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Dissertations / Theses on the topic 'Navigation-data'

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Published: 4 June 2021

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Chin, Yu-Chi. "The Navigation Data Logger for a Suitcase Navigation System." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/28391.

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Marselli, Catherine. "Data processing of a navigation microsystem." Université de Franche-Comté. UFR des sciences et techniques, 1998. http://www.theses.fr/1998BESA2078.

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Ce travail de recherche s'inscrit dans un projet académique franco-suisse visant à déterminer les limites des microtechnologies et des microsystèmes à travers l'exemple d'un système de navigation inertiel basé sur des microaccéléromètres et des microcapteurs de vitesse angulaire (gyros). Il comprend quatre volets allant de la conception des composants au développement du système de traitement. La présente thèse réalisée à l'Institut de Microtechnique (Université de Neuchâtel, Suisse) concerne le traitement de l'information du microsystème de navigation. Les microcapteurs actuels sont moins chers mais moins précis que les capteurs mécaniques ou optiques classiques. Dans un système de navigation, le signal de sortie des accéléromètres et des gyroscopes est intégré conduisant à l'accumulation des erreurs dans le temps. Ainsi, en l'absence de correction, la trajectoire mesurée devient rapidement fausse. Le rôle du système de traitement est donc de calculer les paramètres de navigation (position, vitesse et orientation) et de limiter l'erreur de trajectoire suivant deux moyens : réduire les imperfections des capteurs et recaler régulièrement la trajectoire en utilisant un autre moyen de navigation. Ces différents objectifs sont réalisés par des filtres de Kalman. Le filtre de Kalman est un estimateur optimal de l'état d'un système. Il se présente sous la forme d'un ensemble d'équations récurrentes et nécessite une description d'état du système et des mesures This research is part of a Swiss French academic project whose goal was the determination of some limits in the design and use of microtechnologies and microsystems, using as a common thread example a navigation system based on microaccelerometers and angular rate microsensors (gyros). The entire project was divided into four parts, including design at the component level as well as at the system level. This PhD report describes the data processing of the navigation microsystem realised at the Electronics and Signal Processing Laboratory of the Institute of Microtechnology, University of Neuchâtel. Current low-cost microsensors are less expensive but less accurate that mechanical or optical sensors. In a navigation system, the accelerometer and gyro outputs are integrated, leading to the accumulation of the errors. Thus, the measured trajectory becomes quickly wrong and a corrective system has to be designed. Hence, the goals of the data processing system is to compute the navigation parameters (position, velocity, orientation) while preventing the trajectory from diverging, following two approaches: reducing the sensor errors,updating regularly the trajectory using an aiding navigation system

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Igoniderigha, Nseabasi Ekaette. "Data navigation and visualization : navigating coordinated multiple views of data." Thesis, Edinburgh Napier University, 2015. http://researchrepository.napier.ac.uk/Output/8832.

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The field of coordinated and multiple views (CMVs) has been for over a decade, a promising technique for enhancing data visualization, yet that promise remains unfulfilled. Current CMVs lack a platform for flexible execution of certain kinds of open-ended tasks consequently users' are unable to achieve novel objectives. Navigation of data, though an important aspect of interactive visualization, has not generated the level of attention it should from the human computer interaction community. A number of frameworks for and categorization of navigation techniques exist, but further detailed studies are required to highlight the range of benefits improved navigation can achieve in the use of interactive tools such as CMVs. This thesis investigates the extent of support offered by CMVs to people navigating information spaces, in order to discover data, visualize these data and retrieve adequate information to achieve their goals. It also seeks to understand the basic principle of CMVs and how to apply its procedure to achieve successful navigation. Three empirical studies structured around the user's goal as they navigate CMVs are presented here. The objective of the studies is to propose a simple, but strong, design procedure to support future development of CMVs. The approach involved a comparative analysis of qualitative and quantitative experiments comprising of categorised navigation tasks carried out, initially on existing CMVs and subsequently on CMVs which had been redesigned applying the proposed design procedure. The findings show that adequate information can be retrieved, with successful navigation and effective visualization achieved more easily and in less time, where metadata is provided alongside the relevant data within the CMVs to facilitate navigation. This dissertation thus proposes and evaluates a novel design procedure to aid development of more navigable CMVs.

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Mansfield, Thomas Oliver. "Data communication signals of opportunity for navigation." Thesis, University of Plymouth, 2017. http://hdl.handle.net/10026.1/10169.

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Mobile devices with wireless networking capabilities are used in a wide range of environments. Geolocation information increases the value of the data generated by a device and is vital in the development of a wide range of applications from autonomous vehicles to the Internet of things. Systems that generate signals specifically for geolocation have become widely adopted but, due to fundamental constraints, lack coverage and accuracy in complex urban and indoor environments. In addition to this, the reliance on a single signal source is not desirable in many applications that value the integrity of the geolocation estimate. A direction of research aiming to improve geolocation in indoor and urban environments measures signals of opportunity in order to generate a more robust estimate. While this approach improves signal availability, the unpredictable nature of these variable and uncontrolled signals leads to poor geolocation estimates, which are typically not suitable for use in many applications. This project aims to improve on the accuracy, resilience and integrity of a geolocation estimate obtained from signal of opportunity measurements in indoor and urban environments while reducing hardware requirements. This has been achieved by efficiently coupling signals of opportunity within the radio environment with other system signals, such as those from an inertial measurement unit. Research has been carried out to optimise the coupling of these data sources resulting in techniques to allow the identification and removal of key error drivers from both the radio environment and other system sensors. This thesis proposes a specifically designed extended Kalman filter to improve on the signal coupling. The filter aims to optimise the accuracy of radio environment measurements while also providing the ability to identify signal error sources in urban and indoor environments, leading to both greater accuracy and resilience of the geo-location estimate. Further, the proposed extended Kalman filter may use the radio environment as a source of geolocation data. The ability of the filter to recognise and mitigate leading radio environment error sources such as multipath and interference allowed the design of filters to obtain detailed and accurate signal strength and time of arrival information. The thesis also presents a thorough set of simulation and modelling experiments to investigate and optimise the efficiency of the proposed solutions in a range of environments. Validation testing confirmed that in the urban and indoor environments, the average error of geo-location estimates has been reduced from 10 m to 3 m without improvement to the hardware surrounding infrastructure. The improvements presented in this thesis allow networked devices to improve the value of their data by incorporating the context that comes from increased geolocation accuracy and resilience. In turn, this allows the development of a wide range of new location based applications for mobile devises in indoor and urban environments.

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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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Jia, Huamin. "Data fusion methodologies for multisensor aircraft navigation systems." Thesis, Cranfield University, 2004. http://hdl.handle.net/1826/781.

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The thesis covers data fusion for aircraft navigation systems in distributed sensor systems. Data fusion methodologies are developed for the design, development, analysis and simulation of multisensor aircraft navigation systems. The problems of sensor failure detection and isolation (FDI), distributed data fusion algorithms and inertial state integrity monitoring in inertial network systems are studied. Various existing integrated navigation systems and Kalman filter architectures are reviewed and a new generalised multisensor data fusion model is presented for the design and development of multisensor navigation systems. Normalised navigation algorithms are described for data fusion filter design of inertial network systems. A normalised measurement model of skewed redundant inertial measurement units (SRIMU) is presented and performance criteria are developed to evaluate optimal configurations of SRIMUs in terms of the measurement accuracy and FDI capability. Novel sensor error compensation filters are designed for the correction of SRIMU measurement errors. Generalised likelihood ratio test (GLRT) methods are improved to detect various failure modes, including short time and sequential moving-window GLRT algorithms. State-identical and state-associated fusion algorithms are developed for two forms of distributed sensor network systems. In particular, innovative inertial network sensing models and inertial network fusion algorithms are developed to provide estimates of inertial vector states and similar node states. Fusion filter-based integrity monitoring algorithms are also presented to detect network sensor failures and to examine the consistency of node state estimates in the inertial network system. The FDI and data fusion algorithms developed in this thesis are tested and their performance is evaluated using a multisensor software simulation system developed during this study programme. The moving-window GLRT algorithms for optimal SRIMU configurations are shown to perform well and are also able to detect jump and drift failures in an inertial network system. It is concluded that the inertial network fusion algorithms could be used in a low-cost inertial network system and are capable of correctly estimating the inertial vector states and the node states.

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Gia, M. C. "Design of data structures for terrain reference navigation." Thesis, Cranfield University, 1994. http://hdl.handle.net/1826/4184.

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This thesis describes the design of a data structure for use with Digitised Terrain Elevation Data (DTED) in Terrain Reference Navigation (TRN) systems. The data structure is based on a variant of quad-tree and oct-tree data structures to provide an efficient representation of terrain in terms of storage requirements and acccss operations. These data structure are applied to flight path planning operations in mission management applications. The algorithms developed for flight path planning have becri implemented in the C programming language for a standard PC. Current research in TRN systems is reviewed and attention is given to the use of hierarchical data structures to cope with the potentially large data base needed for DTED files. Data structure combining quad-trees and oct-trees are developed with an emphasis on data reduction using pointerless trees and the use of locational codes to provide straightforward mapping between quad-trees and oct-trees, in other words, between two-dimensional co-ordinates and three-dimensional co-ordinates. Analysis of these algorithms is described for two DTED files to illustrate storage improvements and to verify a set of database access operations. These data structures are applied to problems of flight path planning where the navigation space comprises objects above a specific altitude and this three-dimensional space is searched for a flight path which avoids the obstacles and satisfies specific operational criteria. Algorithms are developed to extract a visibility graph from the terrain database and to determine the preferred flight path from a set of paths which satisfy defined constraints. Several search techniques are developed which exploit the efficiency of the quad-tree and oct-tree data structures. These methods are extended to real-time flight-path planning where predicted times for access operations are used to direct flight path extraction by varying the tree resolution during computation of the flight path. A comprehensive set of results are provided to illustrate: the storage efficiency of quad-tree and oct-tree data structures the application of pyramid structures to represent navigation space analysis of the time to compute the visibility graph and to extract flight paths integration of these methods with a real-time mission management simulation on a PC The thesis draws conclusions on the efficiency of these techniques for the represcntation of DTEDs and to access objects in TRN systems. It is observed that the use of hierarchical data structures in the form of quad-trees and oct-trees offers significant improvement in accessing DTEDS, for future use in TRN systems. The thesis concludes by outlining areas of further work where the techniques can be further &N, cloped for applications in mission management and navigation using DTED files.

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Song, Wen. "Planetary navigation activity recognition using wearable accelerometer data." Thesis, Kansas State University, 2013. http://hdl.handle.net/2097/15813.

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Master of Science Department of Electrical & Computer Engineering Steve Warren Activity recognition can be an important part of human health awareness. Many benefits can be generated from the recognition results, including knowledge of activity intensity as it relates to wellness over time. Various activity-recognition techniques have been presented in the literature, though most address simple activity-data collection and off-line analysis. More sophisticated real-time identification is less often addressed. Therefore, it is promising to consider the combination of current off-line, activity-detection methods with wearable, embedded tools in order to create a real-time wireless human activity recognition system with improved accuracy. Different from previous work on activity recognition, the goal of this effort is to focus on specific activities that an astronaut may encounter during a mission. Planetary navigation field test (PNFT) tasks are designed to meet this need. The approach used by the KSU team is to pre-record data on the ground in normal earth gravity and seek signal features that can be used to identify, and even predict, fatigue associated with these activities. The eventual goal is to then assess/predict the condition of an astronaut in a reduced-gravity environment using these predetermined rules. Several classic machine learning algorithms, including the k-Nearest Neighbor, Naïve Bayes, C4.5 Decision Tree, and Support Vector Machine approaches, were applied to these data to identify recognition algorithms suitable for real-time application. Graphical user interfaces (GUIs) were designed for both MATLAB and LabVIEW environments to facilitate recording and data analysis. Training data for the machine learning algorithms were recorded while subjects performed each activity, and then these identification approaches were applied to new data sets with an identification accuracy of around 86%. Early results indicate that a single three-axis accelerometer is sufficient to identify the occurrence of a given PNFT activity. A custom, embedded acceleration monitoring system employing ZigBee transmission is under development for future real-time activity recognition studies. A different GUI has been implemented for this system, which uses an on-line algorithm that will seek to identify activity at a refresh rate of 1 Hz.

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Söderbäck, Karl. "Organizing HLA data for improved navigation and searchability." Thesis, Linköpings universitet, Databas och informationsteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176029.

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Pitch Technologies specializes their work on the HLA standard, a standard that specifies data exchange between simulators. The company provides a solution for recording HLA data into a database as raw byte data entries. In this thesis, different design solutions to store and organize recorded HLA data in a manner that reflects the content of the data are proposed and implemented, with the aim of making the data possible to query and analyze after recording. The design solutions impact on storage, read- and write performance as well as usability are evaluated through a suite of tests run on a PostgreSQL database and a TimescaleDB database. It is concluded that none of the design alternatives is the best solution for all aspects, but the most promising combination is proposed.

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Bender, Daniel [Verfasser]. "Airborne Navigation by Fusing Inertial and Camera Data / Daniel Bender." Bonn : Universitäts- und Landesbibliothek Bonn, 2018. http://d-nb.info/1160594554/34.

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Bhonsle, Dhruvjit Vilas. "Development of an Automation Test Setup for Navigation Data Processing." Master's thesis, Universitätsbibliothek Chemnitz, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-199331.

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With the development of Advanced Driving Assistance Systems (ADAS) vehicles have undergone better experience in field of safety, better driving and enhanced vehicle systems. Today these systems are one of the fastest growing in automotive domain. Physical parameters like map data, vehicle position and speed are crucial for the advancement of functionalities implemented for ADAS. All the navigation map databases are stored in proprietary format. So for the ADAS application to access this data an appropriate interface has to be defined. This is the main aim of Advance Driver Assistant Systems Interface Specifications (ADASIS) consortium. This new specification allows a coordinated effort of more than one industry to improve comfort and fuel efficiency. My research during the entire duration of my master thesis mainly focuses on two stages namely XML Comparator and CAN stream generation stages from ADASIS Test Environment that was developed in our company. In this test environment ADASIS Reconstructor of our company is tested against the parameters of Reference Reconstructor provided by ADASIS consortium. The main aim of this environment is to develop a Reconstructor which will adhere to all the specifications given in ADASIS Reconstructor. My implementation in this master thesis focuses on two stages of test environment setup which are XML Comparison and CAN Stream Generation Tool respectively. Prior to my working, these stages lacked in-depth research and usability features for further working.

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Williamson, Walton R., Jason L. Speyer, Greg Glenn, Vu Dang, and Terri Xiao. "Analytic Redundancy of Navigation Systems for Flight Test Data Validation." International Foundation for Telemetering, 2008. http://hdl.handle.net/10150/606186.

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ITC/USA 2008 Conference Proceedings / The Forty-Fourth Annual International Telemetering Conference and Technical Exhibition / October 27-30, 2008 / Town and Country Resort & Convention Center, San Diego, California Health monitoring during flight tests provides a means of data validation in flight. It is possible to design a data acquisition system such that the available instruments incorporate redundancy through analytic relationships. This analytic redundancy may be exploited in order to assess individual sensor system health and to validate accuracy claims. A practical example is presented in which an air data set is compared with GPS in order to isolate failures in the pressure and temperature transducers.

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Cabral, de Moura Borges Jose Luis. "A data mining model to capture user web navigation patterns." Thesis, University College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.393733.

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Яновський, Фелікс Якович, Олена Володимирівна Кожохіна, and А. С. Ковальова. "MODEL OF ERGATIC AIR NAVIGATION SYSTEM WITH RADAR DATA PROCESSING." Thesis, К.: НАУ. 2014,- 164 с, 2014. http://er.nau.edu.ua/handle/NAU/12085.

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Martin-Lac, Victor. "Aerial navigation based on SAR imaging and reference geospatial data." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2024. http://www.theses.fr/2024IMTA0400.

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Nous cherchons les moyens algorithmiques de déterminer l’état cinématique d’un appareil aérien à partir d’une image RSO observée et de données géospatiales de référence qui peuvent être RSO, optiques ou vectorielles. Nous déterminons la transformation qui associe les coordonnées de l’observation et les coordonnées de la référence et dont les paramètres sont l’état cinématique. Nous poursuivons trois approches. La première repose sur la détection et l’appariement de structures telles que des contours. Nous proposons un algorithme de type Iterative Closest Point (ICP) et démontrons comment il peut servir à estimer l’état cinématique complet. Nous proposons ensuite un système complet qui inclue un détecteur de contours multimodal appris. La seconde approche repose sur une métrique de similarité multimodale, ce qui est un moyen de mesurer la vraisemblance que deux restrictions locales de données géospatiales représentent le même point géographique. Nous déterminons l’état cinématique sous l’hypothèse duquel l’image SAR est la plus similaire aux données géospatiales de référence. La troisième approche repose sur la régression de coordonnées de scène. Nous prédisons les coordonnées géographiques de morceaux d’images et déduisons l’état cinématique à partir des correspondances ainsi prédites. Cependant, dans cette approche, nous ne satisfaisons pas l’hypothèse de multimodalité We seek the algorithmic means of determining the kinematic state of an aerial device from an observation SAR image and reference geospatial data that may be SAR, optical or vector. We determine a transform that relates the observation and reference coordinates and whose parameters are the kinematic state. We follow three approaches. The first one is based on detecting and matching structures such as contours. We propose an iterative closest point algorithm and demonstrate how it can serve to estimate the full kinematic state. We then propose a complete pipeline that includes a learned multimodal contour detector. The second approach is based on a multimodal similarity metric, which is the means of measuring the likelihood that two local patches of geospatial data represent the same geographic point. We determine the kinematic state under the hypothesis of which the SAR image is most similar to the reference geospatial data. The third approach is based on scene coordinates regression. We predict the geographic coordinates of random image patches and infer the kinematic state from these predicted correspondences. However, in this approach, we do not address the fact that the modality of the observation and the reference are different

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Dhar, Samir. "Addressing Challenges with Big Data for Maritime Navigation: AIS Data within the Great Lakes System." University of Toledo / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1479391944819196.

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Von, Zuben Francis S. G., and Alfred S. Jr David. "TIME SYNCHRONIZATION IN FLIGHT TEST DATA ANALYSIS." International Foundation for Telemetering, 2000. http://hdl.handle.net/10150/608278.

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International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California A recurring problem in flight testing navigation systems is the need for an accurate, common time reference for the system under test and for the truth source to which it is compared. Lockheed Martin Aeronautics Company and Computer Sciences Corporation have developed software that utilizes all available timing information to reference the times of validity for each navigation measurement to Coordinated Universal Time. This permits accurate comparison and correlation of data necessary for statistical error analysis of the navigation system.

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Koukal, Bohuslav. "OLAP Recommender: Supporting Navigation in Data Cubes Using Association Rule Mining." Master's thesis, Vysoká škola ekonomická v Praze, 2017. http://www.nusl.cz/ntk/nusl-359132.

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Manual data exploration in data cubes and searching for potentially interesting and useful information starts to be time-consuming and ineffective from certain volume of the data. In my thesis, I designed, implemented and tested a system, automating the data cube exploration and offering potentially interesting views on OLAP data to the end user. The system is based on integration of two data analytics methods - OLAP analysis data visualisation and data mining, represented by GUHA association rules mining. Another contribution of my work is a research of possibilities how to solve differences between OLAP analysis and association rule mining. Implemented solutions of the differences include data discretization, dimensions commensurability, design of automatic data mining task algorithm based on the data structure and mapping definition between mined association rules and corresponding OLAP visualisation. The system was tested with real retail sales data and with EU structural funds data. The experiments proved that complementary usage of the association rule mining together with OLAP analysis identifies relationships in the data with higher success rate than the isolated use of both techniques.

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Thorne, Richard L. "Asychronous [i.e. asynchronous] data fusion for AUV navigation using extended Kalman filtering." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA331863.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, March 1997. Thesis advisor(s): Healey, Anthony J. "March 1997." Includes bibliographical references (p. 151). Also available online.

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McClarin, David W. "Discrete asynchronous Kalman filtering of navigation data for the Phoenix autonomous underwater vehicle." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1996. http://handle.dtic.mil/100.2/ADA309774.

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Gal, Carol. "Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method." Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/6843.

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The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. The work presented has been part of a continuous research done in the field of mobile robots. In that respect, a mobile robot platform with an onboard manipulation capability has been developed as an experimental platform for a multi-sensor system for teleautonomous applications in an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision).

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Dill, Evan T. "Integration of 3D and 2D Imaging Data for Assured Navigation in Unknown Environments." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299616166.

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Kluge, Mario. "Der Einsatz von Augmented Reality in der Fußgängernavigation : Konzeption und prototypische Implementierung eines smartphonebasierten Fußgängernavigationssystems." Phd thesis, Universität Potsdam, 2012. http://opus.kobv.de/ubp/volltexte/2012/6024/.

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Fußverkehr findet im gesamten öffentlichen Raum statt und ermöglicht die lückenlose Verbindung von Tür zu Tür. Jeder Mensch steht vor Beginn einer Fortbewegung vor den Fragen „Wo bin ich?“, „Wo liegt mein Ziel?“ und „Wie komme ich dahin?“. Ein Großteil der auf dem Markt befindlichen Navigationssysteme für Fußgänger stellen reduzierte Varianten aus Fahrzeugen dar und basieren auf 2D- Kartendarstellungen oder bilden die Realität als dreidimensionales Modell ab. Navigationsprobleme entstehen dann, wenn es dem Nutzer nicht gelingt, die Information aus der Anweisung auf die Wirklichkeit zu beziehen und umzusetzen. Ein möglicher Grund dafür liegt in der Visualisierung der Navigationsanweisung. Die räumliche Wahrnehmung des Menschen erfolgt ausgehend von einem bestimmten Betrachtungsstandpunkt und bringt die Lage von Objekten und deren Beziehung zueinander zum Ausdruck. Der Einsatz von Augmented Reality (erweiterte Realität) entspricht dem Erscheinungsbild der menschlichen Wahrnehmung und ist für Menschen eine natürliche und zugleich vertraute Ansichtsform. Im Unterschied zu kartographischer Visualisierung wird die Umwelt mittels Augmented Reality nicht modelliert, sondern realitätsgetreu abgebildet und ergänzt. Das Ziel dieser Arbeit ist ein Navigationsverfahren, das der natürlichen Fort-bewegung und Sichtweise von Fußgängern gerecht wird. Das Konzept basiert auf dem Einsatz einer Kombination aus Realität und virtueller Realität zu einer erweiterten Ansicht. Da keine Darstellungsform als die Route selbst besser geeignet ist, um einen Routenverlauf zu beschreiben, wird die Realität durch eine virtuelle Route erweitert. Die perspektivische Anpassung der Routendarstellung erfordert die sensorische Erfassung der Position und Lage des Betrachtungsstandpunktes. Das der Navigation zu Grunde liegende Datenmodell bleibt dem Betrachter dabei verborgen und ist nur in Form der erweiterten Realität sichtbar. Der im Rahmen dieser Arbeit entwickelte Prototyp trägt die Bezeichnung RealityView. Die Basis bildet ein freies und quelloffenes Navigationssystem, das für die Fußgängernavigation modular erweitert wurde. Das Ergebnis ist ein smartphonebasierter Navigationsprototyp, in dem die Ansichtsform einer zweidimensionalen Bildschirmkarte im Grundriss und die Darstellung einer erweiterten Realität im Aufriss kombiniert werden. Die Evaluation des Prototyps bestätigt die Hypothese, dass der Einsatz von Augmented Reality für die Navigation von Fußgängern möglich ist und von der Nutzergruppe akzeptiert wird. Darüber hinaus bescheinigen Wissenschaftler im Rahmen von Experten-interviews den konzeptionellen Ansatz und die prototypische Umsetzung des RealityView. Die Auswertung einer Eye-Tracking-Pilotstudie erbrachte den Nachweis, dass Fußgänger die Navigationsanweisung auf markante Objekte der Umwelt beziehen, deren Auswahl durch den Einsatz von Augmented Reality begünstigt wird. Pedestrian traffic takes place in public spaces and provides a seamless connection from door to door. Right before the start of a movement, every human being faces the following questions "Where am I?", "What is my goal?" and "How do I get there?". Existing navigation systems for pedestrians are based on 2D map representations or depict reality as a three-dimensional model. As a result, the majority of the systems on the market for pedestrians are smaller versions of vehicle navigation systems. Navigation problems can occur if the user is unable to relate the information of an instruction to reality and cannot implement it. One possible reason for this is the visualization of the navigation instruction. Peoples spatial perception takes place from their own perspective and shows how objects are positioned and how they are related to each other. The use of Augmented Reality corresponds to the appearance of human perception, and this is a natural and yet familiar view. Compared to cartographic visualization techniques reality is not modeled but mapped realistically and refers to the environment. The concept of this thesis is directly linked to the current state of research and examines the use of a simple method and target group-oriented representation, which meets the natural movement of pedestrians. Its central focus is the combination of reality and virtual reality to a common view. This view will be extended by a virtual route representation, which follows the route course in reality. No other form of representation is better suited to explain the course of a route than the route itself. The perspective adjustment and the calculation of the virtual image scene require a data model, which remains hidden from the viewer and only appears in form of a virtual route. The navigation prototype, which is developed in this study, is based on Augmented Reality and is called RealityView. Its base is a free and open source navigation platform, which was expanded modularly into a pedestrian navigation system. The result is a smartphone-based navigation prototype, which combines the two forms of a two-dimensional screen map in plan with the illustration of an Augmented Reality in elevation. The validation of the prototype confirms the hypothesis that the use of Augmented Reality for pedestrian navigation is possible and is also accepted by the user group. In addition, in interviews with experts scientists have confirmed the conceptual approach and the implementation of the RealityView-prototype. The evaluation of an eye-tracking pilot study proved that the use of Augmented Reality favors the selection of prominent objects in the environment.

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Bartolomé, Diego Rodríguez. "Single and multiple stereo view navigation for planetary rovers." Thesis, Cranfield University, 2013. http://dspace.lib.cranfield.ac.uk/handle/1826/8036.

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This thesis deals with the challenge of autonomous navigation of the ExoMars rover. The absence of global positioning systems (GPS) in space, added to the limitations of wheel odometry makes autonomous navigation based on these two techniques - as done in the literature - an inviable solution and necessitates the use of other approaches. That, among other reasons, motivates this work to use solely visual data to solve the robot’s Egomotion problem. The homogeneity of Mars’ terrain makes the robustness of the low level image processing technique a critical requirement. In the first part of the thesis, novel solutions are presented to tackle this specific problem. Detection of robust features against illumination changes and unique matching and association of features is a sought after capability. A solution for robustness of features against illumination variation is proposed combining Harris corner detection together with moment image representation. Whereas the first provides a technique for efficient feature detection, the moment images add the necessary brightness invariance. Moreover, a bucketing strategy is used to guarantee that features are homogeneously distributed within the images. Then, the addition of local feature descriptors guarantees the unique identification of image cues. In the second part, reliable and precise motion estimation for the Mars’s robot is studied. A number of successful approaches are thoroughly analysed. Visual Simultaneous Localisation And Mapping (VSLAM) is investigated, proposing enhancements and integrating it with the robust feature methodology. Then, linear and nonlinear optimisation techniques are explored. Alternative photogrammetry reprojection concepts are tested. Lastly, data fusion techniques are proposed to deal with the integration of multiple stereo view data. Our robust visual scheme allows good feature repeatability. Because of this, dimensionality reduction of the feature data can be used without compromising the overall performance of the proposed solutions for motion estimation. Also, the developed Egomotion techniques have been extensively validated using both simulated and real data collected at ESA-ESTEC facilities. Multiple stereo view solutions for robot motion estimation are introduced, presenting interesting benefits. The obtained results prove the innovative methods presented here to be accurate and reliable approaches capable to solve the Egomotion problem in a Mars environment.

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Al-Naami, Nora. "Indoor navigation techniques for underground subway stations : Analyzing Suitable indoor navigation technologies for underground stations." Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-211673.

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Indoor navigation has always been an interesting topic to look at since there are many use of it for example in airports, huge malls and underground transport stations. One interesting application area is the underground transportation since the current navigation in the underground stations in Sweden is proven to be insufficient to guide the user from the underground station to the final destination. GPS is a prominent solution for the outdoor navigation but no prominent solution has been found for the indoor navigation. Techniques used for navigation indoors vary depending on the infrastructure of the building. Therefore, this paper looks at the different indoor navigation techniques categorized based on a smartphone's sensors and find the techniques most suitable in implementing for the existing SL underground stations. The underground station is divided into two parts, the platform and the second floor. A combination of kinematic and visual navigation techniques is efficient to implement in the platform due to the environment of the platform. Wireless navigation is suitable to implement in the second floor due to the availability of WiFi access points in the second floor of the underground station. Those findings help in setting up an efficient navigation for the SL underground stations, which help in navigating users from one point to another. Inomhusnavigering har alltid varit ett intressant ämne att titta på, eftersom det finns stor användning av det till exempel i flygplatser, stora gallerior och tunnelbanestationer. Ett intressant tillämpningsomrade är den underjordiska transporten, eftersom den nuvarande navigeringen i tunnelbanestationerna i Sverige visar sig vara otillracklig for att navigera en resenär fran tunnelbanestationen till slutdestinationen. GPS ar en framträdande lösning för utomhusnavigeringen men ingen framstående losning har hittats för inomhusnavigeringen. Tekniker som används för navigering inomhus varierar beroende på byggnadens infrastruktur. Därfor studerar denna rapport på de olika inomhusnavigeringsteknikerna som kategoriseras baserat på en smartphones sensorer och hittar de tekniker som är mest passande för att genomföra för de befintliga SL-tunnelbanestationerna. Tunnelbanestationen är uppdelad i två delar, plattformen och andra våningen. En kombination av kinematisk och visuell navigeringsteknik är effektiv att implementera i plattformen på grund av plattformens miljö. Trådlös navigering är lamplig att genomföra i andra våningen på grund av tillgangen till WiFi-åtkomstpunkter i andra våningen av tunnelbanestationen. Det resultatet hjälper till att skapa en effektiv navigering för SL-tunnelbanestationerna, vilket hjälper till att navigera användare från en punkt till en annan.

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Simone, Matthew James. "A Novel Method to Locate Targets Using Active Vision and Robotic Inertial Navigation Data." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/32751.

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Unmanned vehicles are increasingly being used for mobile sensing missions. These missions can range from target acquisition to chemical and biological sensing. The reason why these vehicles are increasingly being used is because they can carry many different types of sensors and can function as a cheap platform for carrying these sensors. The sensing that will be explained in this thesis is target acquisition. Target acquisition is the act of locating the exact position of an â area of interest.â Currently this task can be completed with different types of complex range sensors. This thesis presents a type of target acquisition scheme for unmanned vehicles that will use a combination of cheap, simple vision sensors and robot inertial navigation data in order to accurately measure the location of a target in real world coordinates. This thesis will first develop an accurate waypoint driving algorithm that will either use dead reckoning or GPS/ compass sensors. We will then develop a robust target extraction algorithm that will be able to pick out a target in an image. After this is completed we will develop an algorithm that will be used to find the distance to the target from the robot. This algorithm will be based on a type of active vision system. Finally we will integrate all of these algorithms together in order to develop a target extraction technique that will be able to accurately find the distance to the target. With the distance we can then find the real world location of the target. Master of Science

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Boccolini, Mattia. "Development of a speed profile prediction algorithm based on navigation data for energy management optimization." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22543/.

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This master thesis work wants to develop and implement an on-board algorithm for the speed prediction of a connected vehicle along a given route, by elaborating real-time navigation data. In particular, information about the legal speed limits, the traffic density and the presence of the so-called "stop events", such as traffic lights and roundabouts, are sent to the vehicle by the map service provider and they constitute the input for the algorithm. The algorithm allows you to select one out of three different driver type (quiet, normal, aggressive): this choice, together with the performance parameters of the vehicle, influences the acceleration and braking phases of the prediction. Once the prediction is generated, it constitutes an input for the predictive ADAS functions and energy management functions. The work has been split in three main phases: development, calibration end validation. During the first phase, the logics of the algorithm have been implemented by means of a Simulink block in order to be included into the Hybrid Control Unit at the HiL. Subsequently, the calibration of the key parameters took place by means of real speed profile analysis. In the end, the behavior of the algorithm has been investigated studying its response in different scenarios.

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Poudel, Om Prakash. "Identification of barriers and least cost paths for autonomous vehicle navigation using airborne LIDAR data." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/43304.

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In the past several years, the Defense Advanced Research Projects Agency (DARPA) has sponsored two Grand Challenges, races among autonomous ground vehicles in rural environments. These vehicles must follow a course delineated by Global Positioning System waypoints using no human guidance. Airborne LIDAR data and GIS can play a significant role in identifying barriers and least cost paths for such vehicles. Least cost paths minimize the sum of impedance across a surface. Impedance can be measured by steepness of slope, impenetrable barriers such as vegetation and buildings, fence lines and streams, or other factors deemed important to the vehicleâ s success at navigating the terrain. This research aims to provide accurate least cost paths for those vehicles using airborne LIDAR data. The concepts of barrier identification and least cost path generation are reviewed and forty-five least cost paths created with their performance compared to corresponding Euclidean paths. The least cost paths were found superior to the corresponding Euclidean paths in terms of impedance as they avoid barriers, follow roads and pass across relatively gentler slopes. Master of Science

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Verma, Ashok Kumar. "Improvement of the planetary ephemerides using spacecraft navigation data and its application to fundamental physics." Thesis, Besançon, 2013. http://www.theses.fr/2013BESA2030/document.

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Les éphémérides planétaires jouent un rôle important pour la navigation des missions spatiales actuelles et la mise en place des missions futures ainsi que la réduction et l'analyse des observations astronomiques les plus précises. Les éphémérides planétaires actuelles (DE, INPOP, EPM)L'objectif de la thèse est d'utiliser des archives de données de missions spatiales passées et présentes et de fournir des outils d'analyse pour l'amélioration de l'éphéméride de données pour l'amélioration de l’éphéméride planétaire planétaire INPOP, ainsi que pour une meilleure utilisation des éphémérides pour effectuer des teste de la physique tels que la relativité générale, les études de la couronne solaire [...] The planetary ephemerides play a crucial role for spacecraft navigation, mission planning, reductionand analysis of the most precise astronomical observations. The construction of suchephemerides is highly constrained by the tracking observations, in particular range, of the spaceprobes collected by the tracking stations on the Earth. The present planetary ephemerides (DE,INPOP, EPM) are mainly based on such observations. However, the data used by the planetaryephemerides are not the direct raw tracking data, but measurements deduced after the analysisof raw data made by the space agencies and the access to such processed measurements remainsdifficult in terms of availability.The goal of the thesis is to use archives of past and present space missions data independentlyfrom the space agencies, and to provide data analysis tools for the improvement of theplanetary ephemerides INPOP, as well as to use improved ephemerides to perform tests ofphysics such as general relativity, solar corona studies, etc.The first part of the study deals with the analysis of the Mars Global Surveyor (MGS)tracking data as an academic case for understanding. The CNES orbit determination softwareGINS was used for such analysis. The tracking observations containing one-, two-, and threewayDoppler and two-way range are then used to reconstruct MGS orbit precisely and obtainedresults are consistent with those published in the literature. As a supplementary exploitationof MGS, we derived the solar corona model and estimated the average electron density alongthe line of sight separately for slow and fast wind regions. Estimated electron densities arecomparable with the one found in the literature. Fitting the planetary ephemerides, includingadditional data which were corrected for the solar corona perturbations, noticeably improves theextrapolation capability of the planetary ephemerides and the estimation of the asteroid masses(Verma et al., 2013a).The second part of the thesis deals with the complete analysis of the MESSENGER trackingdata. This analysis improved the Mercury ephemeris up to two order of magnitude comparedto any latest ephemerides. Such high precision ephemeris, INPOP13a, is then used to performgeneral relativity tests of PPN-formalism.[...]

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Krapivin, Mikalai. "A Semi-supervised Approach for Improving Search, Navigation and Data Quality in Autonomous Digital Libraries." Doctoral thesis, Università degli studi di Trento, 2010. https://hdl.handle.net/11572/367829.

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The current rapid uptake of Autonomous Digital Libraries (both in scholarly and generalist domains) has driven the need for automated procedures for extracting, processing and representing the digital information contained in these digital repositories. Concurrently, the development of Web 2.0 technologies and applications has provided new opportunities and challenges for web-based information system and user interactions: novel features of social interactions as well as new usability and visualization model are having an impact on how people search, navigate and rank digital objects (being multimedia content like music or movies or - as in the case of Autonomous Digital Libraries - digital publications): as an example a simple quick glance at a user-based ``cloud of tags'' for a given Journal may now provide us a lot of information about its content and/or the way that the specific Journal is perceived by the people reading it. In this thesis we have tackled two open research dimension in state-of-the-art Autonomous Digital Libraries, namely: 1. Automated key-phrases/tags extraction from digital scientific contributions (papers): the ever increasing dimensionality of modern ADLs does not permit realistic manual documents processing and needs efficient and high quality methods for automatic or semi-automatic key-phrases extractions. 2. Exploration of current metrics and proposal of novel metrics for ranking of digital objects in order to improve the navigation within a large number of objects present in modern ADL. Moreover, we have implemented a prototype for a Digital Library interface capable to integrate the tools developed on the base of the results obtained in the above research directions. The prototype supports the user: (1) in the search of documents related to a topic - using the novel semi-automatic key-phrases extractions techniques proposed in this work; and (2) in the navigation and identification of ``relevant'' documents for a given topic based on a number of user-selectable relevance metrics. The first challenge we met in our work has been the lack of large, high quality and publicly available document datasets containing both the full text and human (experts) assigned key-phrases to be used for analytical assessment. Thus we constructed one from available public content sources and curated metadata repositories. Our dataset (named in the following as Trento Computer Science (TCS) dataset) consists in a subset of 2000 scientific papers published within 2003 and 2006 in Computer Science domain in the ACM Digital Library. The TCS dataset consists of the full text of papers, curated metadata (authors, title, affiliations, references etc.) and human (both authors and curators) assigned key-phrases. The original paper type (typically PDF, PS or LaTeX) has been processed and transformed into a textual format with the support of commercial pdf-to-text transformations tool and refined with the support of maximum entropy machine learning in order to improve the final quality of the full-texts. For the semi-supervised key-phrases/tags extraction task we have compared several Machine Learning techniques - namely, Random Forest, Support Vector Machines a novel Fast Local Kernel SVM and the Naive Bayes learning-based system KEA on the same TCS dataset. In particular, we have performed a number of experiments and explored in details the effect of including in the chosen feature sets linguistic and domain specific knowledge. In our experiments, Random Forest has been identified as the most precise method outperforming KEA (used as baseline for key-phrases extraction) by 36\% when using a novel feature sets including linguistic and domain specific knowledge. Moreover, compared with the other Machine Learning techniques, Random Forest is the best trade-off between accuracy and computational speed. The second task taken on by this thesis - navigation and ranking - relates to the large dimensionality of current ADL. In fact, in the presence of a huge quantity of documents connected to a specific topic, it is hard to navigate and find ``interesting'' contributions. The challenge here is to be able to identify the most important set of papers in a specific topic or for a particular author. A number of used metrics are available for this task, namely citation count for papers and Hirsch-index for authors. We have applied them as well as novel metrics based on the PageRank metric, named PaperRank, Focused PaperRank and PaperRank h-index, that captures - where data is available - more information present in complete citation graphs. As part of our analysis, we have developed methods and tools for qualitatively and quantitatively analyzing metrics that evaluate content and people. We have used them to explore the differences between various metrics as well as to understand in more details what do they measure. We also believe, that these methods and tools could successfully be used to compare rankings in different domains (search engine, review processes, etc.). We have carried out an extensive investigation of the various ranking metrics on the dataset of over 266,000 scientific papers, and related citation graphs. We discovered that the difference in ranking results is indeed very significant for the different metrics and investigated in details the reasons of this difference. Although initially this research has started as an independent line of research, it has found a significant number of important interactions with the European FET-Open project LiquidPub. A specific prototype of plug-in used for tagged search and ranking has been incorporated in the LiquidPub portal http://demo.liquidpub.org:8081/ResevalGUI/ that allows the tagged search and ranking over the whole collection of 266,000 papers.

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Krapivin, Mikalai. "A Semi-supervised Approach for Improving Search, Navigation and Data Quality in Autonomous Digital Libraries." Doctoral thesis, University of Trento, 2010. http://eprints-phd.biblio.unitn.it/276/1/PhD-Thesis-Krapivin2010.pdf.

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Boiko, Yuri. "Compositional Kalman Filters for Navigational Data Streams In IoT Systems." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/38177.

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The Internet of Things (IoT) technology is undergoing expansion into different aspects of our life, changing the way businesses operate and bringing in efficiency and reliability of digital controls on various levels. Processing large amount of data from connected sensor networks becomes a challenging task. Specific part of it related to fleet management requires processing of the data on boards of vehicles equipped with multiple electronic devices and sensors for maintenance and operation of such vehicles. Herewith the efficiency of various configurations of employing Kalman filter algorithm for on-the-fly pre-processing of the sensory network originated data streams in IoT systems is investigated. Contextual grouping of the data streams for pre-processing by specialized Kalman filter units is found to be able to satisfy the logistics of IoT system operations. It is demonstrated that interconnection of the elementary Kalman filters into an organized network, the compositional Kalman filter, allows to take advantage of the redundancy of data streams to accomplish IoT pre-processing of the raw data. This includes intermittent data imputation, missing data replacement, lost data recovery, as well as error events detection and correction. Architectures are proposed and tested for the interaction of elementary Kalman filters in detection of GPS outage events and their compensation via data replacement procedure, as well as GPS offset occurrence detection and its compensation via data correction routine. Demonstrated is the efficiency of the suggested compositional designs of elementary Kalman filter networks for the purpose of data pre-processing in IoT systems.

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Tran, Khoa Anh. "Automatic Identification of Points of Interest in Global Navigation Satellite System Data: A Spatial Temporal Approach." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4595.

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In addition to the emergence of smartphones and tablets in recent years, the rise of Global Navigation Satellite Systems (GNSS) has allowed mobile tracking applications to become popular and be put into many uses. Analyzing tracking records to identify points of interest (POIs) is useful for both prediction applications and research such as human behavior analysis, transportation planning, and especially travel surveys. Past research in travel surveys has shown that a GPS mobile phone-based survey is a useful tool for collecting information about individuals. Moreover, a passive travel survey collection is preferred to an active travel survey method by the respondents and the analysts because it is proven to be less error prone. However, passive collection remains a challenge due to a lack of high accuracy algorithms to automatically identify trip starts and trip ends. While travel surveys need a POI identification algorithm to carry out passive information collection, mobile tracking applications must be careful not to affect the user's battery life, which limits the number of GPS coordinates that can be recorded and therefore affects the accuracies of existing POI identification algorithms. This thesis presents Automatic Spatial Temporal Identification of Points of Interest (ASTIPI), an unsupervised spatial temporal algorithm to identify POIs. ASTIPI utilizes the temporal and spatial properties of the dataset to obtain a high accuracy of POI identification, even on a reduced GPS dataset that uses techniques to conserve battery life on mobile devices. While reducing outliers within POIs, ASTIPI also has a linear running time and maintains the temporal orders of the location data so that arrival and departure information can be easily extracted and thus, users' trips can be quickly identified. Using data from real mobile devices, evaluations of ASTIPI and other existing algorithms are performed, showing that ASTIPI obtains the highest accuracy of POI identification with an average accuracy of 88% when performing on full datasets generated using the GPS Auto-Sleep module and an average accuracy of 59% when performing on a reduced dataset generated using both the GPS Auto-Sleep module and the Critical Points algorithm.

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Noreikis, Marius. "Image Based Indoor Navigation." Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177344.

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Over the last years researchers proposed numerous indoor localisation and navigation systems. However, solutions that use WiFi or Radio Frequency Identification require infrastructure to be deployed in the navigation area and infrastructureless techniques, e.g. the ones based on mobile cell ID or dead reckoning suffer from large accuracy errors. In this Thesis, we present a novel approach of infrastructure-less indoor navigation system based on computer vision Structure from Motion techniques. We implemented a prototype localisation and navigation system which can build a navigation map using area photos as input and accurately locate a user in the map. In our client-server architecture based system, a client is a mobile application, which allows a user to locate her or his position by simply taking a photo. The server handles map creation, localisation queries and pathnding. After the implementation, we evaluated the localisation accuracy and latency of the system by benchmarking navigation queries and the model creation algorithm. The system is capable of successfully navigating in Aalto University computer science department library. We were able to achieve an average error of 0.26 metres for successfully localised photos. In the Thesis, we also present challenges that we solved to adapt computer vision techniques for localisation purposes. Finally we observe the possible future work topics to adapt the system to a wide use. Forskare har de senaste åren framfört olika inomhusnavigations- och lokaliseringssystem. Dock kräver lösningar som använder WiFi eller radiofrekvens identifikation en utbyggdnad av stödjande infrastruktur i navigationsområdena. Även teknikerna som används lider av precisionsfel. I det här examensarbetet redovisar vi en ny taktik för inomhusnavigation som använder sig av datorvisualiserings Structure from Motion-tekniker. Vi implementerade en navigationssystemsprototyp som använder bilder för att bygga en navigationskarta och kartlägga användarens position. I vårt klient-server baserat system är en klient en mobilapplikation som tillåter användaren att hitta sin position genom att ta en bild. På server-sidan hanteras kartor, lokaliseringsförfrågor och mättningar av förfrågorna och algoritmerna som används. Systemet har lyckats navigera genom Aalto Universitets datorvetenskapsbiblioteket. Vi lyckades uppnå en felmarginal pa 0.26 meter för lyckade lokaliseringsbilder. I arbetet redovisar vi utmaningar som vi har löst för att anpassa datorvisualiseringstekniker for lokalisering. Vi har även diskuterat potentialla framtida implementationer for att utvidga systemet.

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Midwood, Sean A. "A computationally efficient and cost effective multisensor data fusion algorithm for the United States Coast Guard Vessel Traffic Services system." Thesis, Monterey, Calif. : Naval Postgraduate School, 1997. http://handle.dtic.mil/100.2/ADA333476.

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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, September 1997. Thesis Advisor(s): Murali Tummala. "September 1997." Includes bibliographical references (p. 61-62). Also available in print.

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Eucker, William. "A geospatial analysis of Arctic marine traffic." Thesis, University of Cambridge, 2012. https://www.repository.cam.ac.uk/handle/1810/248854.

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Recent changes in Arctic Ocean climate dynamics and marine activity in the region require re-evaluation of physical operating conditions, ship traffic patterns, and policy requirements. This study used (1) government surveys, (2) vessel reports, and (3) Automatic Identification System (AIS) messages to characterize the spatial and temporal variability of surface vessel traffic in relation to various sea-ice conditions on the Arctic Ocean during a year-long study from 1 April 2010 to 31 March 2011. Data sources, methods of analysis, and errors were discussed. Three principal topics were examined. First, sea-ice cover on the Arctic Ocean was analysed to determine the physical access for marine operations. Daily sea-ice concentration data based on satellite passive microwave measurements were used to calculate the extent of open water and duration of the sea-ice season. Second, ship traffic on the Arctic Ocean was analysed to determine the present patterns of human activity. Time-stamped AIS messages encoded with Global Navigation Satellite System (GNSS) positions received by a commercial satellite constellation from north of the Arctic Circle (66·56°N) were used to calculate the distribution of vessels per unit area. Satellite AIS data from SpaceQuest, Limited, were compared with land-based vessel observations during the study period from the Marine Exchange of Alaska and the Port of Longyearbyen. Third, the spatial and temporal relationship between sea ice and surface vessels on the Arctic Ocean was analysed to determine potential policy implications. Three groups of marine operations with distinct characteristics were determined from the analysis: operations in perennial open water, operations in the seasonal ice zone, and operations in the perennial ice zone. Throughout the study year, most ships north of 66·56°N operated in perennially icefree areas, but year-round operations also occurred in ice-covered areas. The results from this study identify new pathways of information to enable consistent pan-Arctic assessment of physical operating conditions and ship traffic patterns. This approach provides novel considerations to sustainably develop a safe, secure, and environmentally protected Arctic Ocean.

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Masuku, Anthony Dumisani. "Planetary rovers and data fusion." Thesis, Cranfield University, 2012. http://dspace.lib.cranfield.ac.uk/handle/1826/9883.

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This research will investigate the problem of position estimation for planetary rovers. Diverse algorithmic filters are available for collecting input data and transforming that data to useful information for the purpose of position estimation process. The terrain has sandy soil which might cause slipping of the robot, and small stones and pebbles which can affect trajectory. The Kalman Filter, a state estimation algorithm was used for fusing the sensor data to improve the position measurement of the rover. For the rover application the locomotion and errors accumulated by the rover is compensated by the Kalman Filter. The movement of a rover in a rough terrain is challenging especially with limited sensors to tackle the problem. Thus, an initiative was taken to test drive the rover during the field trial and expose the mobile platform to hard ground and soft ground(sand). It was found that the LSV system produced speckle image and values which proved invaluable for further research and for the implementation of data fusion. During the field trial,It was also discovered that in a at hard surface the problem of the steering rover is minimal. However, when the rover was under the influence of soft sand the rover tended to drift away and struggled to navigate. This research introduced the laser speckle velocimetry as an alternative for odometric measurement. LSV data was gathered during the field trial to further simulate under MATLAB, which is a computational/mathematical programming software used for the simulation of the rover trajectory. The wheel encoders came with associated errors during the position measurement process. This was observed during the earlier field trials too. It was also discovered that the Laser Speckle Velocimetry measurement was able to measure accurately the position measurement but at the same time sensitivity of the optics produced noise which needed to be addressed as error problem. Though the rough terrain is found in Mars, this paper is applicable to a terrestrial robot on Earth. There are regions in Earth which have rough terrains and regions which are hard to measure with encoders. This is especially true concerning icy places like Antarctica, Greenland and others. The proposed implementation for the development of the locomotion system is to model a system for the position estimation through the use of simulation and collecting data using the LSV. Two simulations are performed, one is the differential drive of a two wheel robot and the second involves the fusion of the differential drive robot data and the LSV data collected from the rover testbed. The results have been positive. The expected contributions from the research work includes a design of a LSV system to aid the locomotion measurement system. Simulation results show the effect of different sensors and velocity of the robot. The kalman filter improves the position estimation process.

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Rickenbach, Mark Douglas. "Correction of inertial navigation system drift errors for an autonomous land vehicle using optical radar terrain data." Thesis, Monterey, Calif. : Naval Postgraduate School, 1987. http://hdl.handle.net/10945/22225.

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Lawrence, Robert S., George Gregory, Derryl Stutz, Jerry Sanchez, and Brent Neal. "CIGTF Enhanced Precision Reference Systems." International Foundation for Telemetering, 2003. http://hdl.handle.net/10150/606697.

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International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, Nevada The 746th Test Squadron at Holloman AFB has developed and utilized the Central Inertial Guidance Test Facility (CIGTF) High Accuracy Post-processing Reference System (CHAPS). CHAPS is a multi-sensor navigation reference system used to evaluate position, velocity, and attitude performance of Global Positioning System (GPS), Inertial Navigation System (INS), and Embedded GPS/INS (EGI) navigation systems on large vehicles and aircraft. Reference data is processed post-test with accuracy ranges from a meter to sub-meter depending on the reference configuration and test environment (profile, trajectory dynamics, GPS jamming, etc.). The GPS Aided Inertial Navigation Reference (GAINR) system developed by the Air Force Flight Test Center (Edwards AFB) offered other utilization capabilities (test beds and post-processing time). The basic sensor assembly is an EGI navigation system. The data are post-processed with Multisensor Optimal Smoothing Estimation Software (MOSES). Incorporating CHAPS and GAINR capabilities generates a reference system with enhanced accuracy (sub-meter) in a dynamic GPS non-jamming/jamming environment. This paper will present the enhanced reference system combination of CHAPS/GAINR capabilities, characterization process and development methodology.

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Jäckle, Dominik Peter [Verfasser]. "Projections for Visual Analysis of Multivariate Data : Methods for Identification, Interpretation, and Navigation of Patterns / Dominik Peter Jäckle." Konstanz : Bibliothek der Universität Konstanz, 2018. http://d-nb.info/1151047465/34.

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Zinas, N. "Development and assessment of a new rover-enhanced network based data processing strategy for Global Navigation Satellite Systems." Thesis, University College London (University of London), 2010. http://discovery.ucl.ac.uk/19913/.

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Real Time GNSS networks established across countries over the last fifteen years, provide centimetre level accuracy for a wide range of applications differing from precise ship docking to land surveying. Public sector organizations deploy GNSS Networks to support infrastructure projects. Private companies establish their own networks for commercial or private use. The number of users of these networks has steadily increased over the years, and a potential new market has been created. This thesis focuses on the exploitation of the advantages of using multiple users operating within a GNSS network as part of the system, as a virtual network of stations that can operate autonomously and combined with the reference station network. A new network-RTK methodology that encompasses the multiple users of network RTK services for instantaneous positioning, is presented. Users are equipped with a means of two-way communication that enables the data to be transmitted to a central processing facility on an epoch by epoch basis. A centralised approach reduces the need for complex algorithms at the user side. The methodology is tested through the use of data from the South California Integrated GNSS Network (SCIGN) for two different network formations with different numbers of users operating simultaneously. It is shown that regional estimation of relative ionospheric corrections from the proposed methodology has a positive effect on the overall ambiguity resolution success rates when compared to the use of a standard ionospheric model. It is demonstrated that the use of the multiple rovers operating in the network increase the ambiguity success rates for the ones outside the network area by almost 20%. A smaller improvement for rovers near the boundaries of the network is also achieved. Finally, new prospects for regional atmospheric modeling become available, since the algorithm estimates all the double difference ambiguities for the reference station-rover system.

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Anitoaei, Teodora. "Enhancing Parking Behavior Detection." Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-204502.

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A review of navigation systems nowadays shows that new features are required in the automotive field. One such feature is suggesting a parking space within a positioning system. In the new global context of navigation, finding a parkingplace has become a central issue for all drivers. The research question for this study is what happens when you get to the destination or when you don’t need to use a GPS to arrive to your destination? This thesis has two major purposes:(1) to investigate an efficient solution for detecting the parking behavior of a moving car; (2) to implement and integrate an environment-friendly solution for HERE in a way that would give the company a competitive edge. By examining only the latitude and longitude from all the input GPS data received in a navigation system, the author defines the best configuration for a parking detection algorithm. Once the best configuration was found, an implementation was proposed. An extensive series of tests has been carried out on the final implementation. Data for tests was obtained using internal tools from HERE for producing different testing routes as navigation files (.nmea files). Creating the input files manually offers flexibility and gives the opportunity to touch all the unexpected behaviors, knowing the expected result in any case. The results obtained from the analysis of the algorithm are encouraging.It has been shown that the configuration chosen for implementation is cheap and effective in predicting parking behavior. In conclusion, the implementation of the algorithm was successfully integrated with the existing HERE SDK. The new feature will be available for the following three automotive companies: Audi, BMW, and Daimler. The algorithm is designed such that it can be easily extended and improved. Future work might include adding parameters that should be adjustable by the user or client like speed of the car. En genomgång av nutida navigationssystem visar att nya funktioner krävs för fordonsområdet. En sådan funktion är att föreslå en parkeringsplats inom ett positioneringssystem. I det nya globala sammanhanget för navigering har problemet att hitta en pa parkeringsplats blivit en central fråga för alla förare. Frågeställningen för denna studie är vad som händer när du kommer till destinationen eller när du inte behöver använda en GPS för att komma fram till din destination? Denna avhandling har två huvudsakliga syften: (1) att undersöka en effektiv lösning för detektering av parkeringsbeteende hos en bil som rör sig; (2) att genomföra och integrera en miljövänlig lösning för HERE på ett sätt som skulle ge bolaget en konkurrensfördel. Genom att endast undersöka latitud och longitud från all GPS-indata som mottags i ett navigationssystem definierar författaren den bästa konfigurationen för en parkeringdetekteringsalgoritm. När väl den bästa konfigurationen funnits föreslots ett genomförande. En omfattande serie tester har utförts på det slutliga genomförandet. Data för prov erhölls med hjälp av interna verktygfrån HERE för att producera olika provvägar som navigationsfiler (.nmea filer). Att skapa indatafiler manuellt erbjuder flexibilitet och ger möjlighet att vidröra alla oväntade beteenden, för att veta det förväntade resultatet i vilket fall som helst. De resultat som erhållits från analysen av algoritmen är uppmuntrande. Det har visats att konfigurationen som valts för genomförandet är billig och effektiv i att förutsäga parkeringsbeteende. Sammanfattningsvis har genomförandet av algoritmen framgångsrikt integrerats med den befintliga HERE SDK:n. Den nya funktionen kommer att finnas tillgänglig för följande tre bilföretag: Audi,BMW och Daimler. Algoritmen är utformad så att den lätt kan utvidgas och förbättras. Framtida arbete kan omfatta att lägga till parametrar som bör vara inställningsbara av användaren eller kunden som till exmpel hastigheten på bilen.

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Curtsson, Fanny. "Designing an Augmented Reality Based Navigation Interface for Large Indoor Spaces." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-300377.

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Navigating from one place to another is something we as humans do on an everyday basis, and modern technology has made it easier than ever by providing navigation tools in our mobile devices. In indoor spaces, augmented reality (AR) based navigation interfaces have shown a lot of potential, as it has been proven to increase efficiency and overall usability. However, there is a lack of research investigating how these types of interfaces should be designed to create a good user experience. This study aimed at providing more insight into this by exploring the usability of a mobile AR interface for indoor navigation through the Rapid Iterative Testing and Evaluation (RITE) method. In total, six participants tested the interface in three rounds of user testing and iteration, with two participants taking part in each round. The results showed that the usability increased with each iteration. Findings also reaffirmed the importance of minimizing the amount of information presented in the AR interface, by for example presenting information prior to the AR interface, as well as the value of adding support for occlusion. Moreover, confusion caused by how the virtual objects aligned with the real physical space showed the importance of testing on-site. Att navigera från en plats till en annan är något vi människor gör varenda dag, och modern teknologi har gjort detta enklare än någonsin genom att erbjuda navigationsverktyg i våra mobila enheter. I inomhusmiljöer så har navigationsverktyg som använder förstärkt verklighet (AR) visat mycket potential, då det har visats ökat effektiviteten och den övergripliga användbarheten. Däremot finns det en brist på forskning som undersöker hur dessa typer av gränssnitt ska designas för att skapa en bra användarupplevelse. Denna studie syftade till att ge mer insikt i detta genom att utforska användbarheten av ett mobilt AR-gränssnitt för inomhusnavigering med hjälp av metoden Rapid Iterative Testing and Evaluation (RITE). en iterativ design och utvärderingsmetod. Totalt testade sex deltagare gränssnittet i tre omgångar av användartester, där två deltagare deltog i varje omgång. Resultaten visade att användbarheten ökade med varje iteration. Resultaten bekräftade även vikten av att minimera mängden information som presenteras i AR-gränssnittet, till exempel genom att presentera information innan AR-gränssnittet, samt värdet av att lägga till stöd för ocklusion. Vidare så visade även förvirringen kring hur de virtuella objekten relaterade till det riktiga fysiska utrymmet värdet av att testa på plats.

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Jarrell, Jason A. "Employ sensor fusion techniques for determining aircraft attitude and position information." Morgantown, W. Va. : [West Virginia University Libraries], 2008. https://eidr.wvu.edu/etd/documentdata.eTD?documentid=5894.

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Thesis (M.S.)--West Virginia University, 2008. Title from document title page. Document formatted into pages; contains xii, 108, [9] p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 104-108).

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McIntyre, David S. "GPS effective data rate optimization with applications to integrated GPS/INS attitude and heading determination." Ohio : Ohio University, 1989. http://www.ohiolink.edu/etd/view.cgi?ohiou1182445154.

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Pradhan, Ninad. "Software development for mechatronics systems simulation of multiple UAV navigation and device driver interface for the Q4 data acquisition card /." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1181250594/.

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Lugo, Rafael Andres. "Statistical Entry, Descent, and Landing Flight Reconstruction with Flush Air Data System Observations using Inertial Navigation and Monte Carlo Techniques." Thesis, North Carolina State University, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3584008.

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A method is introduced to consider flush air data system (FADS) pressures using a technique based on inertial navigation to reconstruct the trajectory of an atmospheric entry vehicle. The approach augments the recently-developed Inertial Navigation Statistical Trajectory and Atmosphere Reconstruction (INSTAR), which is an extension of inertial navigation that provides statistical uncertainties by utilizing Monte Carlo dispersion techniques and is an alternative to traditional statistical approaches to entry, descent, and landing trajectory and atmosphere reconstruction. The method is demonstrated using flight data from the Mars Science Laboratory (MSL) entry vehicle, which contained an inertial measurement unit and a flush air data system called the Mars Entry Atmospheric Data System (MEADS). An MSL trajectory and atmosphere solution that was updated using landing site location in INSTAR is first presented. This solution and corresponding uncertainties, which were obtained from Monte Carlo dispersions, are then used in a minimum variance algorithm to obtain aerodynamic estimates and uncertainties from the MEADS observations. MEADS-derived axial force coefficient and freestream density estimates and uncertainties are also derived from the minimum variance solutions independent of the axial force coefficients derived from computation fluid dynamics (CFD), which have relatively high a priori uncertainty. Results from probabilistic analyses of the solutions are also presented. This dissertation also introduces a method to consider correlated CFD uncertainties in INSTAR. From a priori CFD uncertainties, CFD force and pressure coefficients are dispersed in a Monte Carlo sense and carried over into the reconstructions. An analysis of the subsequent effects on the trajectory, atmosphere, and aerodynamic estimates and statistics is presented. Trajectory, atmospheric, and aerodynamic estimates compare favorably to extended Kalman filter solutions obtained by the MSL reconstruction team at NASA Langley Research Center. The uncertainties obtained through the methods from this work are generally smaller in magnitude because of assumptions made regarding sources of error in the MEADS pressure transducer uncertainties. Using data-derived uncertainties in the pressure measurement noise covariance results in aerodynamic parameter estimate uncertainties that are in better agreement with the uncertainties derived from the Monte Carlo dispersions. CFD database errors dominate the uncertainties of parameters derived from aerodatabase axial force coefficients.

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Shollenberger, Tara Krystyna. "Statistical Entry, Descent, and Landing Flight Reconstruction with Flush Air Data System Observations using Inertial Navigation and Monte Carlo Techniques." Thesis, North Carolina State University, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3584009.

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Research suggests what leaders should do or the qualities or characteristics they should have to be ethical leaders (Brown & Treviño, 2006). The ethical decision-making process that leaders should follow to avoid scandals and unethical behavior are overlooked. Few studies focused on ethical decision-making within higher education. Yet, educational leaders have an ethical responsibility that may be even more complex than those of other leaders due in part to increasingly diverse student populations enrolled in higher education that is having an impact on the growth of educational institutions on a global basis (Shapiro & Stekfovich, 2011). Further, ethical scandals are no longer contained by national borders. The rapid growth of technology coupled with changes in political and societal landscapes has advanced ethical scandals to global prominence. A more collective need to understand ethical values and ethical decision-making practices on a global level has emerged. To be globally effective, leaders must be aware of the similarities and differences across and within cultures that could influence business practices (Resick, Hanges, Dickson, & Mitchelson, 2006). However, cross-cultural research has not yet addressed the topic of ethical decision-making. In this study, the ethical decision-making process of higher education was not only examined in the United Stated but also in Poland. This exploratory study used the Delphi research technique to identify an ethical decision-making definition that higher administration leaders in both the United States and Poland use to make ethical decisions and identify the environmental factors that influence their decisions. Findings showed that the United States and Polish expert panels were different and showed very little in common in the identification of a definition and environmental factors. Lastly, both sets of experts identified a new process for ethical decision-making, each constructing a different ethical decision-making process model. This research on ethical decision-making provided evidence that the Polish and United States cultures are not as similar as identified in previous studies in terms of how they identify ethical decision-making and the factors they identify with influencing ethical decision-making. Using this information will create a better understanding of the practices and approaches to ethics that leaders use because of the huge influence they have and exert on people within their own organization and society around them.

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Zarrouati-Vissière, Nadège. "La réalité augmentée : fusion de vision et navigation." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2013. http://pastel.archives-ouvertes.fr/pastel-00961962.

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Cette thèse a pour objet l'étude d'algorithmes pour des applications de réalité visuellement augmentée. Plusieurs besoins existent pour de telles applications, qui sont traités en tenant compte de la contrainte d'indistinguabilité de la profondeur et du mouvement linéaire dans le cas de l'utilisation de systèmes monoculaires. Pour insérer en temps réel de manière réaliste des objets virtuels dans des images acquises dans un environnement arbitraire et inconnu, il est non seulement nécessaire d'avoir une perception 3D de cet environnement à chaque instant, mais également d'y localiser précisément la caméra. Pour le premier besoin, on fait l'hypothèse d'une dynamique de la caméra connue, pour le second on suppose que la profondeur est donnée en entrée: ces deux hypothèses sont réalisables en pratique. Les deux problèmes sont posés dans lecontexte d'un modèle de caméra sphérique, ce qui permet d'obtenir des équations de mouvement invariantes par rotation pour l'intensité lumineuse comme pour la profondeur. L'observabilité théorique de ces problèmes est étudiée à l'aide d'outils de géométrie différentielle sur la sphère unité Riemanienne. Une implémentation pratique est présentée: les résultats expérimentauxmontrent qu'il est possible de localiser une caméra dans un environnement inconnu tout en cartographiant précisément cet environnement.

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Bhattacharya, Sumit. "A Real-Time Bi-Directional Global Positioning System Data Link Over Internet Protocol." Ohio University / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1121355433.

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