop Simulation System for Navigation and Control of UUV

The Unmanned Underwater Vehicle (UUV) is used more and more widely in military and non-military areas. Since UUVs navigation and motion control system is highly complex, a Hardware-In-the-Loop Simulation (HILS) system is designed and implemented to help research and development of its navigation and motion control system. The HILS system is mainly composed of real-time simulation computer, main control compute, GPS/Beidou satellite signal simulator, three-axis turntable, actuator load simulator, water pressure simulator, acceleration simulation unit, visual computer and interface devices. Performance specifications are allocated to each components of the HILS system according to dynamic characteristics of the UUV under complicated disturbances. Proximity between the results of the UUVs HILS and sea trial demonstrates the validity of the HILS system elementarily.

Research on the Steering Control System of Rice Transplanter based on Fuzzy Immunity PID

In order to realize the automatic driving of the machinery working in the paddy field, using the stepping motor as the driving power and taking 2ZG630A high speed rice transplanter as the study platform, the steering mechanism of the rice transplanter was improved in this study. The controller with the fuzzy immunity PID control algorithm was designed and applied in the navigation control system of the rice transplanter as well. The test result indicated that the course deviation can be controlled within 0.5° and 1.1° and its control can be realized in 4 and 6 sec separately when the rice transplanter was driven in the cement floor or the paddy field by the speed of 0.7 m/sec. It also indicated that the steering control system of rice transplanter based on fuzzy immunity PID can satisfy the automatic navigation request of the vehicles used in the agriculture.

Study on Mission-Based UAV Autonomous Navigation System

To resolve the problem of mission-based UAV autonomous navigation, flight control system and navigation control system were designed and the navigation method based on finite state rough set theory was adopted. Firstly, the whole process of the mission was divided to get the state transition diagram using the finite state machine model, and then rough set theory was used to reduce the properties and finally a minimal rule set was obtained. The accuracy was proved by the experiment, and the method can meet the requirements of mission-based UAV navigation.

Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV

In this paper, the numerical study of designing on navigation and stability control system for AUV is studied. The study started by initiating hydrostatic forces, added masses, lift force, drag forces and thrust forces. Determining the hydrodynamic force which is the basic need to know the numerical case study on designing on navigation and stability control system for AUV where Autonomous Underwater vehicles (AUV). AUV is capably underwater vehicle in moving automatically without direct control by humans according to the trajectory. The result of numerical study is properly to be the reference for the next developing for AUV.

A Fuzzy Path Preview Algorithm for the Rice Transplanting Robot Navigation System

Path preview is the key to realizing automatic navigation control that can guide the navigational direction of the vehicle trace. The preview point must be regulated dynamically according to the predetermined navigational features of the actual path preview control to obtain the ideal path trace result. Based on the “preview follower theory” combined with the driver’s experience and utilizing the Matlab (The MathWorks, Inc., Natick, Massachusetts, USA) fuzzy control toolbox, a fuzzy algorithm of the preview point has been proposed in the paper. The navigation control system embedded in the path planning and preview control algorithm has been applied in the experiment to trace a predetermined navigational straight way, 90°curve and arc way to operate a rice transplanting robot. The results showed that the lateral DRMS (distance root mean square error) of the straight trace is approximately 0.33 m, and the maximum error is approximately 0.71 m; the lateral DRMS of the 90°curve trace is approximately 0.73 m, and the maximum error is approximately 1.85 m; the lateral DRMS of the arc way trace is approximately 1.03 m, and the maximum error is approximately 2.56 m; and the total mean error is approximately 0.6 m. According to the outcome of the experiment, the relevant algorithm can basically meet the requirements of rice transplanting robot guidance.

Mobile Robot Obstacle Avoidance Based on Multi-Sensor Information Fusion Technology

It is important to research and develop the mobile robot control system for the mobile robot navigation in unknown environment control theory and method of study; and there are rich environment perception ability, independent dynamic decision-making and planning, behavior control and execution and other functions in one mobile robot. In order to achieve good results, the choice of methods for obstacle avoidance is vital for obstacle avoidance problem which is an important branch of robot technology. This paper base on visual sensor that has the characteristics of high sensitivity, wide dynamic range and infrared distance detection with high efficiency, accurate, and other advantages , and propose introduction two kinds of obstacle avoidance strategy of sensor fusion technology, And take the behavior control method to be added, on the basis of the robot's obstacle avoidance for the further research.

DEVELOPMENT OF NEW-GENERATION AUTOMATIC CONTROL SYSTEMS FOR WING-IN-GROUND EFFECT CRAFTS & AMPHIBIOUS SEAPLANES

Smooth flight at low and extremely low altitude over disturbed sea surface as well as landing of water-borne aircrafts (seaplanes) require application of special methods and means of motion control which are capable to solve the corresponding peculiar problems. Methods of stability provision and solving some other vital problems of WIG flight by means of automatic control are analyzed 1 . Modern means of automatic control are proposed including precision instruments (designed radio-altimeter and 3-D Time of Flight based onboard sensor) developed for such purposes as well as control laws synthesis algorithms have been described. The aim of investigation is to define the way for operational performance improvement of such amphibious vehicles having sophisticated and highly unstable design. An important way is by implementation of modern navigation and motion control systems. Experience and achievements in this field of high-end technology are described.

Survey of Conventional UUV Navigation Mapping Technique in Development of AQUA-X UUV

Unmanned Underwater Vehicles (UUV) are devices that perform task with slight or no human interaction. These tasks are predefined set of commands called navigation methods, that are used to achieve desired mission goals. The navigation control system plays an important role in maneuvering of UUV and without it UUV cannot perform any mission task. In this research article a survey of different navigation techniques are presented for new design of Underwater mobile robot named as AQUA-X Robot, which uses four (4) propellers placed in cartesian coordinate configuration with parallel arrangement which help it in batter navigation maneuvering. The detail working principles, advantages and problems in different navigation techniques are thoroughly discussed. Besides that, their implementation on UUV on a ranged mission situation are also briefly described. Finally the accuracy of the different navigation techniques are compared and based on this comparison a most suitable navigation method is selected for developing AQUA-X UUV for better navigation.

Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car

This article presents the design and implementation of a drive-by-wire system and a navigation control system for an autonomous Formula SAE race car. The result is the development of a platform for research into autonomous driving which can be easily replicated. Drive-by-wire actuators for acceleration, braking and steering of the vehicle are discussed, as well as the embedded low-level control system. The high-level navigation system features sensor fusion of a 6-dof IMU with a standard GPS and the integration of an automotive LIDAR. Operation of the vehicle is via a multi-threaded program with asynchronous IO and is based upon recording and driving waypoints. In addition to independent safety interlocks, active safety systems are an integral part to both the drive-by-wire and navigation systems.

Quantitative study on endoscopic endonasal approach to the posterior sino-orbito-cranial interface: implications and clinical considerations

The posterior sino-orbito-cranial interface is a critical area in the skull base since it represents a gateway to deeper vital regions. Quantification of the surgical freedom for any given point/area is an objective method for comparing in a reproducible way different surgical approaches. Three freshly injected cadaver heads (six sides) were dissected under the magnetic navigation control system. The surgical freedom (SF) and the angle of attack of fixed target points were determined from the ipsilateral nasal fossa, from the contralateral nasal fossa (after posterior septectomy), and after an anteromedial maxillotomy (according to the Denker procedure). The mean pre-operative SF value resulted to be 403.07 ± 102.73 mm(2) for the ipsilateral nostril, increasing by 126.97 % for the binostril approach, by 118.45 % for the monolateral nostril approach after anteromedial maxillotomy, and by 310.48 % for the binostril approach after bilateral anteromedial maxillotomy. Laterally extended lesions require an anteromedial maxillotomy, while more medially located lesions can be managed by means of a posterior septectomy. When addressing the posterior sino-orbito-cranial interface, the transnasal binostril approach and anteromedial maxillotomy both increase the SF. The choice between them depends on exact position, relationship and clinical behaviour of the lesion to treat.

Autonomous Navigation System Based on GPS for Agricultural Vehicles

The development of a fuzzy navigation controller for wheeltype agricultural vehicles with mechanism steering system was presented. The fuzzy controller was designed based on heading angle error and cross track error. The incremental PID control method was used for front wheels turning control. Simulation was done based on two wheels vehicle model. Automatic navigation control system was also developed,which was made up of the upper computer and the lower controller part. The upper computer was a flat industrial computer, and the lower controller was developed by ARM7. The experiments were done in the Xiaotangshan National Demonstration Base for Precision Agriculture. The cross track error of line track using this system was less than 0.12m, and the average cross track error was 0.04m.

Analysis of the Auto Intelligent Control Based on RFID Technology

The control system is the main device to carry out executive action in enterprise, which assists the drivers' action inside the vehicles based on the actual route and maintains the running stability of the car so as to reduce the negative impact from the outside conditions on vehicle performance. In essence, radio frequency identification (RFID) technology belongs to the application of communications technology, which uses wireless transmission signal to identify and lock target identification, and then establishes corresponding information transmission mode, thus providing a virtualized operation platform for the target operation and control. This paper firstly analyzes the defects of the current auto control system, introducing the characteristics of RFID technology's application to auto control. Secondly this paper analyzes the design of GPS navigation control system based on RFID technology, so as to hope to make a useful contribution to the follow-up research.

A Research of In-Car Navigation Monitoring System Terminal Based on the Green Path Planning

With the rapid increase in car ownership in China, increasing pressure of road traffic and part of the large and medium-sized city's traffic congestion had become a serious social problem. This led directly to greatly reduction of the speed of vehicles, increased fuel consumption and increased environment pollution. The promotion and application of the car navigation device can help the driver rational plan and select a route to avoid the crowded roads. This is the major significance of energy saving and environmental protection. Vehicle navigation control system based on green path planning regards saving vehicle fuel consumption as a starting point, the least fuel consumption as a goal, researches and selects the vehicles path. In-car terminal as an important part of the system is of great significance. In this paper, we inquiry and analysis via the green path planning model, based on the car terminal of the green path planning for car navigation monitoring systems database construction and in-car terminals realization. This is significant for China's low-carbon economy construction.

Modeling and Adaptive Sliding Mode Control of the Catastrophic Course of a High-speed Underwater Vehicle

The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.

A Characterization of the Utility of Using Artificial Intelligence to Test Two Artificial Intelligence Systems

An artificial intelligence system, designed for operations in a real-world environment faces a nearly infinite set of possible performance scenarios. Designers and developers, thus, face the challenge of validating proper performance across both foreseen and unforeseen conditions, particularly when the artificial intelligence is controlling a robot that will be operating in close proximity, or may represent a danger, to humans. While the manual creation of test cases allows limited testing (perhaps ensuring that a set of foreseeable conditions trigger an appropriate response), this may be insufficient to fully characterize and validate safe system performance. An approach to validating the performance of an artificial intelligence system using a simple artificial intelligence test case producer (AITCP) is presented. The AITCP allows the creation and simulation of prospective operating scenarios at a rate far exceeding that possible by human testers. Four scenarios for testing an autonomous navigation control system are presented: single actor in two-dimensional space, multiple actors in two-dimensional space, single actor in three-dimensional space, and multiple actors in three-dimensional space. The utility of using the AITCP is compared to that of human testers in each of these scenarios.

Structure of a program and technical complex of the automated control of system of navigation and motion control

There are shown the main problems which were solved during the system check. Program-technical complex of structural scheme is given. The opportunities of automated system during checking navigation and motion control systems are presented

Optimal Design of the Fuzzy Navigation System for a Mobile Robot Using Evolutionary Algorithms

This paper describes the optimization of an integration block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction control, respectively. The integrator block is called a Weighted Fuzzy Inference System (WFIS) and assigns weights to the responses of each behaviour block, to combine them into a single response.

ARCHAEOLOGICAL SITE MONITORING: UAV PHOTOGRAMMETRY CAN BE AN ANSWER

Abstract. During archaeological excavations it is important to monitor the new excavated areas and findings day by day in order to be able to plan future excavation activities. At present, this daily activity is usually performed by using total stations, which survey the changes of the archaeological site: the surveyors are asked to produce day by day draft plans and sections which allow archaeologists to plan their future activities. The survey is realized during the excavations or just at the end of every working day and drawings have to be produced as soon as possible in order to allow the comprehension of the work done and to plan the activities for the following day. By using this technique, all the measurements, even those not necessary for the day after, have to be acquired in order to avoid a ‘loss of memory’. A possible alternative to this traditional approach is aerial photogrammetry, if the images can be acquired quickly and at a taken distance able to guarantee the necessary accuracy of a few centimeters. Today the use of UAVs (Unmanned Aerial Vehicles) can be considered a proven technology able to acquire images at distances ranging from 4 m up to 20 m: and therefore as a possible monitoring system to provide the necessary information to the archaeologists day by day. The control network, usually present at each archaeological site, can give the stable control points useful for orienting a photogrammetric block acquired by using an UAV equipped with a calibrated digital camera and a navigation control system able to drive the aircraft following a pre-planned flight scheme. Modern digital photogrammetric software can solve for the block orientation and generate a DSM automatically, allowing rapid orthophoto generation and the possibility of producing sections and plans. The present paper describes a low cost UAV system realized by the research group of the Politecnico di Torino and tested on a Roman villa archaeological site located in Aquileia (Italy), a well-known UNESCO WHL site. The results of automatic orientation and orthophoto production are described in terms of their accuracy and the completeness of information guaranteed for archaeological site excavation management.

Design and Implementation of Visible Human-Machine Interface for Trajectory Tracking in Agriculture Vehicle Navigation

This paper designs a visible human-machine interface for field computer in an agriculture vehicle navigation control system. Field computer, with the function of system configuration, vehicle configuration, steering configuration, job management, path planning and map views, is the human-machine interface in agriculture vehicle navigation control system. This paper introduces the design of map views including field view and machine view for field computer system based on coordinate conversion. Field View gives a bird’s eye view of the map. The agriculture vehicle moves while the map keeps stationary. Machine view keeps agriculture vehicle in center of screen, while the map moves along the reverse direction of the agriculture vehicle.