The Integration of Multiple Sensor Systems

1967 ◽  
Vol 20 (03) ◽  
pp. 308-321
Author(s):  
Loren E. De Groot ◽  
William L. Polhemus
Keyword(s):  
Navigation System ◽  
Crew Member ◽  
Navigation Systems ◽  
Sensor Systems ◽  
Present Contribution ◽  
Transport Aircraft ◽  
The Future ◽  
Multiple Sensor ◽  
Operational Constraints ◽  
Economic Considerations

Historically, the navigation of a civil transport aircraft has been the responsibility of a specialist crew member. In the performance of his assigned task, the navigator has applied a complex set of mathematical and intuitive procedures by which he made navigational information useful. Now, because of increased accuracy requirements and of economic considerations, it is becoming apparent that the job of navigator must become an automated task.An improved navigation system which meets present and future operational constraints does not lie in the development and implementation of more navigational sensors. While this approach may provide an equitable solution in the future, its present contribution would serve only to further burden crew members who are already functioning at or near their limit. Instead, the problem must be approached with the view of optimizing the tasks of a crew member who will ‘manage’ the navigation systems as a collateral duty.

scholarly journals The global positioning system, relativity, and extraterrestrial navigation

2009 ◽  
Vol 5 (S261) ◽  
pp. 22-30 ◽  
Author(s):  
Neil Ashby ◽  
Robert A. Nelson
Keyword(s):  
Global Positioning System ◽  
Navigation System ◽  
World Wide ◽  
Relativistic Effects ◽  
Atomic Clocks ◽  
Positioning System ◽  
Navigation Systems ◽  
Time Transfer ◽  
Global Positioning ◽  
The Future

AbstractRelativistic effects play an important role in the performance of the Global Positioning System (GPS) and in world-wide time comparisons. The GPS has provided a model for algorithms that take relativistic effects into account. In the future exploration of space, analogous considerations will be necessary for the dissemination of time and for navigation. We discuss relativistic effects that are important for a navigation system such as at Mars. We describe relativistic principles and effects that are essential for navigation systems, and apply them to navigation satellites carrying atomic clocks in orbit about Mars, and time transfer between Mars and Earth. It is shown that, as in the GPS, relativistic effects are not negligible.

The Adaptation of a Navigation System for the Supersonic Transport

1967 ◽  
Vol 20 (1) ◽  
pp. 75-93
Author(s):  
P. Hugon
Keyword(s):  
Navigation System ◽  
Transport Aircraft ◽  
Supersonic Transport ◽  
The Future ◽  
Preliminary Consideration

1. Preliminary consideration. In attempting to assess the worth of a navigation system already known, over against the demands of the supersonic transport aircraft, we shall take care above all to make no presumptions whatever regarding the future, and not to count on the developments of the transport aircraft as regards the favour it will find with its users and consequently with the airlines likely to put it into operation. The question is not put here as to whether the 3 to 1 reduction in the actual flying time will appear as a profit paying for the numerous other constraints which it will impose, at once on the constructors, on the operators and finally on the users, without counting the requirements regarding ground equipment and administrative agreements; the question is merely to know whether, given the normal flight and speed conditions of an aircraft, we have the means to navigate it in an accurate, safe and economical manner.

Utilisation of Robotic Navigation Systems in the Treatment of Atrial Fibrillation

2010 ◽  
Vol 6 (3) ◽  
pp. 60
Author(s):  
Richard Schilling ◽  
Keyword(s):  
Atrial Fibrillation ◽  
Catheter Ablation ◽  
Navigation System ◽  
Antiarrhythmic Drugs ◽  
Rhythm Control ◽  
Navigation Systems ◽  
Robotic Navigation ◽  
Increased Risk ◽  
Common Strategy ◽  
Catheter Navigation

Atrial fibrillation (AF) is linked to an increased risk of adverse cardiovascular events. While rhythm control with antiarrhythmic drugs (AADs) is a common strategy for managing patients with AF, catheter ablation may be a more efficacious and safer alternative to AADs for sinus rhythm control. Conventional catheter ablation has been associated with challenges during the arrhythmia mapping and ablation stages; however, the introduction of two remote catheter navigation systems (a robotic and a magnetic navigation system) may potentially overcome these challenges. Initial clinical experience with the robotic navigation system suggests that it offers similar procedural times, efficacy and safety to conventional manual ablation. Furthermore, it has been associated with reduced fluoroscopy exposure to the patient and the operator as well as a shorter fluoroscopy time compared with conventional catheter ablation. In the future, the remote navigation systems may become routinely used for complex catheter ablation procedures.

scholarly journals MS-2 Minimally invasive glioma surgery with navigation system and tubular retractor

2020 ◽  
Vol 2 (Supplement_3) ◽  
pp. ii2-ii3
Author(s):  
Kazuhiko Kurozumi
Keyword(s):  
Navigation System ◽  
Diffusion Tensor ◽  
Therapeutic Option ◽  
Normal Brain ◽  
Navigation Systems ◽  
Glioma Surgery ◽  
Tubular Retractor ◽  
Neuronavigation System ◽  
Magnetic Resonance Imaging Mri ◽  
Neurological Surgery

Abstract Navigation systems are reliable and safe for neurological surgery. Navigation is an attractive and innovative therapeutic option. Recently, endo and exoscopic surgeries have been gradually increasing in neurosurgery. We are currently trialing to use 4K and 8K systems to improve the accuracy and safety of our surgical procedures. Surgeries for deep-seated tumors are challenging because of the difficulty in creating a corridor and observing the interface between lesions and the normal area. In total, 315 patients underwent surgery at Okayama University between 2017 and 2019. Among them, we experienced 92 glioma surgeries using navigation systems. Preoperatively, we performed computed tomography imaging and contrast-enhanced magnetic resonance imaging (MRI) for the neuronavigation system. We experienced Curve(TM) Image Guided Surgery (BrainLab, Munich, Germany). The surgical trajectory was planned with functional MRI and diffusion tensor imaging to protect the eloquent area and critical vasculature of the brain. We used a clear plastic tubular retractor system, the ViewSite Brain Access System, for surgery of deep seated gliomas. We gently inserted and placed the ViewSite using the neuronavigation. The tumor was observed and resected through the ViewSite tubular retractor under a microscope and endoscope. If the tumor was large, we switched the ViewSite tubular retractor to brain spatulas to identify the boundary between the normal brain and lesion. We are currently using the combination of the tubular retractor and brain spatulas using navigation system. Here, we present and analyze our preoperative simulation, surgical procedure, and outcomes.

An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems

2012 ◽  
Vol 245 ◽  
pp. 323-329 ◽  
Author(s):  
Muhammad Ushaq ◽  
Jian Cheng Fang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Efficient Manner ◽  
Position Errors

Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

Initial Alignment of a Moving Inertial Navigation System

1960 ◽  
Vol 13 (3) ◽  
pp. 301-315
Author(s):  
Richard B. Seeley ◽  
Roy Dale Cole
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Local Level ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Velocity Measurements ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Error Sources ◽  
China Lake

This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment. This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment.

scholarly journals Design of Accurate Navigation System by Integrating INS and GPS modules

2019 ◽  
Vol 11 (4) ◽  
pp. 139-154
Author(s):  
M. RAJA ◽  
Gaurav ASTHANA ◽  
Ajay SINGH ◽  
Ashna SINGHAL ◽  
Pallavi LAKRA
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
External Information ◽  
Navigation Systems ◽  
Final Solution ◽  
Long Term Stability ◽  
Noise Characteristics ◽  
Aircraft Navigation ◽  
Satellite Signal

Navigation has a huge application in aviation and aircraft automatic approach. Two widely used navigation systems are Global position System (GPS) and Inertial Navigation System (INS). Triangulation method used to determine the aircrafts location by GPS, speed whereas an INS, with the aid of gyroscope and accelerometer, estimates the location, velocity and alignment of an aircraft. Aircraft navigation is a complex task and using only one of the above navigation systems results in inaccurate and insufficient data. GPS stops working when satellite signal is not received, susceptible to interfere occasionally has high noise content, and has a low bandwidth, INS system requires external information for initialization has long-term drift errors. Certain errors like ionosphere interference, clock error, orbital error, position error, etc. might arise and disrupt the navigation process. In order to outrun the limitations of the above two systems and counter the errors, both INS and GPS can be integrated and used to attain more smooth, accurate and faster aircraft attitude estimates, as they have complementary strengths and limitations. GPS is stable for a long period and can act as an independent navigation system whereas INS is not susceptible to interference and signal losses has high radio bandwidth and works well for short intervals of time. In order to get accurate and precise attitude estimation, calculation of the parameters at different altitude using both systems is done; furthermore the comparison and contrast between the results is performed, measured quantities are transformed between various frames like longitudinal to rolling, calculation and elimination of errors is done producing the final solution. Because of integrated GPS and INS, the navigation system exhibits robustness, higher bandwidth, better noise characteristics, and long-term stability.

Precision navigation system design for Moon penetrator

2016 ◽  
Vol 88 (6) ◽  
pp. 791-798
Author(s):  
Xiaogang Wang ◽  
Wutao Qin ◽  
Yuliang Bai ◽  
Naigang Cui
Keyword(s):  
System Design ◽  
Kalman Filtering ◽  
Navigation System ◽  
Estimation Accuracy ◽  
Line Of Sight ◽  
Accurate Estimation ◽  
Navigation Systems ◽  
Vision Sensor ◽  
Content Type ◽  
Sigma Point

Purpose Penetrator plays an important role in the exploration of Moon and Mars. The navigation method is a key technology during the development of penetrator. To meet the high accuracy requirements of Moon penetrator, this paper aims to propose two kinds of navigation systems. Design/methodology/approach The line of sight of vision sensor between the penetrator and Moon orbiter could be utilized as the measurement during the navigation system design. However, the analysis of observability shows that the navigation system cannot estimate the position and velocity of penetrator, when the line of sight measurement is the only resource of information. Therefore, the Doppler measurement due to the relative motion between penetrator and the orbiter is used as the supplement. The other option is the relative range measurement between penetrator and the orbiter. The sigma-point Kalman Filtering is implemented to fuse the information from the vision sensor and Doppler or rangefinder. The observability of two navigation system is analyzed. Findings The sigma-point Kalman filtering could be used based on vision sensor and Doppler radar or laser rangefinder to give an accurate estimation of Moon penetrator position and velocity without increasing the payload of Moon penetrator or decreasing the estimation accuracy. However, the simulation result shows that the last method is better. The observability analysis also proves this conclusion. Practical implications Two navigation systems are proposed, and the simulations show that both systems can provide accurate estimation of states of penetrator. Originality/value Two navigation methods are proposed, and the observability of these navigation systems is analyzed. The sigma-point Kalman filtering is first introduced to the vision-based navigation system for Moon penetrator to provide precision navigation during the descent phase of Moon penetrator.

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