scholarly journals Comparative analysis of the proprietary navigation system and the built-in Unity engine tool

2021 ◽  
Vol 20 ◽  
pp. 217-224
Author(s):  
Maciej Kempny ◽  
Marcin Barszcz
Keyword(s):  
Comparative Analysis ◽  
Navigation System ◽  
Navigation Systems ◽  
Game World ◽  
Research Objects

Navigation systems are advanced tools that allow you to create characters intelligently moving around the game world. The purpose of this thesis was to conduct a comparative analysis of the proprietary navigation system “AlchemyNavigation” and the built-in tool of the Unity engine - “NavMesh”. An proprietary application created with the Unity engine was used to conduct the research, under which identical scenarios based on the tested systems were implemented. Finally, on the basis of the collected results and documentation of the research objects, a comparative analysis was carried out and proved the thesis that own solutions can match the default solutions.

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.

Studies of the integrated navigation system correction in the absence of a satellite signal

2021 ◽  
Author(s):  
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Operation Mode ◽  
Satellite System ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Correction Signal ◽  
Satellite Signal ◽  
Navigation Information

The schemes of navigation systems correction are considered. The operation mode of the aircraft during navigation is analyzed. An adaptive modification of the linear Kalman filter is used to correct the navigation information. An algorithm for predicting a correction signal based on a neural network in the event of a loss of a SNS correction signal is formed. Experimental results show the effectiveness of the algorithm. Keywords aircraft; inertial navigation system; satellite system; Kalman filter; neural networks; genetic algorithm

Problem of the Vertical Deflection in High-Precision Inertial Navigation

2020 ◽  
Vol 28 (4) ◽  
pp. 3-15
Author(s):  
V.G. Peshekhonov ◽  
◽  
Keyword(s):  
Systematic Error ◽  
High Precision ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Reference Ellipsoid ◽  
Navigation Systems ◽  
Vertical Deflection ◽  
Inertial Navigation Systems ◽  
Output Data

The paper addresses the systematic error of an inertial navigation system, caused by the discrepancy between the plumb line and the normal to the reference ellipsoid surface. The methods of this discrepancy estimation, and their use for correcting the output data of inertial navigation systems are studied.

Comparative Analysis of Underwater Positioning and Navigation Systems

2021 ◽  
Author(s):  
Hosam Alamleh ◽  
Ali Abdullah S. AlQahtani ◽  
Baker Al Smadi
Keyword(s):  
Comparative Analysis ◽  
Navigation Systems ◽  
Underwater Positioning

scholarly journals Multi-Radio Integrated Navigation System M&S Software Design for GNSS Backup under Navigation Warfare

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 188 ◽  
Author(s):  
Heyone Kim ◽  
Junhak Lee ◽  
Sang Heon Oh ◽  
Hyoungmin So ◽  
Dong-Hwan Hwang
Keyword(s):  
Software Design ◽  
Navigation System ◽  
Design Method ◽  
Satellite System ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Very High Frequency ◽  
Integrated Navigation System ◽  
Function Modules

To avoid degradation of navigation performance in the navigation warfare environment, the multi-radio integrated navigation system can be used, in which all available radio navigation systems are integrated to back up Global Navigation Satellite System (GNSS) when the GNSS is not available. Before real-time multi-radio integrated navigation systems are deployed, time and cost can be saved when the modeling and simulation (M&S) software is used in the performance evaluation. When the multi-radio integrated navigation system M&S is comprised of independent function modules, it is easy to modify and/or to replace the function modules. In this paper, the M&S software design method was proposed for multi-radio integrated navigation systems as a GNSS backup under the navigation warfare. The M&S software in the proposed design method consists of a message broker and function modules. All the messages were transferred through the message broker in order to be exchanged between the function modules. The function modules in the M&S software were independently operated due to the message broker. A message broker-based M&S software was designed for a multi-radio integrated navigation system. In order to show the feasibility of the proposed design method, the M&S software was implemented for Global Positioning System (GPS), Korean Navigation Satellite System (KNSS), enhanced Long range navigation (eLoran), Loran-C, and Distance Measuring Equipment/Very high-frequency Omnidirectional Radio range (DME/VOR). The usefulness of the proposed design method was shown by checking the accuracy and availability of the GPS only navigation and the multi-radio integrated navigation system under the attack of jamming to GPS.

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