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Full-Text Articles in Engineering
Ground Vehicle Navigation Using Magnetic Field Variation, Jeremiah A. Shockley
Ground Vehicle Navigation Using Magnetic Field Variation, Jeremiah A. Shockley
Theses and Dissertations
The Earth's magnetic field has been the bedrock of navigation for centuries. The latest research highlights the uniqueness of magnetic field measurements based on position due to large scale variations as well as localized perturbations. These observable changes in the Earth's magnetic field as a function of position provide distinct information which can be used for navigation. This dissertation describes ground vehicle navigation exploiting variation in Earth's magnetic field using a self-contained navigation system consisting of only a magnetometer and magnetic field maps. In order to achieve navigation, effective calibration enables repeatable magnetic field measurements from different vehicles and facilitates …
Intelligent Behavioral Action Aiding For Improved Autonomous Image Navigation, Kwee Guan Eng
Intelligent Behavioral Action Aiding For Improved Autonomous Image Navigation, Kwee Guan Eng
Theses and Dissertations
In egomotion image navigation, errors are common especially when traversing areas with few landmarks. Since image navigation is often used as a passive navigation technique in Global Positioning System (GPS) denied environments; egomotion accuracy is important for precise navigation in these challenging environments. One of the causes of egomotion errors is inaccurate landmark distance measurements, e.g., sensor noise. This research determines a landmark location egomotion error model that quantifies the effects of landmark locations on egomotion value uncertainty and errors. The error model accounts for increases in landmark uncertainty due to landmark distance and image centrality. A robot then uses …