Solving Navigation Problems Research Articles

Порівняльний аналіз зразків авіоніки і їх компонентів стосовно до створення методології синтезу інтегрованої авіоніки БПЛА

Мета: Метою цієї роботи є аналіз зразків авіоніки та їхніх компонентів з огляду на створення методології синтезу інтегрованої авіоніки дистанційно-пілотованих та безпілотних аерокосмічних динамічних об’єктів (АДО), яка забезпечує комплексне розв’язання завдань навігації та синергетичного управління АДО в аеронавігаційному просторі. Методи дослідження: Аналіз та постановка завдань є основою для розробки сучасних методів комплексування та обробки первинної інформації, методів розв’язання навігаційних задач, методів розв’язання задач керування в комплексах інтегрованої авіоніки АДО. Зокрема це неінваріантний компенсаційний метод комплексування первинних джерел інформації, комплексні методи кореляційно-екстремальної навігації, метод синергетичного управління АДО. Результати: Використання цих методів дозволить підвищити ефективність вирішення задач навігації і управління як цивільних так і військових АДО, в умовах дії випадкових і навмисних завад, при відмовах елементів авіоніки. Обговорення: Виходячи з наведеного аналізу, можна встановити вимоги до прототипів інтегрованої авіоніки, що розробляється для навігації і управління AДO.

Nonlinear filtering for map-aided navigation. Part 1. An overview of algorithms

A map-aided navigation method is considered. The main features of this method are discussed; an overview of the algorithms used to solve navigation problems is given. Considerable attention is focused on the algorithms based on the use of nonlinear filtering, which make it possible to not only formulate and solve the problem of algorithm design, but also provide a background for accuracy analysis.

Analytical models of spatial trajectories for solving navigation problems

The construction of analytical spatial models of trajectories that enable the composition of the measurement system and of the computational resources to be minimized when solving navigation problems is considered.

Аппаратно-программный комплекс компьютерного зрения для решения задач навигации наземных подвижных объектов

Аппаратно-программный комплекс компьютерного зрения для решения задач навигации наземных подвижных объектов

Adaptive Neuro-Fuzzy Technique for Autonomous Ground Vehicle Navigation

This article proposes an adaptive neuro-fuzzy inference system (ANFIS) for solving navigation problems of an autonomous ground vehicle (AGV). The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in order to avoid obstacles. The two velocity controllers receive three sensor inputs: front distance (FD); right distance (RD) and left distance (LD) for the low-level motion control. Two heading controllers deploy the angle difference (AD) between the heading of AGV and the angle to the target to choose the optimal direction. The simulation experiments have been carried out under two different scenarios to investigate the feasibility of the proposed ANFIS technique. The simulation results have been presented using MATLAB software package; showing that ANFIS is capable of performing the navigation and path planning task safely and efficiently in a workspace populated with static obstacles.

Наземная поддержка стартов и решение задач навигации в околоземном пространстве по данным оптических наблюдений на пике Терскол

Наземная поддержка стартов и решение задач навигации в околоземном пространстве по данным оптических наблюдений на пике Терскол

Cooperative navigation and localization for multiple UUVs

The authors proposed a moving long baseline algorithm based on the extended Kalman filter (EKF) for cooperative navigation and localization of multi-unmanned underwater vehicles (UUVs). Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line (MLBL) structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.

Adaptive vs. conventional potential field approaches for solving navigation problems of a real car-like wheeled robot

Adaptive Potential Field Methods (APFMs) have been proposed in this paper and their performances have been compared among them and with that of Conventional Potential Field Method (CPFM) to solve navigation problems of the mobile robot. The performance of a potential field method (PFM) depends on its chosen attractive and repulsive potential functions and the constant terms associated with them. Robots that navigate using the CPFM may not find time-optimal path and may suffer from the deadlock situations. APFM could solve the said problems by changing the constant terms associated with the potential functions to cope with the varying situations of the environment. The performances of the proposed adaptive and CPFMs have been tested through computer simulations and on a real car-like wheeled robot. The proposed PFM is found to perform better than the conventional one.

A KNOWLEDGE-BASED NAVIGATION SCHEME FOR AUTONOMOUS LAND VEHICLES

A knowledge-based navigation system for autonomous land vehicles (ALVs) has been developed which can successfully negotiate an obstacle and threat-laden terrain, even if nothing is known beforehand about the terrain. The ALV stores new information in its memory as it travels, has the ability to backtrack out of unexpected dead ends, and performs spontaneous decision making in the field based on local sensor readings. The optimal global route of the ALV journey is obtained using dynamic programming, and decision making is accomplished via a production rule-based system. Execution examples demonstrate the power of the prototype system to solve navigation problems. This establishes the feasibility of constructing a valid ALV by combining search techniques with artificial intelligence tools such as production rule-based systems.

Sight Reduction Using the Portable Sextant Computer System

Sight reduction procedures in marine navigation have been traditional for nearly a century and a half, just as the marine sextant, itself, has been essentially the same design for 250 years. The reduction of each sextant sight to true azimuth and altitude intercept requires the use of standard forms, The Nautical Almanac, and several volumes of sight reduction tables. The procedure is tedious and time consuming, and errors in data selection and arithmetic are common. A low-cost, specialized, small portable computer that operates with the sextant can be developed to relieve the navigator of his calculation tedium and blunders and improve his navigation accuracy. The design of such a small computer is feasible today. The logic and a functional computer program have been developed that combines the necessary data and spherical trigonometric equations to reduce the altitude measurements of the stars to data ready for plotting by the navigator. This paper will discuss the new digital readout day/night marine sextant which is part of the concept of the portable sextant-computer system, the development of the program for the computer, and its application to solve navigation problems. Furthermore, use of the portable computer will be shown to be applicable to all fields of navigation, although the current development centers around marine navigation.