Search Results (46)

This paper presents a multi-sensor fusion framework for the accurate indoor localization and trajectory tracking of a differential-drive mobile robot. The proposed system integrates Ultra-Wideband (UWB) trilateration, wheel odometry, and Attitude and Heading Reference System (AHRS) data using a Kalman filter. This fusion approach reduces the impact of noisy and inaccurate UWB measurements while correcting odometry drift. The system combines raw UWB distance measurements with wheel encoder readings and heading information from an AHRS to improve robustness and positioning accuracy. Experimental validation was conducted through repeated closed-loop trajectory trials. The results demonstrate that the proposed method significantly outperforms UWB-only localization, yielding reduced noise, enhanced consistency, and lower Dynamic Time Warping (DTW) distances across repetitions. The findings confirm the system’s effectiveness and suitability for real-time mobile robot navigation in indoor environments. Full article

Real-time command and data transfer are essential for autonomous underwater vehicle (AUV) motion control in underwater missions. Due to the limitations of underwater acoustic communication, which has a low data rate, this paper introduces a new control structure using underwater wireless optical communication (UWOC) to enable effective real-time command and data transfer. In this control structure, control inputs for the AUV attitude from outside of the water are transferred to the AUV for motion control, while its orientation data and visual images from the AUV camera are sent to the control station outside the water via the UWOC system. For demonstrating the performance of control action and data monitoring, an AUV is built with a constructed UWOC system, two vertical thrusters, and two horizontal thrusters. For attitude control of the AUV, an attitude heading reference system (AHRS) and a depth sensor are installed. Bi-directional communication in the UWOC system is achieved using a return-to-zero (RZ) modulation scheme for faster, longer-range data transfer. A signal processor converts sensor data received from the transmitted data. Finally, the hovering control performance of the AUV equipped with the UWOC system was experimentally evaluated in a water tank, achieving average root mean square errors (RMSEs) of 4.82° in roll, 2.49° in pitch, and 1.99 mm in depth, while simultaneously transmitting real-time motion data at 21.2 FPS with VGA-resolution images (640 × 480 pixels) at a communication rate of 1 Mbps. Full article

An attitude and heading reference system (AHRS) based on the inertial measurement unit is crucial for various applications. In an AHRS, stationary alignments are performed to determine the initial orientation of the sensor frame with respect to the navigation frame. However, the stationary alignment accuracy is affected by sensor error factors. Therefore, several studies have attempted to analyze and minimize the effects of these errors. However, there have been no studies describing and analyzing the Euler angle errors for various sensor orientations. This paper presents the analytical formulation of the relationship between the sensor and the Euler angle errors based on accelerometer and magnetometer signals, regardless of alignment between the sensor and the navigation frames. We selected three-axis attitude determination (TRIAD) as the stationary alignment method and considered the scale, installation, and the offset errors, including noise and constant bias, as sensor error factors. The presented formulation describes the relationship between the sensor error factors and the Euler angle errors as a linear equation. To analyze the Euler angle errors, we performed both sensor-aligned and sensor-misaligned simulations in which the Euler angles were 0° and arbitrary, respectively. The results showed that the presented error formulation could describe the total Euler angle errors and the partial errors induced by each sensor error factor for both the sensor-aligned conditions and the arbitrary Euler angle configurations. Thus, the effects of each sensor error factor on the Euler angle errors can be analytically investigated using the presented formulations for random alignment. Full article

Farmland boundaries distinguish agricultural areas from non-agricultural areas, providing limits for field operations and navigation paths of agricultural machinery. However, in hilly regions, the irregularity of paddy field boundaries complicates the extraction of boundary information, hindering the widespread use of GNSS-based navigation systems in agricultural machinery. This paper focuses on the paddy field border prior to rice planting and utilizes machine vision and GNSS fusion technology to extract navigation line coordinates. First, the BiSeNet semantic segmentation network was employed to extract paddy field ridges. Second, the camera’s 3D attitude was obtained in real time using an Attitude and Heading Reference System (AHRS). A method and device based on the hydraulic profiling system were proposed to measure the camera’s height relative to the paddy field, providing a dynamic external reference. An improved inverse perspective transformation was applied to generate a bird’s-eye view of the paddy field ridges. Finally, a homogeneous coordinate transformation method was used to extract the navigation line coordinates, with the model and algorithms deployed on the Jetson AGX Xavier platform Field tests demonstrated a real-time segmentation speed of 26.31 fps, pixel segmentation accuracy of 92.43%, and an average intersection ratio of 90.62%. The average distance error of the extracted navigation line was 0.071 m, with a standard deviation of 0.039 m. The coordinate extraction took approximately 100 ms, meeting the accuracy and real-time requirements for navigation line extraction at the rice transplanter’s speed of 0.7 m s⁻¹, providing path information for subsequent autonomous navigation. Full article

This article presents a diagnostic system for two redundant AHRS units. The proposed system enables fault detection and identification, facilitating the design of more efficient flight control systems, particularly in low-cost applications. First, the principles of AHRS operation are first introduced, followed by a detailed description of the diagnostic system and the demonstration of the system’s properties. Simulation results presented in this article confirm the system’s effectiveness in fault detection and identification. The proposed solution can be applied in aeronautical control systems, particularly in UAV applications. Full article

The article presents accelerations occurring in the human body when falling onto a safety net. An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for objects, including pitch, roll, and yaw. These sensors are made of microelectromechanical systems (MEMS) gyroscopes, accelerometers, and magnetometers. Usually, they are used in aircraft flight instruments due to their high precision. In the present article, these sensors were used to test safety nets, protecting people or objects falling from heights. The measurement was made for two heights: 6 m and 3.5 m. During the research, a type of mannequin that is a representative model of the human body for the largest segment of the adult population was used. The measurement was carried out using two independent measurement systems. One recorded the accelerations at the chest of the tested object, while the sensors of the second system were placed at the head, arms, and legs. The compiled measurement results were related to the permissible acceleration values that do not threaten human health and life. Full article

Celestial navigation is rarely seen in modern Uncrewed Aerial Vehicles (UAVs). The size and weight of a stabilized imaging system, and the lack of precision, tend to be at odds with the operational requirements of the aircraft. Nonetheless, celestial navigation is one of the few non-emissive modalities that enables global navigation over the ocean at night in Global Navigation Satellite System (GNSS) denied environments. This study demonstrates a modular, low cost, lightweight strapdown celestial navigation solution that is utilized in conjunction with Ardupilot running on a Cube Orange to produce position estimates to within 4 km. By performing an orbit through a full rotation of compass heading and averaging the position output, we demonstrate that the biases present in a strapdown imaging system can be nullified to drastically improve the position estimate. Furthermore, an iterative method is presented which enables the geometric alignment of the camera with the Attitude and Heading Reference System (AHRS) in-flight without an external position input. The algorithm is tested using real flight data captured from a fixed wing aircraft. The results from this study offer promise for the application of low cost celestial navigation as a redundant navigation modality in affordable, lightweight drones. Full article

Autonomous Underwater Vehicles (AUVs) are widely used for hydrological monitoring, underwater exploration, and geological surveys. However, AUVs face limitations in underwater navigation due to the high costs associated with Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL), hindering the development of low-cost vehicles. Micro Electro Mechanical System Inertial Measurement Units (MEMS IMUs) are widely used in industry due to their low cost and can output acceleration and angular velocity, making them suitable as an Attitude Heading Reference System (AHRS) for low-cost vehicles. However, poorly calibrated MEMS IMUs provide an inaccurate angular velocity, leading to rapid drift in orientation. In underwater environments where AUVs cannot use GPS for position correction, this drift can have severe consequences. To address this issue, this paper proposes Underwater Gyros Denoising Net (UGDN), a method based on dilated convolutions and LSTM that learns and extracts the spatiotemporal features of IMU sequences to dynamically compensate for the gyroscope’s angular velocity measurements, reducing attitude and heading errors. In the experimental section of this paper, we deployed this method on a dataset collected from field trials and achieved significant results. The experimental results show that the accuracy of MEMS IMU data denoised by UGDN approaches that of fiber-optic SINS, and when integrated with DVL, it can serve as a low-cost underwater navigation solution. Full article

To address the issue of increasing navigation errors in low-cost autonomous underwater vehicles (AUVs) operating without assisted positioning underwater, this paper proposes a Virtual GPS Model (VGPSM) based on deep sequence learning. This model is integrated with an Extended Kalman Filter (EKF) to provide a high-precision navigation solution for AUVs. The VGPSM leverages the time-series characteristics of data from sensors such as the Attitude and Heading Reference System (AHRS) and the Doppler Velocity Log (DVL) while the AUV is on the surface. It learns the relationship between these sensor data and GPS data by utilizing a hybrid model of Long Short-Term Memory (LSTM) and Bidirectional Long Short-Term Memory (Bi-LSTM), which are well-suited for processing and predicting time-series data. This approach constructs a virtual GPS model that generates virtual GPS displacements updated at the same frequency as the real GPS data. When the AUV navigates underwater, the virtual GPS displacements generated using the VGPSM in real-time are used as measurements to assist the EKF in state estimation, thereby enhancing the accuracy and robustness of underwater navigation. The effectiveness of the proposed method is validated through a series of experiments under various conditions. The experimental results demonstrate that the proposed method significantly reduces cumulative errors, with navigation accuracy improvements ranging from 29.2% to 69.56% compared to the standard EKF, indicating strong adaptability and robustness. Full article

To address the inaccuracy of the Constant Acceleration/Constant Velocity (CA/CV) model as the state equation in describing the relative motion state in UAV relative navigation, an adaptive UAV relative navigation method is proposed, which is based on the UAV attitude information provided by Attitude and Heading Reference System (AHRS). The proposed method utilizes the AHRS output attitude parameters as the benchmark for dead reckoning and derives a relative navigation state equation with attitude error as process noise. By integrating the extended Kalman filter output for relative state estimation and employing an adaptive decision rule designed using the innovation of the filter update phase, the proposed method recalculates motion states deviating from the actual motion using the Tasmanian Devil Optimization (TDO) algorithm. The simulation results show that, compared with the CA/CV model, the proposed method reduces the relative position errors by 12%, 23%, and 32% in the X, Y, and Z directions, respectively, and that it reduces the relative velocity errors by 350%, 330%, and 300%, respectively. There is a significant improvement in the relative navigation accuracy. Full article

The susceptibility of global navigation satellite systems (GNSSs) to interference significantly limits the possibility of their use. From the standpoint of possible consequences, the most dangerous interference is the so-called spoofing. Simultaneously, in most cases of GNSS use, an inertial navigation system (INS) or an attitude and heading reference system (AHRS) is also present on the board of mobile objects. In this regard, the research goal is to assess the possibility of detecting GNSS spoofing in inertial satellite navigation systems. This paper examines the method for detecting GNSS spoofing by combining a pair of commercially available GNSS receivers and antennas with an INS or AHRS. The method is based on a comparison of the double differences of GNSS carrier phase measurements performed by receivers under conditions of resolved integer ambiguity and the values of the range double differences predicted using an INS. GNSS carrier phase integer ambiguity can be resolved using a strapdown inertial navigation system (SINS) or AHRS data. The mathematical model of GNSS phase difference measurements and the SINS-predicted satellite range differences model are given. The proposed algorithm calculates the moving average of the residuals between the SINS-predicted satellite range double differences and the measured GNSS carrier phase double differences. The primary criterion for spoofing detection is the specified threshold excess of the moving average of the double difference residuals. Experimental studies are performed using simulation and hardware-in-the-loop simulation. The experimental results allow us to evaluate the efficiency of the proposed approach and estimate the potential characteristics of the spoofing detection algorithm based on it. Full article

The integrity of airborne inertial navigation systems (INSs) is the key to ensuring the safe flight of civil aircraft. The airborne attitude and heading reference system (AHRS) is introduced into the construction of a redundant inertial navigation system. As a backup system for an airborne INS, the AHRS exhibits a different device performance. A sequential weighted generalized likelihood ratio test (SWGLT) method, based on a principal component parity vector (PPV), is proposed. The PPV method improves the adaptability of the detection threshold to the inertial sensors’ noise and improves the probability of correct detection. At the same time, the multiscale problem of a heterogeneous redundant system error is solved by sequential weighting, and the false alarm rate is reduced. Simulation experiments show that the proposed method can improve fault detection sensitivity, reduce false alarm rates, and ensure the integrity of civil aircraft navigation systems. Full article

Robust and accurate attitude and heading estimation using Micro-Electromechanical System (MEMS) Inertial Measurement Units (IMU) is the most crucial technique that determines the accuracy of various downstream applications, especially pedestrian dead reckoning (PDR), human motion tracking, and Micro Aerial Vehicles (MAVs). However, the accuracy of the Attitude and Heading Reference System (AHRS) is often compromised by the noisy nature of low-cost MEMS-IMUs, dynamic motion-induced large external acceleration, and ubiquitous magnetic disturbance. To address these challenges, we propose a novel data-driven IMU calibration model that employs Temporal Convolutional Networks (TCNs) to model random errors and disturbance terms, providing denoised sensor data. For sensor fusion, we use an open-loop and decoupled version of the Extended Complementary Filter (ECF) to provide accurate and robust attitude estimation. Our proposed method is systematically evaluated using three public datasets, TUM VI, EuRoC MAV, and OxIOD, with different IMU devices, hardware platforms, motion modes, and environmental conditions; and it outperforms the advanced baseline data-driven methods and complementary filter on two metrics, namely absolute attitude error and absolute yaw error, by more than 23.4% and 23.9%. The generalization experiment results demonstrate the robustness of our model on different devices and using patterns. Full article

The KM3NeT Collaboration is currently constructing two neutrino detectors in the depths of the Mediterranean Sea. An excellent angular resolution will be necessary for an accurate reconstruction of neutrino direction, much as a precise knowledge of the position and orientation of the detector components will be mandatory in order to achieve the required angular resolution. For High-Energy Neutrino Astrophysics program, an angular resolution < 0.05 deg is expected for the sparser detector if synchronization ~1 ns, positioning < 20 cm, and orientation < 3 deg are guaranteed for the Detection Units. The KM3NeT orientation-tilt system, known as “Digital Compasses”, is an Attitude and Heading Reference System (AHRS) board coupled to the inner Central Logic Boards of the detection modules. The AHRS integrates a 3D-magnetometer containing an Anisotropic Magnetoresistive Sensor to estimate the Earth’s magnetic field with a 3D-accelerometer equipped with a Micro-Electro Mechanical System that estimates the acceleration field intensity. The performance of the Digital Compasses, together with the reconstruction of orientation-tilt magnitudes and calibration, will be presented and discussed in this contribution. Full article

The attitude and heading reference system (AHRS) is an important concept in the area of navigation, image stabilization, and object detection and tracking. Many studies and works have been conducted in this regard to estimate the accurate orientation of rigid bodies. In most research in this area, low-cost MEMS sensors are employed, but since the system’s response will diverge over time due to integration drift, it is necessary to apply proper estimation algorithms. A two-step extended Kalman Filter (EKF) algorithm is used in this study to estimate the orientation of an IMU. A 9-DOF device is used for this purpose, including a 6-DOF IMU with a three-axis gyroscope and a three-axis accelerometer, and a three-axis magnetometer. In addition, to have an accurate algorithm, both IMU and magnetometer biases and disturbances are modeled and considered in the real-time filter. After applying the algorithm to the sensor’s output, an accurate orientation as well as unbiased angular velocity, linear acceleration, and magnetic field were achieved. In order to demonstrate the reduction of noise power, fast Fourier transform (FFT) diagrams are used. The effect of the initial condition on the response of the system is also investigated. Full article