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Full-Text Articles in Signal Processing
Non-Gnss Smartphone Pedestrian Navigation Using Barometric Elevation And Digital Map-Matching, Daniel Broyles, Kyle J. Kauffman, John F. Raquet, Piotr Smagowski
Non-Gnss Smartphone Pedestrian Navigation Using Barometric Elevation And Digital Map-Matching, Daniel Broyles, Kyle J. Kauffman, John F. Raquet, Piotr Smagowski
Faculty Publications
Pedestrian navigation in outdoor environments where global navigation satellite systems (GNSS) are unavailable is a challenging problem. Existing technologies that have attempted to address this problemoften require external reference signals or specialized hardware, the extra size,weight, power, and cost of which are unsuitable for many applications. This article presents a real-time, self-contained outdoor navigation application that uses only the existing sensors on a smartphone in conjunction with a preloaded digital elevation map. The core algorithm implements a particle filter, which fuses sensor data with a stochastic pedestrian motion model to predict the user’s position. The smartphone’s barometric elevation is then …
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Faculty Publications
Investigating alternative navigation approaches for use when GPS signals are unavailable is an active area of research across the globe. In this paper we focus on the navigation of small, fixed-wing unmanned aerial vehicles (UAVs) that employ vision-based approaches combined with other measurements as a replacement for GPS. We demonstrate with flight test data that vehicle attitude information, derived from cheap, MEMS-based IMUs is sufficient to improve two different types of vision processing algorithms. Secondly, we show analytically and with flight test data that range measurements to one other vehicle with global pose is sufficient to constrain the global drift …