Inertial Navigation Aided By Simultaneous Localization And Mapping

Unmanned aerial vehicles technologies are getting smaller and cheaper to use and the challenges of payload limitation in unmanned aerial vehicles are being overcome. Integrated navigation system design requires selection of set of sensors and computation power that provides reliable and accurate navigation parameters (position, velocity and attitude) with high update rates and bandwidth in small and cost effective manner. Many of today's operational unmanned aerial vehicles navigation systems rely on inertial sensors as a primary measurement source. Inertial Navigation alone however suffers from slow divergence with time. This divergence is often compensated for by employing some additional source of navigation information external to Inertial Navigation. From the 1990's to the present day Global Positioning System has been the dominant navigation aid for Inertial Navigation. In a number of scenarios, Global Positioning System measurements may be completely unavailable or they simply may not be precise (or reliable) enough to be used to adequately update the Inertial Navigation hence alternative methods have seen great attention. Aiding Inertial Navigation with vision sensors has been the favoured solution over the past several years. Inertial and vision sensors with their complementary characteristics have the potential to answer the requirements for reliable and accurate navigation parameters. In this thesis we address Inertial Navigation position divergence. The information for updating the position comes from combination of vision and motion. When using such a combination many of the difficulties of the vision sensors (relative depth, geometry and size of objects, image blur and etc.) can be circumvented. Motion grants the vision sensors with many cues that can help better to acquire information about the environment, for instance creating a precise map of the environment and localize within the environment. We propose changes to the Simultaneous Localization and Mapping augmented state vector in order to take repeated measurements of the map point. We show that these repeated measurements with certain manoeuvres (motion) around or by the map point are crucial for constraining the Inertial Navigation position divergence (bounded estimation error) while manoeuvring in vicinity of the map point. This eliminates some of the uncertainty of the map point estimates i.e. it reduces the covariance of the map points estimates. This concept brings different parameterization (feature initialisation) of the map points in Simultaneous Localization and Mapping and we refer to it as concept of aiding Inertial Navigation by Simultaneous Localization and Mapping. We show that making such an integrated navigation system requires coordination with the guidance and control measurements and the vehicle task itself for performing the required vehicle manoeuvres (motion) and achieving better navigation accuracy. This fact brings new challenges to the practical design of these modern jam proof Global Positioning System free autonomous navigation systems. Further to the concept of aiding Inertial Navigation by Simultaneous Localization and Mapping we have investigated how a bearing only sensor such as single camera can be used for aiding Inertial Navigation. The results of the concept of Inertial Navigation aided by Simultaneous Localization and Mapping were used. New parameterization of the map point in Bearing Only Simultaneous Localization and Mapping is proposed. Because of the number of significant problems that appear when implementing the Extended Kalman Filter in Inertial Navigation aided by Bearing Only Simultaneous Localization and Mapping other algorithms such as Iterated Extended Kalman Filter, Unscented Kalman Filter and Particle Filters were implemented. From the results obtained, the conclusion can be drawn that the nonlinear filters should be the choice of estimators for this application.

This thesis describes a new method to improve inertial navigation using feature-based constraints from one or more video cameras. The proposed method lengthens the period of time during which a human or vehicle can navigate in GPS-deprived environments. Our approach integrates well with existing navigation systems, because we invoke general sensor models that represent a wide range of available hardware. The inertial model includes errors in bias, scale, and random walk. Any camera and tracking algorithm may be used, as long as the visual output can be expressed as ray vectors extending from known locations on the sensor body. A modified linear Kalman filter performs the data fusion. Unlike traditional Simultaneous Localization and Mapping (SLAM/CML), our state vector contains only inertial sensor errors related to position. This choice allows uncertainty to be properly represented by a covariance matrix. We do not augment the state with feature coordinates. Instead, image data contributes stochastic epipolar constraints over a broad baseline in time and space, resulting in improved observability of the IMU error states. The constraints lead to a relative residual and associated relative covariance, defined partly by the state history. Navigation results are presented using high-quality synthetic data and real fisheye imagery.

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.

Explore an insightful summary of the major self-contained aiding technologies for pedestrian navigation from established and emerging leaders in the field Pedestrian Inertial Navigation with Self-Contained Aiding delivers a comprehensive and broad treatment of self-contained aiding techniques in pedestrian inertial navigation. The book combines an introduction to the general concept of navigation and major navigation and aiding techniques with more specific discussions of topics central to the field, as well as an exploration of the future of the future of the field: Ultimate Navigation Chip (uNavChip) technology. The most commonly used implementation of pedestrian inertial navigation, strapdown inertial navigation, is discussed at length, as are the mechanization, implementation, error analysis, and adaptivity of zero-velocity update aided inertial navigation algorithms. The book demonstrates the implementation of ultrasonic sensors, ultra-wide band (UWB) sensors, and magnetic sensors. Ranging techniques are considered as well, including both foot-to-foot ranging and inter-agent ranging, and learning algorithms, navigation with signals of opportunity, and cooperative localization are discussed. Readers will also benefit from the inclusion of: A thorough introduction to the general concept of navigation as well as major navigation and aiding techniques An exploration of inertial navigation implementation, Inertial Measurement Units, and strapdown inertial navigation A discussion of error analysis in strapdown inertial navigation, as well as the motivation of aiding techniques for pedestrian inertial navigation A treatment of the zero-velocity update (ZUPT) aided inertial navigation algorithm, including its mechanization, implementation, error analysis, and adaptivity Perfect for students and researchers in the field who seek a broad understanding of the subject, Pedestrian Inertial Navigation with Self-Contained Aiding will also earn a place in the libraries of industrial researchers and industrial marketing analysts who need a self-contained summary of the foundational elements of the field.

Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS

The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function of model parameters * Implementing the mechanization equations in numerically stable algorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance in operation In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

China Satellite Navigation Conference (CSNC) 2015 Proceedings presents selected research papers from CSNC2015, held during 13th-15th May in Xian, China. The theme of CSNC2015 is Opening-up, Connectivity and Win-win. These papers discuss the technologies and applications of the Global Navigation Satellite System (GNSS), and the latest progress made in the China BeiDou System (BDS) especially. They are divided into 10 topics to match the corresponding sessions in CSNC2015, which broadly covered key topics in GNSS. Readers can learn about the BDS and keep abreast of the latest advances in GNSS techniques and applications. SUN Jiadong is the Chief Designer of the Compass/ BDS, and the academician of Chinese Academy of Sciences (CAS); LIU Jingnan is a professor at Wuhan University. FAN Shiwei is a researcher at China Satellite Navigation Office; LU Xiaochun is an academician of Chinese Academy of Sciences (CAS).

This book constitutes the proceedings of the Third International Conference on Interactive Collaborative Robotics, ICR 2018, held in Leipzig, Germany, in September 2018, as a satellite event of the 20th International Conference on Speech and Computer, SPECOM 2018. The 30 papers presented in this volume were carefully reviewed and selected from 51 submissions. The papers presents challenges of human-robot interaction, robot control and behavior in social robotics and collaborative robotics, as well as applied robotic and cyberphysical systems.

This book focuses on the survey technology, post-processing technology, mapping technology and scientific application of the submarine topography and geomorphology in detail. High-resolution submarine geomorphology is a frontier branch of marine geology and marine surveying and mapping, which provides a direct basis to study the seabed surface, to understand the tectonic movement and submarine evolution. In the past two decades, high-resolution submarine geomorphology with high-precision multi-beam echo sounding, side-scan sonar and sub-bottom profiler as the major techniques, is developing very quickly and is one of the frontiers of international marine science and technology. These high techniques promote the traditional submarine geomorphology to high-resolution and quantitative research. At present, high-resolution submarine geomorphology is widely used in the delimitation of the continental shelf, the international seabed resources survey, marine engineering and marine military applications. In order to facilitate readers to understand how to acquire and apply scientific research based on submarine topographic data, it highlights the combination of theory, technology and scientific application. This book is useful as a reference for professional and technical personnel in related fields and also as a textbook for both graduate and undergraduate students as well.