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Development and flight test of terrain-referenced guidance with ladar forward sensor

Richard E. Zelenka, Raymond F. Clark, Andre Zirkler, Ron Saari, Robert G. Branigan
1996 Journal of Guidance Control and Dynamics  
The accessed value for terrain elevation is an imperfect approximation of the terrain and is referenced using the imperfect latitude-longitude output from the navigation system.  ...  This approach for integrating a forward obstacle avoidance sensor into the terrain referenced guidance system has the advantage of using the existing flight proven components of the guidance system and  ... 
doi:10.2514/3.21705 fatcat:hjvcp74btrcgnk5jrblt2irvlu

Environmental Perception and Sensor Data Fusion for Unmanned Ground Vehicle

Yibing Zhao, Jining Li, Linhui Li, Mingheng Zhang, Lie Guo
2013 Mathematical Problems in Engineering  
The experiment results have demonstrated the viability of the new method.  ...  Control on motion behavior or autonomous navigation for UGV is based on the method, which is necessary for UGV high speed driving in cross-country environment.  ...  Acknowledgments This work is sponsored by Specialized Research Fund for the Doctoral Program of Higher Education (20110041120024), National Natural Science Foundation Project (51205038), and Fundamental  ... 
doi:10.1155/2013/903951 fatcat:5uyokl6aejfxvmvjym2q27czpe

Engineering Notes

1997 Journal of Aircraft  
The terrain and obstacles located by the radar forward sensor are stored in an inertially referenced grid system with grid resolution of 20 ft.  ...  The new method presented here obtains more ac- curate wing-induced velocities from a high-order panel method, while relying on the well-behaved nature of the dis- crete-vortex wake model for the wake-induced  ... 
doi:10.2514/2.2164 fatcat:ddpz2o4xjfdhvczyenbvaelytu

The IGMARP Data Fusion Algorithm

Andrew R. Runnalls
2006 2006 IEEE Nonlinear Statistical Signal Processing Workshop  
An example of a terrain-referenced navigation system is terrain-contour navigation (TCN), in which an air vehicle uses a radio altimeter or similar sensor to take measurements of the height above sea level  ...  with the ambiguities inherent in terrain-referenced navigation data, but at the same time make efficient use of the avail-able data, in a manner compatible with the use of a Kalman filter (or MHKF) architecture  ... 
doi:10.1109/nsspw.2006.4378814 fatcat:twsyjhdpuvdrznirbhiubox5ha

Stanley: The Robot That Won the DARPA Grand Challenge [chapter]

Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia Oakley (+18 others)
2007 Springer Tracts in Advanced Robotics  
New methods were developed, and existing methods extended, in the areas of long-range terrain perception, real-time collision avoidance, and stable vehicle control on slippery and rugged terrain.  ...  These requirements led to a number of advances in the field of autonomous navigation, as surveyed in this article.  ...  A huge number of individuals at Stanford, Volkswagen, and related facilities helped us in developing this robot, which is gratefully acknowledged.  ... 
doi:10.1007/978-3-540-73429-1_1 fatcat:3rhdkxn475bq3ly3lyx5beoapy

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

De Jong Yeong, Gustavo Velasco-Hernandez, John Barry, Joseph Walsh
2021 Sensors  
The current paper, therefore, provides an end-to-end review of the hardware and software methods required for sensor fusion object detection.  ...  Sensors are fundamental to the perception of vehicle surroundings in an automated driving system, and the use and performance of multiple integrated sensors can directly determine the safety and feasibility  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21062140 pmid:33803889 pmcid:PMC8003231 fatcat:j52leqrvwnhu5brd7lxgozvwya

Advancing process-based watershed hydrological research using near-surface geophysics: a vision for, and review of, electrical and magnetic geophysical methods

D. A. Robinson, A. Binley, N. Crook, F. D. Day-Lewis, T. P. A. Ferré, V. J. S. Grauch, R. Knight, M. Knoll, V. Lakshmi, R. Miller, J. Nyquist, L. Pellerin (+2 others)
2008 Hydrological Processes  
The methodological framework assumes a 'top down' approach using airborne methods to identify the large scale, dominant architecture of the subsurface.  ...  We identify recent advances in geophysical instrumentation, and provide a vision for the use of electrical and magnetic geophysical instrumentation in watershed scale hydrology.  ...  The use of firm, trade and brand names in this report is for identification purposes only and does not constitute endorsement by CUAHSI, NSF, USGS, the US Government, or the authors and their respective  ... 
doi:10.1002/hyp.6963 fatcat:qpnbqjrn4rgatos4rbafohxaeu

THE MAIN IMAGING ISSUES IN THE REALM OF MMS

João Fernando Custodio da Silva
2013 Revista Brasileira de Cartografia  
Mobile mapping is a method of acquisition of geo-referenced images that uses a moving platform in which sensors and other devices are set on board.  ...  These new possibilities demand portability, mobility, and accessibility to sites where PVA have to be estimated by non satellite navigation methods.  ...  C orientation parameters (ROP) estimated by a selfcalibration procedure based on a bundle block adjustment (BBA) with additional parameters.  ... 
doaj:8ffcd558b1cd4dbeadb8811ae248e3c7 fatcat:3xhjjxx3sjad7lzzicxufq33mi

Determination of the Surface and Bed Topography in Central Greenland

Steven M. Hodge, David L. Wright, Jerry A. Bradley, Robert W. Jacobel, Neils Skou, Bruce Vaughn
1990 Journal of Glaciology  
If the basal topography were the sole criterion, then a site somewhere on this plateau or in the south-west basin would be suitable for the drilling of a new deep ice core.  ...  The ice radar was used to determine ice thickness; the surface topography was determined independently using height-above-terrain measurements from the aircraft's radar altimeter.  ...  ACKNOWLEDGEMENTS A large number of people contributed to the success of this project. Dr P. Gudmandsen participated in the planning and contributed a great amount of invaluable advice and  ... 
doi:10.1017/s0022143000005505 fatcat:7dutib62qbdkpm77oclyrribsm

Determination of the Surface and Bed Topography in Central Greenland

Steven M. Hodge, David L. Wright, Jerry A. Bradley, Robert W. Jacobel, Neils Skou, Bruce Vaughn
1990 Journal of Glaciology  
If the basal topography were the sole criterion, then a site somewhere on this plateau or in the south-west basin would be suitable for the drilling of a new deep ice core.  ...  The ice radar was used to determine ice thickness; the surface topography was determined independently using height-above-terrain measurements from the aircraft's radar altimeter.  ...  ACKNOWLEDGEMENTS A large number of people contributed to the success of this project. Dr P. Gudmandsen participated in the planning and contributed a great amount of invaluable advice and  ... 
doi:10.3189/s0022143000005505 fatcat:ghszytr7avazbpsjahwjwotqba

Analyzing Data [chapter]

George Lindfield, John Penny
2019 Numerical Methods  
, To ohtain the answer, the simulator was used tet generate time histories of actual navigation system ei'turs for various a-its of initial errors.  ...  T essteps ware (1) a method for cytmtoially, discarding error variables from the cmlt (6'7-variabie) model, and (2) a method for evaluation of the reduced models thus obta ined. ,, This latter needfor  ...  [A The error behaviour of sn aided navigation system will cow be investigated, using the method described for system performance analysis, it should be noted that, by this method, optimal values for tho  ... 
doi:10.1016/b978-0-12-812256-3.00016-6 fatcat:iwfrlexsajeb5pitrqy6nuqzqy

A Model to Measure Bombardier/Navigator Performance During Radar Navigation in Device 2F114, A-6E Weapon System Trainer

Ted R. Mixon
1981 Proceedings of the Human Factors Society Annual Meeting  
Summary The mission of the A-6 for the current study has been defined as Air Interdiction which is further subdivided into point-to-point navigation using radar terrain mapping.  ...  Initiate -Give a start to a plan, idea, request, or some form of human action (e.g., initiate a new safety procedure).  ... 
doi:10.1177/1071181381025001107 fatcat:mtpdqjtssjdfjmxq5uhpjhu32e

D6.1 Conceptual framework for remote sensing-based CH monitoring

V. Karathanassi, A. Georgopoulos, A. Doulamis, Enriques Hermandez-Montes
2020 Zenodo  
In this deliverable, new state of the art methods are briefly described to document the main decisions on the advanced image processing and data analysis methods that will be developed and/or applied within  ...  The deliverable is intended for public use, and it will particularly be helpful for the partners involved in the design of the HYPERION platform.  ...  Textured 3D model of a bastion The 3D model of the bastion without texture The estimated size of the 3D model for each CH building and site will be 4-8GB.  ... 
doi:10.5281/zenodo.6352008 fatcat:nul4udvk35hupazeullordefxa

Practical Stereophotoclinometry for Modeling Shape and Topography on Planetary Missions

Eric E. Palmer, Robert Gaskell, Michael G. Daly, Olivier S. Barnouin, Coralie D. Adam, Dante S. Lauretta
2022 The Planetary Science Journal  
We describe the implementation of this technique in the context of digital terrain model (DTM) generation for a small-body mission.  ...  As a case study, we share outcomes from the modeling performed for the OSIRIS-REx mission to asteroid Bennu.  ...  This initial model is not much more than a placeholder but is still needed for navigation and rotation parameter determination (pole orientation and rotation rate).  ... 
doi:10.3847/psj/ac460f fatcat:zuhxvvmlijclxdq7j5m4akgkey

Caroline: An autonomously driving vehicle for urban environments

Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus Magnor, Karsten Cornelsen, Jan Effertz, Thomas Form, Fabian Graefe, Sebastian Ohl, Walter Schumacher, Jörn-Marten Wille, Peter Hecker (+10 others)
2008 Journal of Field Robotics  
After several stages of qualification, our team CarOLO qualified early for the DARPA Urban Challenge Final Event and was among only 11 teams from initially 89 competitors to compete in the final.  ...  helped us to become the best non-U.S. team.  ...  As a large amount of effort and resources were necessary to attempt this project, it would not have been successful if not for the many people from the university and local industry that sponsored material  ... 
doi:10.1002/rob.20254 fatcat:q5ccptgoafa2ni6ckr323d5wdi
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