Design of a navigation system for RC model aircraft based on the integration of GPS and INS

Navigation is a field of study that focuses on the process of monitoring and controlling the movement of a craft or vehicle from one place to another. Among the means of transport in road, waterway and airway, the maritime industry and the aviation are two industries which require the high accuracy navigation systems. Nowadays, with the development of technology, especially the support of satellite, the determination of the position is not too difficult. This paper presents the integration of GPS and INS to build a navigation system for RC aircraft. First, the mechanization INS is built to process data from the equipment. Then, the Kalman Filter is used to estimate the unknown parameters which are referred to as system state vector. Last, the algorithm is applied to analyze the data collected from the flight test with aircraft model.

Download Full-text

COORDINATED USE OF VISUAL ODOMETRY AND LANDMARKS FOR NAVIGATION OF MOBILE GROUND VEHICLES

ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ◽

10.5194/isprs-archives-xliv-2-w1-2021-201-2021 ◽

2021 ◽

Vol XLIV-2/W1-2021 ◽

pp. 201-205

Author(s):

S. M. Sokolov ◽

N. D. Beklemishev ◽

A. A. Boguslavsky

Keyword(s):

Vision System ◽

High Accuracy ◽

Information Support ◽

Navigation Systems ◽

Ground Vehicles ◽

Visual Data ◽

Visual Channel ◽

Navigation Problem ◽

Forward Looking

Abstract. The paper considers two directions in the use of visual data for information support of purposeful movements of ground vehicles. This is optical odometry and navigation by landmarks in the environment. Optical odometry builds the trajectory of movement of the vehicle based on the determination of displacements based on selective visual data from different fields of view. The choice and indication of landmarks at the described stage of research remains with the operator. The vision system (VS) monitors the specified landmarks and determines the position of the vehicle relative to them. The experiments used such fields of view as monocular forward looking, panoramic (fisheye type) and forward looking stereo system. When combining the data of the visual channel with each other and with the data of other navigation systems, the specificity of visual sensors is taken into account – a significant effect of the reliability and accuracy of the results from the observation conditions. Experimental verification of the VS layout showed the achievability of high accuracy in solving the navigation problem using the visual channel. All the components of the described process of organizing purposeful movements based on the use of the visual channel continue to be improved.

Download Full-text

Validation of the Accuracy and Convergence Time of Real Time Kinematic Results Using a Single Galileo Navigation System

Sensors ◽

10.3390/s18082412 ◽

2018 ◽

Vol 18 (8) ◽

pp. 2412 ◽

Cited By ~ 6

Author(s):

Zbigniew Siejka

Keyword(s):

Real Time ◽

Navigation System ◽

Satellite System ◽

Convergence Time ◽

Navigation Systems ◽

Precise Position ◽

Positioning Systems ◽

Real Time Kinematic ◽

Global Navigation

For the last two decades, the American GPS and Russian GLONASS were the basic systems used in global positioning and navigation. In recent years, there has been significant progress in the development of positioning systems. New regional systems have been created, i.e., the Japanese Quasi-Zenith Satellite System (QZSS) and Indian Regional Navigational Satellite System (IRNSS). A plan to build its own regional navigation system named Korean Positioning System (KPS) was announced South Korea on 5 February 2018. Currently, two new global navigation systems are under development: the European Galileo and the Chinese BeiDou. The full operability of both systems by 2020 is planned. The paper deals with a possibility of determination of the user’s position from individual and independent global navigation satellite system (GNSS). The article is a broader concept aimed at independent determination of precise position from individual GPS, GLONASS, BeiDou and Galileo systems. It presents real time positioning results (Real Time Kinematic-RTK) using signals from Galileo satellites only. During the test, 14 Galileo satellites were used and the number of simultaneously observed Galileo satellites varied from five to seven. Real-time measurements were only possible in certain 24-h observation windows. However, their number was completed within 6 days at the end of 2017 and beginning of 2018, so there was possible to infer about the current availability, continuity, convergence time and accuracy of the RTK measurements. In addition, the systematic errors were demonstrated for the Galileo system.

Download Full-text

Suitability of Low-Frequency Navigation Systems for Artillery Positioning in a GNSS Denied Environment

Journal of Navigation ◽

10.1017/s0373463312000410 ◽

2012 ◽

Vol 66 (1) ◽

pp. 35-48 ◽

Cited By ~ 6

Author(s):

J. W. Griffioen ◽

P. J. Oonincx

Keyword(s):

Navigation System ◽

Large Scale ◽

Low Frequency ◽

Fixed Number ◽

Positioning System ◽

Navigation Systems ◽

Military Operations ◽

Positioning Method ◽

Rtk Gps

In an environment where Global Positioning System (GPS) jamming is present, the Dutch army faces all sorts of challenges in such a deployment area, e.g., for the determination of gun locations. Nowadays, an Inertial Navigation System (INS) is used as back-up positioning system. However, to use this back-up tool within specified accuracy limits, additional procedures are needed that limit deployment. An alternative positioning method such as a low-frequency navigation system could be a solution to these problems. An example of a low-frequency navigation system that is currently operational in certain regions is eLORAN (enhanced LOng RAnge Navigation). Hypothetically, a system like this could be realised in a similar way for positioning, navigation and timing solutions for large scale military operations. That is if the performance of eLORAN meets the accuracy requirements. In this paper, eLORAN performances are examined using experiments conducted at a military heath land area in the Netherlands. Moreover, eLORAN Additional Secondary Factor (ASF) correction maps have been computed for that particular area, based on differences in position between Real-Time Kinematic (RTK) GPS and eLORAN measurements at a fixed number of points in that area. Different interpolation methods are used to create these ASF maps. The maps, obtained from static measurements, are used to enhance eLORAN's performance in dynamic measurements using a military platform. The content of this paper has been presented during the European Navigation Conference 2011 in London.

Download Full-text

Granas, a New Satellite-based Navigation System

Journal of Navigation ◽

10.1017/s0373463300019871 ◽

1984 ◽

Vol 37 (3) ◽

pp. 354-359

Author(s):

H. Euler ◽

G. Hoefgen

Keyword(s):

Navigation System ◽

Elevation Angle ◽

High Accuracy ◽

Three Dimensions ◽

Time Of Arrival ◽

Navigation Systems ◽

Radio Navigation ◽

Radio Navigation System ◽

Global Coverage ◽

Navigation Signals

Granas (Global RAdio NAvigation System) is a satellite-based radio navigation system with global coverage, high accuracy and continuous availability for civil users on land, sea and air. Its performance, thus, is superior to existing ground-based radio navigation systems as Omega, Loran, Decca, and so on.The principle of Granas user-position determination is similar to that of Navstar GPS or Navsat in that a user makes pseudo-range measurements to a number of satellites visible above a 5° elevation angle. These ranging operations are performed using time-of-arrival (TOA) measurements of navigation signals transmitted by satellites. Knowing the discrete positions of four or more satellites and their pseudo-ranges, a user may compute its own clock bias and its position in three dimensions (longitude, latitude and altitude).

Download Full-text

Computer-based method for the technical condition evaluation of the Cardan inertial navigation system for the highly maneuverable aircraft

AUTOBUSY – Technika Eksploatacja Systemy Transportowe ◽

10.24136/atest.2019.064 ◽

2019 ◽

Vol 20 (1-2) ◽

pp. 344-351 ◽

Cited By ~ 1

Author(s):

Andrzej Szelmanowski ◽

Mirosław Nowakowski ◽

Zbigniew Jakielaszek ◽

Piotr Rogala

Keyword(s):

Navigation System ◽

Inertial Navigation ◽

Technical Condition ◽

Navigation Systems ◽

Inertial Navigation Systems ◽

Condition Evaluation ◽

Computer Based ◽

The Military ◽

Mathematical Relationships

Paper presents the original computer-based method of the technical condition evaluation of the analog inertial navigation systems on the basis of the calculated inertial speed course analysis. There are presented the mathematical relationships describing the influence of the angular velocity and linear accelerations sensors errors (used in inertial navigation systems on board the military aircraft) with the relation to the discrepancies of the calculated pilot-navigational parameters (such as inertial speed components and navigational position coordinates). On the example of the Cardan navigation system IKW-8 (used on board the highly-maneuverable SU-22 aircraft) there are presented the inertial speed course measurement and analysis possibilities as well as the criteria of technical condition evaluation and determination of the tendency of its changes.

Download Full-text

Automatic Radio-celestial Navigation

Journal of Navigation ◽

10.1017/s0373463300031076 ◽

1959 ◽

Vol 12 (3-4) ◽

pp. 249-259 ◽

Cited By ~ 6

Author(s):

Gene R. Marner

Keyword(s):

High Altitude ◽

Navigation System ◽

Navigation Systems ◽

Operational Conditions ◽

Celestial Navigation ◽

Long Duration ◽

Celestial Bodies ◽

The Many ◽

Continuous Determination

The accurate, continuous determination of position, heading and course at all times, under all normal operational conditions, would be very desirable. This ideal has not been achieved for flights or voyages of long duration, but the many developments of recent years begin to give some promise that it may be possible. For high altitude aircraft the continuous optical observation of celestial bodies offers an evident solution, and doppler systems can give continuous speed over ground. For ships, however, the attainment of such an ideal navigation system is difficult. The various shore-based radio navigation systems have made important contributions, as have the development of inertial techniques. In addition, automatic optical sextants have been developed which can be used in clear weather.

Download Full-text

Utilisation of Robotic Navigation Systems in the Treatment of Atrial Fibrillation

European Cardiology Review ◽

10.15420/ecr.2010.6.3.60 ◽

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.

Download Full-text

The Degree of Oxidation of Graphene Oxide

Nanomaterials ◽

10.3390/nano11030560 ◽

2021 ◽

Vol 11 (3) ◽

pp. 560

Author(s):

Alexandra Carvalho ◽

Mariana C. F. Costa ◽

Valeria S. Marangoni ◽

Pei Rou Ng ◽

Thi Le Hang Nguyen ◽

...

Keyword(s):

Graphene Oxide ◽

Ab Initio ◽

State Of The Art ◽

High Accuracy ◽

Precise Determination ◽

Photoemission Spectroscopy ◽

Pristine Graphene ◽

X Ray ◽

Degree Of Oxidation

We show that the degree of oxidation of graphene oxide (GO) can be obtained by using a combination of state-of-the-art ab initio computational modeling and X-ray photoemission spectroscopy (XPS). We show that the shift of the XPS C1s peak relative to pristine graphene, ΔEC1s, can be described with high accuracy by ΔEC1s=A(cO−cl)2+E0, where c0 is the oxygen concentration, A=52.3 eV, cl=0.122, and E0=1.22 eV. Our results demonstrate a precise determination of the oxygen content of GO samples.

Download Full-text