Development of Underwater 3D Positioning System using Underwater Acoustic Modem

2019 ◽  
Vol 25 (10) ◽  
pp. 916-922 ◽  
Author(s):  
Jinwo Choi ◽  
Jeonghong Park ◽  
Jongdae Jung ◽  
Hyun-Taek Choi
Keyword(s):  
Positioning System ◽  
Underwater Acoustic ◽  
3D Positioning ◽  
Acoustic Modem

scholarly journals A COMPARISON OF UWB AND MOTION CAPTURE UAV INDOOR POSITIONING

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 1695-1699 ◽  
Author(s):  
A. Masiero ◽  
F. Fissore ◽  
R. Antonello ◽  
A. Cenedese ◽  
A. Vettore
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Motion Capture ◽  
Low Cost ◽  
Ultra Wideband ◽  
Reference Trajectory ◽  
Positioning System ◽  
Measurement Noise Covariance ◽  
Noise Covariance ◽  
3D Positioning ◽  
Adaptive Extended Kalman Filter

<p><strong>Abstract.</strong> The number of applications involving unmanned aerial vehicles (UAVs) grew dramatically during the last decade. Despite such incredible success, the use of drones is still quite limited in GNSS denied environment: indeed, the availability of a reliable GNSS estimates of the drone position is still fundamental in order to enable most of the UAV applications. Given such motivations, in this paper an alternative positioning system for UAVs, based on low cost ultra-wideband band (UWB) is considered. More specifically, this work aims at assessing the positioning accuracy of UWB-based positioning thanks to the comparison with positions provided by a motion capture (MoCap) system. Since the MoCap accuracy is much higher than that of the UWB system, it can be safely used as a reference trajectory for the validation of UWB estimates. In the considered experiment the UWB system allowed to obtain a root mean square error of 39.4&amp;thinsp;cm in 3D positioning based on the use of an adaptive extended Kalman filter, where the measurement noise covariance was adaptively estimated.</p>

In-Plant 3D Positioning System Using Point Cloud Data for Remote Decontamination Machine

2016 ◽  
Author(s):  
Yoshinori Satoh ◽  
Tetsuro Aikawa ◽  
Yuji Kawaguchi ◽  
Naoya Sakamoto ◽  
Masahiro Saito ◽  
...  
Keyword(s):  
Nuclear Power ◽  
Positioning System ◽  
Cloud Data ◽  
Nuclear Decommissioning ◽  
International Research Institute ◽  
Position Data ◽  
3D Positioning ◽  
Fukushima Daiichi ◽  
High Level ◽  
Positioning Time

Toshiba Corporation, a member of International Research Institute of Nuclear Decommissioning (IRID), has contributed to decontamination works throughout Fukushima Daiichi Nuclear Power Plant from outside ground to inside of the buildings. Speedy decontamination works allow workers to access and stay inside of the contaminated buildings for many hours, and as a result, all decommission works can be accelerated. Some remote decontamination machines to decontaminate the inside of the reactor buildings from a remote safe building have been developed for workers not to be radiated by high-level radiation. Conventionally, operators have remotely controlled the decontamination machine through multiple views of some remote surveillance cameras mounted on it. Because the position data such as GPS data is not available in the buildings, it was hard for operators to detect its absolute position and orientation in the building, and it took much time to recognize targets to be decontaminated. In order to reduce positioning time and make operation works easier, we constructed 3D positioning system to automatically detect the absolute 3D position of the decontamination machine in the reactor buildings from a remote safe building. Moreover, we can also keep records of decontamination works easily by tracking 3D position of the decontamination machine. This paper shows the overview of our approach of 3D positioning and a result of examinations in the mock-up facility that simulates a part of the inside of the reactor building at Fukushima Daiichi NPP.

scholarly journals Design and characterization of a portable ultrasonic indoor 3D positioning system

2021 ◽  
Author(s):  
Paolo Carbone ◽  
Alessio De Angelis ◽  
Antonio Moschitta ◽  
Massimo Calderini ◽  
Stefano Neri ◽  
...  
Keyword(s):  
Complex Geometry ◽  
Line Of Sight ◽  
Mobile Object ◽  
Positioning System ◽  
Positioning Accuracy ◽  
3D Positioning

<div><div><div><p>In this paper, an ultrasonic positioning system is presented and characterized, based on the usage of a portable grid of beacons and of a few fixed anchors. Since the beacon grid can be moved to guarantee line of sight transmissions, the proposed strategy is potentially suitable for accurate positioning of a mobile object in an environment with a complex geometry. The system was tested experimentally, exhibiting a sub-centimeter positioning accuracy in a range up to 4 m.</p></div></div></div>

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