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Anglický jazyk
Vision-Aided, Cooperative Navigation for Multiple Unmanned Vehicles
Autor: Jason K. Bingham
The motivation of this research is to exploit three attributes of increased unmanned vehicle use for intelligence, surveillance, and reconnaissance missions. These attributes are: increased numbers of unmanned vehicles, on-board vision, and wireless communications.... Viac o knihe
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O knihe
The motivation of this research is to exploit three attributes of increased unmanned vehicle use for intelligence, surveillance, and reconnaissance missions. These attributes are: increased numbers of unmanned vehicles, on-board vision, and wireless communications. The research begins with the development of a cooperative navigation system based on the measurement of vehicle position relative to shared landmark position estimates. Each vehicle in the network locates landmarks using it's on-board vision system and transmits the data to all other system vehicles. After receiving data from the other vehicles, the system fuses the landmarks with on-board measurements using a federated filter architecture. Simulations of the cooperative system, with and without ranging, are compared to a non-cooperative simulation. The comparison is performed using four platform motion scenarios: stationary, linear, angular, and full motion. The simulation results demonstrate position error estimate improvements of 0.5cm to 1cm. Additionally; the stationary and linear motion scenarios demonstrate attitude observability difficulties eliminated by the introduction of angular motion.
- Vydavateľstvo: Tradd Street Press
- Rok vydania: 2012
- Formát: Paperback
- Rozmer: 234 x 156 mm
- Jazyk: Anglický jazyk
- ISBN: 9781288289141
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