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Adaptive UKF-SLAM Based on Magnetic Gradient Inversion Method for Underwater Navigation
[chapter]
2015
Lecture Notes in Computer Science
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To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model. ...
(2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment. ...
Based on the experimental results, it proves that SLAM based on adaptive UKF with magnetic gradient inversion method is feasible under harsh and real-time underwater condition. ...
doi:10.1007/978-3-319-22876-1_21
fatcat:vjnj7avjwfdmbgbmnkhuzwbyoe
Adaptive UKF-SLAM based on magnetic gradient inversion method for underwater navigation
2015
2015 International Conference on Unmanned Aircraft Systems (ICUAS)
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To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model. ...
(2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment. ...
Based on the experimental results, it proves that SLAM based on adaptive UKF with magnetic gradient inversion method is feasible under harsh and real-time underwater condition. ...
doi:10.1109/icuas.2015.7152369
fatcat:73h4flk6yfgsbiknzz32tceee4
Adaptive Navigation Algorithm with Deep Learning for Autonomous Underwater Vehicle
2021
Sensors
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Precise navigation is essential for autonomous underwater vehicles (AUVs). ...
Thirdly, the adaptive filter, based on the variational Bayesian (VB) method, is employed to estimate the navigation information simultaneous with the measurement covariance, improving navigation accuracy ...
Conclusions In this work, we developed an adaptive navigation algorithm based on deep learning. ...
doi:10.3390/s21196406
pmid:34640726
fatcat:v422mtytrfci7n3j42mp6zexre
State Estimation for Autonomous Flight in Cluttered Environments
2007
Journal of Guidance Control and Dynamics
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By allowing us to find our own research projects he sends us off on a long, tangled journey. ...
Most importantly I am grateful for the family-friendly environment he fosters, encouraging all of us with children to take the time to watch them grow. ...
Benthic navigation for Underwater Vehicles Autonomous underwater vehicles (AUVs) do not have access to GPS signals. ...
doi:10.2514/1.27770
fatcat:ay5sbtetive2hmxzzcughiafdq
Program
2019
2019 International Conference on Control, Automation and Information Sciences (ICCAIS)
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algorithm based on residual gradient method. ...
The final part of this tutorial will focus on the implementation details of RFS based robotic navigation and mapping/SLAM algorithms. ...
as the number of people in an elevator cab can be estimated and judged for security evaluation. ...
doi:10.1109/iccais46528.2019.9074650
fatcat:f3libdixzvez3kaeyb5dubekrq
Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation
2020
Sensors
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We review various types of sensors, their data, and the need for fusion of the data with each other to output the best data for the task at hand, which in this case is autonomous navigation. ...
Such systems can be used in various areas of life like safe mobility for the disabled, senior citizens, and so on and are dependent on accurate sensor information in order to function optimally. ...
However, a detailed study of SLAM is out of the scope of this survey. Aguilar developed a path planner based on RRT* [197] for real-time navigation. ...
doi:10.3390/s20082180
pmid:32290582
pmcid:PMC7218742
fatcat:ngfckkvp3fc23o7idvivlhdzbq
2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70
2021
IEEE Transactions on Instrumentation and Measurement
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Article numbers are based on specified topic areas and corresponding codes associated with the publication. ...
The Author Index contains the primary entry for each item, listed under the first author's name. ...
., +, TIM 2021 7001013 Autonomous underwater vehicles A New Coupled Method of SINS/DVL Integrated Navigation Based on Improved Dual Adaptive Factors. ...
doi:10.1109/tim.2022.3156705
fatcat:dmqderzenrcopoyipv3v4vh4ry
2021 Index IEEE Transactions on Vehicular Technology Vol. 70
2021
IEEE Transactions on Vehicular Technology
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The Author Index contains the primary entry for each item, listed under the first author's name. ...
Li, G., +, TVT Jan. 2021 886-899 Adaptive filters A Vehicle Handling Inverse Dynamics Method for Emergency Avoidance Path Tracking Based on Adaptive Inverse Control. ...
., +, TVT Jan. 2021 682-691 A Vehicle Handling Inverse Dynamics Method for Emergency Avoidance Path Tracking Based on Adaptive Inverse Control. ...
doi:10.1109/tvt.2022.3151213
fatcat:vzuzqu54irebpibzp3ykgy5nca
2020 Index IEEE Transactions on Vehicular Technology Vol. 69
2020
IEEE Transactions on Vehicular Technology
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+ Check author entry for coauthors ami-mFading Channels With Integer and Non-Integerm; TVT March 2020 2785-2801 Hoang, T.M., Tran, X.N., Nguyen, B.C., and Dung, L.T., On the Performance of MIMO Full-Duplex ...
. 2020 9938-9950 Hoki, K., see Kawakami, T., TVT Dec. 2020 16168-16172 Hong, C., Shan, H., Song, M., Zhuang, W., Xiang, Z., Wu, Y., and Yu, X., A Joint Design of Platoon Communication and Control Based ...
., +, TVT July 2020 7223-
7233
An IMM-UKF Aided SINS/USBL Calibration Solution for Underwater
Vehicles. ...
doi:10.1109/tvt.2021.3055470
fatcat:536l4pgnufhixneoa3a3dibdma
A Low-cost SLAM Fusion Algorithm for Robot Localization
2019
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The ability for a robot to solve the simultaneous localization and mapping (SLAM) problem is required to navigate unknown environments. ...
Many approaches for solving the SLAM problem have been proposed, but most of these require expensive LiDAR sensors. ...
Graph optimization methods
such as TORO (a tree-based network optimizer) [26] and g2o (general graph
optimizer) [27] use theclassic optimization methods of gradient descent and
Levenberg-Marquardt ...
doi:10.7939/r3-bk65-rm76
fatcat:mkcfyon4uvhdpeulzmxz37hsea
Cooperative Localization in Mobile Underwater Acoustic Sensor Networks
2021
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Satelitengestützte Navigation ist in der Tiefe nicht möglich, da Radiowellen bereits nach wenigen Metern im Wasser stark an Intensität verlieren. ...
In dieser Arbeit wird ein kooperativer Lokalisierungsansatz vorgestellt, welcher auf dem Nachrichtenaustausch durch akustische Ultra-Short Base-Line (USBL) Modems basiert. ...
The proposed method is based on message exchange via acoustic ultra-short base-line (USBL) modems. ...
doi:10.5445/ir/1000139686
fatcat:mq4tozhlezbuzlfxn3fc5euwp4
Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments
[article]
2021
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Global Navigation Satellite System (GNSS) positioning is commonly used for land vehicle navigation. ...
Thus, the development of an alternative, accurate, inexpensive, and self-contained land vehicle navigation systems to bridge the GNSS gaps is significant for land vehicle navigation systems. ...
ORB-SLAM is considered to be the most complete feature-based V-SLAM method. ...
doi:10.11575/prism/38573
fatcat:xsro75cxmnb6di7yce2ysegofe
Table of contents
2019
2019 Chinese Control Conference (CCC)
unpublished
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WANG Zhanxiu, LIU Tengfei 6142 Corrected Gradient Methods for Distributed Optimization . . . . ...
GUO Yanbing, MIAO Ling-juan, Directions Based Adaptability Analysis Method for Gravity-aided Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
doi:10.23919/chicc.2019.8866607
fatcat:bkwxxogrqvcmfpmqiek3xgnuoe
Table of Contents
2021
2021 40th Chinese Control Conference (CCC)
unpublished
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SUN Hongchun, ZHANG Zihan 2908 Fuzzy-Logic Adapted for LMS Algorithm Based on Q-Gradient . . . . . . . . . . . . . . ...
ZHOU Ning, LI Li, CHEN Riqing, WANG Qiping, LU Jiyong 3456 Initial Alignment Method for Rotating Strapdown Inertial Navigation System Based on Fuzzy Adaptive Kalman Filter . . . . ...
doi:10.23919/ccc52363.2021.9550117
fatcat:55y7a2gagfhtpc6llmfvl7gqpm
Visual navigation for mobile robots using the Bag-of-Words algorithm
[article]
2011
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Robust long-term positioning for autonomous mobile robots is essential for many applications. ...
Successful SLAM schemes have been demonstrated which accurately map tracks of tens of kilometres, however these schemes rely on expensive sensors such as laser scanners and inertial measurement units. ...
Thanks go to Jonathan Klippenstein for providing this data. ...
doi:10.26021/3434
fatcat:3dtolrdcefhpldz7jlu5t6bpzi
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