Relevant bibliographies by topics / Inertial Navigation System

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Inertial Navigation System'

Author: Grafiati
Published: 4 June 2021
Last updated: 31 May 2022

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Journal articles on the topic "Inertial Navigation System"

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Turygin, Yuri, Pavol Božek, Yuri Nikitin, Ella Sosnovich, and Andrey Abramov. "Enhancing the reliability of mobile robots control process via reverse validation." International Journal of Advanced Robotic Systems 13, no. 6 (December 1, 2016): 172988141668052. http://dx.doi.org/10.1177/1729881416680521.

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The article deals with integrating the inertial navigation unit implemented into the system of controlling the robot. It analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers. The implementation of the original system of controlling the mobile robot on the basis of autonomous navigation systems is a dominant part of the article. The integration of navigational information represents the actual issue of reaching higher accuracy of required navigational parameters using more or less accurate navigation systems. The inertial navigation is the navigation based on uninterrupted evaluation of the position of a navigated object by utilizing the sensors that are sensitive to motion, that is, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.
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Kovalenko, A. M., and A. A. Shejnikov. "Model of the inertial and optical navigation system of the unmanned aerial vehicle." «System analysis and applied information science», no. 2 (August 18, 2020): 17–25. http://dx.doi.org/10.21122/2309-4923-2020-2-17-25.

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In article approaches to creation of the complex inertial and optical navigation system of the short-range tactical unmanned aerial vehicle are considered. Algorithms constant and periodic (in intermediate points of a route) are offered correction of the platformless onboard inertial navigation system. At integration of information on parameters of the movement of the unmanned aerial vehicle (received from the considered systems) the invariant loosely coupled scheme of data processing on the basis of the expanded filter of Kallman was used that allowed to lower significantly a systematic component of an error of the platformless inertial navigation system. Advantages of the complex inertial and optical navigation system when ensuring flight of the unmanned aerial vehicle in an area of coverage of means of radio-electronic fight of the opponent are shown. The results of modeling confirming a possibility of ensuring precision characteristics of the inertial and optical navigation system in the absence of signals of satellite radio navigational systems are presented.
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Szelmanowski, Andrzej, Mirosław Nowakowski, Zbigniew Jakielaszek, and Piotr Rogala. "Computer-based method for the technical condition evaluation of the Cardan inertial navigation system for the highly maneuverable aircraft." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (February 28, 2019): 344–51. http://dx.doi.org/10.24136/atest.2019.064.

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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.
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Bodhare, Hemant Gautam, and Asst Prof Gauri Ansurkar. "LEO based Satellite Navigation and Anti-Theft Tracking System for Automobiles." International Journal for Research in Applied Science and Engineering Technology 10, no. 4 (April 30, 2022): 557–63. http://dx.doi.org/10.22214/ijraset.2022.41316.

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Abstract: GPS and Inertial Navigation Systems (INS) are used today in automobile navigation and tracking systems to locate themselves in Four Dimensions (latitude, longitude, altitude, time). However, GNSS or GPS still has its own bottleneck, such as the long initialization period of Precise Point Positioning (PPP) without dense reference network. For navigation, a number of selected LEO satellites can be equipped with a transmitter to transmit similar navigation signals to land users, so they can act like GNSS satellites but with much faster geometric change to enhance GNSS capability, which is named as LEO constellation enhanced GNSS (LeGNSS). This paper focuses on Low Earth Orbit navigation and anti-theft tracking system in automobiles that represents a framework which enables a navigating vehicle to aid its Inertial Navigation System when GNSS or GPS signal becomes unusable. Over the course of following years LEO satellite constellation will be available globally at ideal geometric locations. LEO Satellite aided Inertial navigation system with periodically transmitted satellite positions has the potential to achieve meter-level-accurate location. Keywords: LEO constellation, LEO enhanced GNSS (LeGNSS), Precise Point Positioning (PPP), Inertial Navigation System (INS), Precise Orbit Determination (POD)
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Fariz, Outamazirt, Muhammad Ushaq, Yan Lin, and Fu Li. "Enhanced Accuracy Navigation Solutions Realized through SINS/GPS Integrated Navigation System." Applied Mechanics and Materials 332 (July 2013): 79–85. http://dx.doi.org/10.4028/www.scientific.net/amm.332.79.

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Strapdown Inertial Navigation Systems (SINS) displays position errors which grow with time in an unbounded manner. This degradation is due to the errors in the initialization of the inertial measurement unit, and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Improvement to this unbounded growth in errors can be made by updating the inertial navigation system solutions periodically with external position fixes, velocity fixes, attitude fixes or any combination of these fixes. The increased accuracy is obtained through external measurements updating inertial navigation system using Kalman filter algorithm. It is the basic 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 Inertial Navigation System (SINS), Global Positioning System (GPS) is presented using a centralized linear Kalman filter.
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Wang, Feng Lin, Xiu Lan Wen, and Dang Hong Sheng. "The Influence of Initial Error to the Rate Azimuth Platform Inertial System." Advanced Materials Research 442 (January 2012): 430–35. http://dx.doi.org/10.4028/www.scientific.net/amr.442.430.

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To lower the cost of the gravity passive navigation system, a rate azimuth inertial platform with a gravity sensor on it was put forward to constitute a navigator with gravity measuring, combined with digital gravity map, the system would come to a simple passive navigation system To master the influence of deterministic system error to navigation system, so can accurately present the precision index of gyroscopes and accelerometers, which are the main components of rate azimuth platform inertial navigation system, and initial calibration precision. With the error equations under static state, the characteristic equation of rate azimuth platform inertial navigation system is set up. Based on the solutions of the error equation, and the system error characteristics caused by the initial navigation error are deduced with analytical method.
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Naus, Krzysztof, and Łukasz Marchel. "SLAM aided Inertial Navigation System." Zeszyty Naukowe Akademii Marynarki Wojennej 200, no. 1 (March 30, 2015): 1. http://dx.doi.org/10.5604/0860889x.1161257.

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Daniec, Krzysztof, Karol Jędrasiak, Roman Koteras, and Aleksander Nawrat. "Embedded Micro Inertial Navigation System." Applied Mechanics and Materials 249-250 (December 2012): 1234–46. http://dx.doi.org/10.4028/www.scientific.net/amm.249-250.1234.

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This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.
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Konstantyan, Vladislav N., Rakhim S. Nakhushev, and Umar M. Yakhutlov. "FLIGHT SIMULATOR INERTIAL NAVIGATION SYSTEM." Electrical and data processing facilities and systems 14, no. 4 (December 2018): 97. http://dx.doi.org/10.17122/1999-5458-2018-14-4-97-103.

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Meyer, D., and D. Rozelle. "Milli-HRG inertial navigation system." Gyroscopy and Navigation 3, no. 4 (October 2012): 227–34. http://dx.doi.org/10.1134/s2075108712040086.

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Dissertations / Theses on the topic "Inertial Navigation System"

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Štefanisko, Ivan. "Integration of inertial navigation with global navigation satellite system." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221167.

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This paper deals with study of inertial navigation, global navigation satellite system, and their fusion into the one navigation solution. The first part of the work is to calculate the trajectory from accelerometers and gyroscopes measurements. Navigation equations calculate rotation with quaternions and remove gravity sensed by accelerometers. The equation’s output is in earth centred fixed navigation frame. Then, inertial navigation errors are discussed and focused to the bias correction. Theory about INS/GNSS inte- gration compares different integration architecture. The Kalman filter is used to obtain navigation solution for attitude, velocity and position with advantages of both systems.
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Krys, Dennis. "Inertial navigation system assisted visual localization." Thesis, University of British Columbia, 2011. http://hdl.handle.net/2429/33423.

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With recent advancements in Global Positioning Systems (GPS), localization systems are now typically equipped with a GPS. However, in a large variety of environments and real-world applications, GPS-based localization systems are not practical. This research tackles such a problem and illustrates the idea of fusing a camera and an inertial navigation system (INS) to create a dead reckoning localization system. The original purpose of the localization system is for a pipe inspection robot, but the proposed concepts can be readily applied to any environment where there is a wall in close proximity. The proposed sensor system can determine motions with up to six degrees of freedom using a camera and an INS. The system must assume a geometry for the wall, such as a at surface, a wall in a hallway, or the round surface of the inside of a pipe. If the geometry of the wall is unknown then another sensor, such as a laser range nder, can be added to measure the range and estimate the overall shape of the wall. The localization system uses a combination of optical ow and image registration to obtain information about six degrees of freedom from a wall with little to no features. The INS provides an estimated motion for the camera system. The estimation of the motion is used by the optical ow algorithm to reduce the computational load signi cantly and by the image registration to decrease the likelihood of the algorithm diverging. The system is validated using numerical simulation and experiments. The experiments were conducted on a test platform constructed speci cally in this research project to simulate the motion of a free-swimming robot inside a pipe. The simulator uses accurate ii position sensors to measure the exact location of the proposed localization system and compare it with the results obtained from the latter. Both the numerical simulation results and the results from the simulator are in agreement with reading of the localization system developed in this research.
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Maziol, Timotheé. "Fusion of imaging and inertial navigation system for navigation." Thesis, KTH, Optimeringslära och systemteori, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-234685.

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This report presents the work conducted at Safran Electronics & Defense in the context of my master thesis-internship. Vision-hybridisation with inertial systems has great potential in navigation systems. This master thesis investigates this potential and evaluates it on real data of trajectories for one specific hybridisation: loosely-coupled via an Extended Kalman Filter. The vision hybridisation is developed in order to limit the drift of position of the state-of-the-art GPS-hybridisation when the GPS is not available. This thesis presents hybridisation tests on different trajectories that were either simulated from scratch or reconstructed from real vehicle route (stimulation). Using real data for research work brings technical challenges. Some are presented, as well as the proposed solutions to tackle them.
Denna rapport presenterar det arbete som utförs på Safran Electronics & Defense I samband med mitt masterprojekt-praktik. Visionshybridisering med tröghetssystem har stor potential I navigationssystem. Detta examensarbete undersöker denna potential och utvärderar den på reella uppgifter om banor för en specifik hybridisering: Löst kopplat via ett ”Extended Kalman Filter”. Visionshybridiseringen utvecklas för att begränsa driften av positionen för den senaste GPS-hybridiseringen när GPS inte är tillgänglig. Avhandlingen presenterar hybridiseringstester på olika banor som antingen simulerades från början eller rekonstruerades från reell fordonsledning (stimulering). Att använda verkliga data för forskningsarbete innebär tekniska utmaningar. Vissa presenteras, liksom de föreslagna lösningarna för att hantera dem.
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Ruiz, Mario. "Optimization of a strapdown inertial navigation system." To access this resource online via ProQuest Dissertations and Theses @ UTEP, 2009. http://0-proquest.umi.com.lib.utep.edu/login?COPT=REJTPTU0YmImSU5UPTAmVkVSPTI=&clientId=2515.

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Korka, David A. (David Andrew) 1976. "Kalman filtering for aided inertial navigation system." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9380.

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Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.
Includes bibliographical references (p. 65).
This thesis develops a Kalman filter which integrates the inertial navigation system of the Vorticity Control Unmanned Undersea Vehicle (VCUUV) with redundant navigation sensor measurements. The model for the Kalman filter uses redundant measurements in a feedback loop to better estimate navigation variables. Using outputs from the Inertial Measurement Unit (IMU) and from a depth sensor, a velocity sensor and a magnetometer, a Kalman filter is developed. Actual test runs on the VCUUV prove the new system superior to the previously used open-loop navigation system.
by David A. Korka.
S.B.and M.Eng.
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Harris, William M. "Integrated Global Positioning System and inertial navigation system integrity monitor performance." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175091451.

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Guner, Dunya Rauf Levent. "Inertial Navigation Sytem Improvement Using Ground Station Data." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615036/index.pdf.

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Missile navigation systems rely on hybrid INS/GPS systems to employ lower grade inertial sensors for the sake of cost and availability. Current inertial navigation systems on missiles can perform accurately for a limited time without GPS aiding. However, GPS is the most likely system that is going to be jammed in a crisis or war by low cost jammers by any opposing force. Missiles do not have adequate equipment to maintain accuracy when GPS is jammed completely in the battle area. In this thesis, a new method is proposed to improve performance of INS systems onboard missiles and autonomous aerial vehicles with EO sensors in a GPS denied environment. Previously laid ground based beacons are used by the missile EO/IIR seeker for bearing-only measurements and position updates are performed by the use of modified artillery survey algorithms based on triangulation techniques which involve angle measurements. For mission planning, two main problems are identified as deployment problem and path planning problem and a tool for the optimal laying of beacons for a given desired trajectory and optimal path planning for a given network of beacons is developed by using evolutionary algorithms and results for test scenarios are discussed.
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Mohamadabadi, Kaveh. "Anisotropic Magnetoresistance Magnetometer for inertial navigation systems." Phd thesis, Ecole Polytechnique X, 2013. http://tel.archives-ouvertes.fr/tel-00946970.

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This work addresses the relevant errors of the anisotropic magnetoresistance sensor for inertial navigation systems. The manuscript provides resulting guidelines and solution for using the AMR sensors in a robust and appropriate way relative to the applications. New methods also are proposed to improve the performance and, reduce the power requirements and cost design of the magnetometer. The new compensation method is proposed by developing an optimization algorithm. The necessity of the sensor calibration is shown and the source of the errors and compensating model are investigated. Two novel methods of indoor calibration are proposed and examples of operating systems are presented.
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Walchko, Kevin J. "Low cost inertial navigation learning to integrate noise and find your way /." [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1001193.

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Kiran, Sai. "An inertial measurement unit interface and processing system synchronized to global positioning system time." Ohio University / OhioLINK, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1176489175.

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Books on the topic "Inertial Navigation System"

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Matthew, Barth, ed. The global positioning system and inertial navigation. New York: McGraw-Hill, 1999.

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P, Andrews Angus, Bartone Chris, and ebrary Inc, eds. Global navigation satellite systems, inertial navigation, and integration. 3rd ed. Hoboken: John Wiley & Sons, 2013.

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1938-, Weill Lawrence Randolph, and Andrews Angus P, eds. Global positioning systems, inertial navigation, and integration. New York: John Wiley, 2001.

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Xuan zhuan tiao zhi xing jie lian guan xing dao hang xi tong: Rotary Modulation Strapdown Inertial Navigation System. Beijing: Ce hui chu ban she, 2014.

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Weill, Lawrence R. (Lawrence Randolph), 1938-, Andrews Angus P, and Wiley online library, eds. Global positioning systems, inertial navigation, and integration. 2nd ed. Hoboken, N.J: Wiley-Interscience, 2007.

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Brown, Russell H. Inertial instrument system for aerial surveying. Washington, [D.C.]: G.P.O., 1987.

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Gabaglio, Vincent. GPS/INS integration for pedestrian navigation. Zürich: Schweizerische Geodätische Kommission, 2003.

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Applied mathematics in integrated navigation systems. 2nd ed. Reston, VA: American Institute of Aeronautics and Astronautics, 2003.

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Applied mathematics in integrated navigation systems. 3rd ed. Reston, VA: American Institute of Aeronautics and Astronautics, 2007.

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Groves, Paul D. Principles of GNSS, inertial, and multisensor integrated navigation systems. Boston: Artech House, 2008.

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Book chapters on the topic "Inertial Navigation System"

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Noureldin, Aboelmagd, Tashfeen B. Karamat, and Jacques Georgy. "Inertial Navigation System." In Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, 125–66. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-30466-8_4.

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Noureldin, Aboelmagd, Tashfeen B. Karamat, and Jacques Georgy. "Inertial Navigation System Modeling." In Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, 167–200. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-30466-8_5.

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Shen, Chong. "Synopsis of Typical Inertial Sensors and System." In Navigation: Science and Technology, 7–26. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4516-4_2.

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Kling, Thomas. "Separation of Gravitational and Inertial Accelerations with a Combined Inertial Navigation and Gravity-Gradiometer System." In High Precision Navigation, 542–55. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-74585-0_39.

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Shen, Chong. "Brain-Like Navigation Technology Based on Inertial/Vision System." In Navigation: Science and Technology, 95–114. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4516-4_6.

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Vedpathak, Madhavi, Prachi Mukherji, and Balkrishna Prasad. "Modeling and Simulation of Inertial Navigation System." In Micro-Electronics and Telecommunication Engineering, 471–81. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-2329-8_48.

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Karp, K. A., V. V. Malyshev, A. Y. Mishin, and P. V. Pakshin. "Algorithms of a Complex Inertial and Satellite Navigation System for Aircraft." In Satellite Navigation Systems, 241–42. Dordrecht: Springer Netherlands, 2003. http://dx.doi.org/10.1007/978-94-017-0401-4_27.

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Zhang, Jiwei, Xiaodong Xu, and Bo Wang. "A System-Level Compensation Method for Inertial Navigation System." In Advances in Mechanical and Electronic Engineering, 229–33. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31507-7_38.

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Ivashkin, V. V. "On the Role of Star Catalogues for Autonomous Space Navigation." In Inertial Coordinate System on the Sky, 367–68. Dordrecht: Springer Netherlands, 1990. http://dx.doi.org/10.1007/978-94-009-0613-6_100.

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Jasiński, Marcin, Jędrzej Mączak, Stanisław Radkowski, Sebastian Korczak, Roman Rogacki, Jarosław Mac, and Jan Szczepaniak. "Autonomous Agricultural Robot—Conception of Inertial Navigation System." In Challenges in Automation, Robotics and Measurement Techniques, 669–79. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-29357-8_58.

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Conference papers on the topic "Inertial Navigation System"

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Sebastian, Sabou, Lung Claudiu, and Orha Ioan. "Inertial navigation modular system." In 2012 IEEE 18th International Symposium for Design and Technology in Electronic Packaging (SIITME). IEEE, 2012. http://dx.doi.org/10.1109/siitme.2012.6384389.

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Toda, Atsumi, and Yoshikazu Koike. "Simulation Design of Thermopile and Magnetometer Aided INS/GPS Navigation System for UAV Navigation." In 2021 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL). IEEE, 2021. http://dx.doi.org/10.1109/inertial51137.2021.9430487.

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VANDERWERF, KEVIN, and KNUT WEFALD. "Fault tolerant inertial navigation system." In Digital Avionics Systems Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1988. http://dx.doi.org/10.2514/6.1988-4024.

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Liu, Ying, Meiping Wu, Xiaoping Hu, and Hongwei Xie. "Geomagnetism aided inertial navigation system." In 2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics (ISSCAA). IEEE, 2008. http://dx.doi.org/10.1109/isscaa.2008.4776291.

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Koifman, M., I. Bar-Itzhack, and S. Merhav. "Dynamics-aided inertial navigation system." In Guidance, Navigation, and Control Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1995. http://dx.doi.org/10.2514/6.1995-3195.

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Diaz, Estefania Munoz, Ana Luz Mendiguchia Gonzalez, and Fabian de Ponte Muller. "Standalone inertial pocket navigation system." In 2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014. IEEE, 2014. http://dx.doi.org/10.1109/plans.2014.6851382.

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Meyer, A. D., and D. M. Rozelle. "Milli-HRG inertial navigation system." In 2012 IEEE/ION Position, Location and Navigation Symposium - PLANS 2012. IEEE, 2012. http://dx.doi.org/10.1109/plans.2012.6236860.

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Nikolaev, S. G., and A. V. Golota. "Strapdown inertial navigation system calibration." In 2017 2nd International Ural Conference on Measurements (UralCon). IEEE, 2017. http://dx.doi.org/10.1109/uralcon.2017.8120689.

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Damerius, Robert, and Torsten Jeinsch. "A Generic Inertial Navigation System." In 2019 International Interdisciplinary PhD Workshop (IIPhDW). IEEE, 2019. http://dx.doi.org/10.1109/iiphdw.2019.8755417.

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Quarmyne, James, and Meir Pachter. "Inertial Navigation System aiding using vision." In 2014 American Control Conference - ACC 2014. IEEE, 2014. http://dx.doi.org/10.1109/acc.2014.6858678.

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Reports on the topic "Inertial Navigation System"

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Landherr, Stefan F., and Mark H. Klein. Inertial Navigation System Simulator: Behavioral Specification. Fort Belvoir, VA: Defense Technical Information Center, October 1987. http://dx.doi.org/10.21236/ada200604.

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Landherr, Stefan F., and Mark H. Klein. Inertial Navigation System Simulator: Behavioral Specification. Revision. Fort Belvoir, VA: Defense Technical Information Center, August 1989. http://dx.doi.org/10.21236/ada219294.

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Meyers, B. C., and Nelson H. Weiderman. Functional Performance Specification for an Inertial Navigation System. Fort Belvoir, VA: Defense Technical Information Center, October 1988. http://dx.doi.org/10.21236/ada204850.

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Fowler, Kenneth J. Inertial Navigation System Simulator Program: Top-Level Design. Fort Belvoir, VA: Defense Technical Information Center, January 1990. http://dx.doi.org/10.21236/ada223762.

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Brown, Alison, and Yan Lu. Indoor Navigation Test Results using an Integrated GPS/TOA/Inertial Navigation System. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada458227.

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Owen, T. E., M. A. Meindl, and J. R. Fellerhoff. High accuracy integrated global positioning system/inertial navigation system LDRD: Final report. Office of Scientific and Technical Information (OSTI), March 1997. http://dx.doi.org/10.2172/465885.

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Haak, Jeffrey W. Verification of Robustified Kalman Filters for the Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) Data,. Fort Belvoir, VA: Defense Technical Information Center, September 1994. http://dx.doi.org/10.21236/ada288609.

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D'Spain, Gerald L., and C. D. Chadwell. DURIP: Side Scan Sonar and Inertial Navigation System for AUV-Based Ocean Bottom/Sub-Bottom Mapping for Object Search/Identification. Fort Belvoir, VA: Defense Technical Information Center, July 2009. http://dx.doi.org/10.21236/ada501314.

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D'Spain, Gerald L., and C. D. Chadwell. DURIP: Side Scan Sonar and Inertial Navigation System for AUV-Based Ocean Bottom/Sub-Bottom Mapping for Object Search/Identification. Fort Belvoir, VA: Defense Technical Information Center, September 2005. http://dx.doi.org/10.21236/ada572723.

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Lee, W. S., Victor Alchanatis, and Asher Levi. Innovative yield mapping system using hyperspectral and thermal imaging for precision tree crop management. United States Department of Agriculture, January 2014. http://dx.doi.org/10.32747/2014.7598158.bard.

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Abstract:
Original objectives and revisions – The original overall objective was to develop, test and validate a prototype yield mapping system for unit area to increase yield and profit for tree crops. Specific objectives were: (1) to develop a yield mapping system for a static situation, using hyperspectral and thermal imaging independently, (2) to integrate hyperspectral and thermal imaging for improved yield estimation by combining thermal images with hyperspectral images to improve fruit detection, and (3) to expand the system to a mobile platform for a stop-measure- and-go situation. There were no major revisions in the overall objective, however, several revisions were made on the specific objectives. The revised specific objectives were: (1) to develop a yield mapping system for a static situation, using color and thermal imaging independently, (2) to integrate color and thermal imaging for improved yield estimation by combining thermal images with color images to improve fruit detection, and (3) to expand the system to an autonomous mobile platform for a continuous-measure situation. Background, major conclusions, solutions and achievements -- Yield mapping is considered as an initial step for applying precision agriculture technologies. Although many yield mapping systems have been developed for agronomic crops, it remains a difficult task for mapping yield of tree crops. In this project, an autonomous immature fruit yield mapping system was developed. The system could detect and count the number of fruit at early growth stages of citrus fruit so that farmers could apply site-specific management based on the maps. There were two sub-systems, a navigation system and an imaging system. Robot Operating System (ROS) was the backbone for developing the navigation system using an unmanned ground vehicle (UGV). An inertial measurement unit (IMU), wheel encoders and a GPS were integrated using an extended Kalman filter to provide reliable and accurate localization information. A LiDAR was added to support simultaneous localization and mapping (SLAM) algorithms. The color camera on a Microsoft Kinect was used to detect citrus trees and a new machine vision algorithm was developed to enable autonomous navigations in the citrus grove. A multimodal imaging system, which consisted of two color cameras and a thermal camera, was carried by the vehicle for video acquisitions. A novel image registration method was developed for combining color and thermal images and matching fruit in both images which achieved pixel-level accuracy. A new Color- Thermal Combined Probability (CTCP) algorithm was created to effectively fuse information from the color and thermal images to classify potential image regions into fruit and non-fruit classes. Algorithms were also developed to integrate image registration, information fusion and fruit classification and detection into a single step for real-time processing. The imaging system achieved a precision rate of 95.5% and a recall rate of 90.4% on immature green citrus fruit detection which was a great improvement compared to previous studies. Implications – The development of the immature green fruit yield mapping system will help farmers make early decisions for planning operations and marketing so high yield and profit can be achieved.
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