A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

2017 ◽  
Vol 40 (5) ◽  
pp. 1608-1614 ◽  
Author(s):  
Di Wu ◽  
Yu Meng ◽  
Qing Gu ◽  
Fei Ma ◽  
Kai Zhan
Keyword(s):  
Global Positioning System ◽  
Ultra Wideband ◽  
Underground Mines ◽  
Positioning System ◽  
Dimensional Error ◽  
Vehicle Localization ◽  
Range Resolution ◽  
Global Positioning ◽  
Novel Method ◽  
Heading Angle

This paper presents a system that measures the heading angle of underground Load-Haul-Dump (LHD) based on Ultra Wideband (UWB). The system is composed by two UWB modules. The heading angle gives the predictable information for the vehicle localization. Because of the features of underground mines, many current methods for estimating heading angle have limitations in this situation, such as the absence of Global Positioning System (GPS) and the high cost of the positioning methods based on beacons. The range resolution is proportional to the bandwidth of signal. So, the large system bandwidth of UWB offers high accuracy. We estimate the heading angle by measuring the angle between two UWB modules, which is implemented on LHD. The position error of the two modules directly decides the error of heading angle. This paper analyzes and discusses two-dimensional error in theory. The experimental results demonstrate that it is feasible to use the proposed method for an underground environment.

Ultra-Wideband-Based Localization for Quadcopter Navigation

2016 ◽  
Vol 04 (01) ◽  
pp. 23-34 ◽  
Author(s):  
Kexin Guo ◽  
Zhirong Qiu ◽  
Cunxiao Miao ◽  
Abdul Hanif Zaini ◽  
Chun-Lin Chen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Ultra Wideband ◽  
Line Of Sight ◽  
Positioning System ◽  
Localization Algorithm ◽  
Control Loop ◽  
Flight Tests ◽  
Localization System ◽  
Global Positioning

Micro unmanned aerial vehicles (UAVs) are promising to play more and more important roles in both civilian and military activities. Currently, the navigation of UAVs is critically dependent on the localization service provided by the Global Positioning System (GPS), which suffers from the multipath effect and blockage of line-of-sight, and fails to work in an indoor, forest or urban environment. In this paper, we establish a localization system for quadcopters based on ultra-wideband (UWB) range measurements. To achieve the localization, a UWB module is installed on the quadcopter to actively send ranging requests to some fixed UWB modules at known positions (anchors). Once a distance is obtained, it is calibrated first and then goes through outlier detection before being fed to a localization algorithm. The localization algorithm is initialized by trilateration and sustained by the extended Kalman filter (EKF). The position and velocity estimates produced by the algorithm will be further fed to the control loop to aid the navigation of the quadcopter. Various flight tests in different environments have been conducted to validate the performance of UWB ranging and localization algorithm.

scholarly journals Destination Estimation for Bus Passengers Based on Data Fusion

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Wusheng Liu ◽  
Qian Tan ◽  
Lisheng Liu
Keyword(s):  
Global Positioning System ◽  
Positioning System ◽  
Time Varying ◽  
Estimation Result ◽  
Bus Stop ◽  
Simulation Based ◽  
Global Positioning ◽  
Novel Method ◽  
Planning And Operation

The planning and operation of urban buses depend heavily on the time-varying origin-destination (OD) matrix for bus passengers. In most cities, however, only boarding information is recorded, while the alighting information is not available. This paper proposes a novel method to predict the destination of a single bus passenger based on bus smartcard data, metro smartcard data, and global positioning system (GPS) bus data. First, the attractiveness of each bus stop in a bus line was evaluated, considering the attractiveness of nearby metro stations. Then, the exploration and preferential return (EPR) model was employed to estimate the probability of a bus stop to be the alighting stop, i.e., the destination, of a passenger. The estimation result was obtained through a simulation based on the Monte Carlo (MC) algorithm. The effectiveness of our method was proved through a case study on the bus network in Shenzhen, China.

Multi-sensor fusion approach based on nonlinear H∞ filter with interval type 2 fuzzy adaptive parameters tuning for unmanned vehicle localization

2020 ◽  
pp. 095965182096160
Author(s):  
Fariz Outamazirt ◽  
Djabir Djaidja ◽  
Chouaib Boudjimar ◽  
Kahina Louadj ◽  
Abdelkrim Nemra ◽  
...  
Keyword(s):  
Data Fusion ◽  
Global Positioning System ◽  
Positioning System ◽  
Vehicle Localization ◽  
Modeling Errors ◽  
Global Positioning ◽  
Interval Type ◽  
Fuzzy Adaptive

In most applications of autonomous navigation, the state of a system must be estimated from noisy sensors. Accurate estimation of the true system state can be achieved using data fusion algorithms. Furthermore, the fusion scheme can be affected by many factors such as modeling errors and parameters uncertainties. The gaps and inconsistencies due to the sensors noise and modeling errors can be reached with robust nonlinear filtering. In this article, a new framework has been developed for data fusion algorithms based on nonlinear NH∞ filter with fuzzy adaptive bound and adaptive disturbances attenuations. Type-1 Fuzzy Adaptive NH∞ algorithm has been proposed and compared with the Interval Type 2 Fuzzy Adaptive NH∞, for unmanned vehicle localization. The proposed algorithms fuse data from low-cost sensors using inertial navigation system, Global Positioning System and monocular vision. Type-1 Fuzzy Adaptive NH∞ and Interval Type 2 Fuzzy Adaptive NH∞ algorithms, adaptively, handle the effects of noisy sensors, parameters uncertainties and modeling errors. Both algorithms use adaptive bounds [Formula: see text] and adaptive disturbance attenuation [Formula: see text] for higher-order terms of the Taylor development. The adaptive bounds consider issues associated to Gyro drift, image distortion and Global Positioning System dilution of precision which make the proposed algorithms more accurate than the classical NH∞. The validating experiment and the efficiency of Type-1 Fuzzy Adaptive NH∞ and Interval Type 2 Fuzzy Adaptive NH∞ have been conducted in real scenario and in unstructured outdoor environment without any a priori knowledge of the evolution of the vehicle. The experimental results have demonstrated the robustness and efficiency of these two filtering strategies against uncertainties and their online sensor switching capability. The Interval Type 2 Fuzzy Adaptive NH∞ algorithm provides more accuracy and robustness compared to the Type-1 Fuzzy Adaptive NH∞.

scholarly journals A Novel Method for 3D Absolute Localization and Orientation of a Stair Cleaning Robot Using Staircase Geometry and Onboard Sensors

2018 ◽  
Author(s):  
Ilyas Muhammad ◽  
Vinu Sivanantham ◽  
Manojkumar Devarassu ◽  
Balakrishnan Ramalingam ◽  
Mohan Rajesh Elara
Keyword(s):  
Global Positioning System ◽  
A Priori ◽  
Working Environment ◽  
3D Space ◽  
Cleaning Robot ◽  
Global Positioning ◽  
Novel Method ◽  
Real Robot ◽  
Heading Angle ◽  
Localization Information

The sTetro is a stair cleaning robot which can climb the staircase with its shapeshifting capabilities. As this robot is intended to traverse multi-floor environment autonomously, hence its localization/positioning information is an essential component of the overall system. Usually, the indoor mobile robots rely on some external system for localization information, e.g., WiFi, UWB, vision, RFID signals, or indoor Global Positioning System (GPS). This requires the installation of additional hardware and/or modification of the working environment for precise positioning information of the mobile platform. As the dimensions of the staircase are known a priori, this knowledge can be used to localize the sTetro robot on the stairs. In this article, the geometry of the staircase has been exploited to localize the robot in 3D space with measurements from the onboard time-of-flight (ToF) range sensors only. The heading angle of the robot is also estimated with two ToF sensors installed in front of the sTetro robot. Results achieved by conducting experiments on real robot prove the efficacy of the proposed approach.

Aplikasi Pemosisi Lokal Berbasis Android Dengan Menggunakan GPS

INTI TALAFA ◽  
2018 ◽  
Vol 8 (2) ◽  
Author(s):  
Yaman Khaeruzzaman
Keyword(s):  
Global Positioning System ◽  
Positioning System ◽  
Database Server ◽  
Global Positioning

Seiring dengan pesatnya kemajuan teknologi saat ini, kebutuhan manusia menjadi lebih beragam, termasuk kebutuhan akan informasi. Tidak hanya media informasinya yang semakin beragam, jenis informasi yang dibutuhkan juga semakin beragam, salah satunya adalah kebutuhan informasi akan posisi kita terhadap lingkungan sekitar. Untuk memenuhi kebutuhan itu sebuah sistem pemosisi diciptakan. Sistem pemosisi yang banyak digunakan saat ini cenderung berfokus pada lingkup ruang yang besar (global) padahal, dalam lingkup ruang yang lebih kecil (lokal) sebuah sistem pemosisi juga diperlukan, seperti di ruang-ruang terbuka umum (taman atau kebun), ataupun dalam sebuah bangunan. Sistem pemosisi lokal yang ada saat ini sering kali membutuhkan infrastruktur yang mahal dalam pembangunannya. Aplikasi Pemosisi Lokal Berbasis Android dengan Menggunakan GPS ini adalah sebuah aplikasi yang dibangun untuk memenuhi kebutuhan pengguna akan informasi lokasi dan posisi mereka terhadap lingkungan di sekitarnya dalam lingkup ruang yang lebih kecil (lokal) dengan memanfaatkan perangkat GPS (Global Positioning System) yang telah tertanam dalam perangkat smartphone Android agar infrastruktur yang dibutuhkan lebih efisien. Dalam implementasinya, Aplikasi Pemosisi Lokal ini bertindak sebagai klien dengan dukungan sebuah Database Server yang berfungsi sebagai media penyimpanan data serta sumber referensi informasi yang dapat diakses melalui jaringan internet sehingga tercipta sebuah sistem yang terintegrasi secara global. Kata kunci: aplikasi, informasi, pemosisi, GPS.

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