This paper takes advantage of the complementary characteristics Global Positioning System (GPS) and Light Detection Ranging (LiDAR) to provide periodic corrections Inertial Navigation (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available LiDAR measurements sparse, is integrated with INS. Meanwhile, confined outdoor environments indoors, unreliable or unavailable rich, replaces integrate also proposes an innovative hybrid scan matching...

As the restaurant industry is facing labor shortage issues, use of meal delivery robots instead waiters/waitresses not only allows customers to experience impact robot technology but also benefits business financially by reducing costs. Most existing employ magnetic navigation technologies, which require strip installation and changes decor. Once moving path changed, strips need be re-laid. This study proposes multisource information fusion, i.e., fusion ultra-wide band positioning with an...

Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment. In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization Mapping (SLAM) establishes a two-dimensional map data. However, LIDAR can only provide relative it cannot directly the latitude longitude of current position. As consequence, GNSS/Inertial (INS) integrated could be employed outdoors, while indoors part makes use INS/LIDAR...

In this paper, an innovative inertial navigation system (INS) mechanization and the associated Kalman filter (KF) are developed to implement a fine alignment for strapdown INS (SINS) on stationary base. The improved is established in pseudo-geographic frame, which rebuilt based initial position. new eliminates effects of linear movement errors heading by decoupling. Compared with traditional local-level mechanization, it has more advantages. proposed algorithm requires lower coarse accuracy...

Object extraction is an important tool in many applications within the image processing and computer vision communities. You Only Look Once version 3 (YOLOv3) has been extensively applied to fields as a state-of-the-art technique for object semantic detection. Despite its numerous characteristics, YOLOv3 be combined with appropriate segmentation technologies achieve effective 2D real-time monitoring, robot navigation, target search. In this article, K-means algorithm of depth images....

In recent years, the application of deep learning to inertial navigation field has brought new vitality technology. this study, we propose a method using long short-term memory (LSTM) estimate position information based on measurement unit (IMU) data and Global Positioning System (GPS) information. Simulations experiments show practicability proposed in both static dynamic cases. cases, vehicle stop are simulated or recorded. uniform rectilinear motion The value range LSTM hyperparameters is...

The integrated navigation system of an inertial (INS) and a global satellite (GNSS) is standard solution in land vehicle applications. Considering low-cost solution, the reduced sensor (RISS) adopted place INS to provide better performance for vehicles with fewer sensors lower computations. However, can quickly deteriorate during GNSS outage. Hence, novel RISS /GNSS method assistance long short-term memory (LSTM) neural network (NN), which has ability adaptive memorizing, proposed bridge...

Robot navigation is a fundamental problem in robotics and various approaches have been developed to cope with this problem. Despite the great success of previous approaches, learning-based methods are receiving growing interest research community. They shown efficiency solving tasks offer considerable promise build intelligent systems. This paper presents goal-directed robot system that integrates global planning based on end-to-end learning local reinforcement (RL). The proposed aims...

Pipeline is one of the most important tools to transport gases or liquid substances from starting point destination. There are large numbers small diameter pipelines under urban areas, which require be inspected regularly prevent their leakage. Inspection Gauge (PIG) carries pipeline defects detection sensors and localization discover corresponding positions by its spiral motion inside pipeline. The low-accuracy property Micro-Electro-Mechanical System (MEMS) based inertial main limitation...

This paper investigates an anticipatory activation anti-windup approach based on Linear Active Disturbance Rejection Control (LADRC) to address the influences of accelerated saturation actuators in a Miniaturized Inertial Stabilized Platform (MISP) with extreme external disturbance. The proposed method aims eliminate high-frequency vibrations Line Sight (LOS) electro-optical devices during actuator saturation. To achieve this, Extended State Observer (LESO) is modified by adding feedback...

Generally, spot-welded joints are the weakest parts of structures leading to fatigue failure under fluctuating loads.Therefore, it is important optimize spot weld improve life.However, a classical optimization often directly couples finite element analysis (FEA) with algorithm, which may fall into local optimum or be expensive computationally.In this study, metamodel-based procedure proposed find locations spotwelded for maximum life.Based on initial training points, Kriging model...

Extensive studies have shown that many animals’ capability of forming spatial representations for self-localization, path planning, and navigation relies on the functionalities place head-direction (HD) cells in hippocampus. Although there are numerous hippocampal modeling approaches, only a few span wide ranging from processing raw sensory signals to planning action generation. This paper presents vision-based system involves generating HD through learning visual images, building...

The artificial fish swarm algorithm (AFSA) is one of the state-of-the-art intelligent techniques, which widely utilized for optimization purposes. Fiber optic gyroscope (FOG) error parameters such as scale factors, biases and misalignment errors are relatively unstable, especially with environmental disturbances aging fiber coils. These uncalibrated main reasons that precision FOG-based strapdown inertial navigation system (SINS) degraded. This research mainly on application a novel (NAFSA)...

Traditional calibration method is usually performed with expensive equipments suchas three-axis turntable in a laboratory environment. However practice, order to ensure theaccuracy and stability of the inertial navigation system (INS), it necessary recalibratethe measurement unit (IMU) without external equipment field. In this paper, anew in-field recalibration for triaxial accelerometer based on beetle swarm antenna search(BSAS) algorithm proposed. Firstly, as new intelligent optimization...

The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated errors during long continuous operation SINS alone. In this paper, we propose combine Inertial Measurement Unit (IMU) data with line feature parameters from a camera improve accuracy. proposed method can also maintain autonomy system. Experimental results show that inertial-visual mitigate and accuracy, stability, reliability

The accurate estimation of measurements covariance is a fundamental problem in sensors fusion algorithms and crucial for the proper operation filtering algorithms. This paper provides an innovative solution this realizes proposed on 2D indoor navigation system unmanned ground vehicles (UGVs) that fuses from MEMS-grade gyroscope, speed light detection ranging (LiDAR) sensor. A computationally efficient weighted line extraction method introduced, where LiDAR intensity are used, such random...

To solve the self-alignment problem of Strapdown Inertial Navigation System (SINS), a novel adaptive filter based on Complementary Ensemble Empirical Mode Decomposition (CEEMD) is proposed. The Gravitational Apparent Motion (GAM) used in coarse alignment, and obtaining attitude matrix between body frame navigation attributed to initial current using two gravitational apparent motion vectors at different moments. However, accuracy time this alignment method always suffer from measurement...

Based on the 3D Reduced Inertial Sensor System (3D-RISS) and Machine Learning Enhanced Visual Data (MLEVD), an integrated vehicle navigation system is proposed in this paper. In demanding conditions such as outdoor satellite signal interference indoor navigation, work incorporates smooth navigation. Firstly, a landmark set up both of its size position are accurately measured. Secondly, image with information captured quickly by using machine learning. Thirdly, template matching method...