Field-of-View Limited Guidance with Constrained Impact via Line-of-Sight Shaping Approach

Author(s):  
Yong Xi ◽  
Tuo Han ◽  
Qinglei Hu ◽  
Kewei Zhong
Keyword(s):  
Author(s):  
Georgianna Lin ◽  
Malcolm Haynes ◽  
Sarthak Srinivas ◽  
Pramod Kotipalli ◽  
Thad Starner

Where should a HWD be placed in a user's visual field? We present two studies that compare comfort, preference, task efficiency and accuracy for various HWD positions. The first study offsets a 9.2° horizontal field-of-view (FOV) display temporally (toward the ear) from 0° to 30° in 10° steps. 30° proves too uncomfortable while 10° is the most preferred position for a simple button-pushing game, corroborating results from previous single-task reading experiments. The second experiment uses a Magic Leap One to compare 10° x 10° FOV interfaces centered at line-of-sight, temporally offset 15° (center-right), inferiorly offset 15° (bottom-center), and offset in both directions (bottom-right) for an order picking task. The bottom-right position proved worst in terms of accuracy and several subjective metrics when compared to the line-of-sight position.


2011 ◽  
Vol 28 (1) ◽  
pp. 46-57 ◽  
Author(s):  
B. Pindor ◽  
J. S. B. Wyithe ◽  
D. A. Mitchell ◽  
S. M. Ord ◽  
R. B. Wayth ◽  
...  

AbstractBright point sources associated with extragalactic active galactic nuclei and radio galaxies are an important foreground for low-frequency radio experiments aimed at detecting the redshifted 21-cm emission from neutral hydrogen during the epoch of reionization. The frequency dependence of the synthesized beam implies that the sidelobes of these sources will move across the field of view as a function of observing frequency, hence frustrating line-of-sight foreground subtraction techniques. We describe a method for subtracting these point sources from dirty maps produced by an instrument such as the MWA. This technique combines matched filters with an iterative centroiding scheme to locate and characterize point sources in the presence of a diffuse background. Simulations show that this technique can improve the dynamic range of epoch-of-reionization maps by 2—3 orders of magnitude.


2018 ◽  
Author(s):  
Philippe Baron ◽  
Donal Murtagh ◽  
Patrick Eriksson ◽  
Jana Mendrok ◽  
Satoshi Ochiai ◽  
...  

Abstract. Stratospheric Inferred Winds (SIW) is a Swedish mini sub-millimeter limb sounder selected for the 2nd InnoSat platform launch planned near 2022. It is intended to fill the altitude gap between 30–70 km in atmospheric wind measurements and also aims at pursuing the limb observations of temperature and key atmospheric constituents between 10–90 km when current satellite missions are probably stopped. Line-of-sight winds are retrieved from the Doppler shift of the emission lines introduced by 5 the wind field. Observations will be performed with two antennas pointing toward the limb with perpendicular directions to reconstruct the 2-D horizontal wind vector. Each antenna has a vertical field of view of 5 km. The chosen spectral band near 655 GHz contains a dense group of strong O3 lines suitable for exploiting the small wind information in stratospheric spectra. Using both sidebands of the heterodyne receiver, a large number of chemical species will be measured including O3-isopotologues, H2O, HDO, HCl, ClO, N2O, HNO3, NO, NO2, HCN, CH3CN and HO2. This paper presents the simulation study for assessing the measurement performances. The line-of-sight winds are retrieved between 30–90 km with the best sensitivity between 35–70 km where the precision (1-sigma) is 5–10 m s−1 for a single scan. Similar performances can be obtained during day and night conditions except in the lower mesosphere where the photo-dissociation of O3 in day-time reduces the sensitivity by 50 % near 70 km. Profiles of O3, H2O and temperature are retrieved with a high precision up to 50 km (


Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1225-1243 ◽  
Author(s):  
Jose-Pablo Sanchez-Rodriguez ◽  
Alejandro Aceves-Lopez

SUMMARYThis paper presents an overview of the most recent vision-based multi-rotor micro unmanned aerial vehicles (MUAVs) intended for autonomous navigation using a stereoscopic camera. Drone operation is difficult because pilots need the expertise to fly the drones. Pilots have a limited field of view, and unfortunate situations, such as loss of line of sight or collision with objects such as wires and branches, can happen. Autonomous navigation is an even more difficult challenge than remote control navigation because the drones must make decisions on their own in real time and simultaneously build maps of their surroundings if none is available. Moreover, MUAVs are limited in terms of useful payload capability and energy consumption. Therefore, a drone must be equipped with small sensors, and it must carry low weight. In addition, a drone requires a sufficiently powerful onboard computer so that it can understand its surroundings and navigate accordingly to achieve its goal safely. A stereoscopic camera is considered a suitable sensor because of its three-dimensional (3D) capabilities. Hence, a drone can perform vision-based navigation through object recognition and self-localise inside a map if one is available; otherwise, its autonomous navigation creates a simultaneous localisation and mapping problem.


2020 ◽  
Author(s):  
Florian Willomitzer ◽  
Prasanna Rangarajan ◽  
Fengqiang Li ◽  
Muralidhar Balaji ◽  
Marc Christensen ◽  
...  

Abstract The presence of a scattering medium in the imaging path between an object and an observer is known to severely limit the visual acuity of the imaging system. We present an approach to circumvent the deleterious effects of scattering, by exploiting spectral correlations in scattered wavefronts. Our Synthetic Wavelength Holography (SWH) method is able to recover a holographic representation of hidden targets with high resolution over a wide field of view. The complete object field is recorded in a snapshot-fashion, by monitoring the scattered light return in a small probe area. This unique combination of attributes opens up a plethora of new Non-Line-of-Sight imaging applications ranging from medical imaging and forensics, to early-warning navigation systems and reconnaissance. Adapting the findings of this work to other wave phenomena will help unlock a wider gamut of applications beyond those envisioned in this paper.


2019 ◽  
Vol 623 ◽  
pp. A68 ◽  
Author(s):  
V. Thiel ◽  
A. Belloche ◽  
K. M. Menten ◽  
A. Giannetti ◽  
H. Wiesemeyer ◽  
...  

Context. The diffuse and translucent molecular clouds traced in absorption along the line of sight to strong background sources have so far been investigated mainly in the spectral domain because of limited angular resolution or small sizes of the background sources. Aims. We aim to resolve and investigate the spatial structure of molecular clouds traced by several molecules detected in absorption along the line of sight to Sgr B2(N). Methods. We have used spectral line data from the EMoCA survey performed with the Atacama Large Millimeter/submillimeter Array (ALMA), taking advantage of its high sensitivity and angular resolution. The velocity structure across the field of view is investigated by automatically fitting synthetic spectra to the detected absorption features, which allows us to decompose them into individual clouds located in the Galactic centre (GC) region and in spiral arms along the line of sight. We compute opacity maps for all detected molecules. We investigated the spatial and kinematical structure of the individual clouds with statistical methods and perform a principal component analysis to search for correlations between the detected molecules. To investigate the nature of the molecular clouds along the line of sight to Sgr B2, we also used archival Mopra data. Results. We identify, on the basis of c-C3H2, 15 main velocity components along the line of sight to Sgr B2(N) and several components associated with the envelope of Sgr B2 itself. The c-C3H2 column densities reveal two categories of clouds. Clouds in Category I (3 kpc arm, 4 kpc arm, and some GC clouds) have smaller c-C3H2 column densities, smaller linewidths, and smaller widths of their column density PDFs than clouds in Category II (Scutum arm, Sgr arm, and other GC clouds). We derive opacity maps for the following molecules: c-C3H2, H13CO+, 13CO, HNC and its isotopologue HN13C, HC15N, CS and its isotopologues C34S and 13CS, SiO, SO, and CH3OH. These maps reveal that most molecules trace relatively homogeneous structures that are more extended than the field of view defined by the background continuum emission (about 15′′, that is 0.08–0.6 pc depending on the distance). SO and SiO show more complex structures with smaller clumps of size ~5–8′′. Our analysis suggests that the driving of the turbulence is mainly solenoidal in the investigated clouds. Conclusions. On the basis of HCO+, we conclude that most line-of-sight clouds towards Sgr B2 are translucent, including all clouds where complex organic molecules were recently detected. We also conclude that CCH and CH are good probes of H2 in both diffuse and translucent clouds, while HCO+ and c-C3H2 in translucent clouds depart from the correlations with H2 found in diffuse clouds.


2006 ◽  
Vol 23 (11) ◽  
pp. 1530-1538 ◽  
Author(s):  
Patrick Chervet ◽  
Antoine Roblin

Abstract A modeling approach is proposed to predict the impact of high-altitude clouds on the detection performance of an airborne electro-optical surveillance sensor. The sensor is dedicated to target detection, and it may be disturbed by cloud presence along the line of sight. The targets are supposed to be dim artificial sources in the atmosphere or stars, and the viewing conditions lead to lines of sight close to horizontal paths. The model is suitable to determine sensor performance for various locations in the earth’s atmosphere and for different seasons. It is based on cloud statistics data determined by the inversion of NOAA satellite observations. Computations of clear line-of-sight probabilities are based on geometric and statistical approaches, and the major hypothesis used here is that all clouds can be considered opaque. Seasonal and diurnal/nocturnal cloud cover variations strongly change the probability of a clear line of sight for a fixed viewing geometry, and the maximal range without clouds that can be reached for a fixed viewing angle and a fixed observer altitude has large temporal variations. These results can be used to reduce the sensor’s field of view to a line of sight having a sufficiently high probability of being cloud free.


2011 ◽  
Vol 19 (2) ◽  
Author(s):  
Y. Wang ◽  
Z. Wang ◽  
W. Zhou ◽  
X. Han

AbstractIn this paper, a tracking method for optoelectronic imaging platform of tethered balloon based on difference global positioning system/inertial navigation system is presented in detail. The location and attitude information of optoelectronic imaging platform, the azimuth and elevation angles of camera’s line of sight are used by this method to locate the ground target at the centre point of the camera’s field of view through corresponding coordinate transformation. And then, the method makes use of the update position and attitude information to solve the theoretical point of camera’s line of sight inversely. Finally, an angle control commend will be sent to the inertially-stabilized turntable on the optoelectronic imaging platform, which will adjust its azimuth and elevation angle to make the camera’s line of sight to the ground target. A lot of experiments are conducted, and the results show that the initial ground target is always in the centre of camera’s field of view no matter how the balloon’s position and attitude change, and the new location data of ground target has little difference with the initial location data, while the difference between them is close to 0.


Aerospace ◽  
2021 ◽  
Vol 8 (10) ◽  
pp. 307
Author(s):  
Hyeong-Geun Kim ◽  
Jun-Yong Lee

This paper proposes an optimal impact angle control guidance law for homing missiles with a narrow field-of-view of the seekers. As groundwork for designing a guidance law, we first present a general guidance structure that can achieve any terminal constraint of the line-of-sight rate based on the optimal control theory. We configure the desired profile of the line-of-sight rate using a saturation function whose exact form is determined to satisfy the required boundary conditions. By combining the line-of-sight rate profile with the optimal guidance structure, we develop a guidance law that achieves an impact angle interception with the field-of-view constraint. Herein, as the entire guidance structure is derived based on exact kinematics without any approximation, the proposed law ensures the accurate impact angle interception for various engagement scenarios. This precise consideration of the engagement kinematics also accurately ensures the energy optimality of preventing the excessive use of control inputs when homing. To evaluate the performance of the proposed method, numerical simulations with various engagement scenarios are conducted, and the results demonstrate that the proposed law allows missiles to accurately intercept their targets with the desired impact angles and without violating the prescribed field-of-view constraint.


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