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Full-Text Articles in Electrical and Computer Engineering
A Comparison Of Correlation-Agnostic Techniques For Magnetic Navigation, Clark N. Taylor, Josh Hiatt
A Comparison Of Correlation-Agnostic Techniques For Magnetic Navigation, Clark N. Taylor, Josh Hiatt
Faculty Publications
Navigation using a Global Navigation Satellite System (GNSS) is common for autonomous vehicles (ground or air). Unfortunately, GNSS-based navigation solutions are often susceptible to jamming, interference, and a limited number of satellites. A proposed technique to aid in navigation when a GNSS-based system fails is magnetic navigation - navigation using the Earth's magnetic anomaly field. This solution comes with its own set of problems including the need for quality magnetic maps in every area in which magnetic navigation will be used. Many of the currently available magnetic maps are generated from a combination of dated magnetic surveys, resulting in maps …
Range Information Characterization Of The Hokuyo Ust-20lx Lidar Sensor, Matthew A. Cooper, John F. Raquet, Rick Patton
Range Information Characterization Of The Hokuyo Ust-20lx Lidar Sensor, Matthew A. Cooper, John F. Raquet, Rick Patton
Faculty Publications
This paper presents a study on the data measurements that the Hokuyo UST-20LX Laser Rangefinder produces, which compiles into an overall characterization of the LiDAR sensor relative to indoor environments. The range measurements, beam divergence, angular resolution, error effect due to some common painted and wooden surfaces, and the error due to target surface orientation are analyzed. It was shown that using a statistical average of sensor measurements provides a more accurate range measurement. It was also shown that the major source of errors for the Hokuyo UST-20LX sensor was caused by something that will be referred to as “mixed …